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2 Standard Functions

NX-series Safety Control Unit Instructions Reference Manual (Z931)

Selectio

n In

struc

tion
s

MU
X

•

In0

In1

, and

Out

may have different data types, but observe the following precautions.

• Set the valid range of

Out

to include the valid ranges of

In0

InN

• If the value of

is outside the valid range (i.e., less than 0 or greater than N), an MUX Error will

occur and the program will stop.

Precautions for Correct Use

Summary of Contents for NX-SL series

Page 1: ...Machine Automation Controller NX series Safety Control Unit Instructions Reference Manual Z931 E1 04 NX SL ...

Page 2: ... contained in this publication Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other countries for OMRON factory automation products Microsoft Windows Windows Vista Excel and Visual Basic are either registered trademarks or trademarks of Microsoft Corporation in the United States and other countries EtherCAT is registered trademark and patented technolog...

Page 3: ...knowledge of electrical sys tems an electrical engineer or the equivalent Personnel in charge of introducing FA systems Personnel in charge of designing FA systems Personnel in charge of installing and maintaining FA systems Personnel in charge of managing FA systems and facilities Personnel with the qualifications authority and responsibility for providing safety at each phase of the lifecycle of...

Page 4: ...es 16 Conformance to EN ISO 13849 1 and EN 62061 17 Conformance to UL and CSA Standards 17 Conformance to KC Standards 18 Software Licenses and Copyrights 18 Unit Versions 19 Unit Versions 19 Unit Versions and Sysmac Studio Versions 21 Unit Version Notation 21 Related Manuals 22 Terminology 23 Revision History 24 Sections in this Manual 25 Section 1 Introduction to Instructions for Safety Control ...

Page 5: ...NT 2 18 WORD_TO_DINT 2 20 DWORD_TO_DINT 2 21 BYTE_TO_TIME 2 23 WORD_TO_TIME 2 24 DWORD_TO_TIME 2 25 BYTE_TO_WORD 2 26 WORD_TO_BYTE 2 27 WORD_TO_DWORD 2 28 DINT_TO_BOOL 2 29 INT_TO_BOOL 2 30 DINT_TO_BYTE 2 31 DINT_TO_DWORD 2 32 DINT_TO_WORD 2 34 INT_TO_BYTE 2 35 INT_TO_DWORD 2 36 INT_TO_WORD 2 38 DINT_TO_INT 2 40 INT_TO_DINT 2 41 DINT_TO_TIME 2 42 INT_TO_TIME 2 43 TIME_TO_BOOL 2 44 TIME_TO_BYTE 2 4...

Page 6: ...ructions 3 2 SF_CTD 3 3 SF_CTU 3 5 SF_CTUD 3 7 SF_F_TRIG 3 10 SF_R_TRIG 3 11 SF_RS 3 12 SF_SR 3 13 SF_TOF 3 14 SF_TON 3 16 SF_TP 3 18 Section 4 Safety Function Blocks General Rules for Safety Function Blocks 4 2 Safety Function Block Instructions 4 8 SF_Antivalent 4 9 SF_EDM 4 15 SF_EmergencyStop 4 23 SF_EnableSwitch 4 30 SF_Equivalent 4 36 SF_ESPE 4 42 SF_GuardLocking 4 49 SF_GuardMonitoring 4 55...

Page 7: ...5 CONTENTS NX series Safety Control Unit Instructions Reference Manual Z931 SF_TestableSafetySensor 4 113 SF_TwoHandControlTypeII 4 124 SF_TwoHandControlTypeIII 4 129 Index 2 ...

Page 8: ...CONTENTS 6 NX series Safety Control Unit Instructions Reference Manual Z931 ...

Page 9: ...ysmac Studio Automation Software Refer to the Sysmac Studio Version 1 Operation Manual Cat No W504 for information on the Sys mac Studio Purpose of use NX series Safety Control Unit User s Manual NX series Safety Control Unit Instructions Reference Manual Learning about Safety Control Units Mounting installing and making hard ware settings for Safety Control Units Making software settings for Safe...

Page 10: ...me Level 1 section number Gives the number of the section This page is for illustration only It may not literally appear in this manual s n o i t c u r t s n I m a r g a i D r e d d a L 2 2 13 NJ series Instructions Reference Manual W502 Ladder Diagram Instructions Instruction Name Page LD and LDN Load Load NOT 2 14 AND and ANDN AND AND NOT 2 16 OR and ORN OR OR NOT 2 18 Out and OutNot Output Outp...

Page 11: ... outputs it to the next instruction Use the ORN instruction for a NC bit con nected in parallel with the previous instruction Use the ORN instruction to configure a logical OR between an NC bit and one of the following a LD or LDN instruction connected directly to the bus bar or the logic block starting with a LD or LDN instruction and ending with the instruction immediately before the ORN instruc...

Page 12: ...urchase price of the non complying Product provided that in no event shall Omron be responsible for warranty repair indemnity or any other claims or expenses regarding the Products unless Omron s analysis confirms that the Products were properly handled stored installed and maintained and not subject to contamination abuse misuse or inappropriate modification Return of any Products by Buyer must b...

Page 13: ...ot be responsible for the user s programming of a programmable Product or any consequence thereof Data presented in Omron Company websites catalogs and other materials is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the result of Omron s test conditions and the user must correlate it to actual application requirements Actual perfor...

Page 14: ...Terms and Conditions Agreement 12 NX series Safety Control Unit Instructions Reference Manual Z931 ...

Page 15: ...ety Precautions NX series Safety Control Unit Instructions Reference Manual Z931 Safety Precautions Refer to the following manual for safety precautions NX series Safety Control Unit User s Manual Cat No Z930 ...

Page 16: ...series Safety Control Unit Instructions Reference Manual Z931 Precautions for Safe Use Refer to the following manual for precautions for the safe use of the Safety Control Unit NX series Safety Control Unit User s Manual Cat No Z930 ...

Page 17: ...eries Safety Control Unit Instructions Reference Manual Z931 Precautions for Correct Use Refer to the following manual for precautions for the correct use of the Safety Control Unit NX series Safety Control Unit User s Manual Cat No Z930 ...

Page 18: ...ON devices that comply with EC Directives will vary depending on the configuration wiring and other conditions of the equipment or control panel on which the OMRON devices are installed The customer must therefore perform the final check to confirm that devices and the overall machine conform to EMC standards 1 Applicable EMC Electromagnetic Compatibility standards are as follows EMS Electromagnet...

Page 19: ...nd other conditions You must therefore confirm that the overall machine or equipment in which the NX series Units are used complies with EC Directives This is a Class A product for industrial environments In a residential environment it may cause radio interference If radio interference occurs the user may be required to take appropriate mea sures International standards EN ISO 13849 1 and EN 6206...

Page 20: ... for Office Use This device obtained EMC registration for office use Class A and it is intended to be used in places other than homes Sellers and or users need to take note of this This product incorporates certain third party software The license and copyright information associated with this software is available at http www fa omron co jp nj_info_e Conformance to KC Standards Software Licenses ...

Page 21: ...upgrades The unit version is given with the Unit specifications on the side of the Unit or in the notched area The following information is provided in the Unit specifications on the Unit Unit Versions Notation of Unit Versions on Products Name Function Unit model number Gives the model of the Unit Unit version Gives the unit version of the Unit Lot number Gives the lot number of the Unit DDMYY Lo...

Page 22: ...CAT Coupler Unit in the EtherCAT Configuration Edit Tab Page and select Edit Slave Terminal Configuration Or select the EtherCAT Coupler Unit on the EtherCAT Configuration Edit Tab Page click the Edit Slave Terminal Configuration Button 2 Go online 3 Right click the EtherCAT Coupler Unit and select Display Production Information from the menu The Production Information Dialog Box is displayed In t...

Page 23: ...fer to the NX series Safety Control Unit User s Manual Cat No Z930 for the relationship between the unit versions of the CPU Units and the Sysmac Studio versions and for the functions that are sup ported by each unit version In this User s Manual unit versions are specified as shown in the following table Unit Versions and Sysmac Studio Versions Unit Version Notation Unit version in Unit specifica...

Page 24: ...nit The instructions for the Safety CPU Unit are described When programming use this manual together with the NX series Safety Control Unit User s Manual Cat No Z930 NX series Safety Con trol Unit User s Man ual Z930 NX SL NX SI NX SO Learning how to use NX series Safety Control Units The hardware setup methods and functions of the NX series Safety Control Unit are described Sysmac Studio Ver sion...

Page 25: ...nology NX series Safety Control Unit Instructions Reference Manual Z931 Terminology Refer to the NX series Safety Control Unit User s Manual Cat No Z930 for the definitions of terms that are used in this manual ...

Page 26: ...ual Revision code Date Revised content 01 June 2013 Original production 02 September 2013 Corrected mistakes 03 December 2013 Added information on timer set values Corrected mistakes 04 April 2016 Changed Section 2 Other Standard Instructions to Selection Instruc tions Added DigitalCode decimal to FB specific Error Codes and FB spe cific State Codes tables in Section 4 Safety Function Blocks Cat N...

Page 27: ...t Instructions Reference Manual Z931 1 2 3 4 3 4 1 2 Introduction to Instructions for Safety Control Units and Interpreting Instruction Descriptions Standard Functions Safety Standard Function Blocks Safety Function Blocks I I Index Sections in this Manual ...

Page 28: ...Sections in this Manual 26 NX series Safety Control Unit Instructions Reference Manual Z931 ...

Page 29: ...tells how to interpret the instruction descriptions 1 1 Types of Instructions 1 2 1 2 Interpreting Instruction Descriptions 1 3 1 2 1 Items 1 3 1 2 2 Safety Data Types and Standard Data Types 1 4 1 2 3 Valid Ranges and Default Values of Variables 1 4 1 2 4 Timer Set Values 1 5 Introduction to Instructions for Safety Control Units and Interpreting Instruction ...

Page 30: ...U Units Operating specifications however are different Type Description Standard functions These function instructions do not use safety data They include program execution control instructions data type conversion instructions Boolean operation instructions math instructions comparison instructions etc Safety standard function blocks These function block instructions use safety data They include ...

Page 31: ...fy Variables Variable The input variable or output variable is given Name The name of the variable is given Example Up counter I O Whether the variable is an input variable or output variable is given Description The meaning of the variable and any restrictions are given Valid range The range that the variable can take is given Depends on data type indicates that the valid range of the variable de...

Page 32: ...alid range column of the table that describes the variables and by in the input variable default column The valid ranges and default values of the data types are given in the following tables Function The function of the instruction is described Additional Informa tion Additional information on the function of the instruction is provided This includes related instructions and helpful information f...

Page 33: ...ly after this check the time is delayed by one safety task period Examples are provided below When the OFF Delay Timer Instruction Is Set to 500 ms and the Safety Task Period Is Set to 16 ms The timer will time out 512 ms 16 ms 32 after the safety task is started When the OFF Delay Timer Instruction Is Set to 500 ms and the Safety Task Period Is Set to 20 ms The timer will time out 520 ms 20 ms 26...

Page 34: ...1 Introduction to Instructions for Safety Control Units and Interpreting Instruction Descriptions 1 6 NX series Safety Control Unit Instructions Reference Manual Z931 ...

Page 35: ...the standard functions that you can use for NX series Safety Control Units Table of Standard Functions 2 2 Execution Control Instructions 2 5 Data Type Conversion Instructions 2 9 Boolean Operation Instructions 2 51 Math Instructions 2 55 Comparison Instructions 2 65 Selection Instructions 2 71 Standard Functions ...

Page 36: ... to inte ger BYTE_TO_INT Convert BYTE to INT Converts a BYTE variable to an INT variable P 2 16 BYTE_TO_DINT Convert BYTE to DINT Converts a BYTE variable to a DINT variable P 2 17 WORD_TO_INT Convert WORD to INT Converts a WORD variable to an INT variable P 2 18 WORD_TO_DINT Convert WORD to DINT Converts a WORD variable to a DINT variable P 2 20 DWORD_TO_DINT Convert DWORD to DINT Converts a DWOR...

Page 37: ...ger DINT_TO_INT Convert DINT to INT Converts a DINT variable to an INT variable P 2 40 INT_TO_DINT Convert INT to DINT Converts an INT variable to a DINT variable P 2 41 Integer to duration DINT_TO_TIME Convert DINT to TIME Converts a DINT variable to a TIME variable P 2 42 INT_TO_TIME Convert INT to TIME Converts an INT variable to a TIME variable P 2 43 Duration to Boolean TIME_TO_BOOL Convert T...

