Unity Pro 35006144 07/2011

Unity Pro
Program Languages and Structure Reference Manual
07/2011

35006144.10

www.schneider-electric.com

The information provided in this documentation contains general descriptions and/or technical characteristics of the performance of the products contained herein. This documentation is not intended as a substitute for and is not to be used for determining suitability or reliability of these products for specific user applications. It is the duty of any such user or integrator to perform the appropriate and complete risk analysis, evaluation and testing of the products with respect to the relevant specific application or use thereof. Neither Schneider Electric nor any of its affiliates or subsidiaries shall be responsible or liable for misuse of the information contained herein. If you have any suggestions for improvements or amendments or have found errors in this publication, please notify us. No part of this document may be reproduced in any form or by any means, electronic or mechanical, including photocopying, without express written permission of Schneider Electric. All pertinent state, regional, and local safety regulations must be observed when installing and using this product. For reasons of safety and to help ensure compliance with documented system data, only the manufacturer should perform repairs to components. When devices are used for applications with technical safety requirements, the relevant instructions must be followed. Failure to use Schneider Electric software or approved software with our hardware products may result in injury, harm, or improper operating results. Failure to observe this information can result in injury or equipment damage. 2011 Schneider Electric. All rights reserved.

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Table of Contents

Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11 13

Part I General Presentation of Unity Pro . . . . . . . . . . . . . .

Chapter 1 Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Capabilities of Unity Pro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . User Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Project Browser . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . User Application and Project File Formats . . . . . . . . . . . . . . . . . . . . . . . . Configurator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Data Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Program Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Function Block Diagram FBD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ladder Diagram (LD) Language . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . General Information about SFC Sequence Language . . . . . . . . . . . . . . . Instruction List IL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Structured Text ST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PLC Simulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Export/Import. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . User Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Debug Services . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Diagnostic Viewer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Operator Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15
17
18 22 24 25 29 32 40 43 45 47 50 51 52 53 54 55 62 63

Part II Application Structure. . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 2 Description of the Available Functions for Each Type of PLC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Functions Available for the Different Types of PLC. . . . . . . . . . . . . . . . . .

65
67
67

Chapter 3 Application Program Structure . . . . . . . . . . . . . . . . . . . .

3.1 Description of Tasks and Processes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Presentation of the Master Task . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Presentation of the Fast Task . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Presentation of Auxiliary Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Overview of Event Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

69
70 71 72 73 75

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3.2 Description of Sections and Subroutines . . . . . . . . . . . . . . . . . . . . . . . . . Description of Sections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Description of SFC sections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Description of Subroutines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3 Mono Task Execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Description of the Master Task Cycle . . . . . . . . . . . . . . . . . . . . . . . . . . . Mono Task: Cyclic Execution. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Periodic Execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Control of Cycle Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Execution of Quantum Sections with Remote Inputs/Outputs . . . . . . . . . 3.4 Multitasking Execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Multitasking Software Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Sequencing of Tasks in a Multitasking Structure . . . . . . . . . . . . . . . . . . . Task Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Assignment of Input/Output Channels to Master, Fast and Auxiliary Tasks Management of Event Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Execution of TIMER-type Event Processing . . . . . . . . . . . . . . . . . . . . . . Input/Output Exchanges in Event Processing . . . . . . . . . . . . . . . . . . . . . How to Program Event Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

76 77 79 80 81 82 84 85 86 87 89 90 92 94 97 99 100 104 105

Chapter 4 Application Memory Structure . . . . . . . . . . . . . . . . . . . . .

4.1 Memory Structure of the Premium, Atrium and Modicon M340 PLCs . . . Memory Structure of Modicon M340 PLCs . . . . . . . . . . . . . . . . . . . . . . . Memory Structure of Premium and Atrium PLCs. . . . . . . . . . . . . . . . . . . Detailed Description of the Memory Zones . . . . . . . . . . . . . . . . . . . . . . . 4.2 Memory Structure of Quantum PLCs. . . . . . . . . . . . . . . . . . . . . . . . . . . . Memory Structure of Quantum PLCs . . . . . . . . . . . . . . . . . . . . . . . . . . . Detailed Description of the Memory Zones . . . . . . . . . . . . . . . . . . . . . . .

107
108 109 112 114 115 116 119

Chapter 5 Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 Modicon M340 PLCs Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . Processing of Power Outage and Restoral of Modicon M340 PLCs . . . . Processing on Cold Start for Modicon M340 PLCs . . . . . . . . . . . . . . . . . Processing on Warm Restart for Modicon M340 PLCs . . . . . . . . . . . . . . Automatic Start in RUN for Modicon M340 PLCs . . . . . . . . . . . . . . . . . . 5.2 Premium, Quantum PLCs Operating Modes . . . . . . . . . . . . . . . . . . . . . . Processing of Power Outage and Restoral for Premium/Quantum PLCs Processing on Cold Start for Premium/Quantum PLCs . . . . . . . . . . . . . . Processing on Warm Restart for Premium/Quantum PLCs. . . . . . . . . . . Automatic Start in RUN for Premium/Quantum . . . . . . . . . . . . . . . . . . . . 5.3 PLC HALT Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PLC HALT Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

121
122 123 125 129 132 133 134 136 141 144 145 145

Chapter 6 System Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1 System Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . System Bit Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Description of System Bits %S0 to %S7 . . . . . . . . . . . . . . . . . . . . . . . . . Description of System Bits %S9 to %S13 . . . . . . . . . . . . . . . . . . . . . . . .
4

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148 149 150 152

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6.2

6.3

6.4

6.5

Description of System Bits %S15 to %S21 . . . . . . . . . . . . . . . . . . . . . . . . Description of System Bits %S30 to %S59 . . . . . . . . . . . . . . . . . . . . . . . . Description of System Bits %S65 to %S79 . . . . . . . . . . . . . . . . . . . . . . . . Description of System Bits %S80 to %S96 . . . . . . . . . . . . . . . . . . . . . . . . Description of System Bits %S100 to %S123 . . . . . . . . . . . . . . . . . . . . . . System Words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Description of System Words %SW0 to %SW11 . . . . . . . . . . . . . . . . . . . Description of System Words %SW12 to %SW29 . . . . . . . . . . . . . . . . . . Description of System Words %SW30 to %SW47 . . . . . . . . . . . . . . . . . . Description of System Words %SW48 to %SW59 . . . . . . . . . . . . . . . . . . Description of System Words %SW70 to %SW100 . . . . . . . . . . . . . . . . . Description of System Words %SW108 to %SW116 . . . . . . . . . . . . . . . . Description of System Words %SW123 to %SW127 . . . . . . . . . . . . . . . . Atrium/Premium-specific System Words . . . . . . . . . . . . . . . . . . . . . . . . . . Description of System Words %SW60 to %SW65 . . . . . . . . . . . . . . . . . . Description of System Words %SW128 to %SW143 . . . . . . . . . . . . . . . . Description of System Words %SW144 to %SW146 . . . . . . . . . . . . . . . . Description of System Words %SW147 to %SW152 . . . . . . . . . . . . . . . . Description of System Word %SW153 . . . . . . . . . . . . . . . . . . . . . . . . . . . Description of System Word %SW154 . . . . . . . . . . . . . . . . . . . . . . . . . . . Description of Premium/Atrium System Words %SW155 to %SW167 . . . Quantum-specific System Words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Description of Quantum System Words %SW60 to %SW66 . . . . . . . . . . Description of Quantum System Words %SW98 to %SW109 . . . . . . . . . Description of Quantum System Words %SW110 to %SW177 . . . . . . . . Description of Quantum System Words %SW180 to %SW702 . . . . . . . . Modicon M340-Specific System Words. . . . . . . . . . . . . . . . . . . . . . . . . . . Description of System Words: %SW142 to %SW145, %SW146 and %SW147, %SW150 to %SW154, %SW160 to %SW167 . . . . . . . . . . . . .

154 157 160 165 168 170 171 175 179 181 183 193 194 196 197 200 201 203 204 206 207 208 209 212 213 216 222 222

Part III Data Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 7 General Overview of Data . . . . . . . . . . . . . . . . . . . . . . . .
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . General Overview of the Data Type Families . . . . . . . . . . . . . . . . . . . . . . Overview of Data Instances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Overview of the Data References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Syntax Rules for Type\Instance Names . . . . . . . . . . . . . . . . . . . . . . . . . .

225
227
228 229 231 233 234

Chapter 8 Data Types. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1 Elementary Data Types (EDT) in Binary Format. . . . . . . . . . . . . . . . . . . . Overview of Data Types in Binary Format. . . . . . . . . . . . . . . . . . . . . . . . . Boolean Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Integer Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The Time Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

235
236 237 239 244 246

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8.2 Elementary Data Types (EDT) in BCD Format . . . . . . . . . . . . . . . . . . . . Overview of Data Types in BCD Format . . . . . . . . . . . . . . . . . . . . . . . . . The Date Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The Time of Day (TOD) Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The Date and Time (DT) Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.3 Elementary Data Types (EDT) in Real Format . . . . . . . . . . . . . . . . . . . . Presentation of the Real Data Type. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.4 Elementary Data Types (EDT) in Character String Format . . . . . . . . . . . Overview of Data Types in Character String Format . . . . . . . . . . . . . . . . 8.5 Elementary Data Types (EDT) in Bit String Format . . . . . . . . . . . . . . . . . Overview of Data Types in Bit String Format. . . . . . . . . . . . . . . . . . . . . . Bit String Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.6 Derived Data Types (DDT/IODDT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Arrays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Overview of the Derived Data Type family (DDT) . . . . . . . . . . . . . . . . . . DDT: Mapping Rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Overview of Input/Output Derived Data Types (IODDT) . . . . . . . . . . . . . 8.7 Function Block Data Types (DFB\EFB) . . . . . . . . . . . . . . . . . . . . . . . . . . Overview of Function Block Data Type Families . . . . . . . . . . . . . . . . . . . Characteristics of Function Block Data Types (EFB\DFB). . . . . . . . . . . . Characteristics of Elements Belonging to Function Blocks . . . . . . . . . . . 8.8 Generic Data Types (GDT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Overview of Generic Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.9 Data Types Belonging to Sequential Function Charts (SFC). . . . . . . . . . Overview of the Data Types of the Sequential Function Chart Family . . 8.10 Compatibility Between Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Compatibility Between Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

247 248 250 251 252 253 253 258 258 261 262 263 265 266 269 270 272 275 277 278 280 282 285 285 287 287 289 289

Chapter 9 Data Instances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Data Type Instances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Data Instance Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Direct Addressing Data Instances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

293
294 298 300

Chapter 10 Data References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

References to Data Instances by Value. . . . . . . . . . . . . . . . . . . . . . . . . . References to Data Instances by Name . . . . . . . . . . . . . . . . . . . . . . . . . References to Data Instances by Address. . . . . . . . . . . . . . . . . . . . . . . . Data Naming Rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

307
308 310 313 317

Part IV Programming Language . . . . . . . . . . . . . . . . . . . . . .

Chapter 11 Function Block Language FBD. . . . . . . . . . . . . . . . . . . . .
General Information about the FBD Function Block Language . . . . . . . . Elementary Functions, Elementary Function Blocks, Derived Function Blocks and Procedures (FFBs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Subroutine Calls. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Control Elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6

319
321
322 324 334 335

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Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Text Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Execution Sequence of the FFBs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Change Execution Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Loop Planning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

336 338 339 342 346

Chapter 12 Ladder Diagram (LD) . . . . . . . . . . . . . . . . . . . . . . . . . . . .

General Information about the LD Ladder Diagram Language . . . . . . . . . Contacts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Coils . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Elementary Functions, Elementary Function Blocks, Derived Function Blocks and Procedures (FFBs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Control Elements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Operate Blocks and Compare Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . Links . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Text Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Edge Recognition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Execution Sequence and Signal Flow. . . . . . . . . . . . . . . . . . . . . . . . . . . . Loop Planning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Change Execution Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

347
348 351 352 354 364 365 367 370 371 380 382 383

Chapter 13

SFC Sequence Language . . . . . . . . . . . . . . . . . . . . . . . .

389
390 391 395 396 397 400 404 405 407 408 410 411 413 415 415 416 416 417 418 419 420 420

13.1 General Information about SFC Sequence Language . . . . . . . . . . . . . . . General Information about SFC Sequence Language . . . . . . . . . . . . . . . Link Rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.2 Steps and Macro Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Step . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Macro Steps and Macro Sections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.3 Actions and Action Sections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Action . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Action Section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Qualifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.4 Transitions and Transition Sections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Transition. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Transition Section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.5 Jump . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Jump . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.6 Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.7 Branches and Merges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Alternative Branches and Alternative Joints . . . . . . . . . . . . . . . . . . . . . . . Parallel Branch and Parallel Joint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.8 Text Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Text Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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Single-Token . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Execution Sequence Single-Token . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Alternative String . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Sequence Jumps and Sequence Loops . . . . . . . . . . . . . . . . . . . . . . . . . Parallel Strings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Asymmetric Parallel String Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.10 Multi-Token . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Multi-Token Execution Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Alternative String . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Parallel Strings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Jump into a Parallel String . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Jump out of a Parallel String . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.9

421 422 423 424 427 429 432 433 435 438 442 444

Chapter 14 Instruction List (IL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.1 General Information about the IL Instruction List . . . . . . . . . . . . . . . . . . . General Information about the IL Instruction List . . . . . . . . . . . . . . . . . . . Operands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Modifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Operators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Subroutine Call . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Labels and Jumps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Comment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Calling Elementary Functions, Elementary Function Blocks, Derived Function Blocks and Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Calling Elementary Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Calling Elementary Function Blocks and Derived Function Blocks . . . . . Calling Procedures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . General Information about the Structured Text ST . . . . . . . . . . . . . . . . . General Information about Structured Text (ST) . . . . . . . . . . . . . . . . . . . Operands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Operators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Select Instruction IF...THEN...END_IF. . . . . . . . . . . . . . . . . . . . . . . . . . . Select Instruction ELSE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Select Instruction ELSIF...THEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Select Instruction CASE...OF...END_CASE . . . . . . . . . . . . . . . . . . . . . . Repeat Instruction FOR...TO...BY...DO...END_FOR. . . . . . . . . . . . . . . . Repeat Instruction WHILE...DO...END_WHILE . . . . . . . . . . . . . . . . . . . . Repeat Instruction REPEAT...UNTIL...END_REPEAT . . . . . . . . . . . . . . Repeat Instruction EXIT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Subroutine Call . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

449
450 451 454 457 459 468 469 471 472 473 478 489

14.2

Chapter 15 Structured Text (ST) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15.1

497
498 499 502 504 508 509 510 513 514 515 516 517 520 521 522 523

15.2

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RETURN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Empty Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Labels and Jumps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Comment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.3 Calling Elementary Functions, Elementary Function Blocks, Derived Function Blocks and Procedures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Calling Elementary Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Call Elementary Function Block and Derived Function Block . . . . . . . . . . Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

524 525 526 527 528 529 535 544

Part V User Function Blocks (DFB) . . . . . . . . . . . . . . . . . . .

Chapter 16 Overview of User Function Blocks (DFB). . . . . . . . . . . .
Introduction to User Function Blocks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . Implementing a DFB Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

551
553
554 556

Chapter 17 Description of User Function Blocks (DFB). . . . . . . . . .

Definition of DFB Function Block Internal Data . . . . . . . . . . . . . . . . . . . . . DFB Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DFB Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DFB Code Section. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

559
560 562 566 568

Chapter 18 User Function Blocks (DFB) Instance . . . . . . . . . . . . . .

Creation of a DFB Instance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Execution of a DFB Instance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Programming Example for a Derived Function Block (DFB) . . . . . . . . . . .

571
572 574 575

Chapter 19 Use of the DFBs from the Different Programming Languages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Rules for Using DFBs in a Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Use of IODDTs in a DFB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Use of a DFB in a Ladder Language Program . . . . . . . . . . . . . . . . . . . . . Use of a DFB in a Structured Text Language Program. . . . . . . . . . . . . . . Use of a DFB in an Instruction List Program . . . . . . . . . . . . . . . . . . . . . . . Use of a DFB in a Program in Function Block Diagram Language . . . . . .

579
580 584 587 589 592 596

Chapter 20 User Diagnostics DFB . . . . . . . . . . . . . . . . . . . . . . . . . . .

Presentation of User Diagnostic DFBs . . . . . . . . . . . . . . . . . . . . . . . . . . .

599
599

Appendices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Appendix A EFB Error Codes and Values. . . . . . . . . . . . . . . . . . . . . .
Tables of Error Codes for the Base Library. . . . . . . . . . . . . . . . . . . . . . . . Tables of Error Codes for the Diagnostics Library . . . . . . . . . . . . . . . . . . Tables of Error Codes for the Communication Library . . . . . . . . . . . . . . . Tables of Error Codes for the IO Management Library . . . . . . . . . . . . . . . Tables of Error Codes for the CONT_CTL Library . . . . . . . . . . . . . . . . . . Tables of Error Codes for the Motion Library . . . . . . . . . . . . . . . . . . . . . . Tables of Error Codes for the Obsolete Library. . . . . . . . . . . . . . . . . . . . . Common Floating Point Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

601
603
604 606 607 611 620 627 629 637

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Appendix B IEC Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1 B.2 General Information regarding IEC 61131-3 . . . . . . . . . . . . . . . . . . . . . . General information about IEC 61131-3 Compliance . . . . . . . . . . . . . . . IEC Compliance Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Common elements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . IL language elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ST language elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Common graphical elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . LD language elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Implementation-dependent parameters . . . . . . . . . . . . . . . . . . . . . . . . . . Error Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Extensions of IEC 61131-3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Extensions of IEC 61131-3, 2nd Edition . . . . . . . . . . . . . . . . . . . . . . . . . Textual language syntax . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Textual Language Syntax . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

639
640 640 642 643 654 656 657 658 659 662 664 664 666 666

B.3 B.4

Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

667 695

10

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Safety Information

Important Information
NOTICE Read these instructions carefully, and look at the equipment to become familiar with the device before trying to install, operate, or maintain it. The following special messages may appear throughout this documentation or on the equipment to warn of potential hazards or to call attention to information that clarifies or simplifies a procedure.

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PLEASE NOTE Electrical equipment should be installed, operated, serviced, and maintained only by qualified personnel. No responsibility is assumed by Schneider Electric for any consequences arising out of the use of this material. A qualified person is one who has skills and knowledge related to the construction and operation of electrical equipment and its installation, and has received safety training to recognize and avoid the hazards involved.

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About the Book

At a Glance
Document Scope This manual describes the elements necessary for the programming of Premium, Atrium and Quantum PLCs using the Unity Pro programming workshop. Validity Note This documentation is valid from Unity Pro v6.0. Product Related Information

WARNING
UNINTENDED EQUIPMENT OPERATION The application of this product requires expertise in the design and programming of control systems. Only persons with such expertise should be allowed to program, install, alter, and apply this product. Follow all local and national safety codes and standards. Failure to follow these instructions can result in death, serious injury, or equipment damage. User Comments We welcome your comments about this document. You can reach us by e-mail at [email protected].

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14

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Unity Pro General Presentation 35006144 07/2011

General Presentation of Unity Pro

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General Presentation

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Unity Pro Presentation 35006144 07/2011

Presentation

1
Overview This chapter describes the general design and behavior of a project created with Unity Pro. Whats in this Chapter? This chapter contains the following topics:
Topic Capabilities of Unity Pro User Interface Project Browser User Application and Project File Formats Configurator Data Editor Program Editor Function Block Diagram FBD Ladder Diagram (LD) Language General Information about SFC Sequence Language Instruction List IL Structured Text ST PLC Simulator Export/Import User Documentation Debug Services Diagnostic Viewer Operator Screen Page 18 22 24 25 29 32 40 43 45 47 50 51 52 53 54 55 62 63

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Capabilities of Unity Pro

Hardware Platforms Unity Pro supports the following hardware platforms: Modicon M340 Premium Atrium Quantum Programming Languages Unity Pro provides the following programming languages for creating the user program: Function Block Diagram FBD Ladder Diagram (LD) language Instruction List IL Structured Text ST Sequential Control SFC All of these programming languages can be used together in the same project. All these languages conform to IEC 61131-3. Block Libraries The blocks that are included in the delivery of Unity Pro extensive block libraries extend from blocks for simple Boolean operations, through blocks for strings and array operations to blocks for controlling complex control loops. For a better overview the different blocks are arranged in libraries, which are then broken down into families. The blocks can be used in the programming languages FBD, LD, IL and ST. Elements of a Program A program can be constructed from: a Master task (MAST) a Fast task (FAST) one to four Aux Tasks (not available for Modicon M340) sections, which are assigned one of the defined tasks sections for processing time controlled events (Timerx) sections for processing hardware controlled events (EVTx) subroutine sections (SR)

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Software Packages The following software packages are available: Unity Pro S Unity Pro M Unity Pro L Unity Pro XL Unity Pro XLS Unity Developers Edition (UDE) Performance Scope The following table shows the main characteristics of the individual software packages:
Unity Pro S Programming languages Function Block Diagram FBD Ladder Diagram (LD) language Instruction List IL Structured Text ST Sequential Language SFC Libraries (1) Standard library Control library Communication library Diagnostics library I/O Management library System library Motion control drive library + + + + + + + + + + + + + optional + + + + + + + + + optional + + + + + + + + + optional + + +( 2) +( 2) +( 2) +( 2) +( 2) +( 2) +( 2) optional (2) +( 2) +( 2) + 19 + + + + + + + + + + + + + + + + + + + + + + +( 2) +( 2) +( 2) Unity Pro M Unity Pro L Unity Pro XL Unity Pro XLS

TCP Open library Obsolete library MFB library Safety library + + -

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Unity Pro S Memory card file management library +

Unity Pro M +

Unity Pro L +

Unity Pro XL +

Unity Pro XLS +( 2)

General information Create and use data structures (DDTs) Create and use Derived Function Blocks (DFBs) Project browser with structural and/or functional view Managing access rights Operator screen + + + + +( 2)

+( 2)

+ +

+ + + + + PL7 converter

+ + + + + PL7 converter Concept Converter -

+ + + + + PL7 converter Concept Converter -

+ + + + +( 2) PL7 converter Concept Converter -

Diagnostic viewer + System diagnostics Project diagnostics Application converter Managing multistations + + -

Supported platforms Modicon M340 Premium BMX P34 1000 BMX P34 1000 BMX P34 20 BMX P34 20 P57 0244M P57 CA 0244M P57 CD 0244M P57 104M P57 154M P57 1634M P57 204M P57 254M P57 2634M H57 24M BMX P34 1000 BMX P34 20 All CPUs except: P57 554M P57 5634M BMX P34 1000 BMX P34 20 All CPUs BMX P34 1000 BMX P34 20 All CPUs

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Unity Pro S Quantum -

Unity Pro M -

Unity Pro L 140 CPU 311 10 140 CPU 434 12 U/A* 140 CPU 534 14 U/A* * Upgrade using Unity OS

Unity Pro XL CPU 311 10 CPU 534 14 U/A CPU 651 50 CPU 652 60 CPU 651 60 CPU 671 60

Unity Pro XLS CPU 311 10 CPU 434 12 U/A CPU 534 14 U/A CPU 651 50 CPU 651 60 CPU 652 60 CPU 671 60 CPU 651 60 S CPU 671 60 S CPU 672 61 All CPUs +

Atrium Simulator Openess Hyperlinks Unity Pro Server (for OFS, UDE, UAG)

PCI 57 204 +

All CPUs +

All CPUs +

+ -

+ -

+ -

+ +

+ +

Software components contained in the software package Documentation as context help and PDF OS Loader tool + HW Firmware Unity loader + + + + +

+ +

+ +

+ +

+ +

+ +

+ = available + (1) = Availability of the blocks depends of the hardware platforms (see Unity Pro, Standard, Block Library). + (2) = Available on all PLC except platforms CPU 651 60 S, CPU 671 60 S. - = not available Naming Convention In the following documentation, "Unity Pro" is used as general term for "Unity Pro S", "Unity Pro M", "Unity Pro L", "Unity Pro XL" and "Unity Pro XLS".

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User Interface
Overview The user interface consists of several, configurable windows and toolbars. User interface:

Legend:
Number 1 2 Description Menu bar (see Unity Pro, Operating Modes) Toolbar (see Unity Pro, Operating Modes)

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Number 3 4 5 6 7

Description Project Browser (see Unity Pro, Operating Modes) Editor window (programming language editors, data editor, etc.) Register tabs for direct access to the editor window Information window (see Unity Pro, Operating Modes) (provides information about errors which have occurred, signal tracking, import functions, etc.) Status bar (see Unity Pro, Operating Modes)

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Project Browser
Introduction The Project Browser displays all project parameters. The view can be shown as structural (topological) and/or functional view.

Structural View The project browser offers the following features in the structural view: Creation and deletion of elements The section symbol shows the section programming language and if it is protected (in case of an empty section the symbol is grey) View the element properties Creation of user directories Launching the different editors Start the import/export function Functional View The project browser offers the following features in functional view: Creation of functional modules Insertion of sections, animation tables etc. using Drag and Drop from the structural view Creation of sections View the element properties Launching the different editors The section symbol shows the section programming language and other attributes
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User Application and Project File Formats

Introduction Unity Pro manages three types of files for storing user applications and projects. Each type of file can be used according to specific requirements. File types can be identified by their extension: *.STU: Unity Pro File. *.STA: Unity Pro Archived Application File. *.XEF: Unity Pro Application Exchange File. STU File This file type is used for daily working tasks. This format is used by default when opening or saving a user project. The following table presents the STU file advantages and drawbacks:
Advantages The project can be saved at any stage (consistent or inconsistent) through the default command. Project saving and opening is fast as the entire internal database is present in the file. Automatic creation of BAK files Drawbacks Not convenient when transferring project due to the very large size of the file. Not compatible when updating Unity Pro from one version to another.

Each time a STU file is saved, a backup copy is also created, with the same name as the STU file, and the extension BAK files. By changing the file extension from BAK to STU, it is possible to revert to the state the project was, the last time it was saved. BAK files are stored in the same folder as the project STU file. STA File This file type is used for archiving projects and can be created only after the project has been generated. This file type allows forward compatibility between the different versions of Unity Pro. There is 2 ways to create a STA file: STA file can be created manually by accessing the File Save Archive menu in the Unity Pro main window. STA file is created automatically every time the project is saved as a STU file if it is in Built state. NOTE: The STA file created automatically is saved into the same directory and with the same filename as the STU project file, exept that a .Auto suffix is appended to the filename. If an existing automatic STA file already exists, it is overwritten without any confirmation.
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Presentation

NOTE: If the project is in Built state, saving a STU file through a Unity Pro Server creates a STA file as well. Opening a STA file is done by accessing the File Open menu in the Unity Pro main window. NOTE: In the Open menu window, the selected file type must be Unity Pro Archived Application File (STA). For more information about creating an STA file, see the Unity Pro Installation Manual (see Unity Pro, Installation manual): Create Unity Pro Archived Application File (see Unity Pro, Installation manual). For more information about opening an STA file, see the Unity Pro Installation Manual (see Unity Pro, Installation manual): Restoring Unity Pro Archived Application File (see Unity Pro, Installation manual). The following table presents the STA file advantages and drawbacks:
Advantages Fast project saving. Drawbacks Can be created only after the project has been generated. Opening of the project is long, as the project file is rebuilt before operation.

Projects can be shared vie e-mail or low size memory supports.

Capability to connect in Equal Online Mode to the PLC after opening the project on a new version of Unity Pro. For additional information, see Connection/Disconnection (see Unity Pro, Operating Modes) in the Operating Modes (see Unity Pro, Operating Modes) manual. Allow online modifications with the PLC without any prior download into the PLC. Generated STA file is compatible with all Unity Pro versions. NOTE: In order to load a STA file created with another version of Unity Pro, all the features used in the application have to be supported by the current version.

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XEF File This file type is used for exporting projects in an XML source format and can be created at any stage of a project. Exporting an XEF file is done by accessing the File Export Project menu in the Unity Pro main window. Importing an XEF file is done by accessing the File Open menu in the Unity Pro main window. NOTE: In the Open menu window, the selected file type must be Unity Pro Application Exchange File XEF. For more information about creating an XEF file, see the Unity Pro Installation Manual (see Unity Pro, Installation manual): Create Unity Pro Application Exchange File (see Unity Pro, Installation manual). For more information about restoring an XEF file, see the Unity Pro Installation Manual (see Unity Pro, Installation manual): Restoring Unity Pro Application Exchange File (see Unity Pro, Installation manual). The following table presents the XEF file advantages and drawbacks:
Advantages The XML source format ensures project compatibility with any version of Unity Pro. Drawbacks Medium size. Opening of the project takes time while the project is imported before operation. Generation of the project is mandatory to re-assemble the project binary code. Operating with the PLC requires to rebuild all the project and perform a download in the processor. Connecting to the PLC in Equal Online mode with an XEF file is not possible. For additional information, see Connection/Disconnection (see Unity Pro, Operating Modes) in the Operating Modes (see Unity Pro, Operating Modes) manual.

Important Information The STU files are not compatible across Unity Pro versions. In order to use a project with different Unity Pro versions, users must either store, the: Unity Pro Archived Application Files (STA): With the STA file, it is possible to reuse the current built project with the new Unity Pro version installed on the computer. Unity Pro Application Exchange Files (XEF): The XEF file must be used if the project has been built.

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Comparative File Types The following table gives a summary of the three files types:
File Types Binary applications Source applications Internal database Comparative file size Comparative time to save Comparative time to open Connection to the PLC in Equal Online mode File backup STU Yes Yes Yes 10, see (1) 10 1 Possible Possible STA Yes Yes No 0.03, see (1) 1.6 10 Possible Possible, see (3) XEF No Yes No 3 6 10 Not possible, see (2) Possible

(1): Compressed files. (2): The project needs to be first uploaded into the PLC. (3): The project can be saved only if it has been generated. NOTE: The values in the table represent a ratio between file types, where the STU value is the reference.

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Configurator
Configurator Window The configurator window is split into two windows: Catalog window A module can be selected from this window and directly inserted in the graphical representation of the PLC configuration by dragging and dropping. Graphical representation of the PLC configuration Representation of the Configurator window:

One of the following shortcut menus is called depending on the position of the mouse pointer: Mouse pointer on the background allows among others: Change CPU, Selection of different Zoom factors. Mouse pointer on the module allows among others: Access to editor functions (delete, copy, move), Open the module configuration for defining the module specific parameters, Show the I/O properties and the total current. Mouse pointer on an empty slot allows among others: Insert a module from the catalog, Insert a previously copied module including its defined properties.
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Module Configuration The module configuration window (called via the modules shortcut menu or a double-click on the module) is used to configure the module. This also includes channel selection, selection of functions for the channel selected, assignment of State RAM addresses (only Quantum) etc. Module configuration window for a Premium I/O module:

Module Properties The module properties window (called via the modules shortcut menu) shows the modules properties such as the power consumption, number of I/O points (only Premium) and more. The module properties window for the power supply shows the total current of the rack:

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Network Configuration The network configuration is called via the communications folder. Network configuration:

The network configuration windows allow among others: Creation of networks Network analysis Printout of the network configuration A window for configuring a network:

After configuration the network is assigned a communications module.

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Data Editor
Introduction The data editor offers the following features: Declaration of variable instances Definition of derived data types (DDTs) Instance declaration of elements and derived function blocks (EFBs/DFBs) Definition of derived function block (DFBs) parameters The following functions are available in all tabs of the data editor: Copy, Cut, Paste Expand/collapse structured data Sorting according to Type, Symbol, Address etc. Filter Inserting, deleting and changing the position of columns Drag and Drop between the data editor and the program editors Undo the last change Export/Import Variables The Variables tab is used for declaring variables. Variables tab:

The following functions are available: Defining a symbol for variables Assigning data types Own selection dialog box for derived data types Assignment of an address
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Automatic symbolization of I/O variables Assignment of an initial value Entering a comment View all properties of a variable in a separate properties dialog box Hardware Dependent Data Types (IODDT) IODDTs are used to assign the complete I/O structure of a module to an individual variable. Assignment of IODDTs:

The following functions are available: Complete I/O structures can be assigned with individual variables using IO DDTs After entering the variables addresses, all elements of the structure are automatically assigned with the correct input/output bit or word Because it is possible to assign addresses later on, standard modules can be simply created whose names are defined at a later date. An alias name can be given to all elements of an IODDT structure.

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Derived Data Types (DDT) The DDT types tab is used for defining derived data types (DDTs). A derived data type is the definition of a structure or array from any data type already defined (elementary or derived). Tab DDT types:

The following functions are available: Definition of nested DDTs (max. 8 levels) Definition of arrays with up to 6 dimensions Assignment of an initial value Assignment of an address Entering a comment Analysis of derived data types Assignment of derived data types to a library View all properties of a derived data type in a separate properties dialog box An alias name can be given to all elements of a DDT structure or an array.

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Function Blocks The Function blocks tab is used for the instance declaration of elements and derived function blocks (EFBs/DFBs). Tab Function blocks:

The following functions are available: Display of the function blocks used in the project Definition of a symbol for the function blocks used in the project Automatic enabling of the defined symbols in the project Enter a comment about the function block View all parameters (inputs/outputs) of the function block Assignment of an initial value to the function block inputs/outputs

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DFB Types The DFB types tab is used for the defining derived function block (DFBs) parameters. The creation of DFB logic is carried out directly in one or more sections of the FBD, LD, IL or ST programming languages. Tab DFB types:

The following functions are available: Definition of the DFB name Definition of all parameter of the DFB, such as: Inputs Outputs VAR_IN_OUT (combined inputs/outputs) Private variables Public variables Assignment of data types to DFB parameters Own selection dialog box for derived data types Assignment of an initial value Nesting DFBs Use of several sections in a DFB Enter a comment for DFBs and DFB parameters Analyze the defined DFBs Version management Assignment of defined DFBs to a library

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Data Usage Data types and instances created using the data editor can be inserted (context dependent) in the programming editors. The following functions are available: Access to all programming language editors Only compatible data is displayed View of the functions, function blocks, procedures and derived data types arranged according to their library affiliation Instance declaration during programming is possible Data selection dialog box:

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Online Modifications It is possible to modify the type of a variable or a Function Block (FB) instance declared in application or in a Derived Function Block (DFB) directly in online mode (see Unity Pro, Operating Modes). That means it is not required to stop the application to perform such a type modification. These operations can be done either in the data editor or in the properties editor, in the same way as in offline mode.

CAUTION
UNEXPECTED APPLICATION BEHAVIOR When changing the type of a variable, the new value of the variable to be modified depends on its kind: In the case of an unlocated variable, the variable is set to the initial value, if one exists. Otherwise, it is set to the default value. In the case of a located variable, the variable restarts with the initial value if one exists. Otherwise, the current binary value is unchanged. Before applying the variable type change, check the impact of the new value of the variable on the application execution. Failure to follow these instructions can result in injury or equipment damage. NOTE: It is not possible to modify the type of a variable declared in Derived Data Type (DDT) in online mode (see Unity Pro, Operating Modes). The application has to be switched into offline mode (see Unity Pro, Operating Modes) in order to build such a modification. Restrictions About Online Modifications In the following cases, the online type modification of a variable or of a Function Block (FB) is not allowed: If the variable is used as network global data, the online type modification is not permitted. Whether the current FB can not be removed online, or a new FB can not be added online, the online type modification of this FB is not allowed. Indeed, some Elementary Function Blocks (EFB) like the Standard Function Blocks (SFB) do not allow to be added or removed online. As a result, changing the type of an EFB instance to a SFB instance is not possible, and conversely.

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In both of these cases, the following dialog box is displayed:

NOTE: Due to these limitations, if a Derived Function Block (DFB) contains at least one instance of a SFB, it is not be possible to add or remove instance of this DFB in online mode (see Unity Pro, Operating Modes).

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Program Editor
Introduction A program can be built from: Tasks, that are executed cyclically or periodically. Tasks are built from: Sections Subroutines Event processing, that is carried out before all other tasks. Event processing is built from: Sections for processing time controlled events Sections for processing hardware controlled events Example of a Program:

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Tasks Unity Pro supports multiple tasks (Multitasking). The tasks are executed "parallel" and independently of each other whereby the execution priorities are controlled by the PLC. The tasks can be adjusted to meet various requirements and are therefore a powerful instrument for structuring the project. A multitask project can be constructed from: A Master task (MAST) The Master task is executed cyclically or periodically. It forms the main section of the program and is executed sequentially. A Fast task (FAST) The Fast task is executed periodically. It has a higher priority than the Master task. The Fast task is used for processes that are executed quickly and periodically. One to four AUX task(s)) The AUX tasks are executed periodically. They are used for slow processing and have the lowest priority. The project can also be constructed with a single task. In this case, only the Master task is active. Event Processing Event processing takes place in event sections. Event sections are executed with higher priority than the sections of all other tasks. They are suited to processing that requires very short reaction times after an event is triggered. The following section types are available for event processing: Sections for processing time controlled events (Timerx Section) Sections for processing hardware controlled events (Evtx Section) The following programming languages are supported: FBD (Function Block Diagram) LD (Ladder Diagram Language) IL (Instruction List) ST (Structured Text)

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Sections Sections are autonomous program units in which the logic of the project is created. The sections are executed in the order shown in the project browser (structural view). Sections are connected to a task. The same section cannot be belong to more than one task at the same time. The following programming languages are supported: FBD (Function Block Diagram) LD (Ladder Diagram Language) SFC (Sequential Function Chart) IL (Instruction List) ST (Structured Text) Subroutine Subroutines are created as separate units in subroutine sections. Subroutines are called from sections or from another subroutine. Nesting of up to 8 levels is possible. A subroutine cannot call itself (not recursive). Subroutines are assigned a task. The same subroutine cannot be called by different tasks. The following programming languages are supported: FBD (Function Block Diagram) LD (Ladder Diagram Language) IL (Instruction List) ST (Structured Text)

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Function Block Diagram FBD

Introduction The FBD editor is used for graphical function block programming according to IEC 61131-3. Representation Representation of an FBD section:

Objects The objects of the FBD (Function Block Diagram) programming language help to divide a section into a number of: Elementary Functions (EFs), Elementary Function Blocks (EFBs) Derived Function Blocks (DFBs) Procedures Subroutine calls Jumps Links Actual Parameters Text objects to comment on the logic

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Properties FBD sections have a grid behind them. A grid unit consists of 10 coordinates. A grid unit is the smallest possible space between 2 objects in an FBD section. The FBD programming language is not cell oriented but the objects are still aligned with the grid coordinates. An FBD section can be configured in number of cells (horizontal grid coordinates and vertical grid coordinates). The program can be entered using the mouse or the keyboard. Input Aids The FBD editor offers the following input aids: Toolbars for quick and easy access to the desired objects Syntax and semantics are checked as the program is being written. Incorrect functions and function blocks are displayed in blue Unknown words (e.g. undeclared variables) or unsuitable data types are marked with a red wavy line Brief description of errors in the Quickinfo (Tooltip) Information for variables and pins can be displayed in a Quickinfo (Tooltip) type, name, address and comment of a variable/expression type, name and comment of an FFB pin Tabular display of FFBs Actual parameters can be entered and displayed as symbols or topological addresses Different zoom factors Tracking of links Optimization of link routes Display of inspection windows

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Ladder Diagram (LD) Language

Introduction The LD editor is used for graphical ladder diagram programming according to IEC 61131-3. Representation Representation of an LD section:

Objects The objects of the LD programming language help to divide a section into a number of: Contacts, Coils, Elementary Functions (EFs) Elementary Function Blocks (EFBs), Derived Function Blocks (DFBs) Procedures Control elements Operation and compare blocks which represent an extension to IEC 61131-3 Subroutine calls Jumps Links Actual Parameters Text objects to comment on the logic
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Properties LD sections have a background grid that divides the section into lines and columns. The LD programming language is cell oriented, i.e. only one object can be placed in each cell. LD sections can be 11-64 columns and 17-2000 lines in size. The program can be entered using the mouse or the keyboard. Input Aids The LD editor offers the following input aids: Objects can be selected from the toolbar, the menu or directly using shortcut keys Syntax and semantics are checked as the program is being written. Incorrect objects are displayed in blue Unknown words (e.g. undeclared variables) or unsuitable data types are marked with a red wavy line Brief description of errors in the Quickinfo (Tooltip) Information for variables and for elements of an LD section, that can be connected to a variable (pins, contacts, coils, operation and compare blocks), can be displayed in a Quickinfo (Tooltip) type, name, address and comment of a variable/expression type, name and comment of FFB pins, contacts etc. Tabular display of FFBs Actual parameters can be entered and displayed as symbols or topological addresses Different zoom factors Tracking of FFB links Optimizing the link routes of FFB links Display of inspection windows

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General Information about SFC Sequence Language

Introduction The sequence language SFC (Sequential Function Chart), which conforms to IEC 61131-3, is described in this section. IEC conformity restrictions can be lifted through explicit enable procedures. Features such as multi token, multiple initial steps, jumps to and from parallel strings etc. are then possible. Representation Representation of an SFC section:

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Objects An SFC section provides the following objects for creating a program: Steps Macro steps (embedded sub-step sequences) Transitions (transition conditions) Transition sections Action sections Jumps Links Alternative sequences Parallel sequences Text objects to comment on the logic Properties The SFC editor has a background grid that divides the section into 200 rows and 32 columns. The program can be entered using the mouse or the keyboard. Input Aids The SFC editor offers the following input aids: Toolbars for quick and easy access to the desired objects Automatic step numbering Direct access to actions and transition conditions Syntax and semantics are checked as the program is being written. Incorrect objects are displayed in blue Unknown words (e.g. undeclared variables) or unsuitable data types are marked with a red wavy line Brief description of errors in the Quickinfo (Tooltip) Information for variables and for transitions can be displayed in a Quickinfo (Tooltip) type, name, address and comment of a variable/expression type, name and comment of transitions Different zoom factors Show/hide the allocated actions Tracking of links Optimization of link routes

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Step Properties Step properties:

The step properties are defined using a dialog box that offers the following features: Definition of initial steps Definition of diagnostics times Step comments Allocation of actions and their qualifiers

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Instruction List IL
Introduction The IL editor is used for instruction list programming according to IEC 61131-3. Representation Representation of an IL section:

Objects An instruction list is composed of a series of instructions. Each instruction begins on a new line and consists of: An operator A modifier if required One or more operands if required A label as a jump target if required A comment about the logic if required. Input Aids The IL editor offers the following input aids: Syntax and semantics are checked as the program is being written. Keywords and comments are displayed in color Unknown words (e.g. undeclared variables) or unsuitable data types are marked with a red wavy line Brief description of errors in the Quickinfo (Tooltip) Tabular display of the functions and function blocks Input assistance for functions and function blocks Operands can be entered and displayed as symbols or topological addresses Display of inspection windows

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Structured Text ST
Introduction The ST editor is used for programming in structured text according to IEC 61131-3. Representation Representation of an ST section:

Objects The ST programming language works with "Expressions". Expressions are constructions consisting of operators and operands that return a value when executed. Operators are symbols representing the operations to be executed. Operators are used for operands. Operands are variables, literals, function and function block inputs/outputs etc. Instructions are used to structure and control the expressions. Input Aids The ST editor offers the following input aids: Syntax and semantics are checked as the program is being written. Keywords and comments are displayed in color Unknown words (e.g. undeclared variables) or unsuitable data types are marked with a red wavy line Brief description of errors in the Quickinfo (Tooltip) Tabular display of the functions and function blocks Input assistance for functions and function blocks Operands can be entered and displayed as symbols or topological addresses Display of inspection windows
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PLC Simulator
Introduction The PLC simulator enables error searches to be carried out in the project without being connected to a real PLC. All project tasks (Mast, Fast, AUX and Event) that run on a real PLC are also available in the Simulator. The difference from a real PLC is the lack of I/O modules and communication networks (such as e.g. ETHWAY, Fipio and Modbus Plus) nondeterministic realtime behavior. Naturally, all debugging functions, animation functions, breakpoints, forcing variables etc. are available with the PLC simulator. Representation Representation of a dialog box:

Structure of the Simulator The simulator controller offers the following views: Type of simulated PLC Current status of the simulated PLC Name of the loaded project IP address and DNS name of the host PC for the simulator and all connected Client PCs Dialog box for simulating I/O events Reset button to reset the simulated PLC (simulated cold restart) Power Off/On button (to simulate a warm restart) Shortcut menu (right mouse button) for controlling the Simulator
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Export/Import
Introduction The export and import functions allow you to use existing data in a new project. The XML export/import format makes is possible to provide or accept data from external software. Export The following objects can be exported: Complete projects, including configuration Sections of all programming languages Subroutine sections of all programming languages Derived function blocks (DFBs) Derived data types (DDTs) Variable declarations Operator Screen Import All objects that can be exported can naturally be imported as well. There are two types of import: Direct import Imports the object exactly as it was exported. Import with the assistant The assistant allows you to change the variables names, sections or functional modules. The mapping of addresses can also be modified.

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User Documentation
User Documentation Scope of the user documentation:

The following are just some of the services provided for documenting the project: Print the entire project (2) or in sections (3) Selection between structural and functional view (1) Adjustment of the result (footer, general information, etc.) Local printing for programming language editors, configurator, etc. Special indication (bold) for keywords Paper format can be selected Print preview (4) Documentation save

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Debug Services
Searching for Errors in the User Application The following are just some of the features provided to optimize debugging in the project: Set breakpoints in the programming language editors Step by step program execution, including step into, step out and step over Call memory for recalling the entire program path Control inputs and outputs Online Mode Online mode is when a connection is established between the PC and the PLC. Online mode is used on the PLC for debugging, for animation and for changing the program. A comparison between the project of the PC and project of the PLC takes place automatically when the connection is established. This comparison can produce the following results: Different projects on the PC and the PLC In this case, online mode is restricted. Only PLC control commands (e.g. start, stop), diagnostic services and variable monitoring are possible. Changes cannot be made to the PLC program logic or configuration. However, the downloading and uploading functions are possible and run in an unrestricted mode (same project on PC and PLC). Same projects on the PC and the PLC There are two different possibilities: ONLINE SAME, BUILT The last project generation on the PC was downloaded to the PLC and no changes were made afterwards, i.e. the projects on the PC and the PLC are absolutely identical. In this case, all animation functions are available and unrestricted. ONLINE EQUAL, NOT BUILT The last project generation on the PC was downloaded to the PLC, however changes were made afterwards. In this case, the animation functions are only available in the unchanged project components.

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Animation Different possibilities are provided for the animation of variables: Section animation All programming languages (FBD, LD, SFC, IL and ST) can be animated. The variables and connections are animated directly in the section.

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Tooltips A tooltip with the value of a variable is displayed when the mouse pointer passes over that variable.

Inspection window An inspection window can be created for any variable. This window displays the value of the variable, the address and any comments (if available). This function is available in all programming languages.

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Variables window This window displays all variables used in the current section.

Animation table The value of all variables in the project can be displayed, changed or forced in animation tables. Values can be changed individually or simultaneously together.