Page 38: ...lies integers or a dura tion P 2 60 DIV Division Divides integers or a dura tion P 2 62 Comparison EQ Equal Determines if the values of two variables are equivalent P 2 66 NE Not Equal Determines if the values of two variables are not equiv alent P 2 67 LT Less Than Performs a less than com parison between two values P 2 68 LE Less Than Or Equal Performs a less than or equal comparison between two...

Page 39: ...ion Control Instructions Type Instruction Name Description Page Execution control Jump Jump Moves processing to the jump destination specified by a label P 2 6 Return Return Returns control to the pro cess that called the POU without executing any pro cessing after RETURN P 2 8 ...

Page 40: ...hen the JUMP instruction is executed processing moves to the location marked Step1 In this exam ple programming C between the JUMP instruction and the label is not executed The outputs in pro gramming C retain the values that they had just before the JUMP instruction was executed Instruction Name FB FUN Graphic expression JUMP Jump FUN LABEL Label FUN Variables Function Label Label Programming A N...

Page 41: ...work You must use either a BOOL or SAFEBOOL execution condition for the JUMP instruction If you connect an execution condition with any other data type a building error will occur You cannot omit labels If you omit a label a building error will occur Place the JUMP instruction and label in the same POU Programming between the JUMP instruction and the label is not executed when the JUMP instruction...

Page 42: ...OL execution condition for the RETURN instruction If you connect an execution condition with any other data type a building error will occur If you use this instruction too often the flow of processing will be difficult to understand Use it with caution Programming after the RETURN instruction is not executed when the RETURN instruction is exe cuted The outputs retain the values that they had just...

Page 43: ...er BOOL_TO_INT Convert BOOL to INT Converts a BOOL variable to an INT variable P 2 12 BOOL_TO_DINT Convert BOOL to DINT Converts a BOOL variable to a DINT variable P 2 13 Boolean to duration BOOL_TO_TIME Convert BOOL to TIME Converts a BOOL variable to a TIME variable P 2 14 Boolean to bit string BOOL_TO_WORD Convert BOOL to WORD Converts a BOOL variable to a WORD variable P 2 15 ...

Page 44: ...ORD variable P 2 26 WORD_TO_BYTE Convert WORD to BYTE Converts a WORD variable to a BYTE variable P 2 27 WORD_TO_DWORD Convert WORD to DWORD Converts a WORD variable to a DWORD variable P 2 28 Integer to Boolean DINT_TO_BOOL Convert DINT to BOOL Converts a DINT variable to a BOOL variable P 2 29 INT_TO_BOOL Convert INT to BOOL Converts an INT variable to a BOOL variable P 2 30 Integer to bit strin...

Page 45: ...riable P 2 44 Duration to bit string TIME_TO_BYTE Convert TIME to BYTE Converts a TIME variable to a BYTE variable P 2 45 TIME_TO_DWORD Convert TIME to DWORD Converts a TIME variable to a DWORD variable P 2 46 TIME_TO_WORD Convert TIME to WORD Converts a TIME variable to a WORD variable P 2 47 Duration to integer TIME_TO_DINT Convert TIME to DINT Converts a TIME variable to a DINT variable P 2 48 ...

Page 46: ...u set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal Instruction Name FB FUN Graphic expression BOOL_TO_INT Convert BOOL to INT FUN Variables Name I O Description V...

Page 47: ...g error will occur If you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal Instruction Name FB FUN Graphic expression BOOL_TO_DINT Convert BOOL to DINT FUN Variab...

Page 48: ...ccur If you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal Instruction Name FB FUN Graphic expression BOOL_TO_TIME Convert BOOL to TIME FUN Variables Name I O D...

Page 49: ...rror will occur If you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal Instruction Name FB FUN Graphic expression BOOL_TO_WORD Convert BOOL to WORD FUN Variables...

Page 50: ...rminal set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal Instruction Name FB FUN Graphic expression BYTE_TO_INT Convert BYTE to INT FUN Variables Name I O Description Valid range Default In Data to con vert Input Data t...

Page 51: ...riable for the output terminal set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal Instruction Name FB FUN Graphic expression BYTE_TO_DINT Convert BYTE to DINT FUN Variables Name I O Description Valid range Default In Dat...

Page 52: ...000 binary the value of Out is INT 32768 which is INT 32768 as a 2 byte expression If the value of In is WORD 16 FFFF 1111 1111 1111 1111 binary the value of Out is INT 65535 which is INT 1 as a 2 byte expression To convert INT data to WORD data refer to INT_TO_WORD Instruction Name FB FUN Graphic expression WORD_TO_INT Convert WORD to INT FUN Variables Name I O Description Valid range Default In ...

Page 53: ... data or standard data If the condition is not met a building error will occur If you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal Precautions for Correct Use...

Page 54: ...et a safety data type variable for the output terminal set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal Instruction Name FB FUN Graphic expression WORD_TO_DINT Convert WORD to DINT FUN Variables Name I O Description Va...

Page 55: ... of In is DWORD 16 80000000 1000 0000 0000 0000 0000 0000 0000 0000 binary the value of Out is DINT 2147483648 If the value of In is DWORD 16 FFFFFFFF 1111 1111 1111 1111 1111 1111 1111 1111 binary the value of Out is DINT 1 To convert DINT data to DWORD data refer to DINT_TO_DWORD Instruction Name FB FUN Graphic expression DWORD_TO_DINT Convert DWORD to DINT FUN Variables Name I O Description Val...

Page 56: ...f the condition is not met a building error will occur If you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal Precautions for Correct Use ...

Page 57: ... variable for the output terminal set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal Instruction Name FB FUN Graphic expression BYTE_TO_TIME Convert BYTE to TIME FUN Variables Name I O Description Valid range Default In ...

Page 58: ...ety data type variable for the output terminal set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal Instruction Name FB FUN Graphic expression WORD_TO_TIME Convert WORD to TIME FUN Variables Name I O Description Valid rang...

Page 59: ...ror will occur If you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal Instruction Name FB FUN Graphic expression DWORD_TO_TIME Convert DWORD to TIME FUN Variable...

Page 60: ...set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal Instruction Name FB FUN Graphic expression BYTE_TO_WORD Convert BYTE to WORD FUN Variables Name I O Description Valid range Default In Data to con vert Input Data to con...

Page 61: ...or the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal If the input value is not between WORD 16 0000 and WORD 16 00FF a cast error will occur and the program will stop Instruction Name FB FUN Graphic expression WORD_TO_BYTE Convert WORD to BYTE FUN Variabl...

Page 62: ... set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal Instruction Name FB FUN Graphic expression WORD_TO_DWORD Convert WORD to DWORD FUN Variables Name I O Descriptio...

Page 63: ... set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal If the input value is not DINT 2147483648 to DINT 2147483647 a cast error will occur and the pro gram will stop ...

Page 64: ...pe variable for the output terminal set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal If the input value is not INT 32768 to INT 32767 a cast error will occur and the program will stop Instruction Name FB FUN Graphic ex...

Page 65: ... type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal If the input value is not DINT 0 to DINT 255 a cast error will occur and the program will stop Instruction Name FB FUN Graphic expression DINT_TO_BYTE Convert DINT to BYTE FUN Variables ...

Page 66: ...1000 0000 0000 0000 0000 0000 0000 0000 binary the value of Out is DWORD 16 80000000 If the value of In is DINT 1 1111 1111 1111 1111 1111 1111 1111 1111 binary the value of Out is DWORD 16 FFFFFFFF To convert DWORD data to DINT data refer to DWORD_TO_DINT Instruction Name FB FUN Graphic expression DINT_TO_DWORD Convert DINT to DWORD FUN Variables Name I O Description Valid range Default In Data t...

Page 67: ...y data or standard data If the condition is not met a building error will occur If you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal Precautions for Correct Us...

Page 68: ...terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal If the input value is not DINT 0 to DINT 65535 a cast error will occur and the program will stop Instruction Name FB FUN Graphic expression DINT_TO_WORD Convert DINT to WORD FUN Variables Name I O Description Valid ...

Page 69: ...a type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal If the input value is not INT 0 to INT 255 a cast error will occur and the program will stop Instruction Name FB FUN Graphic expression INT_TO_BYTE Convert INT to BYTE FUN Variables Nam...

Page 70: ... 1111 1111 1000 0000 0000 0000 binary the value of Out is DWORD 16 FFFF8000 If the value of In is INT 1 1111 1111 1111 1111 1111 1111 1111 1111 binary the value of Out is DWORD 16 FFFFFFFF There is no instruction that converts DWORD data to INT data Instruction Name FB FUN Graphic expression INT_TO_DWORD Convert INT to DWORD FUN Variables Name I O Description Valid range Default In Data to con ver...

Page 71: ... data or standard data If the condition is not met a building error will occur If you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal Precautions for Correct Use...

Page 72: ...ue of In is INT 32768 1000 0000 0000 0000 binary the value of Out is WORD 16 8000 If the value of In is INT 1 1111 1111 1111 1111 binary the value of Out is WORD 16 FFFF To convert WORD data to INT data refer to WORD_TO_INT Instruction Name FB FUN Graphic expression INT_TO_WORD Convert INT to WORD FUN Variables Name I O Description Valid range Default In Data to con vert Input Data to con vert INT...

Page 73: ... data or standard data If the condition is not met a building error will occur If you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal Precautions for Correct Use...

Page 74: ...terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal If the input value is not DINT 32768 to DINT 32767 a cast error will occur and the program will stop Instruction Name FB FUN Graphic expression DINT_TO_INT Convert DINT to INT FUN Variables Name I O Description Vali...

Page 75: ...rror will occur If you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal Instruction Name FB FUN Graphic expression INT_TO_DINT Convert INT to DINT FUN Variables N...

Page 76: ... terminal set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal If the input value is not DINT 0 to DINT 2147483647 a cast error will occur and the program will stop Instruction Name FB FUN Graphic expression DINT_TO_TIME C...

Page 77: ...ble for the output terminal set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal If the input value is not INT 0 to INT 32767 a cast error will occur and the program will stop Instruction Name FB FUN Graphic expression INT...

Page 78: ... not met a building error will occur If you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal Instruction Name FB FUN Graphic expression TIME_TO_BOOL Convert TIME ...

Page 79: ...a type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal If the input value is not TIME 0ms to TIME 255ms a cast error will occur and the program will stop Instruction Name FB FUN Graphic expression TIME_TO_BYTE Convert TIME to BYTE FUN Varia...

Page 80: ...et a safety data type variable for the output terminal set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal Instruction Name FB FUN Graphic expression TIME_TO_DWORD Convert TIME to DWORD FUN Variables Name I O Description ...

Page 81: ...or the output terminal set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal If the input value is not TIME 0ms to TIME 65s535ms a cast error will occur and the program will stop Instruction Name FB FUN Graphic expression T...

Page 82: ... If you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal Instruction Name FB FUN Graphic expression TIME_TO_DINT Convert TIME to DINT FUN Variables Name I O Descr...

Page 83: ...le for the output terminal set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal If the input value is not TIME 0ms to TIME 32s767ms a cast error will occur and the program will stop Instruction Name FB FUN Graphic expressi...

Page 84: ...pe variable for the output terminal set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal If the input value is not WORD 0 or WORD 1 a cast error will occur and the program will stop Instruction Name FB FUN Graphic expressi...

Page 85: ...on Page Boolean operations AND Logical AND Performs a logical AND on multiple Boolean variables P 2 52 OR Logical OR Performs a logical OR on multiple Boolean variables P 2 52 XOR Exclusive logical OR Performs an exclusive logi cal OR on multiple Boolean variables P 2 52 NOT Bit Reversal Reverses the value of a Boolean variable P 2 54 ...

Page 86: ... or if it is connected to an input terminal on the next instruction Instruction Name FB FUN Graphic expression AND Logical AND FUN OR Logical OR FUN XOR Exclusive logical OR FUN Variables Name I O Description Valid range Default In1 to InN Data to pro cess Input Data to pro cess TRUE or FALSE FALSE Out Processing result Output Processing result TRUE or FALSE Boolean Bit strings Integers Durations ...

Page 87: ...f there are three or more input terminals for XOR You must use Boolean variables for In1 to InN and for Out The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur Setting a Safety Data Type Variable for the Output Terminal AND Set a safety data type variable for at least one of the input terminals OR XOR Set safety ...

Page 88: ...a If the condition is not met a building error will occur If you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal Instruction Name FB FUN Graphic expression NOT B...