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Watch Point Watch points allow you to view PLC data at the exact moment at which it is created (1) and not only at the end of a cycle. Animation tables can be synchronized with the watch point (2). A counter (3) determines how often the watch point has been updated. ST section with watch point:

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Breakpoint Breakpoints allow you to stop processing of the project at any point. ST section with breakpoint:

Single Step Mode Single step mode allows you to execute the program step by step. Single step functions are provided if the project was stopped by reaching a breakpoint or if it is already in single step mode. ST section in single step mode:

The following functions are provided in single step mode: Step by step execution of the program StepIn (1) StepOut StepOver
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Show Current Step (2) Call memory (3) When the "step into" function is executed several times, the call memory enables the display of the entire path, starting with the first breakpoint NOTE: Running the PLC program in step by step mode, as well as entering (StepIn) in a read/write protected section may lead to the inability to read the program and exit from the section. The user must switch the PLC in "Stop" mode to get back to the initial state. Bookmarks Bookmarks allow you to select code sections and easily find them again.

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Diagnostic Viewer
Description Unity Pro provides system and project diagnostics. Errors which occur are displayed in a diagnostics window. The section which caused the error can be opened directly from the diagnostics window in order to correct the error.

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Operator Screen
Introduction Operator windows visualize the automation process. The operator screen editor makes it easy to create, change and manage operator screens. Operator screens are created and accessed via the project browser.

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Operator Screen Editor An operator window contains much information (dynamic variables, overviews, written text, etc.) and makes it easy to monitor and change automation variables. Operator Screen

The operator screen editor offers the following features: Extensive visualization functions Geometric elements Line, rectangle, ellipse, curve, polygon, bitmap, text Control elements Buttons, control box, shifter, screen navigation, hyperlinks, input field, rotating field Animation elements Bar chart, trend diagram, dialog, date, disappear, blinking colors, variable animation Create a library for managing graphical objects Copying objects Creating a list of all variables used in the operator screen Creating messages to be used in the operator screen Direct access from the operator screen to the animation table or the cross reference table for one or more variables Tooltips give additional information about the variables Managing operator screens in families Import/export of individual operator screens or entire families

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Application Structure

II
In This Part This part describes the application program and memory structures associated with each type of PLC. Whats in this Part? This part contains the following chapters:
Chapter 2 3 4 5 6 Chapter Name Description of the Available Functions for Each Type of PLC Application Program Structure Application Memory Structure Operating Modes System Objects Page 67 69 107 121 147

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Description of the Available Functions for Each Type of PLC

Functions Available for the Different Types of PLC

Programming Languages All the following languages are available for platforms Modicon M340, Premium, Atrium and Quantum: LD FBD ST IL SFC NOTE: Only LD and FBD languages are available on Quantum Safety PLCs. Tasks and Processes The following table describes the available tasks and processes.
Platforms Processors Modicon M340 Premium: TSX Atrium: TSX P57 5 PCI 57 P57 6634 204/354 Quantum: 140 CPU 31 43 53 651 60S 651 652 60 671 60S 671 60 672 61 X X

P34 1000 P34 20 P57 0244 P57 2 P57 1 P57 3 P57 4 H57 24M H57 44M X X X X

Master task cyclic or periodic Fast task periodic Auxiliary tasks periodic Maximum size of a section

X -

X -

X 64Kb

X -

X 4

X -

X -

X 4 16Mb

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Platforms I/O type event processing Timer type event processing

Modicon M340 32 16 64 32

Premium: TSX 32 64 128 32

Atrium: TSX 64 -

Quantum: 140 CPU 64 16 128 32 -

32 Total of I/O type and Timer type event processing

64

32

64

128

64

64

128

X or Value available tasks or processes (the value is the maximum number) - unavailable tasks or processes.

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Application Program Structure

3
Subject of this Chapter This chapter describes the structure and execution of the programs created using the Unity Pro software. Whats in this Chapter? This chapter contains the following sections:
Section 3.1 3.2 3.3 3.4 Topic Description of Tasks and Processes Description of Sections and Subroutines Mono Task Execution Multitasking Execution Page 70 76 81 89

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3.1

Description of Tasks and Processes

Subject of this Section This section describes the tasks and processes that comprise the application program. Whats in this Section? This section contains the following topics:
Topic Presentation of the Master Task Presentation of the Fast Task Presentation of Auxiliary Tasks Overview of Event Processing Page 71 72 73 75

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Presentation of the Master Task

General The master task represents the main task of the application program. It is obligatory and created by default. Structure The master task (MAST) is made up of sections and subroutines. Each section of the master task is programmed in the following languages: LD, FBD, IL, ST or SFC. The subroutines are programmed in LD, FBD, IL, or ST and are called in the task sections. NOTE: SFC can be used only in the master task sections. The number of sections programmed in SFC is unlimited. Execution You can choose the type of master task execution: cyclic (default selection) or periodic (1 to 255ms) Control The master task can be controlled by program, by bits and system words.
System objects %SW0 %S30 %S11 %S19 %SW27 %SW28 %SW29 %SW30 %SW31 %SW32 Description Task period. Master task activation. Watchdog error. Period overrun. Number of ms spent in the system during the last Mast cycle. Maximum overhead time (in ms) for Modicon M340. Minimum overhead time (in ms) for Modicon M340. Execution time (in ms) of the last cycle. Execution time (in ms) of the longest cycle. Execution time (in ms) of the shortest cycle.

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Presentation of the Fast Task

General The fast task is intended for short duration and periodic processing tasks. Structure The fast task (FAST) is made up of sections and subroutines. Each section of the fast task is programmed in one of the following languages: LD, FBD, IL or ST. SFC language cannot be used in the sections of a fast task. Subroutines are programmed in LD, FBD, IL, or ST language and are called in the task sections. Execution The execution of the fast task is periodic. It is higher priority than the master task. The period of the fast task (FAST) is fixed by configuration, from 1 to 255ms. The executed program must however remain short to avoid the overflow of lowerpriority tasks. Control The fast task can be controlled by program by bits and system words.
System objects %SW1 %S31 %S11 %S19 %SW33 %SW34 %SW35 Description Task period. Fast task activation. Watchdog error Period overrun. Execution time (in ms) of the last cycle. Execution time (in ms) of the longest cycle. Execution time (in ms) of the shortest cycle.

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Presentation of Auxiliary Tasks

General The auxiliary tasks are intended for slower processing tasks. These are the least priority tasks. It is possible to program up to 4 auxiliary tasks (AUX0, AUX1, AUX2 or AUX3) on the Premium TSX P57 5 and Quantum 140 CPU 6 PLCs. Auxiliary tasks are not available for Modicon M340 PLCs. Structure The auxiliary tasks (AUX) are made up of sections and subroutines. Each section of the auxiliary task is programmed in one of the following languages: LD, FBD, IL or ST. The SFC language is not usable in the sections of an auxiliary task. A maximum of 64 subroutines can be programmed in the LD, FBD, IL or ST language. These are called in the task sections. Execution The execution of auxiliary tasks is periodic . They are the least priority. The auxiliary task period can be fixed from 10ms to 2.55s. Control The auxiliary tasks can be controlled by program by bits and system words.
System objects %SW2 %SW3 %SW4 %SW5 %S32 %S33 %S34 %S35 %S11 %S19 %SW36 Description Period of auxiliary task 0. Period of auxiliary task 1. Period of auxiliary task 2. Period of auxiliary task 3. Activation of auxiliary task 0. Activation of auxiliary task 1. Activation of auxiliary task 2. Activation of auxiliary task 3. Watchdog error Period overrun. Execution time (in ms) of the last cycle of auxiliary task 0.

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System objects %SW39 %SW42 %SW45 %SW37 %SW40 %SW43 %SW46 %SW38 %SW41 %SW44 %SW47

Description Execution time (in ms) of the last cycle of auxiliary task 1. Execution time (in ms) of the last cycle of auxiliary task 2. Execution time (in ms) of the last cycle of auxiliary task 3. Execution time (in ms) of the longest cycle of auxiliary task 0. Execution time (in ms) of the longest cycle of auxiliary task 1. Execution time (in ms) of the longest cycle of auxiliary task 2. Execution time (in ms) of the longest cycle of auxiliary task 3. Execution time (in ms) of the shortest cycle of auxiliary task 0. Execution time (in ms) of the shortest cycle of auxiliary task 1. Execution time (in ms) of the shortest cycle of auxiliary task 2. Execution time (in ms) of the shortest cycle of auxiliary task 3.

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Overview of Event Processing

General Event processing is used to reduce the response time of the application program to events: coming from input/output modules, from event timers. These processing tasks are performed with priority over all other tasks. They are therefore suited to processing tasks requiring a very short response time in relation to the event. The number of event processing tasks (see page 67) that can be programmed depends on the type of processor. Structure An event processing task is monosectional, and made up of a single (unconditioned) section. It is programmed in either LD, FBD, IL or ST language. Two types of event are offered: I/O event: for events coming from input/output modules TIMER event: for events coming from event timers. Execution The execution of an event processing task is asynchronous. The occurrence of an event reroutes the application program to the processing task associated with the input/output channel or event timer which caused the event. Control The following system bits and words can be used to control event processing tasks during the execution of the program.
System objects %S38 %S39 %SW48 Description Activation of event processing. Saturation of the event call management stack. Number of IO events and telegram processing tasks executed. NOTE: TELEGRAM is available only for PREMIUM (not on Quantum neither M340) Number of timer type events in the queue.

%SW75

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3.2

Description of Sections and Subroutines

Aim of this Section This section describes the sections and the subroutines that make up a task. Whats in this Section? This section contains the following topics:
Topic Description of Sections Description of SFC sections Description of Subroutines Page 77 79 80

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Description of Sections
Overview of the Sections Sections are autonomous programming entities. The identification tags of the instruction lines, the contact networks, etc. are specific to each section (no program jump to another section is possible). These are programmed either in: Ladder language (LD) Functional block language (FBD) Instruction List (IL) Structured Text (ST) or Sequential Function Charting (SFC) on condition that the language is accepted in the task. The sections are executed in the order of their programming in the browser window (structure view). An execution condition can be associated with one or more sections in the master, fast and auxiliary tasks, but not in the event processing tasks. The sections are linked to a task. The same section cannot belong simultaneously to several tasks. Example The following diagram shows a task structured into sections.

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Characteristics of a Section The following table describes the characteristics of a section.

Characteristic Name Language Task or processing Condition (optional) Comment Protection Description 32 characters maximum (accents are possible, but spaces are not allowed). LD, FBD, IL, ST or SFC Master, fast, auxiliary, event A BOOL or EBOOL type bit variable can be used to condition the execution of the section. 256 characters maximum Write-protection, read/write protection.

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Description of SFC sections

General The sections in Sequential Function Chart language are made up of: a main chart programmed in SFC macro steps (MS) programmed in SFC actions and transitions programmed in LD, FBD, ST, or IL The SFC sections are programmable only in the master task (see detailed description of SFC sections) Example The following diagram gives an example of the structure of an SFC section, and uses the chart to show the macro step calls that are used.

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Description of Subroutines
Overview of Subroutines Subroutines are programmed as separate entities, either in: Ladder language (LD), Functional block language (FBD), Instruction List (IL), Structured Text (ST). The calls to subroutines are carried out in the sections or from another subroutine. The number of nestings is limited to 8. A subroutine cannot call itself (non recursive). Subroutines are also linked to a task. The same subroutine cannot be called from several different tasks. Example The following diagram shows a task structured into sections and subroutines.

Characteristics of a Subroutine The following table describes the characteristics of a subroutine.

Characteristic Name Language Task Comment Description 32 characters maximum (accents are possible, but spaces are not allowed). LD, FBD, IL or ST. Master, fast or auxiliary 512 characters maximum

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3.3

Mono Task Execution

Subject of this Section This section describes how a mono task application operates. Whats in this Section? This section contains the following topics:
Topic Description of the Master Task Cycle Mono Task: Cyclic Execution Periodic Execution Control of Cycle Time Execution of Quantum Sections with Remote Inputs/Outputs Page 82 84 85 86 87

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Description of the Master Task Cycle

General The program for a mono task application is associated with a single user task, the master task (see page 71). You can choose the type of master task execution: cyclic periodic Illustration The following illustration shows the operating cycle.

Description of the Different Phases The table below describes the operating phases.
Phase Acquisition of inputs Program processing Updating of outputs Description Writing to memory of the status of the data on the inputs of the discrete and application-specific modules associated with the task, These values can be modified by forcing values. Execution of application program, written by the user, Writing of output bits or words to the discrete or application-specific modules associated with the task depending on the state defined by the application. As for the inputs, the values written to the outputs can be modified by forcing values.

NOTE: During the input acquisition and output update phases, the system also implicitly monitors the PLC (management of system bits and words, updating of current values of the real time clock, updating of status LEDs and LCD screens (not for Modicon M340), detection of changes between RUN/STOP, etc.) and the processing of requests from the terminal (modifications and animation).
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Operating Mode PLC in RUN, the processor carries out internal processing, input acquisition, processing of the application program and the updating of outputs in that order. PLC in STOP, the processor carries out: internal processing, input acquisition (1), and depending on the chosen configuration: fallback mode: the outputs are set to fallback position. maintain mode: the last value of the outputs is maintained. (1) for Premium , Atrium and Quantum PLCs, input acquisition is inhibited when the PLC is in STOP.

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Mono Task: Cyclic Execution

General The master task operates as outlined below. A description is provided of cyclic execution of the master task in mono task operation. Operation The following drawing shows the execution phases of the PLC cycle.

%I Reading of inputs %Q Writing of outputs

Description This type of operation consists of sequencing the task cycles, one after another. After having updated the outputs, the system performs its own specific processing then starts another task cycle, without pausing. Cycle Check The cycle is checked by the watchdog (see page 86).

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Periodic Execution
Description In this operating mode, input acquisition, the processing of the application program and the updating of outputs are all carried out periodically over a defined period of 1 to 255 ms. At the start of the PLC cycle, a time out whose current value is initialized to the defined period starts the countdown. The PLC cycle must be completed before this time out expires and launches a new cycle. Operation The following diagram shows the execution phases of the PLC cycle.

%I Reading of inputs %Q Writing of outputs

Operating Mode The processor carries out internal processing, input acquisition, processing of the application program and the updating of outputs in that order. If the period is not yet over, the processor completes its operating cycle until the end of the period by performing internal processing. If the operating time is longer than that assigned to the period, the PLC signals a period overrun by setting the system bit %S19 of the task to 1. Processing then continues and is executed fully (however, it must not exceed the watchdog time limit). The following cycle is started after the outputs have been implicitly written for the current cycle. Cycle Check Two checks are carried out: period overrun (see page 86), by watchdog (see page 86).
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Control of Cycle Time

General The period of master task execution, in cyclic or periodic operation, is controlled by the PLC (watchdog) and must not exceed the value defined in Tmax configuration (1500 ms by default, 1.5 s maximum). Software Watchdog (Periodic or Cyclic Operation) If watchdog overflow should occur, the application is declared in error, which causes the PLC to stop immediately (HALT state). The bit %S11 indicates a watchdog overflow. It is set to 1 by the system when the cycle time becomes greater than the watchdog. The word %SW11 contains the watchdog value in ms. This value is not modifiable by the program. NOTE: The reactivation of the task requires the terminal to be connected in order to analyze the cause of the error, correct it, reinitialize the PLC and switch it to RUN. It is not possible to exit HALT by switching to STOP. To do this you must reinitialize the application to ensure consistency of data. Control in Periodic Operation In periodic operation, an additional control enables a period overrun to be detected. A period overrun does not cause the PLC to stop if it remains less than the watchdog value. The bit %S19 indicates a period overflow. It is set to 1 by the system, when the cycle time becomes greater than the task period. The word %SW0 contains the value of the period (in ms). It is initialized on cold restart by the defined value. It can be changed by the user. Exploitation of Master Task Execution Times The following system words can be used to obtain information on the cycle time: %SW30 contains the execution time of the last cycle %SW31 contains the execution time of the longest cycle %SW32 contains the execution time of the shortest cycle NOTE: These different items of information can also be accessed explicitly from the configuration editor.

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Execution of Quantum Sections with Remote Inputs/Outputs

General Quantum PLCs have a specific section management system. It applies to stations with remote inputs/outputs. These stations are used with following RIO modules: 140 CRA 931 00 140 CRA 932 00 This system allows remote inputs/outputs to be updated on sections with optimum response times (without waiting for the entire task cycle before updating the inputs/outputs). Operation The following diagram shows the IO phases when 5 drops are associated to client task sections.

%Ii inputs of drop No. i %Qi outputs of drop No. i i drop number

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Description
Phase 1 Description Request to update: the inputs of the first drop (i=1) the outputs of the last drop (i=5) Processing the program Updating the inputs of the first drop (i=1) Request to update the inputs of the second drop (i=2) 4 Request to update: the inputs of the third drop (i=3) the outputs of the first drop (i=1) Request to update: the inputs of the fourth drop (i=4) the outputs of the second drop (i=2) Request to update: the inputs of the last drop (i=5) the outputs of the third drop (i=3) Request to update the outputs of the fourth drop (i=4)

2 3

Adjustment of the Drop Hold-Up Time Value In order for the remote outputs to be correctly updated and avoid fallback values to be applied, the drop hold-up time must be set to at least twice the mast task cycle time. Therefore the default value, 300 ms, must be changed if the MAST period is set to the maximum value, 255 ms. The adjustment of the Drop Hold-Up time (see Modicon Quantum, Hot Standby System, User Manual) must be done on all configured drops.

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3.4

Multitasking Execution

Subject of this Section This section describes how a multitasking application operates. Whats in this Section? This section contains the following topics:
Topic Multitasking Software Structure Sequencing of Tasks in a Multitasking Structure Task Control Assignment of Input/Output Channels to Master, Fast and Auxiliary Tasks Management of Event Processing Execution of TIMER-type Event Processing Input/Output Exchanges in Event Processing How to Program Event Processing Page 90 92 94 97 99 100 104 105

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Multitasking Software Structure

Tasks and Processing The task structure of this type of application is as follows:
Task/Processing Designation Master Fast Auxiliary Event MAST FAST AUX 0 to 3 EVTi and TIMERi (see page 99) Description Always present, may be cyclic or periodic. Optional, always periodic. Optional and always periodic. Called by the system when an event occurs on an input/output module or triggered by the event timer. These types of processing are optional and can be used by applications that need to act on inputs/outputs within a short response time.

Illustration The following diagram shows the tasks in a multitasking structure and their level of priority.

Description The master (MAST) task is still the application base. The other tasks differ depending on the type of PLC (see page 67). Levels of priority are fixed for each task in order to prioritize certain types of processing. Event processing can be activated asynchronously with respect to periodic tasks by an order generated by external events. It is processed as a priority and requires any processing in progress to be stopped.

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Precautions Multitasks: golden rules

CAUTION
UNEXPECTED MULTITASK APPLICATION BEHAVIOR The sharing of Inputs/Outputs between different tasks can lead to unforeseen behavior by the application. We specifically recommend you associate each output or each input to one task only. Failure to follow these instructions can result in injury or equipment damage.

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Sequencing of Tasks in a Multitasking Structure

General The master task is active by default. The fast and auxiliary tasks are active by default if they have been programmed. Event processing is activated when the associated event occurs. Operation The table below describes the execution of priority tasks (this operation is also illustrated in the diagram below).
Phase 1 2 3 4 Description Occurrence of an event or start of the fast task cycle. Execution of lower priority tasks in progress stopped, Execution of the priority task. The interrupted task takes over again when processing of the priority task is complete.

Description of the Task Sequence The following diagram illustrates the task sequence of multitasking processing with a cyclic master task, a fast task with a 20ms period and event processing.

Legend: I: acquisition of inputs P: program processing O: updating of outputs

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Task Control The execution of fast and event processing tasks can be controlled by the program using the following system bits: %S30 is used to control whether or not the MAST master task is active %S31 is used to control whether or not the FAST task is active.. %S32 to %S35 are used to control whether or not the auxiliary tasks AUX0 to AUX3 are active. %S38 is used to control whether EVTi event processing is active. NOTE: The elementary functions MASKEVT and UNMASKEVT also allow the global masking and unmasking of events by the program.

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Task Control
Cyclic and Periodic Operation In multitasking operation, the highest priority task shall be used in periodic mode in order to allow enough time for lower priority tasks to be executed. For this reason, only the task with the lowest priority should be used in cyclic mode. Thus, choosing cyclic operating mode for the master task excludes using auxiliary tasks. Measurement of Task Durations The duration of tasks is continually measured. This measurement represents the duration between the start and the end of execution of the task. This measurement includes the time taken up by tasks of higher priority which may interrupt the execution of the task being measured. The following system words (see page 179) give the current, maximum and minimum cycle times for each task (value in ms)
Measurement of times Current Maximum Minimum MAST FAST AUX0 AUX1 %SW39 %SW40 %SW41 AUX2 %SW42 %SW43 %SW44 AUX3 %SW45 %SW46 %SW47

%SW30 %SW33 %SW36 %SW31 %SW34 %SW37 %SW32 %SW35 %SW38

NOTE: The maximum and minimum times are taken from the times measured since the last cold restart.

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Task Periods The task periods are defined in the task properties. They can be modified by the following system words.
System words %SW0 %SW1 %SW2 %SW3 %SW4 %SW5 Task MAST FAST AUX0 AUX1 AUX2 AUX3 Values 0..255ms 1..255ms 10ms..2.55s 10ms..2.55s 10ms..2.55s 10ms..2.55s Default values Cyclic 5ms 100ms 200ms 300ms 400ms Observations 0 = cyclic operation The values of the period are expressed in 10ms.

When the cycle time of the task exceeds the period, the system sets the system bit %S19 of the task to 1 and continues with the following cycle. NOTE: The values of the periods do not depend on the priority of tasks. It is possible to define the period of a fast task which is larger than the master task. Watchdog The execution of each task is controlled by a configurable watchdog by using the task properties. The following table gives the range of watchdog values for each of the tasks:
Tasks MAST FAST AUX0 AUX1 AUX2 AUX3 Watchdog values Default watchdog (min...max) (ms) value (ms) 10..1500 10..500 100..5000 100..5000 100..5000 100..5000 250 100 2000 2000 2000 2000 Associated system word %SW11 -

If watchdog overflow should occur, the application is declared in error, which causes the PLC to stop immediately (HALT state). The word %SW11 contains the watchdog value of the master task in ms. This value is not modifiable by the program.

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The bit %S11 indicates a watchdog overflow. It is set to 1 by the system when the cycle time becomes greater than the watchdog. NOTE: The reactivation of the task requires the terminal to be connected in order to analyze the cause of the error, correct it, reinitialize the PLC and switch it to RUN. It is not possible to exit HALT by switching to STOP. To do this you must reinitialize the application to ensure consistency of data. Task Control When the application program is being executed, it is possible to activate or inhibit a task by using the following system bits:
System bits %S30 %S31 %S32 %S33 %S34 %S35 Task MAST FAST AUX0 AUX1 AUX2 AUX3

The task is active when the associated system bit is set to 1. These bits are tested by the system at the end of the master task. When a task is inhibited, the inputs continue to be read and the outputs continue to be written. On startup of the application program, for the first execution cycle only the master task is active. At the end of the first cycle the other tasks are automatically activated except if one of the tasks in inhibited (associated system bit set to 0) by the program. Controls on Input Reading and Output Writing Phases The bits of the following system words can be used (only when the PLC is in RUN) to inhibit the input reading and output writing phases.
Inhibition of phases... reading of inputs writing of outputs MAST %SW8.0 %SW9.0 FAST %SW8.1 %SW9.1 AUX0 %SW8.2 %SW9.2 AUX1 %SW8.3 %SW9.3 AUX2 %SW8.4 %SW9.4 AUX3 %SW8.5 %SW9.5

NOTE: By default, the input reading and output writing phases are active (bits of system words %SW8 and %SW9 set to 0). On Quantum, inputs/outputs which are distributed via DIO bus are not assigned by the words %SW8 and %SW9.

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Assignment of Input/Output Channels to Master, Fast and Auxiliary Tasks

General Each task writes and reads the inputs/outputs assigned to it. The association of a channel, group of channels or an input/output module with a task is defined in the configuration screen of the corresponding module. The task that is associated by default is the MAST task. Reading of Inputs and Writing of Outputs on Premium All the input/output channels of in-rack modules can be associated with a task (MAST, FAST or AUX 0..3). Local and remote inputs/outputs (X bus): For each task cycle, the inputs are read at the start of the task and the outputs are written at the end of the task. Remote inputs/outputs on Fipio bus: In controlled mode, the refreshing of inputs/outputs is correlated with the task period. The system guarantees that inputs/outputs are updated in a single period. Only the inputs/outputs associated with this task are refreshed. In this mode, the period of the PLC task (MAST, FAST or AUX) must be greater than or equal to the network cycle time. In free mode, no restriction is imposed on the task period. The PLC task period (MAST, FAST or AUX) can be less than the network cycle. If this is the case, the task can be executed without updating the inputs/outputs. Selecting this mode gives you the possibility of having the lowest possible task times for applications where speed is critical. Reading of Inputs and Writing of Outputs on Quantum Local inputs/outputs: Each input/output module or group of modules can be associated with a single task (MAST, FAST or AUX 0..3). Remote inputs/outputs: Remote input/output stations can only be associated with the master (MAST) task. The assignment is made for sections (see page 87), with 1 remote input station and 1 remote output station per section.

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Distributed inputs/outputs: Distributed input/output stations can only be associated with the master (MAST) task. The inputs are read at the start of the master task and the outputs are written at the end of the master task. Example on Premium With its 8 successive channel modularity (channels 0 to 7, channels 8 to 15, etc.), the inputs/outputs of the Premium discrete modules can be assigned in groups of 8 channels, independently of the MAST, AUXi or FAST task. Example: it is possible to assign the channels of a 28 input/output module as follows: inputs 0 to 7 assigned to the MAST task, inputs 8 to 15 assigned to the FAST task, outputs 0 to 7 assigned to the MAST task, outputs 8 to 15 assigned to the AUX0 task.

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Management of Event Processing

General Event processing take priority over tasks. The following illustration describes the 3 defined levels of priority:

Management of Priorities EVT0 event processing is the highest priority processing. It can itself interrupt other types of event processing. EVTi event processing triggered by input/output modules (priority 1) take priority over TIMERi event processing triggered by timers (priority 2). On Modicon M340, Premium and Atrium PLCs: types of event processing with priority level 1 are stored and processed in order. On Quantum PLC: the priority of priority 1 processing types is determined: by the position of the input/output module in the rack, by the position of the channel in the module. The module with the lowest position number has the highest level of priority. Event processing triggered by timer is given priority level 2. The processing priority is determined by the lowest timer number. Control The application program can globally validate or inhibit the various types of event processing by using the system bit %S38. If one or more events occur while they are inhibited, the associated processing is lost. Two elementary functions of the language, MASKEVT() and UNMASKEVT(), used in the application program can also be used to mask or unmask event processing. If one or more events occur while they are masked, they are stored by the system and the associated processing is carried out after unmasking.
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Execution of TIMER-type Event Processing

Description TIMER-type event processing is any process triggered by the ITCNTRL (see Unity Pro, System, Block Library) function. This timer function periodically activates event processing every time the preset value is reached. Reference The following parameters are selected in the event processing properties.
Parameter Time base Value 1 ms, 10ms, 100ms, 1 sec Default value 10ms Role Timer time base. Note: the time base of 1ms should be used with care, as there is a risk of overrun if the processing triggering frequency is too high. Timer preset value. The time period obtained equals: Preset x Time Base. The value of the temporal offset between the STOP/RUN transition of the PLC and the first restart of the timer from 0. The temporal value equals: Phase x Time Base.

Preset Phase

1..1023 0..1023

10 0

NOTE: The Phase must be lower than Preset in TIMER-type Event. ITCNTRL Function Representation in FBD:

The following table describes the input parameters:

Parameter Enable Reset_Timer Type BOOL BOOL Comment Enable input selected At 1 resets the timer

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Parameter Hold_Timer Nb_Task_Event

Type BOOL BYTE

Comment At 1, freezes timer incrementation. Input byte which determines the event processing number to be triggered.

The following table describes the output parameters:

Parameter Status_Timer Current_Value Type WORD TIME Comment Status word. Current value of timer.

Timing Diagram for Normal Operation Timing diagram.

Normal operation The following table describes the triggering of TIMER-type event processing operations (see timing diagram above).
Phase 1 2 3 Description When a rising edge is received on the RESET input, the timer is reset to 0. The current value VALUE of the timer increases from 0 towards the preset value at a rate of one unit for each pulse of the time base. An event is generated when the current value has reached the preset value, the timer is reset to 0, and then reactivated. The associated event processing is also triggered, if the event is not masked. It can be deferred if an event processing task with a higher or identical priority is already in progress. 101

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Phase 4 5

Description When the ENABLE input is at 0, the events are no longer sent out. TIMER type event processing is no longer triggered. When the HOLD input is at 1, the timer is frozen, and the current value stops incrementing, until this input returns to 0.

Event Processing Synchronization The Phase parameter is used to trigger different TIMER-type event processing tasks at constant time intervals. This parameter set a temporal offset value with an absolute time origin, which is the last passage of the PLC from STOP to RUN. Operating condition: The event processing tasks must have the same time base and preset values. The RESET and HOLD inputs must not be set to 1. Example: 2 event processing tasks Timer1 and Timer2 to be executed at 70ms interval. Timer1 can be defined with a phase equal to 0 and the second Timer2 with a phase of 70ms (phase of 7 and time base of 10ms). Any event triggered by the timer associated with the Timer1 processing task shall be followed after an interval of 70ms by an event from the timer associated with the Timer2 processing task

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Timing Diagram: STOP/RUN Transition Timing diagram of the example provided above with the same preset value of 16 (160ms) for Timer1 and Timer2.

Operation after PLC STOP/RUN The following table describes the operation of the PLC after a transition from STOP into RUN (see timing diagram above):
Phase 1 Description ON a STOP RUN transition of the PLC, timing is triggered so that the preset value is reached at the end of a time period equal to Phase x time base, when the first event is sent out. The current value VALUE of the timer increases from 0 towards the preset value at a rate of one unit for each pulse of the time base. An event is generated when the current value has reached the preset value, the timer is reset to 0, and then reactivated. The associated event processing is also triggered, if the event is not masked. If can be deferred, if there is an event processing task of higher or identical priority already in progress.

2 3

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Input/Output Exchanges in Event Processing

General With each type of event processing it is possible to use other input/output channels than those for the event. As with tasks, exchanges are then performed implicitly by the system before (%I) and after (%Q) application processing. Operation The following table describes the exchanges and processing performed.
Phase 1 2 3 4 Description The occurrence of an event reroutes the application program to perform the processing associated with the input/output channel which caused the event. All inputs associated with event processing are acquired automatically. The event processing is executed. It must be as short as possible. All the outputs associated with the event processing are updated.

Premium/Atrium PLCs The inputs acquired and the outputs updated are: the inputs associated with the channel which caused the event the inputs and outputs used during event processing NOTE: These exchanges may relate: to a channel (e.g. counting module) or to a group of channels (discrete module). In this case, if the processing modifies, for example, outputs 2 and 3 of a discrete module, the image of outputs 0 to 7 is then transferred to the module. Quantum PLCs The inputs acquired and the outputs updated are selected in the configuration. Only local inputs/outputs can be selected. Programming Rule The inputs (and the associated group of channels) exchanged during the execution of event processing are updated (loss of historical values, and thus edges). You should therefore avoid testing fronts on these inputs in the master (MAST), fast (FAST) or auxiliary (AUXi) tasks.

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How to Program Event Processing

Procedure The table below summarizes the essential steps for programming event processing.
Step 1 Action Configuration phase (for events triggered by input/output modules) In offline mode, from the configuration editor, select Event Processing (EVT) and the event processing number for the channel of the input/output module concerned. Unmasking phase The task which can be interrupted must in particular: Enable processing of events at system level: set bit %S38 to 1 (default value). Unmask events with the instruction UNMASKEVT (active by default). Unmask the events concerned at channel level (for events triggered by input/output modules) by setting the input/output modules implicit language objects for unmasking of events to 1. By default, the events are masked. Check that the stack of events at system level is not saturated (bit %S39 must be at 0). Event program creation phase The program must: Determine the origin of the event(s) on the basis of the event status word associated with the input/output module if the module is able to generate several events. Carry out the reflex processing associated with the event. This process must be as short as possible. Write the reflex outputs concerned. Note: the event status word is automatically reset to zero.

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Illustration of Event Unmasking This figure shows event unmasking in the MAST task.

Illustration of the Contents of Event Processing This figure shows the possible contents of event processing (bit test and action).

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4
Subject of this Chapter This chapter describes the application memory structure of Premium, Atrium and Quantum PLCs. Whats in this Chapter? This chapter contains the following sections:
Section 4.1 4.2 Topic Memory Structure of the Premium, Atrium and Modicon M340 PLCs Memory Structure of Quantum PLCs Page 108 115

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4.1

Memory Structure of the Premium, Atrium and Modicon M340 PLCs

Subject of this Section This section describes memory structure and detailed description of the memory zones of the Premium, Atrium and Modicon M340 PLCs. Whats in this Section? This section contains the following topics:
Topic Memory Structure of Modicon M340 PLCs Memory Structure of Premium and Atrium PLCs Detailed Description of the Memory Zones Page 109 112 114

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Memory Structure of Modicon M340 PLCs

Overview The PLC memory supports: located application data unlocated application data the program: task descriptors and executable code, constant words, initial values and configuration of inputs/outputs Structure The data and program are supported by the processor modules internal RAM. The following diagram describes the memory structure.

Program Backup If the memory card is present, working properly and not write-protected, the program is saved on the memory card: Automatically, after: a download online modification a rising edge of the system bit %S66 in the project program

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Manually: with the command PLC Project backup Backup Save in an animation table by setting the system bit %S66

WARNING
LOSS OF DATA - APPLICATION NOT SAVED The interruption of an application saving procedure by an untimely or rough extraction of the memory card, may lead to the loss of saved application.The bit %S65 (see page 160) allows managing a correct extraction (See help page %65 bit in system bit chapter) Failure to follow these instructions can result in death, serious injury, or equipment damage. The memory card uses Flash technology, therefore no battery is necessary. Program Restore If the memory card is present and working properly, the program is copied from the PLC memory card to the internal memory: Automatically after: a power cycle Manually, with the Unity Pro command PLC Project backup Backup Restore NOTE: When you insert the memory card in run or stop mode, you have to do a power cycle to restore the project on the PLC. Saved Data Located, unlocated data, diagnostic buffer are automatically saved in the internal Flash memory at power-off. They are restored at warm start. Save_Param The SAVE_PARAM function does both current and initial parameter adjustment in internal RAM (as in other PLCs). In this case, the internal RAM and the memory card content are different (%S96 = 0 and the CARDERR LED is on). On cold start (after application restore), the current parameter are replaced by the last adjusted initial values only if a save to memory card function (Backup Save or %S66 rising edge) was done.

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Save Current Value On a %S94 rising edge, the current values replace the initial values in internal memory. The internal RAM and the memory card content are different (%S96 = 0 and the CARDERR LED is on). On cold start, the current values are replaced by the most recent initial values only if a save to memory card function (Backup Save or %S66 rising edge) was done. Delete Files There are two ways to delete all the files on the memory card: Formatting the memory card (delete all files of the file system partition) Deleting the content of directory \DataStorage\ ( delete only files added by user) Both actions are performed using %SW93 (see page 183). The system word %SW93 can only be used after download of a default application in the PLC.

CAUTION
INOPERABLE MEMORY CARD Do not format the memory card with a non-Schneider tool. The memory card needs a structure to contain program and data. Formatting with another tool destroys this structure. Failure to follow these instructions can result in injury or equipment damage. %MW Backup The values of the %MWi can be saved in the internal Flash memory using %SW96 (see page 183). These values will be restored at cold start, including application download, if the option Initialize of %MW on cold start is unchecked in the processor Configuration screen (see Unity Pro, Operating Modes). For %MW words, the values can be saved and restored on cold restart or download if the option Reset of %MW on cold restart is not checked in the processor Configuration screen. With the %SW96 word, management of memory action %MW internal words (save, delete) and information on the actions states %MW internal words is possible. Memory Card Specifics Two types of memory card are available: application: these cards contain the application program and Web pages application + file storage: these cards contain the application program, data files from Memory Card File Management EFBs, and Web pages

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Memory Structure of Premium and Atrium PLCs

General The PLC memory supports: located application data, unlocated application data, the program: task descriptors and executable code, constant words, initial values and configuration of inputs/outputs. Structure without Memory Extension Card The data and program are supported by the internal RAM of the processor module. The following diagram describes the memory structure.

Structure with Memory Extension Card The data is supported by the internal RAM of the processor module. The program is supported by the extension memory card. The following diagram describes the memory structure.

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Memory Backup The internal RAM is backed up by a Ni-Cad battery supported by the processor module. The RAM memory cards are backed up by a Ni-Cad battery. Specificities of Memory Cards Three types of memory card are offered: application: these cards contain the application program. The cards offered use either RAM or Flash EPROM technology application + file storage: in addition to the program, these cards also contain a zone which can be used to backup/restore data using the program. The cards on offer use either RAM or Flash EPROM technology file storage: these cards can be used to backup/restore data using the program. These cards use SRAM technology. The following diagram describes the memory structure with an application and file storage card.

NOTE: On processors with 2 memory card slots, the lower slot is reserved for the file storage function.

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Detailed Description of the Memory Zones

User Data This zone contains the located and unlocated application data. located data: %M, %S Boolean and %MW,%SW numerical data data associated with modules (%I, %Q, %IW, %QW,%KW etc.) unlocated data: Boolean and numerical data (instances) EFB and DFB instances User Program and Constants This zone contains the executable codes and constants of the application. executable codes: program code code associated with EFs, EFBs and the management of I/O modules code associated with DFBs constants: KW constant words constants associated with inputs/outputs initial data values This zone also contains the necessary information for downloading the application: graphic codes, symbols etc. Other Information Other information relating to the configuration and structure of the application are also stored in the memory (in a data or program zone depending on the type of information). Configuration: other data relating to the configuration (hardware configuration, software configuration). System: data used by the operating system (task stack, etc.). Diagnostics: information relating to process or system diagnostics, diagnostics buffer.

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4.2

Memory Structure of Quantum PLCs

Subject of this Section This section describes memory structure and detailed description of the memory zones of the Quantum PLCs. Whats in this Section? This section contains the following topics:
Topic Memory Structure of Quantum PLCs Detailed Description of the Memory Zones Page 116 119

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Memory Structure of Quantum PLCs

General The PLC memory supports: located application data (State Ram), unlocated application data, the program: task descriptors and executable code, initial values and configuration of inputs/outputs. Structure without Memory Extension Card The data and program are supported by the internal RAM of the processor module. The following diagram describes the memory structure.

Structure with Memory Extension Card Quantum 140 CPU 6 processors can be fitted with a memory extension card. The data is supported by the internal RAM of the processor module. The program is supported by the extension memory card. The following diagram describes the memory structure.

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Memory Backup The internal RAM is backed up by a Ni-Cad battery supported by the processor module. The RAM memory cards are backed up by a Ni-Cad battery. Start-up with Application Saved in Backup Memory The following table describes the different results according to the PLC state, according to the PLC mem switch (see Quantum with Unity Pro, Hardware, Reference Manual), and also indicates if the box "Auto RUN" is checked or not checked.
PLC State NONCONF NONCONF NONCONF Configured Configured Configured 1 2 PLC Mem Switch1 Start or Off Start or Off Mem Prt or Stop Start or Off Start or Off Mem Prt or Stop Auto RUN in Appl2 Off On Not Applicable Off On Do not Care Cold Start, application is loaded from Backup memory to RAM of the PLC. The PLC remains in STOP. Cold Start, application is loaded from Backup memory to RAM of the PLC. The PLC remains in RUN. No application loaded. PLC power up in NONCONF state. Cold Start, application is loaded from Backup memory to RAM of the PLC. The PLC remains in STOP. Cold Start, application is loaded from Backup memory to RAM of the PLC. The PLC remains in RUN. Warm Start, no application loaded. PLC powers up in previous state. Results

Start and Stop are valid for the 434 and 534 models only and Off is valid for the 311 only. Mem Prt is valid on all models. The Automatic RUN in the application refers to the application that is loaded.

Specificities of Memory Cards Three types of memory card are offered: application: these cards contain the application program. The cards on offer use either RAM or Flash EPROM technology application + file storage: in addition to the program, these cards also contain a zone which can be used to backup/restore data using the program. The cards on offer use either RAM or Flash EPROM technology file storage: these cards can be used to backup/restore data using the program. These cards use SRAM technology.

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The following diagram describes the memory structure with an application and file storage card.

NOTE: On processors with 2 memory card slots, the lower slot is reserved for the file storage function.

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Detailed Description of the Memory Zones

Unlocated Data This zone contains unlocated data: Boolean and numerical data EFB and DFB Located Data This zone contains located data (State Ram):
Address Object address 0xxxxx 1xxxxx 3xxxxx 4xxxxx %Qr.m.c.d,%Mi %Ir.m.c.d, %Ii %IWr.m.c.d, %IWi %QWr.m.c.d, %MWi Data use output module bits and internal bits. input module bits. input register words of input/output modules. output words of input/output modules and internal words.

User Program This zone contains the executable codes of the application. program code code associated with EFs, EFBs and the management of I/O modules code associated with DFBs initial variable values This zone also contains the necessary information for downloading the application: graphic codes, symbols etc. Operating System On 140 CPU 31/41/51 processors, this contains the operating system for processing the application. This operating system is transferred from an internal EPROM memory to internal RAM on power up. Application Backup A Flash EPROM memory zone of 1435K8, available on processors 140 CPU 31/41/51, can be used to backup the program and the initial values of variables. The application stored in this zone is automatically transferred to internal RAM when the PLC processor is powered up (if the PLC MEM switch is set to off on the processor front panel).

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Other Information Other information relating to the configuration and structure of the application are also stored in the memory (in a data or program zone depending on the type of information). Configuration: other data relating to the configuration (hardware configuration, software configuration). System: data used by the operating system (task stack, etc.). Diagnostics: information relating to process or system diagnostics, diagnostics buffer.

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5
Subject of this Chapter The chapter describes the operating modes of the PLC in the event of power outage and restoral, the impacts on the application program and the updating of inputs/outputs. Whats in this Chapter? This chapter contains the following sections:
Section 5.1 5.2 5.3 Topic Modicon M340 PLCs Operating Modes Premium, Quantum PLCs Operating Modes PLC HALT Mode Page 122 133 145

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5.1

Modicon M340 PLCs Operating Modes

Subject of this Section This section describes the operating modes of the Modicon M340 PLCs. Whats in this Section? This section contains the following topics:
Topic Processing of Power Outage and Restoral of Modicon M340 PLCs Processing on Cold Start for Modicon M340 PLCs Processing on Warm Restart for Modicon M340 PLCs Automatic Start in RUN for Modicon M340 PLCs Page 123 125 129 132

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Processing of Power Outage and Restoral of Modicon M340 PLCs

General If the duration of the outage is less than the power supply filtering time, it has no effect on the program, which continues to run normally. If this is not the case, the program is interrupted and power restoration processing is activated. Filtering time:
PLC BMX CPS 2000 BMX CPS 3500 BMX CPS 3540T BMX CPS 2010 BMX CPS 3020 Alternating Current 10ms Direct Current -

1ms

Illustration The following illustration shows the different power cycle phases.

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Operation The table describes the power outage processing phases.

Phase 1 2 3 Description On power outage, the system saves the application context, the values of application variables, and the state of the system on internal Flash memory. The system sets all the outputs into fallback state (state defined in configuration). On power restoral, some actions and checks are done to verify if warm restart is available: restoring from internal Flash memory application context, verification with memory card (presence, application availability), verification that the application context is identical to the memory card context, If all checks are correct, a warm restart (see page 129) is done, otherwise a cold start (see page 125) is carried out.

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Processing on Cold Start for Modicon M340 PLCs

Cause of a Cold Start The following table describes the different possible causes of a cold start.
Causes Loading of an application Restore application from memory card, when the application is different from the one in internal RAM Restore application from memory card, with Unity Pro commands PLC Project backup .... RESET button pressed on supply RESET button pressed on supply less than 500ms after a power down RESET button pressed on supply after a processor error, except in the case of a watchdog error Initialization from Unity Pro Forcing the system bit %S0 Startup characteristics Cold start forced in STOP Cold start forced in STOP or RUN mode as defined in the configuration Cold start forced in STOP or RUN mode as defined in the configuration Cold start forced in STOP or RUN mode as defined in the configuration Cold start forced in STOP or RUN mode as defined in the configuration Cold start forced in STOP. The start in RUN mode as defined in the configuration is not taken into account Start in STOP or in RUN (retaining the operating mode in progress at downtime), initialization only of application

Restoral after power supply outage with loss Cold start forced in STOP or RUN mode as of context defined in the configuration

CAUTION
LOSS OF DATA ON APPLICATION TRANSFER Loading or transferring an application to the PLC typically involves initialization of unlocated variables. To save the located variables: Avoid the initialization of the %MWi by unchecking Initialize %MWi on cold start in the configuration screen of the CPU. It is necessary to assign a topological address to the data if the process requires keeping the current values of the data when transferring the application. Failure to follow these instructions can result in injury or equipment damage.

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CAUTION
LOSS OF DATA ON APPLICATION TRANSFER Do not press the RESET button on the power supply. Otherwise, %MWi is reset and initial values are loaded. Failure to follow these instructions can result in injury or equipment damage.

CAUTION
RISK OF LOSS OF APPLICATION If there is no memory Card in the PLC during a cold restart the application is lost. Failure to follow these instructions can result in injury or equipment damage. Illustration The diagram below describes how a cold restart operates.

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Operation The table below describes the program execution restart phases on cold restart.
Phase 1 Description The startup is performed in RUN or in STOP depending on the status of the Automatic start in RUN parameter defined in the configuration or, if this is in use, depending on the state of the RUN/STOP input. Program execution is resumed at the start of the cycle. The system carries out the following: Deactivating tasks, other than the master task, until the end of the first master task cycle. Initializing data (bits, I/O image, words etc.) with the initial values defined in the data editor (value set to 0, if no other initial value has been defined). For %MW words, the values can be retrieved on cold restart if the two conditions are valid : the Initialize of %MW on cold restart option (see Unity Pro, Operating Modes) is unchecked in the processors configuration screen, the internal flash memory has a valid backup (see %SW96 (see page 183)). Note : If the number of %MW words exceeds the backup size (see the memory structure of M340 PLCs (see page 109)) during the save operation the remaining words are set to 0. Initializing elementary function blocks on the basis of initial data. Initializing data declared in the DFBs: either to 0 or to the initial value declared in the DFB type. Initializing system bits and words. Positioning charts to initial steps. Cancelling any forcing. Initializing message and event queues. Sending configuration parameters to all discrete input/output modules and application-specific modules. 3 For this first restart cycle the system does the following: Relaunches the master task with the %S0 (cold restart) and %S13 (first cycle in RUN) bits set to 1, and the %SW10 word (detection of a cold restart during the first task cycle) is set to 0. Resets the %S0 and %S13 bits to 0, and sets each bit of the word %SW10 to 1 at the end of this first cycle of the master task. Activates the fast task and event processing at the end of the first cycle of the master task.