Page 89: ...th Instructions Type Instruction Name Description Page Math ADD Addition Adds integers or durations P 2 56 SUB Subtraction Subtracts integers or dura tions P 2 58 MUL Multiplication Multiplies integers or a dura tion P 2 60 DIV Division Divides integers or a dura tion P 2 62 ...

Page 90: ... SAFEDWORD INT SAFEINT DINT SAFEDINT TIME SAFETIME In1 to InN OK OK OK OK OK OK Out OK OK OK OK OK OK Function I O data types Value of addition results Integers Of the sum of In1 to InN the addition result will be the value that can be expressed by the number of bits in the data type of the addition result 1 2 1 For example if the value of In1 is INT 32767 and the value of In2 is INT 3 the additio...

Page 91: ...ulations are performed with DINT data Therefore addition result Out will be DINT data The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur If you set a safety data type variable for the output terminal set safety data type variables for all of the input terminals If you set a standard data type variable for the ou...

Page 92: ...nds on data type Out Output value Output Output value Depends on data type Boolean Bit strings Integers Durations BOOL SAFEBOOL BYTE SAFEBYTE WORD SAFEWORD DWORD SAFEDWORD INT SAFEINT DINT SAFEDINT TIME SAFETIME In1 OK OK OK OK OK OK In2 OK OK OK OK OK OK Out OK OK OK OK OK OK Function I O data types Value of subtraction results Integers Of the difference between In1 and In2 the subtraction result...

Page 93: ...uilding error will occur If you set a safety data type variable for the output terminal set a safety data type variable for the two input terminals as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal 3 For example if the value of In1 is TIME 10ms and the value of In2 is TIME ...

Page 94: ...data type Out Output value Output Output value Depends on data type Boolean Bit strings Integers Durations BOOL SAFEBOOL BYTE SAFEBYTE WORD SAFEWORD DWORD SAFEDWORD INT SAFEINT DINT SAFEDINT TIME SAFETIME In1 OK OK OK OK OK OK In2 to InN OK OK OK OK Out OK OK OK OK OK OK Function I O data types Value of multiplication results Integers Of the product of In1 to InN the multiplication result will be ...

Page 95: ...f the condition is not met a building error will occur If you set a safety data type variable for the output terminal set safety data type variables for all of the input terminals If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal If you set a safety data type variable for the outpu...

Page 96: ...ues to divide To divide a duration set a duration for In1 and Out and set an integer for In2 Do not allow the divisor to equal 0 If the divisor is 0 a Division by Zero error will occur and the program will stop Instruction Name FB FUN Graphic expression DIV Division FUN Variables Name I O Description Valid range Default In1 Dividend Input Dividend Depends on data type In2 Divisor Input Divisor Dep...

Page 97: ...ons are performed with DINT data Therefore division result Out will be DINT data The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur If you set a safety data type variable for the output terminal set a safety data type variable for the two input terminals as well If you set a standard data type variable for the o...

Page 98: ...2 Standard Functions 2 64 NX series Safety Control Unit Instructions Reference Manual Z931 ...

Page 99: ...66 NE Not Equal Determines if the values of two variables are not equiv alent P 2 67 LT Less Than Performs a less than com parison between two values P 2 68 LE Less Than Or Equal Performs a less than or equal comparison between two values P 2 68 GT Greater Than Performs a greater than comparison between two values P 2 68 GE Greater Than Or Equal Performs a greater than or equal comparison between ...

Page 100: ...NT You can compare integer data such as INT data with SAFEINT data and DINT data with SAFEDINT data The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur If you set a safety data type variable for the output terminal set a safety data type variable for the two input terminals as well If you set a standard data type...

Page 101: ...ch as WORD and INT You can compare integer data such as INT data with SAFEINT data and DINT data with SAFEDINT data The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur If you set a safety data type variable for the output terminal set a safety data type variable for the two input terminals as well If you set a st...

Page 102: ...ror will occur An error will not occur if the output terminal is not used or if it is connected to an input terminal on the next instruction Instruction Name FB FUN Graphic expression LT Less Than FUN LE Less Than Or Equal FUN GT Greater Than FUN GE Greater Than Or Equal FUN Variables Name I O Description Valid range Default In1 or In2 Comparison data Input Value to com pare Depends on data type O...

Page 103: ... a safety data type and a standard data type as long as the notations and sizes of the data types are the same You cannot compare data with data types that have different notations or sizes such as WORD and INT You can compare integer data such as INT data with SAFEINT data and DINT data with SAFEDINT data The input condition depends on whether the output is safety data or standard data If the con...

Page 104: ...2 Standard Functions 2 70 NX series Safety Control Unit Instructions Reference Manual Z931 ...

Page 105: ...l Unit Instructions Reference Manual Z931 2 Selection Instructions Type Instruction Name Description Page Selection SEL Bit Selection Selects one of two selec tions P 2 72 MUX Multiplexer Selects one of multiple selections P 2 74 ...

Page 106: ...t If G is TRUE In1 is assigned to Out Use the MUX instruction to select one of two or more selections Instruction Name FB FUN Graphic expression SEL Bit Selection FUN Variables Name I O Description Valid range Default G Gate Input FALSE Selects In0 TRUE Selects In1 Depends on data type FALSE In0 or In1 Selections Selections Out Selection result Output Selection result Depends on data type Boolean ...

Page 107: ...tions are performed with DINT data Therefore selection result Out will be DINT data The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur If you set a safety data type variable for the output terminal set a safety data type variable for the two input terminals as well If you set a standard data type variable for th...

Page 108: ...to the value of K In0 is assigned if K is 0 InN is assigned if K is N Use the SEL instruction to select one of two selections Instruction Name FB FUN Graphic expression MUX Multiplexer FUN Variables Name I O Description Valid range Default K Selector Input 0 Selects In0 1 Selects In1 2 Selects In2 N Selects InN Depends on data type In0 to InN Selections Selections Out Selection result Output Selec...

Page 109: ...2 MUX In0 In1 and Out may have different data types but observe the following precautions Set the valid range of Out to include the valid ranges of In0 to InN If the value of K is outside the valid range i e less than 0 or greater than N an MUX Error will occur and the program will stop Precautions for Correct Use ...

Page 110: ...2 Standard Functions 2 76 NX series Safety Control Unit Instructions Reference Manual Z931 ...

Page 111: ...ecifications of the safety standard function blocks that you can use for NX series safety control Safety Standard Function Block Instructions 3 2 SF_CTD 3 3 SF_CTU 3 5 SF_CTUD 3 7 SF_F_TRIG 3 10 SF_R_TRIG 3 11 SF_RS 3 12 SF_SR 3 13 SF_TOF 3 14 SF_TON 3 16 SF_TP 3 18 Safety Standard Function Blocks ...

Page 112: ...nter input and a down counter input P 3 7 SF_F_TRIG Down Trigger Outputs TRUE for one task period only when the input signal changes to FALSE P 3 10 SF_R_TRIG Up Trigger Outputs TRUE for one task period only when the input signal changes to TRUE P 3 11 SF_RS Reset Priority Keep Retains the value of a SAFEBOOL variable P 3 12 SF_SR Set Priority Keep Retains the value of a SAFEBOOL variable P 3 13 S...

Page 113: ... value of Q changes to TRUE After the value of CV reaches 0 or less CV does not change even if CD changes to TRUE CD is ignored while Load is TRUE CV is not decremented Instruction Name FB FUN Graphic expression SF_CTD Down counter FB Variables Input Variables Variable Name Data type Valid range Default Description CD Counter input BOOL TRUE or FALSE FALSE Counter input LOAD Load signal BOOL TRUE ...

Page 114: ...ter that increments the counter value each time the counter input signal is received Use the SF_CTUD instruction P 3 7 to create a counter that is both incremented and decremented Additional Information When CV reaches 0 Q changes to TRUE CV is decremented as soon as Load changes to FALSE When Load changes to TRUE CV is set to the value of PV and Q changes to FALSE CD A Load abc TRUE FALSE TRUE FA...

Page 115: ...fter the value of CV exceeds the value of PV CV is incremented to up to 32 767 when CU changes to TRUE CU is ignored while RESET is TRUE CV is not incremented Instruction Name FB FUN Graphic expression SF_CTU Up counter FB Variables Input Variables Variable Name Data type Valid range Default Description CU Counter input BOOL TRUE or FALSE FALSE Counter input RESET Reset signal BOOL TRUE or FALSE F...

Page 116: ... counter that decrements the counter value each time the counter input signal is received Use the SF_CTUD instruction to create a counter that is both incremented and decremented Additional Information CU A Reset abc CV ghi Q def CV is incremented as soon as Reset changes to FALSE When CV reaches PV Q changes to TRUE When Reset changes to TRUE CV is set to 0 and Q changes to FALSE PV INT 5 TRUE FA...

Page 117: ... type Valid range Default Description CU Up counter input BOOL TRUE or FALSE FALSE Up counter input CD Down counter input BOOL TRUE or FALSE FALSE Down counter input RESET Reset signal BOOL TRUE or FALSE FALSE TRUE Reset CV to 0 LOAD Load signal BOOL TRUE or FALSE FALSE TRUE Set CV to PV PV Preset value SAFEINT 0 to 32767 0 This is the count up value for an up counter or the initial value for a do...

Page 118: ...cremented or decremented If both CU and CD change to TRUE at the same time CV will not change If RESET and LOAD are both TRUE RESET has priority and the value of CV changes to 0 If RESET changes to TRUE CV changes to 0 and so QD changes to TRUE If LOAD changes to TRUE the value of CV changes to PV and so QU changes to TRUE The following table shows the relationship between RESET LOAD CV QU and QD ...

Page 119: ...c Load def CV mno PV INT 3 QU ghi QD jkl When CV reaches PV QU changes to TRUE When RESET changes to TRUE CV changes to 0 QU changes to FALSE and QD changes to TRUE When Reset changes to FALSE the counter inputs are enabled When CU changes to TRUE CV is incremented This causes QD to change to FALSE When CD changes to TRUE CV is decremented When CV reaches 0 QD changes to TRUE When Load changes to ...

Page 120: ...TRUE The following figure shows a programming example and timing chart The SF_F_TRIG instruction assigns TRUE to output signal Q for only one task period when the power supply is turned ON RUN Instruction Name FB FUN Graphic expression SF_F_TRIG Down Trigger FB Variables Input Variables Variable Name Data type Valid range Default Description CLK Input signal SAFEBOOL TRUE or FALSE FALSE Input sign...

Page 121: ...es to TRUE The following figure shows a programming example and timing chart The SF_R_TRIG instruction assigns TRUE to output signal Q for only one task period when the power supply is turned ON RUN Instruction Name FB FUN Graphic expression SF_R_TRIG Up Trigger FB Variables Input Variables Variable Name Data type Valid range Default Description CLK Input signal SAFEBOOL TRUE or FALSE FALSE Input ...

Page 122: ...a programming example and timing chart Instruction Name FB FUN Graphic expression SF_RS Reset Priority Keep FB Variables Input Variables Variable Name Data type Valid range Default Description SET Set SAFEBOOL TRUE or FALSE FALSE Set input RESET1 Reset BOOL TRUE or FALSE FALSE Reset input Given priority Output Variables Variable Name Data type Valid range Default Description Q1 Keep SAFEBOOL TRUE ...

Page 123: ...ws a programming example and timing chart Instruction Name FB FUN Graphic expression SF_SR Set Priority Keep FB Variables Input Variables Variable Name Data type Valid range Default Description SET1 Set SAFEBOOL TRUE or FALSE FALSE Set input Given priority RESET Reset BOOL TRUE or FALSE FALSE Reset input Output Variables Variable Name Data type Valid range Default Description Q1 Keep SAFEBOOL TRUE...

Page 124: ...e Default Description IN Timer input BOOL TRUE or FALSE FALSE TRUE Timer reset specification FALSE Timer start specification PT Set time TIME Depends on data type 0 Time from when timer starts until Q changes to FALSE Output Variables Variable Name Data type Valid range Default Description Q Timer output SAFEBOOL TRUE or FALSE FALSE TRUE IN is TRUE and ET is lower than PT after the timer starts FA...

Page 125: ... changes to TRUE If the timer is started and then IN changes to FALSE before ET reaches PT the timer is reset The following figure shows a programming example and timing chart for a PT of T 10ms Variable abc will change to FALSE 10 ms after variable A changes to FALSE Use the SF_TP instruction for a timer that changes the timer output to TRUE when timing starts and then changes the timer output to...