Processing a cold start by program It is advisable to test the bit %SW10.0 to detect a cold start and start processing specific to this cold start. NOTE: It is possible to test the bit %S0, if the parameter Automatic start in RUN has been selected. If this is not the case, the PLC starts in STOP, the bit %S0 then switches to 1 on the first cycle after restart but is not visible to the program because it is not executed.
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Output Changes As soon as a power outage is detected, the outputs are set in the fallback position: either they are assigned the fallback value, or the current value is maintained, depending on the choice made in the configuration. After power restoral, the outputs remain at zero until they are updated by the task.

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Processing on Warm Restart for Modicon M340 PLCs

Cause of a Warm Restart A warm restart may be caused by a power restoral without loss of context.

CAUTION
RISK OF LOSS OF APPLICATION If there is no Memory Card in the PLC during a warm restart the application is lost. Failure to follow these instructions can result in injury or equipment damage. Illustration The diagram below describes how a warm restart operates.

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Operation The table below describes the program execution restart phases on warm restart.
Phase 1 Description Program execution doesnt resume from the element where the power outage occurred. The remaining program is discarded during the warm start. Each task will restart from the beginning. At the end of the restart cycle, the system carries out the following: restore the applications variable value, set bit %S1 to 1, the initialization of message and event queues, the sending of configuration parameters to all discrete input/output and application-specific modules, the deactivation of the fast task and event processing (until the end of the master task cycle). The system performs a restart cycle during which it: relaunches the master task from beginning of cycle, resets bit %S1 to 0 at the end of this first master task cycle, reactivates the fast task, event processing at the end of this first cycle of the master task.

Processing a Warm Restart by Program In the event of a warm restart, if you want the application to be processed in a particular way, you must write the corresponding program to test that %S1 is set to 1 at the start of the master task program. SFC Warm start specific features The Warm start on M340 PLCs is not considered as a real warm start by the CPU. SFC interpreter does not depend on tasks. SFC publishes a memory area "ws_data" to the OS that contains SFC-sectionspecific data to be saved at a power fail. At the beginning of chart processing the currently active steps are saved to "ws_data" and processing is marked to be in "critical section". At the end of chart processing the "critical section" is unmarked. If a power failure hits into "critical section" this could be detected if this state is active at the beginning (as the scan is aborted and MAST task is restarted from the beginning). In this case the workspace might be inconsistent and is restored from the saved data. Additional information from SFCSTEP_STATE in located data area is used to reconstruct the state machine. When a power failure occurs: during first scan %S1 =1 Mast is executed but Fast and Event tasks are not executed.

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On power restoral: Clears chart, deregisters diagnostics, keeps set actions sets steps from saved area sets step times from SFCSTEP_STATE restores elapsed time for timed actions NOTE: SFC interpreter is independent, if the transition is valid, the SFC chart evolves while %S1 is true. Output Changes As soon as a power outage is detected, the outputs are set in the fallback position: either they are assigned the fallback value, or the current value is maintained, depending on the choice made in the configuration. After power restoral, the outputs stay in security mode (equal to 0) until they are updated by a running task.

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Automatic Start in RUN for Modicon M340 PLCs

Description Automatic start in RUN is a processor configuration option. This option forces the PLC to start in RUN after a cold restart (see page 125), except after an application has been loaded onto the PLC. For Modicon M340 this option is not taken into account when the power supply RESET button is pressed after a processor error, except in the case of a watchdog error.

WARNING
UNEXPECTED SYSTEM BEHAVIOR - UNEXPECTED PROCESS START The following actions will trigger automatic start in RUN: Restoring the application from memory card, Unintentional or careless use of the reset button. To avoid an unwanted restart when in RUN mode use: The RUN/STOP input on Modicon M340 Failure to follow these instructions can result in death, serious injury, or equipment damage.

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5.2

Premium, Quantum PLCs Operating Modes

Subject of this Section This section describes the operating modes of the Premium and Quantum PLCs. Whats in this Section? This section contains the following topics:
Topic Processing of Power Outage and Restoral for Premium/Quantum PLCs Processing on Cold Start for Premium/Quantum PLCs Processing on Warm Restart for Premium/Quantum PLCs Automatic Start in RUN for Premium/Quantum Page 134 136 141 144

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Processing of Power Outage and Restoral for Premium/Quantum PLCs

General If the duration of the outage is less than the power supply filtering time, it has no effect on the program which continues to run normally. If this is not the case, the program is interrupted and power restoral processing is activated. Filtering time:
PLC Premium Atrium Quantum Alternating Current 10ms 30ms 10ms Direct Current 1ms 1ms

Illustration The illustration shows the different types of power restoral detected by the system.

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Operation The table below describes the power outage processing phases.
Phase 1 2 3 Description On power outage the system stores the application context and the time of outage. It sets all the outputs in the fallback state (state defined in configuration). On power restoral, the saved context is compared to the current one, which defines the type of startup to be performed: if the application context has changed (i.e. loss of system context or new application), the PLC initializes the application: cold start, if the application context is the same, the PLC carries out a restart without initialization of data: warm restart.

Power Outage on a Rack, Other than Rack 0 All the channels on this rack are seen as in error by the processor, but the other racks are not affected. The values of the inputs in error are no longer updated in the application memory and are reset to zero in a discrete input module, unless they have been forced, in which case they are maintained at the forcing value. If the duration of the outage is less than the filtering time, it has no effect on the program which continues to run normally.

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Processing on Cold Start for Premium/Quantum PLCs

Cause of a Cold Start The following table describes the different possible causes of a cold start.
Causes Loading of an application RESET button pressed on processor (Premium) Startup characteristics Cold start forced in STOP Cold start forced in STOP or RUN mode as defined in the configuration

RESET button pressed on the processor Cold start forced in STOP after a processor or system error (Premium). Movement of handle or insertion/removal of a PCMCIA memory card Initialization from Unity Pro Forcing the system bit %S0 Cold start forced in STOP or RUN mode as defined in the configuration Start in STOP or in RUN (retaining the operating mode in progress at downtime), without initialization of discrete input/output and application-specific modules

Restoral after power supply outage with loss Cold start forced in STOP or RUN mode as of context defined in the configuration

CAUTION
LOSS OF DATA ON APPLICATION TRANSFER Loading or transferring an application to the PLC typically involves initialization of unlocated variables. To save located variables with Premium and Quantum PLCs: Save and restore %M and %MW by clicking PLC Transfer Data. For Premium PLCs: Avoid the initialization of %MW by unchecking Initialize %MWi on cold start in the configuration screen of the CPU. For Quantum PLCs: Avoid the initialization of %MW by unchecking %MWi Reset in the configuration screen of the CPU. It is necessary to assign a topological address to the data if the process requires keeping the current values of the data when transferring the application. Failure to follow these instructions can result in injury or equipment damage.

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Illustration The diagram below describes how a cold restart operates.

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Operation The table below describes the program execution restart phases on cold restart.
Phase 1 Description The startup is performed in RUN or in STOP depending on the status of the Automatic start in RUN parameter defined in the configuration or, if this is in use, depending on the state of the RUN/STOP input. Program execution is resumed at the start of the cycle. The system carries out the following: the initialization of data (bits, I/O image, words etc.) with the initial values defined in the data editor (value set to 0, if no other initial value has been defined). For %MW words, the values can be retained on cold restart if the Reset of %MW on cold restart option is unchecked in the Configuration screen of the processor the initialization of elementary function blocks on the basis of initial data the initialization of data declared in the DFBs: either to 0 or to the initial value declared in the DFB type the initialization of system bits and words the deactivation of tasks, other than the master task, until the end of the first master task cycle the positioning of charts to initial steps the cancellation of any forcing the initialization of message and event queues the sending of configuration parameters to all discrete input/output modules and application-specific modules For this first restart cycle the system does the following: relaunches the master task with the %S0 (cold restart) and %S13 (first cycle in RUN) bits set to 1, and the %SW10 word (detection of a cold restart during the first task cycle) is set to 0 resets the %S0 and %S13 bits to 0, and sets each bit of the word %SW10 to 1 at the end of this first cycle of the master task activates the fast task and event processing at the end of the first cycle of the master task

Processing a Cold Start by Program It is advisable to test the bit %SW10.0 to detect a cold start and start processing specific to this cold start. NOTE: It is possible to test the bit %S0, if the parameter Automatic start in RUN has been selected. If this is not the case, the PLC starts in STOP, the bit %S0 then switches to 1 on the first cycle after restart but is not visible to the program because it is not executed.

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Output Changes, for Premium and Atrium As soon as a power outage is detected, the outputs are set in the fallback position: either they are assigned the fallback value, or the current value is maintained depending on the choice made in the configuration. After power restoral, the outputs remain at zero until they are updated by the task. Output Changes, for Quantum As soon as a power outage is detected, the local outputs are set to zero the outputs of the remote or distributed extension racks are set in the fallback position After power restoral, the outputs remain at zero until they are updated by the task. NOTE: The behavior of forced outputs was changed between Modsoft/NxT/Concept and Unity Pro. With Modsoft/NxT/Concept, you cannot force outputs if the Quantum processor memory protection switch is set to "On". With Unity Pro, you can force outputs if the Quantum processor memory protection switch is set to "On". With Modsoft/NxT/Concept, forced outputs retain their status after a cold start. With Unity Pro, forced outputs lose their status after a cold start.

CAUTION
UNEXPECTED APPLICATION BEHAVIOR - FORCED VARIABLES Check your forced variables and memory protection switch when shifting betweenModsoft/NxT/Concept and Unity Pro. Failure to follow these instructions can result in injury or equipment damage.

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For Quantum 140 CPU 31/41/51 These processors have a Flash EPROM memory of 1,435 KB which can be used to save the program and the initial values of variables. On power restoral, you can choose the desired operating mode using the PLC MEM switch on the processor front panel. For detailed information on how this switch works, you can consult the Quantum manual (see Quantum with Unity Pro, Hardware, Reference Manual). off position: The application contained in this zone is automatically transferred to internal RAM when the PLC processor is powered up: cold restart of the application. on position: The application contained in this zone is not transferred to internal RAM: warm restart of the application.

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Processing on Warm Restart for Premium/Quantum PLCs

Cause of a Warm Restart A warm restart may be caused: by a power restoral without loss of context by the system bit %S1 being set to 1 by the program by Unity Pro from the terminal by pressing the RESET button of the power supply module of rack 0 (on Premium PLC) Illustration The diagram below describes how a warm restart operates.

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Operation The table below describes the program execution restart phases on warm restart.
Phase 1 2 Description Program execution resumes starting from the element where the power outage occurred, without updating the outputs. At the end of the restart cycle, the system carries out the following: the initialization of message and event queues the sending of configuration parameters to all discrete input/output and application-specific modules the deactivation of the fast task and event processing (until the end of the master task cycle) The system performs a restart cycle during which it: re-acknowledges all the input modules relaunches the master task with the bits %S1 (warm restart) set to 1 resets bit %S1 to 0 at the end of this first master task cycle reactivates the fast task, the auxiliary tasks and event processing at the end of this first cycle of the master task

Processing a Warm Restart by Program In the event of warm restart, if you want the application to be processed in a particular way, you must write the corresponding program conditional on the test that %S1 is set to 1 at the start of the master task program. For Quantum PLCs, the switch on the front panel of the processor can be used to configure operating modes. For further details, see Quantum documentation (see Quantum with Unity Pro, Hardware, Reference Manual). Output Changes, for Premium and Atrium As soon as a power outage is detected, the outputs are set in the fallback position: either they are assigned the fallback value, or the current value is maintained. depending on the choice made in the configuration. After power restoral, the outputs remain in the fallback position until they are updated by the task. NOTE: after a power on while the CPU is not started, outputs are in security mode state (equal to 0). After the CPU start, if the module didnt stay powered on, the maintain state is lost and the output stay in state 0.

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Output Changes, for Quantum As soon as a power outage is detected: the local outputs are set to zero the outputs of the remote or distributed extension racks are set in the fallback position After power restoral, the outputs remain in the fallback position until they are updated by the task. Output Changes, for Extension Rack If power outage occurs on rack where CPU is located: Fallback state as soon as CPU loss is detected Security state during I/O configuration State calculated by CPU after the first run of the task driving this output After power is restored, the outputs remain in the fallback position until they are updated by the task

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Automatic Start in RUN for Premium/Quantum

Description Automatic start in RUN is a processor configuration option. This option forces the PLC to start in RUN after a cold restart (see page 136), except after an application has been loaded onto the PLC. For Quantum PLCs, automatic start in RUN also depends on the position of the switch on the front panel of the processor. For more details, refer to the Quantum documentation (see Quantum with Unity Pro, Hardware, Reference Manual).

WARNING
UNEXPECTED SYSTEM BEHAVIOR - UNEXPECTED PROCESS START The following actions will trigger "automatic start in RUN": Inserting the PCMCIA card when the PLC is powered up (Premium, Quantum), Replacing the processor while powered up (Premium, Quantum), Unintentional or careless use of the reset button, If the battery is found to be defective in the event of a power outage (Premium, Quantum). To avoid an unwanted restart when in RUN mode: We stongly recommend to use the RUN/STOP input on Premium PLCs or the switch on the front of the panel of the processor for Quantum PLCs We strongly recommend not to use memorized inputs as RUN/STOP input of the PLC. Failure to follow these instructions can result in death, serious injury, or equipment damage.

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5.3

PLC HALT Mode

PLC HALT Mode

At a Glance The following actions switches the PLC to HALT mode: using the HALT instruction watchdog overflow Program execution error (division by zero, overflow, etc.) if the bit %S78 (see page 160) is set to 1. Precaution

WARNING
UNEXPECTED APPLICATION BEHAVIOR When the PLC is in Halt, all tasks are stopped. Check the behavior of the associated I/Os to ensure that the consequences of the PLC Halt on the application are acceptable. Failure to follow these instructions can result in death, serious injury, or equipment damage.

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6
Subject of this Chapter This chapter describes the system bits and words of Unity Pro language. Note: The symbols, associated with each bit object or system word, mentioned in the descriptive tables of these objects, are not implemented as standard in the software, but can be entered using the data editor. They are proposed in order to ensure the homogeneity of their names in the different applications. Whats in this Chapter? This chapter contains the following sections:
Section 6.1 6.2 6.3 6.4 6.5 System Bits System Words Atrium/Premium-specific System Words Quantum-specific System Words Modicon M340-Specific System Words Topic Page 148 170 196 208 222

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6.1

System Bits

Subject of this Section This section describes the system bits.

WARNING
UNEXPECTED APPLICATION BEHAVIOR Do not use system objects (%Si, %SWi) as variable when they are not documented. Failure to follow these instructions can result in death, serious injury, or equipment damage. Whats in this Section? This section contains the following topics:
Topic System Bit Introduction Description of System Bits %S0 to %S7 Description of System Bits %S9 to %S13 Description of System Bits %S15 to %S21 Description of System Bits %S30 to %S59 Description of System Bits %S65 to %S79 Description of System Bits %S80 to %S96 Description of System Bits %S100 to %S123 Page 149 150 152 154 157 160 165 168

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System Bit Introduction

General The Modicon M340, Premium, Atrium and Quantum PLCs use %Si system bits which indicate the state of the PLC, or they can be used to control how it operates. These bits can be tested in the user program to detect any functional development requiring a set processing procedure. Some of these bits must be reset to their initial or normal state by the program. However, the system bits that are reset to their initial or normal state by the system must not be reset by the program or by the terminal.

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Description of System Bits %S0 to %S7

Detailed Description Description of system bits %S0 to %S7:
Bit Symbol %S0 COLDSTART Function Cold start Description Normally on 0, this bit is set on 1 by: power restoral with loss of data (battery fault) the user program the terminal a change of cartridge This bit is set to 1 during the first complete restored cycle of the PLC either in RUN or in STOP mode. It is reset to 0 by the system before the following cycle. To detect the first cycle in run after cold start, please refer to %SW10. In Safe mode, this bit is not available on Quantum safety PLCs. %S0 is not always set in the first scan of the PLC. If a signal set for every start of the PLC is needed, %S21 should be used instead. For Premium and Quantum, Processing on Cold Start for Premium/Quantum PLCs (see page 138) For Modicon M340, Processing on Cold Start for Modicon M340 PLCs (see page 127) %S1 WARMSTART Warm restart Normally at 0, this bit is set to 1 by: power is restored with data save, the user program, the terminal, It is reset to 0 by the system at the end of the first complete cycle and before the outputs are updated. This bit is not available on Quantum safety PLCs. %S1 is not always set in the first scan of the PLC. If a signal set for every start of the PLC is needed, %S21 should be used instead. 0 YES YES YES (except for safety PLCs) Initial state Modicon M340 Premium Atrium YES Quantum YES

1 YES (1 cycle)

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Bit Symbol %S4 TB10MS

Function

Description

Initial state -

Modicon M340 YES

Premium Atrium YES

Quantum YES (except for safety PLCs)

Timebase An internal timer regulates the change in 10 ms status of this bit. It is asynchronous in relation to the PLC cycle. Graph:

This bit is not available on Quantum safety PLCs. %S5 TB100MS Timebase Idem %S4 100 ms YES YES YES (except for safety PLCs) YES (except for safety PLCs) YES (except for safety PLCs)

%S6 TB1SEC

Time base 1 s

Idem %S4

YES

YES

%S7 TB1MIN

Time base 1 min

Idem %S4

YES

YES

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Description of System Bits %S9 to %S13

Detailed Description Description of system bits %S9 to %S13:
Bit Symbol %S9 OUTDIS Function Description Initial state 0 Modicon Premium Quantum M340 Atrium YES (1) YES NO

Normally at 0, this bit is set to 1 by the Outputs program or the terminal: set to the fallback set to 1: sets the bit to 0 or maintains the position on current value depending on the chosen all buses configuration (X bus, Fipio, AS-i, etc.). set to 0: outputs are updated normally. Note: The system bit acts directly on the physical outputs and not on the image bits of the outputs. Note: On Modicon M340, ethernet I/O scanner and Global Data are affected by the %S9 bit. (1) Note: On Modicon M340, inputs/outputs distributed via CANopen bus are not affected by the %S9 bit. On Modicon M340, after an operating mode, outputs are in security mode state equal to 0 while the bit is set.

%S10 IOERR

Global I/O detected error

Normally at 1, this bit is set to 0 when an error 1 on an in-rack module or device on a network is detected (e.g. non-compliant configuration, exchange fault, hardware fault, etc.). The %S10 bit is reset to 1 by the system when all the detected errors have disappeared.

YES

YES

YES

Detected network communication errors with remote devices are not reported on bits %S10, %S16 and %S119.

CAUTION
UNEXPECTED APPLICATION BEHAVIOR - SPECIFIC VARIABLE BEHAVIOR Manage detected network communication errors with remote devices with a method specific to each type of communication modules (NOM, NOE, NWM, CRA, CRP) or motion modules (MMS): communication function blocks status (if they are used communication modules status (if they exist) Failure to follow these instructions can result in injury or equipment damage.

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Bit Symbol %S11 WDG

Function Watchdog overflow

Description Normally at 0, this is set to 1 by the system as soon as the task execution time becomes greater than the maximum execution time (i.e. the watchdog) declared in the task properties.

Initial state 0

Modicon Premium Quantum M340 Atrium YES YES YES

%S12 PLCRUNNING

0 PLC in RUN This bit is set to 1 by the system when the PLC is in RUN. It is set to 0 by the system as soon as the PLC is no longer in RUN (STOP, INIT, etc.). Switching the PLC from STOP mode to RUN mode (including after a cold start with automatic start in run) is indicated by setting system bit %S13 to 1. This bit is reset to 0 at the end of the first cycle of the MAST task in RUN mode.

YES

YES

YES

%S13 First cycle 1RSTSCANRUN after switching to RUN

YES

YES

YES

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Description of System Bits %S15 to %S21

Detailed Description Description of system bits %S15 to %S21:
Bit Symbol Function Description Initial Modicon Premium Quantum state M340 Atrium YES YES YES (except for safety PLCs)

%S15 Character STRINGERROR string fault

Normally set to 0, this bit is set to 1 when the 0 destination zone for a character string transfer is not of sufficient size (including the number of characters and the end of string character) to receive this character string. The application stops in error state if the %S78 bit has been to set to 1. This bit must be reset to 0 by the application. This bit is not available on Quantum safety PLCs. 1 Normally set to 1, this bit is set to 0 by the system when a fault on an in-rack module or device on Fipio is detected (e.g. noncompliant configuration, exchange fault, hardware fault, etc.). This bit must be reset to 1 by the user.

%S16 IOERRTSK

Task input/output fault

YES

YES

YES

CAUTION
UNEXPECTED APPLICATION BEHAVIOR - SPECIFIC VARIABLE BEHAVIOR On Quantum, network communication errors with remote devices detected by communication modules (NOM, NOE, NWM, CRA, CRP) and motion modules (MMS) are not reported on bits %S10, %S16 and %S119. Failure to follow these instructions can result in injury or equipment damage.

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Bit Symbol %S17 CARRY %S18 OVERFLOW

Function

Description

Initial Modicon Premium Quantum state M340 Atrium 0 YES YES YES

Rotate shift Normally at 0. output During a rotate shift operation, this bit takes the state of the outgoing bit.

Overflow or Normally set to 0, this bit is set to 1 in the 0 event of a capacity overflow if there is: arithmetic error a result greater than + 32 767 or less than - 32 768, in single length, result greater than + 65 535, in unsigned integer, a result greater than + 2 147 483 647 or less than - 2 147 483 648, in double length, result greater than +4 294 967 296, in double length or unsigned integer, real values outside limits, division by 0, the root of a negative number, forcing to a non-existent step on a drum, stacking up of an already full register, emptying of an already empty register. There is only one case for which bit %S18 is not raised by the Modicon M340 PLCs when real values are outside limits. It is only if denormalized operands or some operations which generate denormalized results are used (gradual underflow). It must be tested by the user program after each operation where there is a risk of overflow, then reset to 0 by the user if there is indeed an overflow. When the %S18 bit switches to 1, the application stops in error state if the %S78 bit has been to set to 1.

YES

YES

YES

%S19 OVERRUN

Task period overrun (periodical scanning)

Normally set to 0, this bit is set to 1 by the 0 system in the event of a time period overrun (i.e. task execution time is greater than the period defined by the user in the configuration or programmed into the %SW word associated with the task). The user must reset this bit to 0. Each task manages its own %S19 bit.

YES

YES

YES

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Bit Symbol %S20 INDEXOVF

Function Index overflow

Description

Initial Modicon Premium Quantum state M340 Atrium YES YES YES (except for safety PLCs)

Normally set to 0, this bit is set to 1 when 0 the address of the indexed object becomes less than 0 or exceeds the number of objects declared in the configuration. In this case, it is as if the index were equal to 0. It must be tested by the user program after each operation where there is a risk of overflow, then reset to 0 if there is indeed an overflow. When the %S20 bit switches to 1, the application stops in error state if the %S78 bit has been to set to 1. This bit is not available on Quantum safety PLCs. Tested in a task (Mast, Fast, Aux0, Aux1, 0 Aux2 Aux3), the bit %S21 indicates the first cycle of this task, including after a cold start with automatic start in run and a warm start. %S21 is set to 1 at the start of the cycle and reset to zero at the end of the cycle. Note: The bit %S21 does not have the same meaning in PL7 as in Unity Pro.