Page 126: ...e Default Description IN Timer input BOOL TRUE or FALSE FALSE TRUE Timer start specification FALSE Timer reset specification PT Set time TIME Depends on data type 0 Time from when timer starts until Q changes to TRUE Output Variables Variable Name Data type Valid range Default Description Q Timer output SAFEBOOL TRUE or FALSE FALSE TRUE ET reached PT FALSE IN is TRUE and ET is lower than PT after ...

Page 127: ...changes to FALSE If the timer is started and then IN changes to FALSE before ET reaches PT the timer is reset The following figure shows a programming example and timing chart when PT is T 10ms Variable abc will change to TRUE 10 ms after variable A changes to TRUE Use the SF_TP instruction for a timer that changes the timer output to TRUE when timing starts and then changes the timer output to FA...

Page 128: ...id range Default Description IN Timer input BOOL TRUE or FALSE FALSE TRUE Timer start specification FALSE Timer reset specification PT Set time TIME Depends on data type 0 Time that Q remains at TRUE Output Variables Variable Name Data type Valid range Default Description Q Timer output SAFEBOOL TRUE or FALSE FALSE TRUE IN is TRUE and ET is lower than PT after the timer starts FALSE ET reached PT ...

Page 129: ... The timer is not reset even if IN changes to FALSE after the timer starts but before ET reaches PT The following figure shows a programming example and timing chart for a PT of T 10ms Variable abc changes to TRUE as soon as variable A changes to TRUE Variable abc changes to FALSE 10 ms later Use the SF_TON instruction for a timer that starts when IN changes to TRUE and then changes the timer outp...

Page 130: ...3 Safety Standard Function Blocks 3 20 NX series Safety Control Unit Instructions Reference Manual Z931 ...

Page 131: ... 4 2 Safety Function Block Instructions 4 8 SF_Antivalent 4 9 SF_EDM 4 15 SF_EmergencyStop 4 23 SF_EnableSwitch 4 30 SF_Equivalent 4 36 SF_ESPE 4 42 SF_GuardLocking 4 49 SF_GuardMonitoring 4 55 SF_ModeSelector 4 61 SF_MutingPar 4 70 SF_MutingPar_2Sensor 4 82 SF_MutingSeq 4 91 SF_OutControl 4 101 SF_SafetyRequest 4 107 SF_TestableSafetySensor 4 113 SF_TwoHandControlTypeII 4 124 SF_TwoHandControlTyp...

Page 132: ...fault signal rule Outputs All outputs are refreshed each safety task period Omitting I O parameters You can omit parameters Defaults are applied for any omitted parameters However these defaults will not lead to a non safe state for the system under any circum stances Defaults are defined for attributes i e for variables or constants and for FBs Start processing Outputs are initially set to the de...

Page 133: ...y when the emergency stop button is released Use automatic resetting only when you can verify that no hazard of any sort will result from automatically resetting the Safety CPU Unit Reset BOOL TRUE or FALSE FALSE The reset input Input a variable This parameter is used for different purposes for dif ferent FBs You can use it to reset the function block status and release the relationship between th...

Page 134: ...iable is used for debugging or for further pro cessing in the user program Error BOOL TRUE or FALSE FALSE The error flag FALSE Indicates that no error has occurred The state is given by DiagCode TRUE Indicates that an error has occurred The error state is given by DiagCode DiagCode WORD Depends on FB state code 16 0000 Diagnostic information All status active non active and error for the FB is sto...

Page 135: ...769 decimal Indicates the Init state The FB detected Activate but the safety output is set to FALSE Normally the I O have the following status Activate TRUE Safety input variables TRUE or FALSE Ready TRUE Error FALSE Safety output variables FALSE 1000_0000_0000_0010 binary 8002 hex 32 770 decimal The FB is operating and a safety request input was detected For example a safety input variable is FAL...

Page 136: ... The dotted line at the top of the state transition diagram indicates transitions from not active to active The dotted line at the bottom of the diagram indicates transitions from the safe state to the normal state of the FB The priority of parallel transitions are shown with numbers The highest priority is 0 The circles that indicate the states give the status name and the hexadecimal value of Di...

Page 137: ...tion and output results of a FB are given in FB specific Error Codes and FB specific State Codes No Error on page 4 7 FB specific Error Codes FB specific State Codes No Error DiagCode hexadecimal DiagCode decimal Status name Status description and output results Cxxx 49152 to 53247 Error Ready TRUE Safety output variables FALSE Error TRUE DiagCode hexadecimal DiagCode decimal Status name Status de...

Page 138: ...evant safety guard and opens closes the safety guard P 4 55 SF_ModeSelector Mode Selector Selects the system operation mode automatic manual semi automatic etc P 4 61 SF_MutingPar Parallel Muting Performs parallel muting with four muting sensors P 4 70 SF_MutingPar_2Sensor Parallel Muting with 2 Sensors Performs parallel muting with two muting sensors P 4 82 SF_MutingSeq Sequential Muting Performs...

Page 139: ... SAFEBOOL TRUE or FALSE TRUE It functions as the input for a N O connection FALSE The N O contacts are open TRUE The N O contacts are closed N O Normally open Discrepancy Time TIME Depends on data type T 0ms It sets the maximum monitoring time for discrepancy between two inputs Output Variables Variable Data type Valid range Default Description Ready BOOL TRUE or FALSE FALSE Refer to Safety FB Com...

Page 140: ...ancy time An error occurs if a change does not occur that makes them different again within the monitoring time If S_AntivalentOut is TRUE and the signal for one channel changes the output immediately changes to FALSE If an error occurs make the inputs for both channels inactive make S_ChannelNC FALSE and make S_ChannelNO TRUE to reset the FB Set DiscrepancyTime to a value that is longer than the ...

Page 141: ...O AND NOT S_ChannelNC NOTS_ChannelNO AND NOT S_ChannelNC NOTS_ChannelNC AND S_ChannelNO NOTS_ChannelNC AND S_ChannelNO NOTS_channelNC AND S_ChannelNO NOTS_channelNC AND S_ChannelNO NOTS_ChannelNC AND S_ChannelNO NOTS_ChannelNC AND S_ChannelNO NOTS_ChannelNC AND S_ChannelNO S_ChannelNC AND NOTS_ChannelNO S_ChannelNC AND NOTS_ChannelNO NOTS_ChannelNC ANDS_ChannelNO NOTS_ChannelNC ANDS_ChannelNO Disc...

Page 142: ...ActivalentOut Error DiagCode 0000 8001 8004 8000 8000 8005 8001 8001 8014 8000 8000 8005 8001 8001 Normal operation Start Start Start Start Inputs Activate S_ChannelNC S_ChannelNO Discrepancy Timer Outputs Ready S_AntivalentOut Error DiagCode 8001 8004 8004 C001 C001 C001 C001 C001 C001 8001 8001 8000 8005 8001 Discrepancy time elapsing Normal operation Start Discrepancy Reset Error Start ...

Page 143: ...te 8004 Ready TRUE S_AntivalentOut FALSE Error TRUE C002 49154 Error 2 An input did not occur within the monitoring time in the Wait for NC state 8014 Ready TRUE S_AntivalentOut FALSE Error TRUE C003 49155 Error 3 The input did not change within the monitoring time while the state changes from the From Active Wait 8005 to the Init 8001 state S_ChannelNO did not change to TRUE after S_ChannelNC cha...

Page 144: ... 32788 Wait for NC S_ChannelNO changed to FALSE the discrepancy time timer started operation and the FB is waiting for S_ChannelNC to change to TRUE Ready TRUE S_AntivalentOut FALSE Error FALSE 8005 32773 From Active Wait One of the channels changed to FALSE the discrepancy time timer started operation and the FB is waiting for the other channel to change to FALSE Ready TRUE S_AntivalentOut FALSE ...

Page 145: ...signal from the first connected actuator FALSE The first connected actuator is in switched status TRUE The first connected actuator is in its default status S_EDM2 SAFEBOOL TRUE or FALSE FALSE A variable The feedback signal from the second connected actuator If there is only one feedback signal used in the applica tion connect it to both S_EDM1 and S_EDM2 FALSE The second connected actuator is in ...

Page 146: ...both the S_EDM1 and S_EDM2 parameters Therefore S_EDM1 and S_EDM2 will be controlled by the same signal The switching device for which the safety function is used must be selected from the category that was determined by risk assessment Activate the S_StartReset input only when you can ensure that no hazardous state will occur as the result of starting the Safety CPU Unit Output Variables Variable...

Page 147: ...te NOT Reset NOT Reset NOT Reset N O T R e s e t NOT Reset Reset AND NOT R TRIG at Reset AND NOT S_StartReset Reset AND NOT R_TRIG at Reset AND S_EDMT AND S_EDM2 OR R_TRIG at Reset AND R_TRIG at S_EDM1 AND OR S_EDM2 R_TRIG at Reset AND S_EDM1 AND S_EDM2 R_TRIG at Reset AND R_TRIG at S_ OutControl AND NOT S_StartReset S_OutControl AND NOT S_EDM1 AND OR S_EDM2 R_TRIG at Reset AND S_EDM1 AND S_EDM2 R...

Page 148: ...te S_OutControl S_EDM1 S_EDM_Out S_EDM2 MonitoringTimer S_StartReset Reset Error Ready DiagCode 0000 8001 8010 8010 8000 8000 8010 8010 8000 C091 C090 8010 S StartReset TRUE Activate S_OutControl EDM1 S_EDM_Out EDM2 MonitoringTimer S_StartReset Reset Error Ready DiagCode 0000 8010 8010 8000 8000 8010 8010 8000 C090 8010 C060 8010 0000 ...

Page 149: ...rors DiagCode hexa decimal DiagCode decimal Status name Status description and output results C001 49153 Reset Error 1 When the Init state was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S_EDM_Out FALSE Error TRUE C011 49169 Reset Error 21 An undetected change to TRUE was detected for EDM1 and Reset or equivalent signals were detected during EDM Error 11 status ...

Page 150: ...UE C071 49265 Reset Error 41 When EDM Error 31 status was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S_EDM_Out FALSE Error TRUE C081 49281 Reset Error 42 When EDM Error 32 status was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S_EDM_Out FALSE Error TRUE C091 49297 Reset Error 43 When EDM Error 33 status was entered an undetec...

Page 151: ...us of the actuator The EDM1 and EDM2 signals changed to FALSE when output was not possible and the monitoring time ended Ready TRUE S_EDM_Out FALSE Error TRUE C070 49264 EDM Error 31 The EDM1 signal is not valid during the switched status of the actuator The EDM1 signal changed to TRUE when output was possible and the monitoring time ended Ready TRUE S_EDM_Out FALSE Error TRUE C080 49280 EDM Error...

Page 152: ...fault Ready FALSE S_EDM_Out FALSE Error FALSE 8001 32769 Init The FB was activated and started Automatic resetting was FALSE at startup so resetting is necessary Ready TRUE S_EDM_Out FALSE Error FALSE 8010 32784 Output Disable EDM control is OFF The timer starts when this state is entered Ready TRUE S_EDM_Out FALSE Error FALSE 8000 32768 Output Enable EDM control is ON The timer starts when this s...

Page 153: ...FALSE Refer to Safety FB Common Input Variables on page 4 2 Reset BOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 Output Variables Variable Data type Valid range Default Description Ready BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 S_EStopOut SAFEBOOL TRUE or FALSE FALSE The safety function enable signal FALSE Disables the safety o...

Page 154: ...r waits to be reset only when the S_EStopIn input is set to TRUE The conditions for waiting to be reset are determined by the defined S_StartReset S_AutoReset and Reset inputs If S_AutoReset is TRUE the confirmation operation is performed automatically If S_AutoReset is FALSE a change to TRUE in the Reset input must be made for enable confirma tion If S_StartReset is TRUE the confirmation operatio...

Page 155: ...1 Wait for S_EStopIn 2 8004 Wait for Reset 2 8005 Reset Error 2 C002 NOT Activate Activate S_EStopIn AND S_StartReset S_EStopIn AND S_StartReset S_StartReset AND NOT S_EStopIn NOT S_StartReset NOT Reset NOT S_EStopIn NOT S_EStopIn NOT Reset NOT S_EStopIn S_EStopIn NOT S_EStopIn NOT S_EStopIn R_TRIG at Reset R_TRIG at Reset OR S_Auto Reset R_TRIG at Reset OR S_Auto Reset Reset AND NOT R_TRIG at Res...

Page 156: ...eset FALSE Start normal operation safety request and restart Timing Charts Start sequence Inputs Activate Outputs S_EStopIn Reset S_EStopOut Ready Error DiagCode 0000 8002 8003 8000 8000 8004 8005 8000 8000 0000 Normal operation with Reset Start sequence with S_StartReset Inputs Activate Outputs S_EStopIn Reset S_EStopOut Ready Error DiagCode 0000 8000 8004 8005 8000 8000 8004 8005 8000 8000 Norma...

Page 157: ...ual Z931 4 SF_EmergencyStop S_StartReset FALSE and S_AutoReset TRUE Start normal operation safety request and restart Start sequence Inputs Activate Outputs S_EStopIn Reset S_EStopOut Ready Error DiagCode 0000 8002 8003 8000 8000 8004 8000 8004 8000 8000 Normal operation with S_AutoReset ...

Page 158: ... 49153 Reset Error 1 When the Wait for Reset 1 state was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S_EStopOut FALSE Error TRUE C002 49154 Reset Error 2 When the Wait for Reset 2 state was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S_EStopOut FALSE Error TRUE DiagCode hexadecimal DiagCode decimal Status name Status descripti...

Page 159: ...s detected Make sure that Reset is FALSE The FB is waiting for S_EStopIn to change to TRUE Ready TRUE S_EStopOut FALSE Error FALSE 8005 32773 Wait for Reset 2 S_EStopIn is TRUE Check S_AutoReset Or the FB is waiting for Reset to change to TRUE Ready TRUE S_EStopOut FALSE Error FALSE 8000 32768 Safety Output Enabled S_EStopIn is TRUE and S_EStopOut is TRUE function mode Ready TRUE S_EStopOut TRUE E...

Page 160: ...ut signal from connected enable switches E3 and E4 FALSE The connected switches are open TRUE The connected switches are closed S_AutoReset SAFEBOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 Reset BOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 Output Variables Variable Data type Valid range Default Description Ready BOOL TRUE or FALSE...

Page 161: ...nputs The FB enables stopping the safety protection function only when the switch changes from position 1 to position 2 You cannot use any other direction or switch position to enable stopping the safety pro tection function This function is based on section 10 9 of IEC 60204 The type of brackets that is specified in EN 60204 is different Because it is based on section 10 9 of IEC 60204 it is nece...

Page 162: ...etyActive NOT S_SafetyActive S_SafetyActive Enable switch NOT in position 1 NO T S_SafetyActive NO T S_SafetyActive NO T S_SafetyActive E n a b l e s w i t c h i n p o s i t i o n 1 E n a b l e s w i t c h N O T i n p o s i t i o n 1 NOT Reset Reset AND NOT R_TRIG at Reset AND NOT S_AutoReset Enab le switc h in posi tion 1 Ena ble swit ch in pos ition 2 E n a b l e s w i t c h i n p o s i t i o n ...

Page 163: ...e S_SafetyActive S_EnableSwitchCh1 S_EnableSwitchCh2 Reset S_AutoReset Ready Error S_EnableSwitchOut DiagCode 0000 8004 8006 8000 8006 8004 C010 C001 C020 8006 8000 8007 S_AutoReset TRUE Activate S_SafetyActive S_EnableSwitchCh1 S_EnableSwitchCh2 Reset S_AutoReset Ready Error S_EnableSwitchOut DiagCode 0000 8004 8006 8000 8006 8004 C010 8006 8000 8007 ...

Page 164: ...pecific Error Codes Instruction Execution Errors DiagCode hexadecimal DiagCode decimal Status name Status description and output results C001 49153 Reset Error 1 When the Operation Error 2 state was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S_EnableSwitchOut FALSE Error TRUE C002 49154 Reset Error 2 When the Operation Error 4 state was entered an undetected ch...

Page 165: ...on mode is OFF Ready TRUE S_EnableSwitchOut FALSE Error FALSE 8005 32773 Safe Operation Mode Safe operation mode is ON Ready TRUE S_EnableSwitchOut FALSE Error FALSE 8006 32774 Position 1 Safe operation mode is ON and the enable switch is in position 1 Ready TRUE S_EnableSwitchOut FALSE Error FALSE 8007 32775 Position 3 Safe operation mode is ON and the enable switch is in position 3 Ready TRUE S_...

Page 166: ...RUE Input B is closed Discrepancy Time TIME Depends on data type T 0ms A constant It sets the maximum monitoring time for dis crepancy between two inputs Output Variables Variable Data type Valid range Default Description Ready BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 S_EquivalentOut SAFEBOOL TRUE or FALSE FALSE The safety output FALSE At least one of the sig...

Page 167: ... discrepancy time An error occurs if a change does not occur that makes them the same again within the monitoring time S_EquivalentOut is TRUE if the conditions for both changes are met and FALSE if the conditions are not met If an error occurs make the inputs for both channels inactive make S_ChannelA and S_ChannelA FALSE to reset the FB Set DiscrepancyTime to a value that is longer than the safe...

Page 168: ...B NOT S_ChannelA AND NOT S_ChannelA AND NOT S_ChannelB NOT S_ChannelB NOT S_ChannelA AND NOT S_ChannelB S_ChannelA AND S_ChannelA AND S_ChannelB S_ChannelB S_ChannelA AND S_ChannelB S_ChannelA NOT S_ChanneB NOT S_ChanneB NOT S_ChannelB S_ChannelB AND S_ChannelB AND NOT S_ChannelA NOT S_ChannelA S_ChannelB AND NOT S_ChannelA NOT S_ChannelA AND NOT S_ChannelA AND NOT S_ChannelB NOT S_ChannelB NOT S_...

Page 169: ...entOut Error DiagCode 0000 8001 8004 8000 8000 8005 8001 8001 8014 8000 8000 8005 8001 8001 Normal operation Start A B A B A off A B A off B off Start Start Start Inputs Activate S_ChannelA S_ChannelB Discrepancy Timer Outputs Ready S_EquivalentOut Error DiagCode 8001 8004 8004 C001 C001 C001 C001 C001 C001 8001 8001 8000 8005 8001 Discrepancy time elapsing Normal operation Start Discrepancy Reset...

Page 170: ...e Wait for Channel B state 8004 Ready TRUE S_EquivalentOut FALSE Error TRUE C002 49154 Error 2 S_ChannelA did not change to TRUE within Moni toringTime in the Wait for Channel A state 8014 Ready TRUE S_EquivalentOut FALSE Error TRUE C003 49155 Error 3 The input did not change within the monitoring time while changing from the From Active Wait 8005 to the Init 8001 state S_ChannelA or S_ChannelB di...

Page 171: ...SE 8014 32788 Wait for Channel A S_ChannelB changed to TRUE the discrepancy time timer started operation and the FB is wait ing for S_ChannelA to change to TRUE Ready TRUE S_EquivalentOut FALSE Error FALSE 8005 32773 From Active Wait One of the channels changed to FALSE the dis crepancy time timer started operation and the FB is waiting for the other channel to change to FALSE Ready TRUE S_Equival...

Page 172: ... TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 S_AutoReset SAFEBOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 Reset BOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 Output Variables Variable Data type Valid range Default Description Ready BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on ...

Page 173: ... inputs If S_AutoReset is TRUE the confirmation operation is performed automatically If S_AutoReset is FALSE a change to TRUE in the Reset input must be made for enable confirma tion If S_StartReset is TRUE the confirmation operation is performed automatically when the Safety CPU Unit first starts If S_StartReset is FALSE a change to TRUE in the Reset input must be made for enable confirma tion Ac...

Page 174: ...OTS_ESPE_in NOTS_ESPE_In S_ESPE_in S_ESPE_in S_ESPE_In S_ESPE_In AND S_StartReset S_ESPE_in AND S_ESPE_in AND S_AutoReset S_AutoReset S_ESPE_In AND S_AutoReset R_TRIG at Reset NOT S_ESPE_in NOT S_ESPE_in NOT S_ESPE_In S_ESPE_in AND S_ESPE_in AND NOT S_AutoReset NOT S_AutoReset S_ESPE_In AND NOT S_AutoReset NOT S_ESPE_In Reset AND NOT Reset AND NOT R_TRIG at Reset R_TRIG at Reset Reset AND NOT R_TR...

Page 175: ...AutoReset FALSE Start normal operation safety request and restart Timing Charts Start sequence Inputs Activate Outputs S_ESPE_In Reset S_ESPE_Out Ready Error DiagCode 0000 8002 8003 8000 8000 8004 8005 8000 8000 0000 Normal operation with Reset Start sequence with S_StartReset Inputs Activate Outputs S_ESPE_In Reset S_ESPE_Out Ready Error DiagCode 0000 8000 8004 8005 8000 8000 8004 8005 8000 8000 ...

Page 176: ...rence Manual Z931 S_StartReset FALSE and S_AutoReset TRUE Start normal operation safety request and restart Start sequence Inputs Activate Outputs S_ESPE_In Reset S_ESPE_Out Ready Error DiagCode 0000 8002 8003 8000 8000 8004 8000 8004 8000 8000 Normal operation with S_AutoReset ...

Page 177: ... undetected change to TRUE in the Reset input was detected Ready TRUE S_ESPE_Out FALSE Error TRUE C002 49154 Reset Error 2 When the Wait for Reset 2 state was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S_ESPE_Out FALSE Error TRUE DiagCode hexadecimal DiagCode decimal Status name Status description and output results 0000 0 Idle The FB is disabled default Ready ...

Page 178: ...o TRUE Ready TRUE S_ESPE_Out FALSE Error FALSE 8005 32773 Wait for Reset 2 The FB is active S_ESPE_In is TRUE Check S_AutoReset Or the FB is waiting for Reset to change to TRUE Ready TRUE S_ESPE_Out FALSE Error FALSE 8000 32768 Safety Output Enabled The FB is active S_ESPE_In is TRUE and S_ESPE_Out is TRUE function mode Ready TRUE S_ESPE_Out TRUE Error FALSE DiagCode hexadecimal DiagCode decimal S...

Page 179: ... time OFF delay etc FALSE The mechanical device is in a non safe state TRUE The mechanical device is in a safe state S_GuardLock SAFEBOOL TRUE or FALSE FALSE A variable It gives the status of the mechanical guard lock FALSE The guard is not locked TRUE The guard is locked UnlockRequest BOOL TRUE or FALSE FALSE A variable It indicates operator intervention i e a request to unlock the guard FALSE Th...

Page 180: ...nlock the guard FALSE A non safe state exists TRUE A safe state exists S_UnlockGuard SAFEBOOL TRUE or FALSE FALSE The guard unlock signal FALSE Closes the guard TRUE Releases the guard Error BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 DiagCode WORD Depends on state code 16 0000 Refer to Safety FB Common Output Variables on page 4 4 Function 1 External A request ...

Page 181: ...ive AND NOT S_GuardMonitoring S_GuardMonitoring S_GuardMonitoring S_GuardMonitoring NOT NOT S_GuardMonitoring S_GuardMonitoring NOT S_GuardMonitoring NOT UnlockRequest S_GuardMonitoring S_GuardMonitoring AND S_GuardLock AND S_GuardLock S_GuardMonitoring AND S_GuardLock NOT Reset NOT S_GuardLock NOT S_GuardLock OR NOT S_GuardMonitoring OR NOT S_GuardMonitoring NOT S_GuardLock OR NOT S_GuardMonitori...

Page 182: ... Reference Manual Z931 Timing Charts Inputs Activate S_GuardMonitoring S_SafetyActive S_GuardLock S_GuardLocked S_UnlockGuard UnlockRequest S_StartReset S_AutoReset Reset Outputs Ready Error DiagCode 0000 8001 8000 8013 8000 8000 8012 8013 8011 8003 8000 8000 8014 8014 8003 ...

Page 183: ...ecution Errors DiagCode hexadecimal DiagCode decimal Status name Status description and output results C001 49153 Reset Error 1 When the Init state was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S_GuardLocked FALSE S_UnlockGuard FALSE Error TRUE C002 49154 Reset Error 2 When the Safety Lost state C004 was entered an undetected change to TRUE in the Reset input ...

Page 184: ...closed and locked and the FB is wait ing for the operator to reset the function Ready TRUE S_GuardLocked FALSE S_UnlockGuard FALSE Error FALSE 8011 32785 Wait for Operator The FB is waiting for the operator to request unlocking the guard or resetting the function Ready TRUE S_GuardLocked FALSE S_UnlockGuard FALSE Error FALSE 8012 32786 Guard Open and Unlocked The guard is unlocked and open Ready T...