%S21 First task 1RSTTASKRUN cycle

YES

YES

YES

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Description of System Bits %S30 to %S59

Detailed Description Description of system bits %S30 to %S59:
Bit Symbol %S30 MASTACT Function Activation/de activation of the master task Description Initial state Modicon Premium M340 Atrium YES YES Quantum YES (except for safety PLCs)

1 Normally set to 1. The master task is deactivated when the user sets the bit to 0. This bit is taken into consideration by the system at the end of each MAST task cycle. This bit is not available on Quantum safety PLCs.

%S31 FASTACT

Activation/de Normally set to 1 when the user creates the 1 activation of task. The task is deactivated when the user the fast task sets the bit to 0. This bit is not available on Quantum safety PLCs. Activation/de activation of the auxiliary task 0 Activation/de activation of the auxiliary task 1 Activation/de activation of the auxiliary task 2 Activation/de activation of the auxiliary task 3 Enabling/inhibition of events Normally set to 1 when the user creates the 0 task. The auxiliary task is deactivated when the user sets the bit to 0. This bit is not available on Quantum safety PLCs. Normally set to 1 when the user creates the 0 task. The auxiliary task is deactivated when the user sets the bit to 0. This bit is not available on Quantum safety PLCs. Normally set to 1 when the user creates the 0 task. The auxiliary task is deactivated when the user sets the bit to 0. This bit is not available on Quantum safety PLCs. Normally set to 1 when the user creates the 0 task. The auxiliary task is deactivated when the user sets the bit to 0. This bit is not available on Quantum safety PLCs. Normally set to 1. Events are inhibited when the user sets the bit to 0. This bit is not available on Quantum safety PLCs. 1

YES

YES

YES (except for safety PLCs) YES (except for safety PLCs) YES (except for safety PLCs) YES (except for safety PLCs) YES (except for safety PLCs) YES (except for safety PLCs)

%S32 AUX0ACT

NO

YES

%S33 AUX1ACT

NO

YES

%S34 AUX2ACT

NO

YES

%S35 AUX3ACT

NO

YES

%S38 ACTIVEVT

YES

YES

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Bit Symbol %S39 EVTOVR

Function

Description

Initial state

Modicon Premium M340 Atrium YES YES

Quantum YES (except for safety PLCs)

Saturation in This bit is set to 1 by the system to indicate 0 that one or more events cannot be event processed following saturation of the processing queues. The user must reset this bit to 0. This bit is not available on Quantum safety PLCs. Rack 0 input/output fault The %S40 bit is assigned to rack 0. Normally set to 1, this bit is set to 0 when a fault occurs on the racks I/Os. In this case: the %S10 bit is set to 0, the I/O processor LED is on, the %Ir.m.c.Err module bit is set to 1. This bit is reset to 1 when the fault disappears. 1

%S40 RACK0ERR

YES

YES

NO

%S41 RACK1ERR %S42 RACK2ERR %S43 RACK3ERR %S44 RACK4ERR %S45 RACK5ERR %S46 RACK6ERR %S47 RACK7ERR

Rack 1 input/output fault Rack 2 input/output fault Rack 3 input/output fault Rack 4 input/output fault Rack 5 input/output fault Rack 6 input/output fault Rack 7 input/output fault

Idem %S40 for rack 1.

YES

YES

NO

Idem %S40 for rack 2.

YES

YES

NO

Idem %S40 for rack 3.

YES

YES

NO

Idem %S40 for rack 4.

YES

YES

NO

Idem %S40 for rack 5.

YES

YES

NO

Idem %S40 for rack 6.

YES

YES

NO

Idem %S40 for rack 7.

YES

YES

NO

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Bit Symbol %S50 RTCWRITE

Function Updating of time and date via words %SW50 to %SW53

Description

Initial state

Modicon Premium M340 Atrium YES YES

Quantum YES

Normally set to 0, this bit is set to 1 or 0 by 0 the program or the terminal. set to 0: update of system words %SW50 to %SW53 by the date and time supplied by the PLC real-time clock. set to 1: system words %SW50 to %SW53 are no longer updated, therefore making it possible to modify them. The switch from 1 to 0 updates the realtime clock with the values entered in words %SW50 to %SW53. This system-managed bit set to 1 indicates that the real-time clock is missing or that its system words (%SW50 to %SW53) are meaningless. In this case the clock must be reset to the correct time. 0

%S51 RTCERR

Time loss in real time clock

YES

YES

YES

%S59 Incremental Normally set to 0, this bit can be set to 1 or RTCTUNING update of the 0 by the program or the terminal: time and set to 0: the system does not manage date via the system word %SW59, word set to 1: the system manages edges on %SW59 word %SW59 to adjust the date and current time (by increment).

YES

YES

YES

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Description of System Bits %S65 to %S79

Detailed Description Description of system bits %S65 to %S79:
Bit Symbol %S65 CARDIS Function Description Initial Modicon state M340 YES Premium Atrium NO Quantum NO

0 Card disable It is necessary to generate a rising edge on the bit %S65 before extracting the card, in order to ensure the information consistency. In fact, on rising edge detection, the current accesses are finished (reading and writing of files, application saving), then the card accessing LED is off (CARDERR light is unchanged). Then, the card can be extracted, CARDERR LED is on. Inserting the card: the accessing LED is on and CARDERR LED shows the status (%S65 is unchanged). The user has to reset %S65 to 0 to allows edge detection later. If a rising edge has been generated on the bit %S65 and that the card hasnt been extracted, the reset to 0 of the bit doesnt make the card accessible. To make the card accessible again it has to be extracted and re-inserted or the PLC has to be re-initialited (Reset button from the power supply).

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Bit Symbol %S66 LEDBATT APPLIBCK

Function Application backup

Description

Initial Modicon state M340 YES

Premium Atrium NO

Quantum NO

This bit is set to 1 by the user to start 0 a backup operation (transfer application from RAM to card). The system will detect the rising edge to start the backup. The state of this bit is polled by the system every second. A backup takes place only if the application in RAM is different from the one in the card. This bit is set to 0 by the system when the backup is finished. Warning: Before doing a new backup by setting bit %S66 to 1, you must test that bit %S66 has been set to 0 by the system (meaning that the previous backup has finished).Never use %S66 if it is set to 1. This may lead to a loss of data. Bit %S66 is particularly useful after replacement of init value %S94 and save-param.

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Bit Symbol %S67 PCMCIABAT0

Function State of the application memory card battery

Description

Initial Modicon state M340 NO

Premium Atrium YES

Quantum YES

This bit is used to monitor the status of the main battery when the memory card is in the upper PCMCIA slot. This applies to Atriums, Premiums and Quantums (CPU 140 CPU 671 60/60S, 140 CPU 672 61, 140 CPU 651 60/60S, 140 CPU 652 60 and 140 CPU 651 50): set to 1: main voltage battery is low. The application is kept but the battery must be replaced following the predictive maintenance (see Premium and Atrium using Unity Pro, Processors, racks and power supply modules, Implementation manual) procedure), set to 0: main battery voltage is sufficient (application always kept). Bit %S67 is supported by Unity version 2.02. NOTE: With blue PCMCIAs (PV>=04), bit %S67 is not set to 1 when main battery is absent, though with green PCMCIAs (PV<04), bit %S67 is set to 1 in the same condition.

%S68 PLCBAT

State of processor battery

This bit is used to check the operating state of the backup battery for saving data and the program in RAM. set to 0: battery present and operational set to 1: battery missing or nonoperational

NO

YES

YES

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Bit Symbol %S75 PCMCIABAT1

Function State of the data storage memory card battery

Description

Initial Modicon state M340 NO

Premium Atrium YES

Quantum YES

This bit is supported by Unity Pro equal or greater to version 2.02. It is used to monitor the main battery status when the memory card is in the lower PCMCIA slot. For Premium processors, %S75 is supported by the following processors: TSX P57 4, TSX P57 5 and TSX P57 6. NOTE: For all others Premium processors, %S75 shows a low battery level only when the battery is already at a critical level. For Quantum processors, %S75 is supported by the following processors: 140 CPU 672 61*,140 CPU 671 60/60S*, 140 CPU 651 60/60S*, 140 CPU 652 60, and 140 CPU 651 50. %S75 is: set to 1 when the main battery voltage is low. The application is kept but the battery must be replaced following the predictive maintenance (see Premium and Atrium using Unity Pro, Processors, racks and power supply modules, Implementation manual) procedure, set to 0 when the main battery voltage is sufficient (application always kept). * Data stored on a memory card in slot B is not processed in safety projects.

%S76 DIAGBUFFCONF

Configured diagnostics buffer

This bit is set to 1 by the system when 0 the diagnostics option has been configured a diagnostics buffer for storage of errors found by diagnostics DFBs is then reserved. This bit is read-only.

YES

YES

YES

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Bit Symbol %S77 DIAGBUFFFFULL

Function Full diagnostics buffer Stop in the event of error

Description

Initial Modicon state M340 YES

Premium Atrium YES

Quantum YES

This bit is set to 1 by the system when 0 the buffer that receives errors from the diagnostics function blocks is full. This bit is read-only. Normally at 0, this bit can be set to 1 0 by the user, to program a PLC stop on application fault: %S15, %S18, %20. On Quantum safety PLCs, the Halt state is replaced by the Error state when you are in Safe mode. Note also that %S15 and %20 are not available. This bit change the behavior of the 0 Quantum Modbus server regarding forced bits: at 0 (default value), standard management: bit value is changed even if the bit is forced. if set to 1 by the user: write bits request on forced bits do not change their value. There is no error in the response of the request. As other accesses, the history bit is always updated, whatever the forcing state.

%S78 HALTIFERROR

YES

YES

YES

%S79 MBFBCTRL

Modbus forced bit control

NO

NO

YES

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Description of System Bits %S80 to %S96

Detailed Description Description of system bits %S80 to %S96:
Bit Symbol %S80 RSTMSGCNT Function Description Initial Modicon Premium Quantum state M340 Atrium 0 YES YES YES

Reset message Normally set to 0, this bit can be set counters to 1 by the user to reset the message counters %SW80 to %SW86. MB+PCMCIA polling adjust This bit is used to change the request exchange mode with MB+MBP100 PCMCIA. By default (value 0), the system sends a request to the card and will poll for a reponse in the next Mast cycle.This mode is recommended for small Mast duration. When set to 1, the system sends a request to the card and waits for a response.This mode is recommended for large Mast duration.

%S82

NO

YES

NO

%S90 COMRFSH

Refresh common words

Normally set to 0, this bit is set to 1 0 on receiving common words from another network station. This bit can be set to 0 by the program or the terminal to check the common words exchange cycle. 0 When this bit is set to 1, the asynchronous communication requests processed in the monitoring task are entirely executed without interruption from the other MAST or FAST tasks, thus ensuring the data is read or written consistently. Reminder: the request server of the monitoring task is addressed via gate 7 (X-Way).

NO

YES

NO

%S91 LCKASYNREQ

Lock asynchronous request

NO

YES

NO

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Bit Symbol %S92 EXCHGTIME

Function Measurement mode of the communication function

Description

Initial Modicon Premium Quantum state M340 Atrium YES YES NO

Normally set to 0, this bit can be set 0 to 1 by the user to set communication functions to performance measurement mode. The communication functions timeout parameter (see Unity Pro, Communication, Block Library) (in the management table) then displays the round trip exchange time in milliseconds. Note: The communication functions are executed with a time base of 100 ms. Normally at 0, this bit can be set to 1 0 by the user to replace the initial values of the declared variables with a Save attribute (e.g.: DFB variables) with the current values. For Modicon M340, on a %S94 rising edge, the internal RAM and the memory card content are different (%S96 = 0 and the CARDERR LED is on). On cold start, the current values are replaced by the most recent initial values only if a save to memory card function (Backup Save or %S66 rising edge) was done. The system resets the bit %S94 to 0 when the replacement has been made. Note: this bit must be used with care: do not set this bit permanently to 1 and use the master task only. This bit is not available on Quantum safety PLCs. When used with the TSX MFP or TSX MCP flash PCMCIA memory the saving adjustment values is not available.

%S94 SAVECURRVAL

Saving adjustment values

YES

YES

YES (except for safety PLCs)

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Bit Symbol %S96 BACKUPPROGOK

Function Backup program OK

Description

Initial Modicon Premium Quantum state M340 Atrium YES NO NO

This bit is set to 0 or 1 by the system. Set to 0 when the card is missing or unusable (bad format, unrecognized type, etc.), or the card content is inconsistent with Internal Application RAM. Set to 1 when the card is correct and the application is consistent with CPU Internal Application RAM.

CAUTION
APPLICATION UPLOAD NOT SUCCESSFUL The bit %S94 must not be set to 1 during an upload. If the bit %S94 is set to 1 then the upload may be impossible. Failure to follow these instructions can result in injury or equipment damage.

CAUTION
LOSS OF DATA The bit %S94 must not be used with the TSX MFP or the TSX MCP flash PCMCIA memory. The function of this system bit is not available with this type of memory. Failure to follow these instructions can result in injury or equipment damage.

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Description of System Bits %S100 to %S123

Detailed Description Description of system bits %S100 to %S123:
Bit SYMBOL %S100 PROTTERINL Function Description Initial state Modicon Premium Quantum M340 Atrium NO YES NO

Protocol on This bit is set to 0 or 1 by the system according to the state of the INL/DPT shunt terminal on the console. port if the shunt is missing (%S100=0), then the master Uni-Telway protocol is used, if the shunt is present (%S100=1) then the protocol used is the one indicated by the application configuration. Detected RIO error on Ethernet I/O network Normally set to 1, this bit is set to 0 by the system when a detected error occurs in a device on the Ethernet RIO. This bit is reset to 1 by the system when all the detected errors disappear.

%S117 ERIOERR

No

No

YES

%S118 REMIOERR

Normally set to 1, this bit is set to 0 by the General Remote I/O system when a fault occurs on a device connected to the RIO (Fipio for Premium or fault Drop S908 for Quantum) remote input/output bus. This bit is reset to 1 by the system when the fault disappears. This bit is not updated if an error occurs on the other buses (DIO, ProfiBus, ASI). General inrack I/O fault Normally set to 1, this bit is set to 0 by the system when a fault occurs on an I/O module placed in one of the racks. This bit is reset to 1 by the system when the fault disappears. -

YES

YES

YES

%S119 LOCIOERR

YES

YES

YES

CAUTION
%S119 for Quantum PLCs On Quantum, network communication errors with remote devices detected by communication modules (NOM, NOE, NWM, CRA, CRP) and motion modules (MMS) are not reported on bits %S10, %S16 and %S119. Failure to follow these instructions can result in injury or equipment damage.

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Bit Symbol %S120 DIOERRPLC

Function DIO bus fault (CPU)

Description

Initial state

Modicon M340 NO

Premium Atrium NO

Quantum YES (except for safety PLCs)

Normally set to 1, this bit is set to 0 by the system when a fault occurs on a device connected to the DIO bus managed by the Modbus Plus link built into the CPU. This bit is not available on Quantum safety PLCs. In the Diagnostic viewer some information are available (if the entry is selected) to clarify error type on the bus. This information can identify the correct remote bus with the bus number (RIO, DIO).

%S121 DIOERRNOM1

DIO bus fault Normally set to 1, this bit is set to 0 by (NAME No. 1) the system when a fault occurs on a device connected to the DIO bus managed by the first 140 NAME 2 module. This bit is not available on Quantum safety PLCs. In the Diagnostic viewer some information are available (if the entry is selected) to clarify error type on the bus. This information can identify the correct remote bus with the bus number (RIO, DIO). DIO bus fault Normally set to 1, this bit is set to 0 by (NAME No. 2) the system when a fault occurs on a device connected to the DIO bus managed by the second 140 NAME 2 module. This bit is not available on Quantum safety PLCs. In the Diagnostic viewer some information are available (if the entry is selected) to clarify error type on the bus. This information can identify the correct remote bus with the bus number (RIO, DIO). Adjust Bus X This bit is used by the system and cannot be used by the user application. -

NO

NO

YES (except for safety PLCs)

%S122 DIOERRNOM2

NO

NO

YES (except for safety PLCs)

%S123 ADJBX

YES

YES

NO

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6.2

System Words

Subject of this Section This section describes the Modicon M340, Atrium, Premium and Quantum system words.

WARNING
UNEXPECTED APPLICATION BEHAVIOR Do not use system objects (%Si, %SWi) as variable when they are not documented. Failure to follow these instructions can result in death, serious injury, or equipment damage. Whats in this Section? This section contains the following topics:
Topic Description of System Words %SW0 to %SW11 Description of System Words %SW12 to %SW29 Description of System Words %SW30 to %SW47 Description of System Words %SW48 to %SW59 Description of System Words %SW70 to %SW100 Description of System Words %SW108 to %SW116 Description of System Words %SW123 to %SW127 Page 171 175 179 181 183 193 194

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Description of System Words %SW0 to %SW11

Detailed Description Description of system words %SW0 to %SW11.
Word Symbol %SW0 MASTPERIOD Function Description Master task scanning period Initial state Modicon Premium M340 Atrium YES YES Quantum YES (except for safety PLCs)

0 This word is used to modify the period of the master task via the user program or via the terminal. The period is expressed in ms (1...255 ms) %SW0=0 in cyclic operation. On a cold restart: it takes the value defined by the configuration. This word is not available on Quantum safety PLCs.

%SW1 FASTPERIOD

0 Fast task This word is used to modify the period of scanning the fast task via the user program or via the terminal. period The period is expressed in milliseconds (1...255 ms). On a cold restart, it takes the value defined by the configuration. This word is not available on Quantum safety PLCs. Auxiliary task scanning period This word is used to modify the period of the tasks defined in the configuration, via the user program or via the terminal. The period is expressed in tens of ms (10ms to 2.55s). (1) only on 140 CPU 6 and TSX 57 5 PLCs. These words are not available on Quantum safety PLCs. IP Address Gives the IP address of the CPU Ethernet port. Modification is not taken into account. Is 0 if the CPU does not have an Ethernet link. 0

YES

YES

YES (except for safety PLCs)

%SW2 AUX0PERIOD %SW3 AUX1PERIOD %SW4 AUX2PERIOD %SW5 AUX3PERIOD

NO

YES (1)

YES (1) (except for safety PLCs)

%SW6 %SW7

YES

NO

NO

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Word Symbol %SW8 TSKINHIBIN

Function Description Acquisition of task input monitoring

Initial state

Modicon Premium M340 Atrium YES(1) YES (3)

Quantum YES(2) (except for safety PLCs)

Normally set to 0, this bit can be set to 1 or 0 0 by the program or the terminal. It inhibits the input acquisition phase of each task: %SW8.0 = 1 inhibits the acquisition of inputs relating to the MAST task. %SW8.1 = 1 inhibits the acquisition of inputs relating to the FAST task. %SW8.2 to 5 = 1 inhibits the acquisition of inputs relating to the AUX 0...3 tasks. (1) Note: On Modicon M340, inputs/outputs distributed via CANopen bus are not affected by the word %SW8. (2) Note: On Quantum, inputs/outputs distributed via DIO bus are not affected by the word %SW8. (3) Note: On PREMIUM, inputs/outputs distributed via ETY and ETY PORT are not affected by the word %SW8. High End CPU Ethernet Port is affected by the word %SW8. This word is not available on Quantum safety PLCs.

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Word Symbol %SW9 TSKINHIBOUT

Function Description Monitoring of task output update Normally set to 0, this bit can be set to 1 or 0 by the program or the terminal. Inhibits the output updating phase of each task. %SW9.0 = 1 assigned to the MAST task; outputs relating to this task are no longer managed. %SW9.1 = 1 assigned to the FAST task; outputs relating to this task are no longer managed. %SW9.2 to 5 = 1 assigned to the AUX 0...3 tasks; outputs relating to these tasks are no longer managed. (3) Note: On Modicon M340, inputs/outputs distributed via CANopen bus are not affected by the word %SW9. On Modicon M340, after an operating mode, outputs are in security mode state equal to 0 while the bit is set. (4) Note: On Quantum, inputs/outputs distributed via DIO bus are not affected by the word %SW9. This word is not available on Quantum safety PLCs.

Initial state 0

Modicon Premium M340 Atrium YES (3) YES

Quantum YES (4) (except for safety PLCs)

CAUTION
UNEXPECTED APPLICATION BEHAVIOR Before setting the %SW9 value to 1, ensure that the output behavior will remain appropriate: On Premium/Atrium: Module outputs located on the X Bus automatically switch to the configured mode(fallback or maintain). On the Fipio bus, certain devices do not manage fallback mode, then only maintain mode is possible. On Quantum: All outputs, as well as the local or remote rack (RIO) are maintained in the state that preceded the switch to 1 of the %SW9 bit corresponding to the task. The Distributed Inputs/Outputs (DIO) are not assigned by the system word %SW9. Failure to follow these instructions can result in injury or equipment damage.

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Word Symbol %SW10 TSKINIT

Function First cycle after cold start

Description If the value of the current task bit is set to 0, this means that the task is performing its first cycle after a cold start. %SW10.0: assigned to the MAST task. %SW10.1: assigned to the FAST task. %SW10.2 to 5: assigned to the AUX 0...3 tasks. This word is not available on Quantum safety PLCs.

Initial state 0

Modicon Premium M340 Atrium YES YES

Quantum YES (except for safety PLCs)

%SW11 WDGVALUE

Watchdog duration

Reads the duration of the watchdog. The duration is expressed in milliseconds (10...1500 ms). This word cannot be modified.

YES

YES

YES

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Description of System Words %SW12 to %SW29

Detailed Description Description of system words %SW12 to %SW29:
Word Symbol %SW12 UTWPORTADDR Function Processor serial port address Description Initial state Modicon Premium QuanM340 Atrium tum YES YES NO (see %SW12 below)

For Premium: Uni-Telway address of terminal port (in slave mode) as defined in the configuration and loaded into this word on cold start. The modification of the value of this word is not taken into account by the system. For Modicon M340: Gives the Modbus slave address of the CPU serial port. Modification is not taken into account. Is 0 if the CPU does not have a Serial Port link.

%SW12 APMODE

Mode of the For Quantum safety PLC only, this 16#A501 application word indicates the operating mode of the application processor of the CPU processor module. 16#A501 = maintenance mode 16#5AFE = safe mode Any other value is interpreted as an error. Note: In a HotStand By safety system, this word is exchanged from the primary to the standby PLC to inform the standby PLC of the safe or maintenance mode.

NO

NO

YES Only on safety PLCs

%SW13 Main XWAYNETWADDR address of the station

This word indicates the following for 254 the main network (Fipway or Ethway): (16#00FE) the station number (least significant byte) from 0 to 127, the network number (most significant byte) from 0 to 63, (value of the micro-switches on the PCMCIA card).

NO

YES

NO (see %SW13 below)

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Word Symbol %SW13 INTELMODE

Function

Description

Initial state Modicon Premium QuanM340 Atrium tum NO NO YES Only on safety PLCs

Mode of the For Quantum safety PLC only, this word indicates the operating mode of Intel the Intel Pentium processor of the processor CPU module. 16#501A = maintenance mode 16#5AFE = safe mode Any other value is interpreted as an error. Note: In a HotStand By safety system, this word is exchanged from the primary to the standby PLC to inform the standby PLC of the safe or maintenance mode.