Page 185: ...chronization time to monitor between S_GuardSwitch1 and S_GuardSwitch2 S_StartReset SAFEBOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 S_AutoReset SAFEBOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 Reset BOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 Output Variables Variable Data type Valid range Defau...

Page 186: ...peration of both switches The S_GuardMonitoring output remains FALSE if only one of the inputs completes the open or close process The operation of the S_GuardMonitoring output depends on the time difference between the switch inputs If the input values from S_GuardSwitch1 and S_GuardSwitch2 are different monitoring the discrepancy time is started immediately If the inputs are still different afte...

Page 187: ...ardSwitch1 NOT S_GuardSwitch1 NOT S_GuardSwitch1 NOT S_GuardSwitch1 NOT S_GuardSwitch1 S_GuardSwitch1 S_GuardSwitch1 S_GuardSwitch1 S_GuardSwitch2 S_GuardSwitch2 S_GuardSwitch2 NOT S_GuardSwitch2 NOT S_GuardSwitch2 NOT S_GuardSwitch2 NOT S_GuardSwitch1 AND NOT S_GuardSwitch1 AND NOT S_GuardSwitch2 NOT S_GuardSwitch2 NOT S_GuardSwitch1 AND NOT S_GuardSwitch1 AND NOT S_GuardSwitch2 NOT S_GuardSwitch...

Page 188: ...g Discrepancy Timer S_StartReset S_AutoReset Reset Outputs Ready Error DiagCode 0000 8003 8003 8012 8002 8000 8014 8003 8000 8002 8012 8012 8003 C001 8012 Inputs Activate S_GuardSwitch1 S_GuardSwitch2 S_GuardMonitoring Discrepancy Timer S_StartReset S_AutoReset Reset Outputs Ready Error DiagCode in hex 8012 8004 8004 8012 C011 C011 8014 8003 8002 8002 8012 8003 8000 0000 ...

Page 189: ...rors When an error occurs the S_GuardMonitoring output is set to FALSE If the two inputs S_GuardSwitch1 and S_GuardSwitch2 are bridged an error is not detected To reset the Reset Error state you must set the Reset input to FALSE The S_GuardSwitch1 and S_GuardSwitch2 inputs must both be set to FALSE to reset a discrep ancy time error FB specific Error Codes FB specific State Codes No Error Instruct...

Page 190: ...t to change to TRUE Ready TRUE S_GuardMonitoring FALSE Error FALSE 8012 32786 Guard Opened The guard is completely open Ready TRUE S_GuardMonitoring FALSE Error FALSE 8004 32772 Wait for GuardSwitch2 S_GuardSwitch1 changed to TRUE waiting for S_GuardSwitch2 The discrepancy timer started Ready TRUE S_GuardMonitoring FALSE Error FALSE 8014 32788 Wait for GuardSwitch1 S_GuardSwitch2 changed to TRUE w...

Page 191: ...ade by the operator to select mode 1 TRUE A request was made by the operator to select mode 1 S_Mode2 SAFEBOOL TRUE or FALSE FALSE A constant or a variable It is input 2 from the mode selection switch FALSE No request was made by the operator to select mode 2 TRUE A request was made by the operator to select mode 2 S_Mode3 SAFEBOOL TRUE or FALSE FALSE A constant or a variable It is input 3 from th...

Page 192: ...mode FALSE The actual S_ModeXSel output is locked so the S_ModeXSel output will not change even if the S_ModeX input has changed when S_SetMode changes to TRUE TRUE The mode can be changed because the selected S_ModeXSel output is not locked S_SetMode SAFEBOOL TRUE or FALSE FALSE A constant or a variable If AutoSetMode is FALSE this variable executes the selected mode change TRUE The selected mode...

Page 193: ...ted or the selection was not confirmed TRUE Mode 3 was selected and confirmed S_Mode4Sel SAFEBOOL TRUE or FALSE FALSE Indicates that mode 4 was selected and acknowledged FALSE Mode 4 was not selected or the selection was not confirmed TRUE Mode 4 was selected and confirmed S_Mode5Sel SAFEBOOL TRUE or FALSE FALSE Indicates that mode 5 was selected and acknowledged FALSE Mode 5 was not selected or t...

Page 194: ...el output If AutoSetMode is TRUE A new S_ModeX automatically produces a new S_ModeXSel output When an S_ModeX input is TRUE only transitions such as from 8005 to 8000 are valid As long as S_ModeX is FALSE the FB will retain state 8005 even if a change to TRUE is detected for S_SetMode The time is not monitored for a transition from the ModeChanged to the ModeSelected state i e when S_SetMode is ch...

Page 195: ...set Error 2 C004 Mode Changed 8005 Activate NOT Activate Reset AND NOT R_TRIG at Reset NOT Reset Reset AND NOT R_TRIG at Reset NOT Reset R_TRIG at Reset R_TRIG at Reset Error 1 Error 2 Error 1 S_ModeX changed AutoSetMode OR AutoSetMode OR R_TRIG at S_Setmode R_TRIG at S_Setmode AND SUnlock AND AND SUnlock AND one S_ModeX TRUE one S_ModeX TRUE AutoSetMode OR R_TRIG at S_SetMode AND S_Unlock AND one...

Page 196: ... Instructions Reference Manual Z931 Timing Charts S_Mode2 S_Mode3 S_SetMode S_Mode2Sel S_Mode3Sel S_AnyModeSel ModeMonitorTime 1 0 DiagCode 8000 8005 8000 S_Mode2 Other S_ModeX Error S_Mode2Sel S_ModeXSel S_AnyModeSel ModeMonitorTime 1 0 DiagCode 8000 8005 C002 ...

Page 197: ...4 67 4 Safety Function Blocks NX series Safety Control Unit Instructions Reference Manual Z931 4 SF_ModeSelector S_Mode2 Error Reset S_SetMode S_Mode2Sel S_AnyModeSel 1 0 DiagCode 8000 8005 C002 ...

Page 198: ...changes to TRUE and the FB changes from an error state to the ModeChanged state FB specific Error Codes Instruction Execution Errors DiagCode hexadecimal DiagCode decimal Status name Status description and output results C001 49153 Error Short circuit The FB detected that more than one S_ModeX input is TRUE For example the cable may be short circuited Ready TRUE Error TRUE S_AnyModeSel FALSE All S...

Page 199: ...SE 8005 32773 ModeChanged The state after the FB is activated after the S_ModeX inputs changed but the mode is not locked or after an error state was reset Ready TRUE Error FALSE S_AnyModeSel FALSE All S_ModeXSel FALSE 8000 32768 ModeSelected A valid mode is selected but not yet locked Ready TRUE Error FALSE S_AnyModeSel TRUE All S_ModeXSel Selected X is TRUE and others are FALSE 8004 32772 ModeLo...

Page 200: ... sensor 11 MutingSwitch12 BOOL 1 TRUE or FALSE FALSE A variable It is the status of muting sensor 12 FALSE Muting sensor 12 is not operating TRUE A workpiece activated muting sensor 12 MutingSwitch21 BOOL 1 TRUE or FALSE FALSE A variable It is the status of muting sensor 21 FALSE Muting sensor 21 is not operating TRUE A workpiece activated muting sensor 21 MutingSwitch22 BOOL 1 TRUE or FALSE FALSE...

Page 201: ...uired in the machine cycle You can change this signal to OFF after muting starts FALSE Disables muting TRUE Enables starting muting S_StartReset SAFEBOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 Reset BOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 1 You must connect a SAFEBOOL variable not a BOOL variable depending on safety requirem...

Page 202: ... time parameters DiscTime11_12 DiscTime21_22 and MaxMutingTime Activate the S_StartReset input only when you can ensure that no hazardous state will occur as the result of starting the Safety CPU Unit A FB error will occur if the same variable is assigned to the input and the discrepancy time is set to 0 SF_MutingPar Instruction Application Example for Forward Entry with Four Sensors Function Orde...

Page 203: ...t AND NOT S_StartReset NOT Reset S_AOPD_In S_AOPD_In R_TRIG at Reset Reset AND NOT R_TRIG at Reset Time parameters out of range Time parameters within range AND R_TRIG at Reset NOT S_AOPD_In NOT S_AOPD_In NOT S_MutingLamp NOT S_MutingLamp NOT NOT S_Muting Lamp S_Muting Lamp NOT S_MutingLamp NOT NOT S_AOPD_in S_AOPD_in not in states not in states 8012 8021 or 8012 8021 or 8112 8121 8112 8121 NOT S_...

Page 204: ... 8014 to 8021 when MS_22 is the second switch to stop muting Timer for DiscTime21_22 stopped MS_11 AND MS_12 AND MS_21 AND R_TRIG at MS_22 Muting Condition 25 8314 to 8021 when MS_21 is the second switch to stop muting Timer for DiscTime21_22 stopped MS_11 AND MS_12 AND R_TRIG at MS_21 AND MS_22 Muting Condition 5 8021 to 8000 when one of the muting stop switches is reset Timer for MaxMutingTime s...

Page 205: ...e OR MS_11 OR MS_12 AND MS_21 OR MS_22 OR R_TRIG at MS_11 AND MS_12 AND NOT R_TRIG at MS_12 OR R_TRIG at MS_12 AND MS_11 AND NOT R_TRIG at MS_11 OR R_TRIG at MS_21 AND MS_22 AND NOT R_TRIG at MS_22 OR R_TRIG at MS_22 AND MS_21 AND NOT R_TRIG at MS_21 OR MS_11 AND NOT R_TRIG at MS_11 AND MS_12 AND NOT R_TRIG at MS_12 OR MS_21 AND NOT R_TRIG at MS_21 AND MS_22 AND NOT R_TRIG at MS_22 State 8011 NOT ...

Page 206: ...ALSE An undetected change to TRUE in the Reset input was detected in state 8001 or 8003 Operation for Errors When an error occurs the S_AOPD_Out and S_MutingActive outputs are set to FALSE The DiagCode output gives the relevant error code and the Error output is set to TRUE Operation is not restarted until the error is reset and the operator acknowledges the safe state with Reset FB specific Error...

Page 207: ...s C0x4 Error occurred in state 8000 C1x4 Error occurred in forward direction in state 8011 C2x4 Error occurred in forward direction in state 8311 C3x4 Error occurred in forward direction in state 8012 C4x4 Error occurred in forward direction in state 8014 C5x4 Error occurred in forward direction in state 8314 C6x4 Error occurred in forward direction in state 8021 C7x4 Error occurred in backward di...

Page 208: ...SE S_MutingActive FALSE Error TRUE C008 49160 Error Timer MS21_22 Timing error Discrepancy time between MutingSwitch21 and MutingSwitch22 exceeded DiscTime21_22 Ready TRUE S_AOPD_Out FALSE S_MutingActive FALSE Error TRUE 1 Find the DiagCode hexadecimal value with the information given in Status description and output results and then convert it to the DiagCode decimal value DiagCode hexadecimal Di...

Page 209: ...SE Error FALSE 8005 32773 Safe The safety function is operating Ready TRUE S_AOPD_Out FALSE S_MutingActive FALSE Error FALSE 8011 32785 Muting Forward Start 1 A forward muting sequence is being started after MutingSwitch11 changed to TRUE Moni toring is active for DiscTime11_12 Monitoring is active for MaxMutingTime Ready TRUE S_AOPD_Out TRUE S_MutingActive FALSE Error FALSE 8311 33553 Muting Forw...

Page 210: ... DiscTime21_22 is started Ready TRUE S_AOPD_Out TRUE S_MutingActive TRUE Error FALSE 8314 33556 Muting Forward Step 2 A forward muting sequence is in operation MutingSwitch22 operates as the first muting stop switch Monitoring for DiscTime21_22 is started Ready TRUE S_AOPD_Out TRUE S_MutingActive TRUE Error FALSE 8021 32801 Muting Forward Active 2 A forward muting sequence is still in operation Bo...

Page 211: ... is started after a transition directly from state 8000 Ready TRUE S_AOPD_Out TRUE S_MutingActive TRUE Error FALSE 8114 33044 Muting Backward Step 1 A backward muting sequence is in operation MutingSwitch11 operates as the first muting stop switch Monitoring for DiscTime11_12 is started Ready TRUE S_AOPD_Out TRUE S_MutingActive TRUE Error FALSE 8414 33812 Muting Backward Step 2 A backward muting s...

Page 212: ...ng sensor 11 is not operating TRUE A workpiece activated muting sensor 11 S_MutingSwitch 12 SAFEBOOL TRUE or FALSE FALSE A variable It is the status of muting sensor 12 FALSE Muting sensor 12 is not operating TRUE A workpiece activated muting sensor 12 S_MutingLamp SAFEBOOL TRUE or FALSE FALSE A constant or a variable It is the muting lamp status input e g filament broken status FALSE Muting lamp ...

Page 213: ...FB include two muting sensor signals S_MutingSwitch11 and S_MutingSwitch12 an OSSD signal from a photoelectric protection device S_AOPD_In and two time parameters DiscTimeEntry and MaxMutingTime Activate the S_StartReset input only when you can ensure that no hazardous state will occur as the result of starting the Safety CPU Unit MutingEnable BOOL TRUE or FALSE FALSE A constant or a variable It i...

Page 214: ...e Light Barriers Order Diagram Description 1 If reflection light barriers are used as muting sensors they are generally arranged diago nally In general this arrangement of reflec tion light barriers as muting sensors requires only two light barriers and only S_MutingSwitch11 MS_11 and S_MutingSwitch12 MS_12 are allocated MS_11 MS_12 Receiver Transmitter Danger zone ...

Page 215: ...ting Wrong Muting sequence sequence NOT NOT S_AOPD_In S_AOPD_In not in states not in states 8012 8012 NOT NOT S_MutingLamp S_MutingLamp Wrong Muting Wrong Muting sequence sequence S_AOPD_Out FALSE S_AOPD_Out FALSE S_AOPD_Out TURE S_AOPD_Out TURE Muting Muting condition2 condition2 Muting Muting condition4 condition4 Reset AND NOT R_TRIG at Reset Reset AND NOT R_TRIG at Reset AND NOT S_StartReset N...

Page 216: ... the second switch to start muting Timer for DiscTimeEntry stopped MutingEnable AND R_TRIG at MS_11 AND MS_12 Muting Condition 5 8000 to 8012 when both switches simultaneously enable muting Timer for MaxMutingTime started MutingEnable AND R_TRIG at MS_11 AND R_TRIG at MS_12 Muting Condition 6 8012 to 8000 when both switches simultaneously reset muting or when MS_11 and MS_12 are consecutively rese...

Page 217: ...as indicated S_MutingLamp FALSE An undetected change to TRUE in the Reset input was detected in the Init state or the Wait for Reset state Operation for Errors When an error occurs the S_AOPD_Out and S_MutingActive outputs are set to FALSE The DiagCode output gives the relevant error code and the Error output is set to TRUE Operation is not restarted until the error is reset and the operator ackno...

Page 218: ...occurred in state 8311 CFx4 MutingEnable was not detected x Muting sensor status when the error occurred 4 bits LSB MS_11 Next bit after LSB MS_12 CY04 Both switches are FALSE CY14 S_MutingSwitch11 TRUE CY24 S_MutingSwitch12 TRUE CY34 Both switches are TRUE C005 49157 Parameter Error The value of DiscTimeEntry or MaxMutingTime is out of range Ready TRUE S_AOPD_Out FALSE S_MutingActive FALSE Error ...

Page 219: ...erating it stops Ready TRUE S_AOPD_Out TRUE S_MutingActive FALSE Error FALSE 8001 32769 Init The FB was started Ready TRUE S_AOPD_Out FALSE S_MutingActive FALSE Error FALSE 8002 32770 Safety Demand AOPD Muting is disabled The control input from AOPD is disabled Ready TRUE S_AOPD_Out FALSE S_MutingActive FALSE Error FALSE 8003 32771 Wait for Reset A safety request or error was detected and cleared ...

Page 220: ...SE 8012 32786 Muting Active A muting sequence is in operation for one of the following A change to TRUE was detected in the second muting switch of S_MutingSwitch11 and S_MutingSwitch12 Both S_MutingSwitch11 and S_MutingSwitch12 were started in the same cycle Monitoring for DiscTimeEntry was stopped Moni toring for MaxMutingTime was started Ready TRUE S_AOPD_Out TRUE S_MutingActive TRUE Error FALS...

Page 221: ...riable It is the status of muting sensor 12 FALSE Muting sensor 12 is not operating TRUE A workpiece activated muting sensor 12 MutingSwitch21 BOOL 1 TRUE or FALSE FALSE A variable It is the status of muting sensor 21 FALSE Muting sensor 21 is not operating TRUE A workpiece activated muting sensor 21 MutingSwitch22 BOOL 1 TRUE or FALSE FALSE A variable It is the status of muting sensor 22 FALSE Mu...

Page 222: ...rward or backward passage To prevent manual operation muting must also be enabled by process control with the MutingEnable signal to perform muting If the MutingEnable signal is inactive it must be set to TRUE MutingEnable BOOL TRUE or FALSE FALSE A constant or a variable It is a command from the control system to enable starting muting as required in the machine cycle You can change this signal t...

Page 223: ... passage of a workpiece turns ON MutingSwitch11 MS_11 and then MutingSwitch12 MS_12 2 Muting mode is enabled as long as MutingSwitch11 MS_11 and MutingSwitch12 MS_12 remain ON due to the workpiece This allows the workpiece to pass through the light curtain without stop ping the machine 3 MutingSwitch21 MS_21 and MutingSwitch22 MS_22 must turn ON before MutingSwitch11 MS_11 and MutingSwitch12 MS_12...

Page 224: ...2 is the first switch to enable muting Timer for MaxMutingTime started MutingEnable AND NOT MS_11 AND NOT MS_12 AND NOT MS_21 AND R_TRIG at MS_22 Muting Condition 12 8122 to 8112 when MS_21 is the second switch to enable muting MutingEnable AND NOT MS_11 AND NOT MS_12 AND R_TRIG at MS_21 AND MS_22 Muting Condition 13 8112 to 8000 when MS_12 is the first switch to disable muting Timer for MaxMuting...

Page 225: ..._MutingLamp S_MutingLamp Wrong Muting Wrong Muting sequence sequence Timerewpired Timerewpired Reset AND NOT R_TRIG at Reset Reset AND NOT R_TRIG at Reset AND NOT S_StartReset NOT Reset Timeparemeter within range AND R_TRIG at Reset Timeparameter out of range R_TRIG at Reset ORS_Start Reset NOT MS_11 OR MS_12 OR MS_21 OR MS_22 NOT MS_11 OR MS_12 OR MS_21 OR MS_22 Error Timer MaxMuting C006 Error M...

Page 226: ...Instructions Reference Manual Z931 SF_MutingSeq Instruction Timing Chart When S_StartReset TRUE Timing Charts Activate Muting Enable S_AOPD_In S_AOPD_Out S_MutingActive MutingSwitch11 MutingSwitch12 MutingSwitch21 MutingSwitch22 DiagCode 8000 8000 8011 8012 0000 ...

Page 227: ...tive outputs are set to FALSE The DiagCode output gives the relevant error code and the Error output is set to TRUE Operation is not restarted until the error is reset and the operator acknowledges the safe state with Reset FB specific Error Codes Instruction Execution Errors DiagCode hexadecimal DiagCode decimal Status name Status description and output results C001 49153 Reset Error 1 When the I...

Page 228: ...detected x Sensor status when the error occurred 4 bits LSB MS_11 MS_12 MS_21 MSB MS_22 C005 49157 Parameter Error The value of MaxMutingTime is outside of the valid range Ready TRUE S_AOPD_Out FALSE S_MutingActive FALSE Error TRUE C006 49158 Error Timer MaxMuting Timing error The effective muting time while S_MutingActive TRUE exceeded MaxMuting Time Ready TRUE S_AOPD_Out FALSE S_MutingActive FAL...

Page 229: ...detected and cleared The operator must respond with Reset Ready TRUE S_AOPD_Out FALSE S_MutingActive FALSE Error FALSE 8005 32773 Safe The safety function is operating Ready TRUE S_AOPD_Out FALSE S_MutingActive TRUE Error FALSE 8011 32785 Muting Forward Start A forward muting sequence is being started and there is no safety request Ready TRUE S_AOPD_Out TRUE S_MutingActive FALSE Error FALSE 8012 3...

Page 230: ...eference Manual Z931 8122 33058 Muting Backward Start A backward muting sequence is being started and there is no safety request Ready TRUE S_AOPD_Out TRUE S_MutingActive FALSE Error FALSE DiagCode hexadecimal DiagCode decimal Status name Status description and output results ...

Page 231: ...cessControl BOOL TRUE or FALSE FALSE A constant or a variable It is a control signal from the function application FALSE Request to set S_OutControl to FALSE TRUE Request to set S_OutControl to TRUE StaticControl BOOL TRUE or FALSE FALSE A constant It is the process control option status FALSE A change to TRUE in ProcessControl is required after the FB is started or after the safety function is tr...

Page 232: ... necessary to start the function again by changing ProcessControl to TRUE after the FB starts or after the safety signal S_SafeControl feedback As long as the other conditions are met an always TRUE signal for ProcessControl will set S_OutControl to TRUE Activate the StaticControl S_StartReset and S_AutoReset inputs only when you can ensure that no hazardous state will occur as the result of start...

Page 233: ... R_TRIG at Reset AND R_TRIG at Process Control NOT Reset NOT Reset Reset AND NOT R_TRIG at Reset ANDNOT S_StartReset NOT Reset NOT Reset Reset AND NOT R_TRIG at Reset ANDNOT S_AutoReset R_TRIG at Reset R_TRIG at Reset AND AND R_TRIG at R_TRIG at Process Control Process Control R_TRIG at Reset AND R_TRIG at Process Control S_SafeControl NOT S_SafeControl NOT S_SafeControl N O T S _ S a f e C o n t ...

Page 234: ..._StartReset S_AutoReset S_OutControl Reset Ready DiagCode Error StaticControl 0000 8001 8010 8010 8000 8000 8000 8002 8002 C002 8003 8003 S_StartReset FALSE Activate S_SafeControl ProcessControl S_StartReset S_AutoReset S_OutControl Reset Ready DiagCode Error StaticControl 0000 C010 8010 8002 8000 8003 8002 C010 8003 8010 8010 8000 S_StartReset TRUE ...

Page 235: ... the FB is started you can change the Reset input to TRUE to reset the optional startup inhibit FB specific Error Codes Instruction Execution Errors DiagCode hexadecimal DiagCode decimal Status name Status description and output results C001 49153 Reset Error 1 When the Init state was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S_OutControl FALSE Error TRUE C002...

Page 236: ...FB is activated S_StartReset is ON Resetting is required Ready TRUE S_OutControl FALSE Error FALSE 8002 32770 Safe S_SafeControl changed to OFF so S_OutControl changed to OFF Ready TRUE S_OutControl FALSE Error FALSE 8003 32771 Lock S_SafeControl changed to ON and S_AutoReset changed to OFF so the FB is waiting for a Reset input Ready TRUE S_OutControl FALSE Error FALSE 8010 32784 Output Disable P...

Page 237: ...ALSE Operation mode i e non safe state TRUE Safe mode MonitoringTime TIME Depends on data type T 0s A constant It inputs the monitoring time from the safe mode request i e from when S_OpMode changed to FALSE until the actuator response i e when S_Acknowledge changes to TRUE Reset BOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 Output Variables Variable Data type Vali...

Page 238: ...ram However there are only two binary signals the request signal and acknowledge signal that are used to control the safe state of the actuator This safety function is provided by the actuator Therefore the FB only starts a request monitors the request and sets an output after confirming the safe state of the actuator This output is given by the S_SafetyActive output This FB does not define actuat...

Page 239: ... S_Acknowledge S_Acknowledge NOT S_Acknowledge R_TRIG at Reset R_TRIG at Reset AND NOT S_Acknowladge AND NOT S_Acknowladge R_TRIG at Reset AND NOT S_Acknowledge S_Acknowledge NOT S_Opmode NOT S_Opmode NOT S_OpMode S_OpMode NOT S_OpMode NOT S_OpMode NOT S_OpMode S_OpMode Reset AND NOT R_TRIG at Reset S_Opmode S_Opmode S_OpMode Monitoring Time elapsed Idle 0000 Init 8001 Wait for OpMode 8005 1 Reset...

Page 240: ...uctions Reference Manual Z931 Timing Charts Activate S_OpMode Inputs S_Acknowledge S_SafetyActive S_SafetyRequest Reset Ready DiagCode 00 00 80 01 80 00 80 8002 8002 8002 8003 8003 8000 12 80 12 C0 03 Error Outputs Monitoring Timer t Monitoring Time t Monitoring Time ...