%SW14 OSCOMMVERS

Commercial version of PLC processor

This word contains the current Operating System (OS) version of the PLC processor. Example: 16#0135 version: 01 issue number: 35 This word contains the commercial version of the PLC processor patch. It is coded onto the least significant byte of the word. Coding: 0 = no patch, 1 = A, 2 = B... Example: 16#0003 corresponds to patch C. -

YES

YES

YES

%SW15 OSCOMMPATCH

PLC processor patch version

YES

YES

YES

%SW16 OSINTVERS

Firmware version number

This word contains the Firmware version number in hexadecimal of the PLC processor firmware. Example: 16#0011 version: 2.1 VN: 17

YES

YES

YES

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Word Symbol %SW17 FLOATSTAT

Function

Description

Initial state Modicon Premium QuanM340 Atrium tum YES YES YES Only on safety PLCs

Error status When an error in a floating arithmetic 0 on floating operation is detected, bit %S18 is set to 1 and %SW17 error status is operation updated according to the following coding: %SW17.0 = Invalid operation / result is not a number, %SW17.1 =Denormalized operand / result is acceptable (flag not managed by Modicon M340 or Quantum Safety PLCs), %SW17.2 = Division by 0 / result is infinity, %SW17.3 = Overflow / result is infinity, %SW17.4 = Underflow / result is 0, %SW17.5 to 15 = not used. This word is reset to 0 by the system on cold start, and also by the program for re-usage purposes.

Absolute %SD18: time %SW18 and counter %SW19 100MSCOUNTER

0 %SW18 represents the least significant bytes and %SW19 the most significant bytes of the double word %SD18, which is incremented by the system every 1/10th of a second. The application can read or write these words in order to perform duration calculations. %SD18 is incremented systematically, even in STOP mode and equivalent states. However, times when the PLC is switched off are not taken into account, since the function is not linked to the real-time scheduler, but only to the real-time clock. For Quantum safety PLC, knowing that the 2 processors must process exactly the same data, the value of %SD18 is updated at the beginning of the mast task, and then frozen during the application execution.

YES

YES

YES

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Word Symbol %SD20: %SW20 and %SW21 MSCOUNTER

Function Absolute time counter

Description

Initial state Modicon Premium QuanM340 Atrium tum YES YES YES

For M340 and Quantum PLCs %SD20 0 is incremented every 1/1000th of a second by the system (even when the PLC is in STOP, %SD20 is no longer incremented if the PLC is powered down). %SD20 can be read by the user program or by the terminal. %SD20 is reset on a cold start. %SD20 is not reset on a warm start. For Premium TSX P57 14M/24M/34M/C024M/0 24M and TSX PCI57 204M/354M PLCs, %SD20 is incremented by 5 every 5/1000th of a second by the system. For all the others Premium PLCs, %SD20 is time counter at 1 ms like Quantum and M340 PLCs. For Quantum safety PLC, knowing that the 2 processors must process exactly the same data, the value of %SD18 is updated at the beginning of the mast task, and then frozen during the application execution. The least significant byte contains the Ethernet processor rotary switch. It can be read by the user program or by the terminal. This system word allows to verifiy on server side the number of requests processed by PLC per second. %SW27 is the last system overhead time. %SW28 contains the maximum system overhead time. %SW29 contains the minimum system overhead time. The system overhead time depends on the configuration (number of I/O...) and on the current cycle requests (communication, diagnostics). System overhead time = Mast Cycle Time - User code execution time. These can be read and written by the user program or by the terminal. -

%SW23

Rotary switch value Number of requests processed System overhead time

YES

NO

NO

%SW26

YES

NO

NO

%SW27 %SW28 %SW29

YES

NO

NO

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Description of System Words %SW30 to %SW47

Detailed Description Description of system words %SW30 to %SW35:
Word Symbol %SW30 MASTCURRTIME %SW31 MASTMAXTIME %SW32 MASTMINTIME %SW33 FASTCURRTIME Function Master task execution time Maximum master task execution time Description Initial Modicon state M340 YES Premium YES Quantum YES

This word indicates the execution time of the last master task cycle (in ms). This word indicates the longest master task execution time since the last cold start (in ms). -

YES

YES

YES

Minimum master This word indicates the shortest master task execution time task execution since the last cold start (in ms). time Fast task execution time This word indicates the execution time of the last fast task cycle (in ms). This word is not available on Quantum safety PLCs. This word indicates the longest fast task execution time since the last cold start (in ms). This word is not available on Quantum safety PLCs. -

YES

YES

YES

YES

YES

YES (except for safety PLCs) YES (except for safety PLCs) YES (except for safety PLCs)

%SW34 FASTMAXTIME

Maximum fast task execution time

YES

YES

%SW35 FASTMINTIME

Minimum fast task execution time

This word indicates the shortest fast task execution time since the last cold start (in ms). This word is not available on Quantum safety PLCs.

YES

YES

NOTE: Execution time is the time elapsed between the start (input acquisition) and the end (output update) of a scanning period. This time includes the processing of event tasks, the fast task, and the processing of console requests. In Quantum HSBY configuration, %SW30,%SW31 and %SW32 includes the time of Copro Data exchange between Primary and Stand By CPU

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Description of system words %SW36 to %SW47.

Word Symbol %SW36 AUX0CURRTIME %SW39 AUX1CURRTIME %SW42 AUX2CURRTIME %SW45 AUX3CURRTIME %SW37 AUX0MAXTIME %SW40 AUX1MAXTIME %SW43 AUX2MAXTIME %SW46 AUX3MAXTIME %SW38 AUX0MINTIME %SW41 AUX1MINTIME %SW44 AUX2MINTIME %SW47 AUX3MINTIME Function Auxiliary task execution time Description Initial state Modicon M340 NO Quantum YES (1) Premium YES (1) (except for safety PLCs)

Those words indicate the execution time of the last cycle of the AUX 0...3 tasks (in ms). (1) only on 140 CPU 6 and TSX P57 5 PLCs. These words are not available on Quantum safety PLCs.

Maximum auxiliary task execution time

Those words indicate the longest task execution time of AUX 0...3 tasks since the last cold start (in ms). (1) only on 140 CPU 6 and TSX P57 5 PLCs. These words are not available on Quantum safety PLCs. Those words indicate the shortest task execution time of AUX 0...3 tasks since the last cold start (in ms). (1) only on 140 CPU 6 and TSX P57 5 PLCs. These words are not available on Quantum safety PLCs.

NO

YES (1)

YES (1) (except for safety PLCs)

Minimum auxiliary task execution time

NO

YES (1)

YES (1) (except for safety PLCs)

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Description of System Words %SW48 to %SW59

Detailed Description Description of system words %SW48 to %SW59.
Word Symbol %SW48 IOEVTNB Function Number of events Description Initial state Modicon M340 YES Premium Atrium YES Quantum YES (except for safety PLCs)

This word indicates the IO events and 0 telegram processed since the last cold start. This word can be written by the program or the terminal This word is not available on Quantum safety PLCs. NOTE: TELEGRAM is available only for PREMIUM (not on Quantum or M340). System words containing date and current time (in BCD): %SW49: day of the week: 1 = Monday, 2 = Tuesday, 3 = Wednesday, 4 = Thursday, 5 = Friday, 6 = Saturday, 7 = Sunday, %SW50: Seconds (16#SS00), %SW51: Hours and Minutes (16#HHMM), %SW52: Month and Day (16#MMDD), %SW53: Year (16#YYYY). These words are managed by the system when the bit %S50 is set to 0. These words can be written by the user program or by the terminal when the bit %S50 is set to 1. -

%SW49 DAYOFWEEK %SW50 SEC %SW51 HOURMIN %SW52 MONTHDAY %SW53 YEAR

Real-time clock function

YES

YES

YES

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Word Symbol %SW54 STOPSEC %SW55 STOPHM %SW56 STOPMD %SW57 STOPYEAR %SW58 STOPDAY

Function Real-time clock function on last stop

Description

Initial state

Modicon M340 YES

Premium Atrium YES

Quantum YES

System words containing date and time of the last power failure or PLC stop (in Binary Coded Decimal): %SW54: Seconds (00SS), %SW55: Hours and Minutes (HHMM), %SW56: Month and Day (MMDD), %SW57: Year (YYYY), %SW58: the most significant byte contains the day of the week (1 for Monday through to 7 for Sunday), and the least significant byte contains the code for the last stop: 1 = change from RUN to STOP by the terminal or the dedicated input, 2 = stop by watchdog (PLC task or SFC overrun), 4 = power outage or memory card lock operation, 5 = stop on hardware fault, 6 = stop on software fault. Details on the type of software fault are stored in %SW125. Contains two 8-bit series to adjust the current date. The action is always performed on the rising edge of the bit. This word is enabled by bit %S59=1. In the following illustration, bits in the left column increment the value, and bits in the right column decrement the value: 0

%SW59 ADJDATETIME

Adjustment of current date

YES

YES

YES

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Description of System Words %SW70 to %SW100

Detailed Description Description of system words %SW70 to %SW100.
Word Symbol %SW70 WEEKOFYEAR %SW71 KEY_SWITCH Function Description Real-time System word containing the number of the week in the year: 1 to 52 (in BCD). clock function Position of the switches on the Quantum front panel Initial state Modicon Premium M340 Atrium YES YES Quantum YES

This word provides the image of the 0 positions of the switches on the front panel of the Quantum processor. This word is updated automatically by the system. %SW71.0 = 1 switch in the "Memory protected" position, %SW71.1 = 1 switch in the "STOP" position, %SW71.2 = 1 switch in the "START" position, %SW71.8 = 1 switch in the "MEM" position, %SW71.9 = 1 switch in the "ASCII" position, %SW71.10 = 1 switch in the "RTU" position, %SW71.3 to 7 and 11 to 15 are not used. This word contains the number timer type events in the queue. (1): Not available on the following processors: TSX 57 1/2/3/4/5. This word is not available on Quantum safety PLCs. 0

NO

NO

YES

%SW75 TIMEREVTNB

Timertype event counter

YES

YES (1)

YES (except for safety PLCs) YES

%SW76 DLASTREG

Diagnos- Result of the last registration tics func= 0 if the recording was successful, tion: = 1 if the diagnostics buffer has not recording been configured, = 2 if the diagnostics buffer is full.

YES

YES

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Word Symbol %SW77 DLASTDEREG

Function Description Diagnostics function: non-recording Result of the last de-registration = 0 if the non-recording was successful, = 1 if the diagnostics buffer has not been configured, = 21 if the error identifier is invalid, = 22 if the error has not been recorded. Number of errors currently in the diagnostics buffer.

Initial state 0

Modicon Premium M340 Atrium YES YES

Quantum YES

%SW78 DNBERRBUF

Diagnostics function: number of errors Message management

YES

YES

YES

%SW80 MSGCNT0 %SW81 MSGCNT1

These words are updated by the 0 system, and can also be reset using %S80. For Premium: %SW80: Number of message sent by the system to the terminal port (UniTelway port) %SW81: Number of message received by the system to the terminal port (Uni-Telway port) For Modicon M340: %SW80: Number of message sent by the system to the terminal port (Modbus serial port), %SW81: Number of message received by the system to the terminal port (Modbus serial port). For Quantum: %SW80: Number of Modbus messages sent by the system as client on all communication ports. NOTE: Modbus messages sent by the system as Master are not counted in this word. %SW81: Number of Modbus messages received by the system as client on all communication port. NOTE: Modbus messages received as response to the requests sent by the system, as Master, are not counted in this word.

YES

YES

YES

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Word Symbol %SW82 %SW83

Function Description Message management These words are updated by the system, and can also be reset using %S80. For Premium: %SW82: Number of messages sent by the system to the PCMCIA module, %SW83: Number of messages received by the system from the PCMCIA module. For Quantum: %SW82: Number of Modbus messages sent or received on serial port 1, %SW83: Number of Modbus messages sent or received on serial port 2.

Initial state 0

Modicon Premium M340 Atrium NO YES

Quantum YES

%SW84 MSGCNT4 %SW85 MSGCNT5

Premium: Telegram management Modicon M340: Message management

These words are updated by the 0 system, and can also be reset using %S80. For Premium: %SW84: Number of telegrams sent by the system, %SW85: Number of telegrams received by the system. For Modicon M340: %SW84: Number of messages sent to the USB port, %SW85: Number of messages received by the USB port. This word is updated by the system, and 0 can also be reset using %S80. For Premium: Number of messages refused by the system. For Modicon M340: Number of messages refused by the system, not treated because of lack of resources for example.If the message is refused by Modbus Server then it corresponds to Modbus exception messages, sent by the CPU to the remote Modbus client.

YES

YES

NO

%SW86 MSGCNT6

Message management

YES

YES

NO

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Word Symbol %SW87 MSTSERVCNT

Function Description Communication flow management

Initial state

Modicon Premium M340 Atrium YES YES

Quantum YES

0 Number of requests processed by synchronous server per master (MAST) task cycle. The requests processed may come from all communication ports (having access to the server Modbus/UNI-TE, each of them having its own limitation). This means also that requests from other clients, then communication EFs like IO Scanner, connected HMI and so on should be counted. 0

%SW88 ASNSERVCNT %SW89 APPSERVCNT

For Premium: Premium: Com%SW88: Number of requests municatio processed by asynchronous server n flow per master (MAST) task cycle, manage%SW89: Number of requests ment processed by server functions Modicon (immediately) per master (MAST) M340: task cycle. HTTP For Modicon M340: and FTP %SW88: Number of HTTP requests requests received by the processors Web received server per second, by the %SW89: Number of FTP requests procesreceived by the FTP server per sors Web second. server and FTP server per second

YES

YES

NO

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Word Symbol %SW90 MAXREQNB

Function Description Maximum number of requests processed per master task cycle

Initial state

Modicon Premium M340 Atrium YES YES

Quantum YES

This word is used to set a maximum N number of requests (all protocols included: UNI-TE, Modbus, etc.) which can be processed by the server of the PLC per master task cycle.(Requests sent by the PLC as client are not concerned.) This number of requests must be between a minimum and a maximum (defined as N+4) depending on the model. For M340 range: BMX P34 10/20/: N = 8 (minimum 2, maximum 8 + 4 = 12), For Premium range: TSX 57 0: N = 4 (minimum 2, maximum 4 + 4 = 9), TSX 57 1: N = 4 (minimum 2, maximum 4 + 4 = 8), TSX 57 2: N = 8 (minimum 2, maximum 8 + 4 = 12), TSX 57 3: N = 12 (minimum 2, maximum 12 + 4 = 16), TSX 57 4: N = 16 (minimum 2, maximum 16 + 4 = 20), TSX 57 5: N = 16 (minimum 2, maximum 16 + 4 = 20) For Quantum range: 140 CPU 31/43/53/: N = 10 (minimum 5, maximum 10 + 4 = 14), 140 CPU 6: N = 20 (minimum 5, maximum 20 + 4 = 24), NOTE: Requests may come from various modules or embedded communication ports. The communication exchange capacity of each port is limited, therefore the maximum request value set in %SW90 might not be reached.

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Word Symbol Continued %SW90 MAXREQNB

Function Description Maximum number of requests processed per master task cycle

Initial state

Modicon Premium M340 Atrium YES YES

Quantum YES

N The Word is initialized by the system with N (default value) If the value 0 is entered, it is the value N that is taken into account. If a value between 1 and minimum is entered, it is the minimum value that is taken into account. If a value greater than maximum is entered, it is maximum value that is taken into account. The number of requests to be processed per cycle should take into account requests from all communication ports (having access to the server.) This means that requests from other clients than communication EFs, like IO Scanner, connected HMI and so on should also be taken into account. %SW91: Number of function blocks messages sent per second, %SW92: Number of function block messages received per second. Can be read by the user program or by the terminal. These counters does not include other outgoing requests coming from an IO Scanner for example. 0

%SW91-92

Function blocks message rates

YES

YES

NO

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Word Symbol %SW93

Function Description Memory card file system format command & status

Initial state

Modicon Premium M340 Atrium YES NO

Quantum NO

Can be read and written by the user 0 program or the terminal. This word is used by the customer to format or clean up the memory card: The format operation deletes the web pages. To recover them, perform one of the two following actions Use FTP. Before performing the format, save the web pages using FTP. After performing the format, reload the web pages via FTP. Reinstall the firmware operating system of the processor. The clean up operation deletes the content of the data storage directory. Formatting or clean up is possible only in Stop mode: %SW93.0 = 1 a rising edge starts the format operation. %SW93.1 gives the file system status after a format or a clean Up operation request: %SW93.1 = 0 invalid file system or command under progress, %SW93.1 = 1 valid file system. %SW93.2 = 1 a rising edge starts the clean up operation.

%SW94 %SW95

These two words contain a 32-bit value Application modi- that changes at every application modification except when: fication signature updating upload information, replacing the initial value with the current value, saving the parameter command. They can be read by the user program or by the terminal.

YES

NO

NO

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Word Symbol %SW96 CMDDIAGSAVEREST

Function Description Command and Diagnostic of Save and Restore This word is used to copy or delete the current value of %MW to or from internal flash memory (see page 109) and to give the actions status. It can be read by the user program or by the terminal: %SW96.0: Request to copy current value of %MW to internal Flash memory. Set to 1 by the user to request a save, and set to 0 by the system when a save is in progress. NOTE: You must stop the processor before copying via %SW96.0. %SW96.1 is set to 1 by the system when a save is finished, and set to 0 by the system when a save is in progress. %SW96.2 = 1 indicates an error on a save or restore operation (see %SW96.8 to 15 for error code definitions). %SW96.3 = 1 indicates that a restore operation is in progress. %SW96.4 may be set to 1 by the user to delete %MW area in internal Flash memory. %SW96.7 = 1 indicates that internal memory has valid %MW backup.

Initial state -

Modicon Premium M340 Atrium YES NO

Quantum NO

%SW96 CMDDIAGSAVEREST

Command and Diagnostic of Save and Restore

%SW96.8 to 15 are error codes when %SW96.2 is set to 1: %SW96.9 = 1 indicates that the saved %MW number is less than the configured number, %SW96.8 = 1 and %SW96.9 = 1 mean that the saved %MW number is greater than the configured number, %SW96.8 = 1, %SW96.9 = 1 and %SW96.10 = 1 indicate a write error in internal flash memory.

YES

NO

NO

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Word Symbol %SW97 CARDSTS

Function Description Card status

Initial state

Modicon Premium M340 Atrium YES NO

Quantum NO

Can be read by the user program or by the terminal. Indicates the status of the card. %SW97: 0000 = no error. 0001 = application backup or file write sent to a write-protected card. 0002 = card not recognized, or application backup damaged. 0003 = backup of the application requested, but no card available. 0004 = card access error, for example after a card has been removed not properly. 0005 = no file system present in the card, or file system not compatible. Use %SW93.0 to format the card. NOTE: This word is used for Premium 0 and Quantum module but has a different function. Word used to manage the redundancy of network modules. When a problem is detected on a communication module used to access a network number x (X-WAY), it is possible to switch to another communication module (connected to the same network) by entering the network number in the %SW99 word. %SW99 is reset to 0 by the system.

%SW991 INPUTADR/SWAP1

Communication redundancy management(1)

NO

YES1

NO

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Word Symbol %SW992 CRA_COMPAT_HIGH2

Function Description CRA compatibility high status register

Initial state

Modicon Premium M340 Atrium NO NO

Quantum YES2

NOTE: This word is used for Premium 0 and Quantum module but has a different function (see Modicon Quantum, Change Configuration On The Fly, User Guide). Word used to manage the CCOTF compatibility when a new module is inserted. When a module is inserted in the RIO drop the corresponding bit is at 1 and indicates that the module is connected on the drop and CCOTF compatible.

%SW100 CCOTF_COUNT

CCOTF counting status register

Word is incremented each time a 0 CCOTF modification is performed in a PLC. %SW100 = XXYY where: XX is incremented each time an I/O configuration is done in RUN state in a RIO drop, YY is incremented each time an I/O configuration is done in RUN state in local rack.

NO

NO

YES

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Description of System Words %SW108 to %SW116

Detailed Description Description of system words %SW108 to %SW116.
Word Symbol Function Description Initial state Modicon M340 YES Quantum YES Premium Atrium YES

%SW108 Forced bit FORCEDIOIM counting status register %SW109 FORCEDANA Forced analog channel counting status register Fipio I/O error

Word %SW108: 0 increments each time an discrete bit (%I,%Q or %M) is forced decrements each time an discrete bit is unforced Word %SW109: 0 increment each time an analog channel is forced decrement each time an analog channel is unforced Normally set to 0, each bit for this word signifies the Fipio exchange status of the exchange in which it is being tested. This word is to be reset to 0 by the user. More details on bits of word %SW116: %SW116.0 = 1 explicit exchange error (variable has not been exchanged on the bus) %SW116.1 = 1 time-out on an explicit exchange (no reply at the end of timeout) %SW116.2 = 1 maximum number of explicit exchanges achieved at the same time %SW116.3 = 1 a frame is invalid %SW116.4 = 1 the length of frame received is greater than the length that was declared %SW116.5 = reserved on 0 %SW116.6 = 1 a frame is invalid, or an agent is initializing %SW116.7 = 1 absence of a configured device %SW116.8 = 1 channel fault (at least one device channel is indicating a fault) %SW116.9 to 15 = reserved on 0

YES

NO

YES

%SW116 REMIOERR

NO

NO

YES

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Description of System Words %SW123 to %SW127

Detailed Description Description of system words %SW123 to %SW127.
Word Symbol %SW123 ADJBUSX %SW124 CPUERR Function System allowance to BUS X Type of processor or system error Description Initial state Modicon M340 YES Premium Quantum Atrium YES NO

This system word is used by the system and cannot be used by the user application The last type of system fault encountered is written into this word by the system (these codes are unchanged on a cold restart): 16#30: system code fault 16#53: time-out fault during I/O exchanges 16#60 to 64: stack overrun 16#65: Fast task period of execution is too low 16#81: detection of backplane (see Premium and Atrium using Unity Pro, Processors, racks and power supply modules, Implementation manual) error NOTE: 16#81 system code is not managed by Quantum PLCs NOTE: If this error is detected, all racks have to be re-initialized. 16#90: system switch fault: Unforeseen IT

YES

YES

YES

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Word Symbol

Function

Description

Initial state

Modicon M340 YES

Premium Quantum Atrium YES YES

%SW125 Last fault BLKERRTYPE detected

The code of the last fault detected is given in this word: The following error codes cause the PLC to stop if %S78 is set to 1. %S15, %S18 and %S20 are always activated independently of %S78: 16#2258: execution of HALT instruction 16#DE87: calculation error on floatingpoint numbers (%S18, these errors are listed in the word %SW17) 16#DEB0: Watchdog overflow (%S11) 16#DEF0: division by 0 (%S18) 16#DEF1: character string transfer error (%S15) 16#DEF2: arithmetic error; %S18 16#DEF3: index overflow (%S20) NOTE: The following codes 16#8xF4, 16#9xF4, and 16#DEF7 indicate an error on Sequencial Function Chart (SFC).

%SW126 ERRADDR0 %SW127 ERRADDR1

Address of the instruction that generated Blocking the application blocking error. error instruction For 16 bit processors, TSX P57 1/2: address %SW126 contains the offset for this address %SW127 contains the segment number for this address. For 32 bit processors: %SW126 contains the least significant word for this address %SW127 contains the most significant word for this address

YES

YES

YES

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6.3

Atrium/Premium-specific System Words

Subject of this Section This section describes the system words %SW128 to %SW167 for Premium and Atrium PLCs.