Page 241: ... for an error After this reset the S_OpMode request must be set to TRUE to enable the FB to continue functioning FB specific Error Codes Instruction Execution Errors DiagCode hexadecimal DiagCode decimal Status name Status description and output results C002 49154 Acknowledge Lost The acknowledge signal was lost in the Safe state Ready TRUE S_SafetyActive FALSE S_SafetyRequest FALSE Error TRUE C00...

Page 242: ...afetyActive FALSE S_SafetyRequest FALSE Error TRUE 8002 32770 Operation Mode An operation mode exists for which safe mode can not be confirmed Ready TRUE S_SafetyActive FALSE S_SafetyRequest TRUE Error FALSE 8012 32786 Wait for Confirmation OpMode An operation mode exists for which safe mode was confirmed Ready TRUE S_SafetyActive FALSE S_SafetyRequest TRUE Error FALSE 8003 32771 Wait for Confirma...

Page 243: ...le It is the sensor test start input S_TestOut is set and the internal time monitor in the FB is started FALSE There is no test request TRUE There is a test request TestTime TIME 0 to 150 ms T 10ms A constant It inputs the test monitoring time for the safety sensor NoExternalTest BOOL TRUE or FALSE FALSE A constant It indicates if a manual external test is sup ported for the sensor FALSE A manual ...

Page 244: ...rms a pair with the sensor test input Although SAFE BOOL is specified this signal is commonly connected to a BOOL output FALSE There is a test request TRUE There is no test request TestPossible BOOL TRUE or FALSE FALSE The feedback signal to the process FALSE An automatic sensor test cannot be performed TRUE An automatic sensor test can be performed TestExecuted BOOL TRUE or FALSE FALSE When the s...

Page 245: ...an applicable input device e g safety input terminal You must select the ESPE according to the required category in product specifications IEC 61496 1 IEC 61496 2 IEC 61496 3 and IEC 13849 You must monitor testing with a separate mechanism to ensure that the test is started at a suitable interval Activate the S_StartReset and S_AutoReset inputs only when you can ensure that no hazardous state will...

Page 246: ...D NOT No External Test R_TRIG at Reset AND NOT No External Test Reset AND NOT R_TRIG at Reset NOT Reset NOT Reset NOT Reset Test Time Timer2 Test Time Timer2 elapsed elapsed Test Time Timer2 elapsed Test Time Timer1 Test Time Timer1 elapsed elapsed Test Time Timer1 elapsed S_OSSD_In AND S_OSSD_In AND R_TRIG at Reset AND R_TRIG at Reset AND No External Test No External Test S_OSSD_In AND R_TRIG at ...

Page 247: ...ence Manual Z931 4 SF_TestableSafetySensor Timing Charts Activate S_OSSD_In StartTest TestTimer1 TestTimer2 Reset NoExternalTest S_AutoReset S_OSSD_Out Ready S_StartReset TestExecuted S_TestOut DiagCode Error 0000 8001 8000 8000 0000 8010 8012 8012 8013 8013 8020 8030 TestPossible ...

Page 248: ...After S_OSSD_In changes to TRUE you can reset the FB by making the Reset input TRUE After the FB starts you can reset the FB by making the Reset input TRUE FB specific Error Codes Instruction Execution Errors DiagCode hexadecimal DiagCode decimal Status name Status description and output results C000 49152 Parameter Error The TestTime parameter is set to an invalid value The setting range is from ...

Page 249: ...UE C005 49157 Reset Error 5 When state 8006 End External Test was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S_OSSD_Out FALSE S_TestOut TRUE TestPossible FALSE TestExecuted FALSE Error TRUE C006 49158 Reset Error 6 When state C000 Parameter Error was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S_OSSD_Out FALSE S_TestOut TRUE ...

Page 250: ...agCode hexadecimal DiagCode decimal Status name Status description and output results 0000 0 Idle The FB is disabled default Ready FALSE S_OSSD_Out FALSE S_TestOut TRUE TestPossible FALSE TestExecuted FALSE Error FALSE 8001 32769 Init The FB detected an activate signal and the FB is active Ready TRUE S_OSSD_Out FALSE S_TestOut TRUE TestPossible FALSE TestExecuted FALSE Error FALSE 8002 32770 ESPE ...

Page 251: ... FALSE 8005 32773 ESPE Interrupted External Test The automatic sensor test failed An external manual sensor test is required The FB started support for the required external manual sensor test NoExternalTest FALSE The sensor sig nal must be TRUE Ready TRUE S_OSSD_Out FALSE S_TestOut TRUE TestPossible FALSE TestExecuted FALSE Error FALSE 8006 32774 End External Test The automatic sensor test failed...

Page 252: ... FALSE Error FALSE 8030 32816 Test Active An automatic sensor test is in progress The FB is waiting for the signal from the sensor to change to FALSE The time from when a test was requested from the sensor until the sensor signal changes to TRUE is being monitored Ready TRUE S_OSSD_Out TRUE S_TestOut TRUE TestPossible FALSE TestExecuted FALSE Error FALSE 8000 32768 ESPE Free Test ok The FB did not...

Page 253: ...tableSafetySensor 8013 32787 Wait for Reset 2 The FB is waiting for Reset to change to TRUE after the EPSE Interrupted 2 state Ready TRUE S_OSSD_Out FALSE S_TestOut TRUE TestPossible FALSE TestExecuted TRUE Error FALSE DiagCode hexadecimal DiagCode decimal Status name Status description and output results ...

Page 254: ...FALSE A variable It is the button 2 input category 3 or 4 for two antivalent contacts FALSE Button 2 is OFF TRUE Button 2 is ON Output Variables Variable Data type Valid range Default Description Ready BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 S_TwoHandOut SAFEBOOL TRUE or FALSE FALSE The safety output signal FALSE A button is not being operated or correct two...

Page 255: ...am 1 1 1 1 1 1 1 1 1 1 2 2 2 2 2 3 3 3 Idle 0000 Init 8001 Error C001 B1 C002 B2 C003 B1 B2 Locked On 8019 Button 1 Actuated 8005 Button 2 Actuated 8006 Buttons Released 8004 Button 2 Released 8007 Button 1 Released 8008 Locked Off 8009 2 3 2 3 3 0 3 NOT B1 OR B2 NOT B1 OR B2 NOT B1 OR B2 N O T B 1 O R B 2 N O T B 1 O R B 2 NOT B1 OR B2 NOT B1 AND B2 NOT B1 AND B2 N O T B 1 A N D B 2 B1 B1 B1 B2 B...

Page 256: ...on Blocks 4 126 NX series Safety Control Unit Instructions Reference Manual Z931 Timing Charts Activate S_Button1 S_Button2 S_TwoHandOut Error Ready DiagCode 0000 C003 8004 8004 8006 8000 8008 8009 8007 8004 8006 8000 ...

Page 257: ... S_Button1 was TRUE when the FB was activated Ready TRUE Error TRUE S_TwoHandOut FALSE C002 49154 Error B2 S_Button2 was TRUE when the FB was activated Ready TRUE Error TRUE S_TwoHandOut FALSE C003 49155 Error B1 B2 S_Button1 and S_Button2 were TRUE when the FB was acti vated Ready TRUE Error TRUE S_TwoHandOut FALSE DiagCode hexadecimal DiagCode decimal Status name Status description and output re...

Page 258: ... 1 Released The safety output was enabled and then disabled again After the safety output was disabled S_Button1 and S_Button2 did not both change to FALSE In this state S_Button1 is FALSE and S_Button2 is TRUE after the safety output is dis abled Ready TRUE Error FALSE S_TwoHandOut FALSE 8009 32777 Locked Off The safety output was enabled and then disabled again After the safety output was disabl...

Page 259: ... FALSE FALSE A variable It is the button 2 input category 3 or 4 for two antivalent contacts FALSE Button 2 is OFF TRUE Button 2 is ON Output Variables Variable Data type Valid range Default Description Ready BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 S_TwoHandOut SAFEBOOL TRUE or FALSE FALSE The safety output signal FALSE A button is not being operated or corr...

Page 260: ...Released 8004 Button 1 Released 8008 Button 2 Released 8007 Locked Off 8009 Locked On 8019 1 Error 2 C004 B1 C005 B2 C006B1 B2 1 1 Button 2 Actuated 8006 Button 1 Actuated 8005 Buttons Actuated 8000 B1 B2 NOT B1 OR B2 NOT B1 OR B2 NOT B1 OR B2 NOT B1 OR B2 B1 OR B2 B1 AND B1 AND NOT B2 NOT B2 B1 AND NOT B2 NOT B1 OR B2 NOT B1 NOT B1 OR B2 OR B2 NOT B1 OR B2 NOT B1 OR B2 N O T B 1 O R B 2 N O T B 1...

Page 261: ...ty Control Unit Instructions Reference Manual Z931 4 SF_TwoHandControlTypeIII Timing Charts Activate S_Button1 S_Button2 S_TwoHandOut Error Ready DiagCode Internal Timer 500ms 0000 C003 8004 8005 500ms C005 8004 8000 8007 8008 8004 8005 8000 8008 ...

Page 262: ...FB was activated Ready TRUE Error TRUE S_TwoHandOut FALSE C002 49154 Error 1 B2 S_Button2 was TRUE when the FB was activated Ready TRUE Error TRUE S_TwoHandOut FALSE C003 49155 Error 1 B1 B2 S_Button1 and S_Button2 were TRUE when the FB was activated Ready TRUE Error TRUE S_TwoHandOut FALSE C004 49156 Error 2 B1 After 500 ms in state 8005 S_Button1 was FALSE and S_Button2 was TRUE Ready TRUE Error...

Page 263: ...ror FALSE S_TwoHandOut FALSE 8005 32773 Button 1 Actuated Only Button1 is being operated Ready TRUE Error FALSE S_TwoHandOut FALSE 8006 32774 Button 2 Actuated Only Button2 is being operated Ready TRUE Error FALSE S_TwoHandOut FALSE 8007 32775 Button 2 Released The safety output was enabled and then disabled again After the safety output was disabled S_Button1 and S_Button2 did not both change to ...

Page 264: ...on1 and S_Button2 did not both change to FALSE In this state S_Button1 is TRUE and S_Button2 is TRUE after the safety output is dis abled Ready TRUE Error FALSE S_TwoHandOut FALSE 8019 32793 Locked On The button operation was not correct The FB is waiting for both buttons to be released Ready TRUE Error FALSE S_TwoHandOut FALSE DiagCode hexadecimal DiagCode decimal Status name Status description a...

Page 265: ...I 1 I NX series Safety Control Unit Instructions Reference Manual Z931 Index ...

Page 266: ...DINT 2 41 Convert INT to DWORD 2 36 Convert INT to TIME 2 43 Convert INT to WORD 2 38 Convert TIME to BOOL 2 44 Convert TIME to BYTE 2 45 Convert TIME to DINT 2 48 Convert TIME to DWORD 2 46 Convert TIME to INT 2 49 Convert TIME to WORD 2 47 Convert WORD to BOOL 2 50 Convert WORD to BYTE 2 27 Convert WORD to DINT 2 20 Convert WORD to DWORD 2 28 Convert WORD to INT 2 18 Convert WORD to TIME 2 24 D ...

Page 267: ... SF_EDM 4 15 SF_EmergencyStop 4 23 SF_EnableSwitch 4 30 SF_Equivalent 4 36 SF_ESPE 4 42 SF_F_TRIG 3 10 SF_GuardLocking 4 49 SF_GuardMonitoring 4 55 SF_ModeSelector 4 61 SF_MutingPar 4 70 SF_MutingPar_2Sensor 4 82 SF_MutingSeq 4 91 SF_OutControl 4 101 SF_RS 3 12 SF_R_TRIG 3 11 SF_SafetyRequest 4 107 SF_SR 3 13 SF_TestableSafetySensor 4 113 SF_TOF 3 14 SF_TON 3 16 SF_TP 3 18 SF_TwoHandControlTypeII ...

Page 268: ...I 4 NX series Safety Control Unit Instructions Reference Manual Z931 Index ...

Page 269: ......

Page 270: ... IL 60169 U S A Tel 1 847 843 7900 Fax 1 847 843 7787 Regional Headquarters OMRON EUROPE B V Wegalaan 67 69 2132 JD Hoofddorp The Netherlands Tel 31 2356 81 300 Fax 31 2356 81 388 Contact www ia omron com Kyoto JAPAN OMRON ASIA PACIFIC PTE LTD No 438A Alexandra Road 05 05 08 Lobby 2 Alexandra Technopark Singapore 119967 Tel 65 6835 3011 Fax 65 6835 2711 OMRON CHINA CO LTD Room 2211 Bank of China T...

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