WARNING
UNEXPECTED APPLICATION BEHAVIOR Do not use system objects (%Si, %SWi) as variable when they are not documented. Failure to follow these instructions can result in death, serious injury, or equipment damage. Whats in this Section? This section contains the following topics:
Topic Description of System Words %SW60 to %SW65 Description of System Words %SW128 to %SW143 Description of System Words %SW144 to %SW146 Description of System Words %SW147 to %SW152 Description of System Word %SW153 Description of System Word %SW154 Description of Premium/Atrium System Words %SW155 to %SW167 Page 197 200 201 203 204 206 207

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Description of System Words %SW60 to %SW65

Detailed Description Description of system words %SW60 to %SW65 on Premium and Atrium Hot Standby.
Word Symbol %SW60 HSB_CMD Function Premium Hot Standby command register Description Meaning of the different bits of the word %SW60: %SW60.1 =0 sets PLC A to OFFLINE mode. =1 sets PLC A to RUN mode. %SW60.2 =0 sets PLC B to OFFLINE mode. =1 sets PLC B to RUN mode. %SW60.4 OS Version Mismatch =0 If OS Versions Mismatch with Primary, Standby goes to Offline mode. =1 If OS Versions Mismatch with Primary PLC, Standby stays in standby mode. Firmware OS Mismatch.This relate to main processor OS version, embedded copro OS version, monitored ETY OS version and enables a Hot Standby system to operate with different versions of the OS running on the Primary and Standby. Initial Premium Atrium state 0 YES NO

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Word Symbol %SW61 HSB_STS

Function Premium Hot Standby status register

Description

Initial Premium Atrium state YES NO

Meaning of the different bits of the word %SW61.0 to 0 %SW61.6: %SW61.0 and %SW61.1 Status of local PLC. %SW61.1=0 and %SW61.0=1: OFFLINE mode. %SW61.1=1 and %SW61.0=0: Primary mode. %SW61.1=1 and %SW61.0=1: Standby mode. %SW61.2 and %SW61.3 Status of remote PLC. %SW61.3=0 and %SW61.2=1: OFFLINE mode. %SW61.3=1 and %SW61.2=0: Primary mode. %SW61.3=1 and %SW61.2=1: Standby mode. %SW61.3=0 and %SW61.2=0: the remote PLC is not accessible (Power off, no communication). %SW61.4 is set=1: whenever a logic mismatch is detected between the Primary and Standby controllers. %SW61.5 is set to 0 or 1, depending on the Ethernet copro MAC address: =0 the PLC with the lowest MAC dress becomes PLC A. =1 the PLC with the highest MAC address becomes PLC B. %SW61.6: this bit indicates if the CPU-sync link between the two PLC is valid: %SW61.6=0: the CPU-sync link is valid.The content of bit 5 is significant. %SW61.6=1: the CPU-sync link is not valid. In this case, the contents of the bit 5 is not significant because the comparison of the two MAC addresses cannot be performed.

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Word Symbol %SW61 HSB_STS

Function Premium Hot Standby status register

Description

Initial Premium Atrium state YES NO

Meaning of the different bits of the word %SW61.7 to 0 %SW61.9: %SW61.7: this bit indicates if there is a Main Processor OS version mismatch between Primary and Standby: =0: no OS version firmware mismatch. =1: OS version mismatch. If OS version mismatch is not allowed in the command register (bit 4 = 0), the system will not work as redundant as soon as the fault is signaled. %SW61.8: this bit indicates if there is a COPRO OS version mismatch between Primary and Standby: =0: no COPRO OS version mismatch. =1: COPRO OS version mismatch. If OS version mismatch is not allowed in the command register (bit 4 = 0), the system will not work as redundant as soon as the fault is signaled. %SW61.9: this bit indicates if at least one ETY module does not have the minimum version: =0: all the ETY modules have the minimum version. =1: at least one ETY module doesnt have the minimum version. In this case, no Primary PLC could start.

%SW61 HSB_STS

Premium Hot Standby status register

Meaning of the different bits of the word %SW61.10 0 and %SW61.15: %SW61.10: this bit indicates if there is a Monitored ETY OS version mismatch between Primary and Standby: =0: no Monitored ETY OS version mismatch. =1: Monitored ETY OS version mismatch. If OS version mismatch is not allowed in the command register (bit 4 = 0), the system will not work as redundant as soon as the fault is signaled. %SW61.15: If %SW 61.15 is set = 1, the setting indicates that Ethernet Copro device is set up correctly and working.

YES

NO

Premium %SW62 HSBY_REVERSE0 Transfer word %SW63 HSBY_REVERSE1 %SW64 HSBY_REVERSE2 %SW65 HSBY_REVERSE3
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These four words are reverse registers reserved for the 0 Reverse Transfer process. These four reverse registers can be written to the application program (first section) of the Standby controller and are transferred at each scan to the Primary controller.

YES

NO

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Description of System Words %SW128 to %SW143

Detailed Description Description of system words %SW128 to SW143:
Word Symbol %SW128...143 ERRORCNXi where i = 0 to 15 Function Description Initial state

Faulty Fipio Each bit in this group of words indicates the state of a device connected 0 connection to the Fipio bus. Normally set to 1, the presence of a 0 in one of these bits indicates the point occurrence of a fault on this connection point. For a non-configured connection point, the corresponding bit is always 1.

Table showing correspondence between word bits and connection point address:
Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 Bit 8 Bit 9 Bit 10 Bit 11 Bit 12 Bit 13 Bit 14 Bit 15 %SW128 0 %SW129 16 %SW130 32 %SW131 48 %SW132 64 %SW133 80 %SW134 96 %SW135 112 %SW136 128 %SW137 144 %SW138 160 %SW139 176 %SW140 192 %SW141 208 %SW142 224 %SW143 240 1 17 33 49 65 81 97 113 129 145 161 177 193 209 225 241 2 18 34 50 66 82 98 114 130 146 162 178 194 210 226 242 3 19 35 51 67 83 99 115 131 147 163 179 195 211 227 243 4 20 36 52 68 84 100 116 132 148 164 180 196 212 228 244 5 21 37 53 69 85 101 117 133 149 165 181 197 213 229 245 6 22 38 54 70 86 102 118 134 150 166 182 198 214 230 246 7 23 39 55 71 87 103 119 135 151 167 183 199 215 231 247 8 24 40 56 72 88 104 120 136 152 168 184 200 216 232 248 9 25 41 57 73 89 105 121 137 153 169 185 201 217 233 249 10 26 42 58 74 90 106 122 138 154 170 186 202 218 234 250 11 27 43 59 75 91 107 123 139 155 171 187 203 219 235 251 12 28 44 60 76 92 108 124 140 156 172 188 204 220 236 252 13 29 45 61 77 93 109 125 141 157 173 189 205 221 237 253 14 30 46 62 78 94 110 126 142 158 174 190 206 222 238 254 15 31 47 63 79 95 111 127 143 159 175 191 207 223 239 255

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Description of System Words %SW144 to %SW146

Detailed Description Description of system words %SW144 to %SW146.
Word Symbol %SW144 BAOPMOD Function Fipio bus arbiter function operating mode Description This system word is used to start and stop the bus arbiter function and the producer / consumer function. It can modify the starting, automatic and manual modes of the bus in the event of a stop. %SW144.0 = 1: producer / consumer function in RUN. = 0: producer / consumer function in STOP (no variables are exchanged on the bus). %SW144.1 = 1: bus arbiter is in RUN 0. = 0: bus arbiter is in STOP (no variables or message scanning is carried out on the bus). %SW144.2 = 1: automatic start in the event of an automatic bus stop. = 0: manual start in the event of an automatic bus stop. %SW144.3 to 15 reserved, %SW144.3 = 1, %SW144.4 to 15 = 0. %SW145 BAPARAM Modification of Fipio Bus Arbiter Parameters The bits are set to 1 by the user, and reset to 0 by the system when initialization has been carried out. %SW145.0 = 1: modification of the priority of the bus arbiter; the most significant byte for this system word contains the value of the priority of the bus arbiter which is to be applied to the bus. %SW145.1 and %SW145.2 are reserved. %SW145.3 to %SW145.7 reserved on 0. %SW145.8 to %SW145.15: this byte contains the value which is applied to the bus, according to the value of bit 0. These parameters can be modified when the bus arbiter is in RUN, but for them to be taken into account by the application, the BA must be stopped then restarted. 0 Initial state 0

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Word Symbol

Function

Description The least significant byte indicates the status of the producer / consumer function. The most significant byte indicates the status of the bus arbiter function. Byte value: 16#00: the function does not exist (no Fipio application). 16#70: the function has been initialized but is not operational (in STOP). 16#F0: the function is currently being executed normally (in RUN).

Initial state 0

%SW146 Fipio bus BASTATUS arbiter function display

CAUTION
UNINTENDED SYSTEM BEHAVIOR Modifying the %SW144 and %SW145 system words can cause the PLC to stop. Failure to follow these instructions can result in injury or equipment damage.

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Description of System Words %SW147 to %SW152

Detailed Description Description of system words %SW147 to %SW152:
Word Symbol %SW147 TCRMAST %SW148 TCRFAST %SW150 NBFRSENT %SW151 NBFRREC %SW152 NBRESENTMSG Function MAST network cycle time FAST network cycle time Number of frames sent Number of frames received Description Initial state

A value which is not zero indicates (in ms) the value of the MAST task 0 network cycle time (TCRMAST). A value which is not zero indicates (in ms) the value of the first FAST task network cycle time (TCRFAST). This word indicates the number of frames sent by the Fipio channel manager. This word indicates the number of frames received by the Fipio channel manager. 0 0 0 0

Number of This word indicates the number of messages resent by the Fipio messages resent channel manager.

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Description of System Word %SW153

Detailed Description Description of system word %SW153:
Word Symbol %SW153 FipioERR0 Function Description Initial state 0

List of Fipio channel Each bit is set to 1 by the system, and reset to 0 by the user. manager faults See the list below.

Description of the Bits bit 0 = "overrun station fault": corresponds to loss of a MAC symbol while receiving this is linked to the receiver reacting too slowly. bit 1 = "message refusal fault": indicates that a message with acknowledgment was refused, or that it was not acknowledged in the first place. receiving MAC. bit 2 = "interrupt variable refusal fault". bit 3 = "underrun station fault": corresponds to the station being unable to respect transfer speed on the network. bit 4 = "physical layer fault": corresponds to a prolonged transmission absence in the physical layer. bit 5 = "non-echo fault": corresponds to a fault which occurs when the transmitter is currently sending, with a transmission current in the operating range, and when at the same time there is detection of an absence of signal on the same channel. bit 6 = "talking fault": corresponds to a fault whereby the transmitter is controlling the line for longer than the maximum set operating limit. This fault is caused, for example, by deterioration of the modulator, or by a faulty data link layer. bit 7 = "undercurrent fault": corresponds to a fault whereby the transmitter generates, when solicited, a current weaker than the minimum set operating limit. This fault is caused by increased line impedance (e.g. open line, etc.). bit 8 = "pierced frame fault": indicates that a pause has been received in the frame body, after identifying a delimiter at the start of the frame, and before identifying a delimiter at the end of the frame. The appearance of a pause in normal operating conditions takes place after a delimiter has been identified at the end of a frame. bit 9 = "Receiving frame CRC fault": indicates that the CRC calculated on a normally received frame and the CRC contained within this frame have different values. bit 10 = "Receiving frame code fault": indicates that certain symbols, belonging exclusively to delimitation sequences at the start and end of frames, have been received within the body of the frame. bit 11 = "received frame length fault": more than 256 bytes have been received for the frame body.

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bit 12 = "unknown frame type received": within the frame body, the first byte identifies the type of frame link. A set number of frame types are defined in the WorldFip standard link protocol. Any other code found within a frame is therefore an unknown frame type. bit 13 = "a truncated frame has been received": a frame section is recognized by a sequence of symbols delimiting the end of the frame, while the destination station awaits the arrival of a delimiter sequence for the start of the frame. bit 14 = "unused, non-significant value". bit 15 = "unused, non-significant value"

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Description of System Word %SW154

Detailed Description Description of system word %SW154:
Word Symbol %SW154 FipioERR1 Function List of Fipio channel manager faults Description Each bit is set to 1 by the system and reset to 0 by the user. See the list below. Initial state 0

Description of the Bits bit 0 = "aperiodic sequence time-out": indicates that the messages or aperiodic variables window has overflowed its limit within an elementary cycle of the macrocycle. bit 1 = "refusal of messaging request": indicates that the message queue is saturated - for the time being the bus arbiter is in no position to latch onto nor to comply with a request. bit 2 = "urgent update command refused": indicates that the queue for urgent aperiodic variables exchange requests is saturated - for the time being the bus arbiter is in no position to latch onto nor to comply with a request. bit 3 = "non-urgent update command refused": indicates that the queue for nonurgent aperiodic variable exchange requests is saturated - for the time being the bus arbiter is in no position to latch onto nor to comply with a request. bit 4 = "pause fault": the bus arbiter has not detected any bus activity during a time period larger than the standardized WorldFip time period. bit 5 = "a network collision has occurred on identifier transmission": indicates activity on the network during theoretical pause periods. Between a transmission and awaiting a reply from the bus arbiter, there should be nothing circulating on the bus. If the bus arbiter detects activity, it will generate a collision fault (for example, when several arbiters are active at the same time on the bus). bit 6 = "bus arbiter overrun fault": indicates a conflict on accessing the bus arbiter station memory. bit 7 = "unused, non-significant value". bit 8 to bit 15 = reserved on 0.

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Description of Premium/Atrium System Words %SW155 to %SW167

Detailed Description Description of system words %SW155 to %SW167:
Word Symbol %SW155 NBEXPLFIP Function Number of explicit exchanges on Fipio Description Number of explicit exchanges currently being processed on Fipio, carried out by instructions (READ_STS, REA_PARAM, etc.). Also takes into account the explicit exchanges carried out by requests (READ_IO_OBJECT, WRITE_IO_OBJECT, etc.) Note: The number of explicit exchanges is always less than 24. The words %SW160 to %SW167 are respectively associated with racks 0 to 7. Bits 0 to 15 of each of these words are associated with the modules located in positions 0 to 15 of these racks. The bit is set to 0 if the module is faulty, and set to 1 if the module is operating correctly. Example: %SW163.5 =0 The module located in slot 5 of rack 3 is faulty. Initial state 0

Operating status of %SW160 to the PLC modules %SW167 PREMRACK0 to PREMRACK7

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6.4

Quantum-specific System Words

Subject of this Section This section describes the system words %SW60 to %SW640 for Quantum PLCs.

WARNING
UNEXPECTED APPLICATION BEHAVIOR Do not use system objects (%Si, %SWi) as variable when they are not documented. Failure to follow these instructions can result in death, serious injury, or equipment damage. Whats in this Section? This section contains the following topics:
Topic Description of Quantum System Words %SW60 to %SW66 Description of Quantum System Words %SW98 to %SW109 Description of Quantum System Words %SW110 to %SW177 Description of Quantum System Words %SW180 to %SW702 Page 209 212 213 216

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Description of Quantum System Words %SW60 to %SW66

Detailed Description System words description %SW60 to %SW66.
Word Symbol %SW60 HSB_CMD Function Description Initial state 0

Quantum Different bits meaning of the word %SW60: Hot %SW60.0 = 1 invalidates the commands entered in the display Standby (keypad). command %SW60.1 register 0 sets PLC A to OFFLINE mode. 1 sets PLC A to ONLINE mode. %SW60.2 0 sets PLC B to OFFLINE mode. 1 sets PLC B to ONLINE mode. NOTE: The Primary CPU controller goes to RUN Offline only if the secondary CPU is RUN Standby. At Startup of the Secondary PLC, the secondary CPU goes to Online mode (RUN Standby) only if both bits %SW60.1 and %SW60.2 are set to 1 (regardless of A/B assignment). If bits %SW60.1 and %SW60.2 are set to 0 simultaneously, a switchover occurs: Primary controller goes RUN Offline, and, Standby controller now operates as RUN Primary. To complete the switchover, bits %SW60.1 and %SW60.2 must be set back to 1. This makes the Offline CPU going back to Online mode (Run Standby). The OFFLINE/ONLINE mode controlled by the %SW60.1 and %SW60.2 bits is not linked to the LCD Keypad ONLINE/OFFLINE mode (see Modicon Quantum, Hot Standby System, User Manual). %SW60.3 0 If an application mismatch is detected, Standby CPU is forced to OFFLINE mode. 1 Standby CPU operates normally even if a mismatch occurs. %SW60.4 0 authorizes an update of the firmware only after the application has stopped. 1 authorizes an update of the firmware without the application stopping. %SW60.5=1 application transfer request from the Standby to the primary. %SW60.8 0 address switch on Modbus port 1 during a primary swap. 1 no address switch on Modbus port 1 during a primary swap.

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Word Symbol %SW60 HSB_CMD

Function

Description

Initial state 0

Quantum continued: Hot %SW60.9 Standby 0 address switch on Modbus port 2 during a primary swap. command 1 no address switch on Modbus port 2 during a primary swap. register %SW60.10 0 address switch on Modbus port 3 during a primary swap. 1 no address switch on Modbus port 3 during a primary swap. Quantum status register Meaning of the different bits of the word %SW61: %SW61.0 and %SW61.1 PLC operating mode bits %SW61.1 = 0, %SW61.0 = 1: OFFLINE mode. %SW61.1 = 1, %SW61.0 = 0: primary mode. %SW61.1 = 1, %SW61.0 = 1: secondary mode (Standby). %SW61.2 and %SW61.3 operating mode bits from the other PLC %SW61.3 = 0, %SW61.2 = 1: OFFLINE mode. %SW61.3 = 1, %SW61.2 = 0: primary mode. %SW61.3 = 1, %SW61.2 = 1: secondary mode (Standby). %SW61.3 = 0, %SW61.2 = 0: the remote PLC is not accessible (switched off, no communication). %SW61.4 = 0 the applications are identical on both PLCs. %SW61.5 0 the PLC is used as unit A. 1 the PLC is used as unit B. %SW61.6 indicates if the CPU-sync link between the two PLC is valid 0 The CPU-sync link is operating properly. The contents of bit 5 are significant. 1 the CPU-sync link is not valid. In this case, the contents of the bit 5 is not significant because the comparison of the two MAC addresses cannot be performed. %SW61.7 0 Same PLC OS version. 1 Different PLC version. %SW61.8 0 Same Copro OS version. 1 Different Copro version. %SW61.12 0 Information given by bit 13 is not relevant 1 Information given by bit 13 is valid %SW61.13 0 NOE address set to IP 1 NOE address set to IP + 1 %SW61.15 0 Hot Standby not activated. 1 Hot Standby activated.

%SW61 HSB_STS

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Word Symbol %SW62 HSBY_REVERSE0 %SW63 HSBY_REVERSE1 %SW64 HSBY_REVERSE2 %SW65 HSBY_REVERSE3 %SW66 CCOTF_STATUS

Function Hot Standby reverse transfer word

Description

Initial state

These 4 words may be modified is the Hot Standby MAST task first section 0 of the user application program. They are then transferred automatically from the Standby processor to update the Primary PLC. They may be read on the Primary PLC and used in the Hot Standby application.

Status of Meaning of the bytes of the word %SW66 (XXYY): 0 an EtherXX: The higher byte of the word is associated with the CCOTF status net I/O code. its values are (in hex): configura00: Idle tion 1D: Process succeed change 1E: System is busy processing the most recent CCOTF request 22: Remote drop not reachable 23: Request is rejected by Remote Drop specified in CCOTF request YY: The lower byte of the word is associated with the CCOTF processing status. Its values are (in hex): 00: Idle 01: In progress 02: Completed without detected error, additional CCOTF changes allowed 03: Completed with a detected error, additional CCOTF changes not allowed 04: Completed with a fatal detected error, additional CCOTF changes not allowed

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Description of Quantum System Words %SW98 to %SW109

Detailed Description Description system words %SW98 to %SW109:
Word Symbol %SW98 CRA_COMPAT_LOW Function Description Initial state 0

CRA compatibility Meaning of the different bits of the word %SW98: low status register %SW98.0 is not used and is set to 0 by default. %SW98.1 to %SW98.15 =0 sets the drop 2 to 16 is not compatible. =1 sets the drop 2 to 16 is compatible. CRA compatibility high status register CCOTF counting status register Meaning of the different bits of the word %SW99: %SW99.0 to %SW99.15 =0 sets the drop 17 to 32 is not compatible. =1 sets the drop 17 to 32 is compatible. Meaning of the different bits of the word %SW100: XXYY XX increments each time an I/O configuration is done in RUN state in a RIO drop, YY increments each time an I/O configuration is done in RUN state in the Local rack. NOTE: On a RUN-to-STOP mode transition, %SW100 is reset to 0. NOTE: When a byte reaches its maximum value of 255, the counter is reset to 1.

%SW99 CRA_COMPAT_HIGH

%SW100 CCOTF_COUNT

%SW101 ERIO_ CCOTF_COUNT

ERIO CCOTF counting status register

Meaning of the bytes of the word %SW101: 0 XXYY XX Reserved YY increments each time an Ethernet I/O configuration changes. NOTE: When the counter reaches its maximum value of 255, it is reset to 1. NOTE: On a cold-start, warm-start or application download, %SW101 is reset to 0.

%SW108 Forced bit FORCED_DISCRETE_COUNT counting status register %SW109 FORCED_ANALOG_COUNT Forced analog channel counting status register

Word %SW108: 0 increments each time an discrete bit (%I,%Q or %M) is forced decrements each time an discrete bit is unforced Word %SW109: increment each time an analog channel is forced decrement each time an analog channel is unforced 0

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Description of Quantum System Words %SW110 to %SW177

Detailed Description Description of system words %SW110 to %SW177; these words are active on Quantum 140 CPU 6 PLCs.
Word Symbol %SW110 Function Description Initial state 0

This system word gives information on the size of number of unrestricted memory the unrestricted memory area for %M. area for %M This system word gives information on the size of number of unrestricted memory the unrestricted memory area for %MW. area for %MW Number of connections open Number of connections refused Number of messages refused Number of messages sent Number of messages received Number of devices scanned The Most Significant Byte of this word indicates the number of TCP connections open on the Ethernet link TCP/IP port 502. This word indicates the number of TCP connections refused on the Ethernet link TCP/IP port 502.

%SW111

%SW128 NB_P502_CNX %SW129 NB_DENIED_CNX %SW130 NB_P502_REF %SW132 and %SW133 NB_SENT_MSG %SW134 and %SW135 NB_RCV_MSG %SW136 NB_IOS_CNX %SW137 NB_IOS_MSG %SW138 GLBD_ERROR %SW139 BW_GLBD_IOS

This word indicates the number of TCP messages 0 refused on the Ethernet link TCP/IP port 502. This double word %SDW132 indicates the number 0 of messages sent on the Ethernet link TCP/IP port 502. This double word %SDW134 indicates the number 0 of messages received on the Ethernet link TCP/IP port 502. This word indicates the number of devices scanned on the Ethernet link TCP/IP port 502. 0

0 This word indicates the number of messages Number of IO Scanning messages received per second from the IO Scanning service on the Ethernet link TCP/IP port 502. received Global Data coherence error Global Data and IO Scanning service load Load for messaging service and other services Global Data coherence error The Least Significant Byte of this word measures the percentage of load relating to IO Scanning. The Most Significant Byte of this word measures the percentage of load relating to Global Data. The Least Significant Byte of this word measures the percentage of load relating to messaging. The Most Significant Byte of this word measures the percentage of load relating to other services. 0 0

%SW140 BW_OTHER_MSG

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Word Symbol %SW141 and %SW142 IP_ADDR %SW143 and %SW144 IP_NETMASK %SW145 and %SW146 IP_GATEWAY %SW147 to %SW149 MAC_ADDR1 to 3 %SW150

Function IP Address

Description This double word %SDW141 receives the IP address of the Ethernet link.

Initial state 0 0

IP subnetwork mask This double word %SDW143 receives the subnetwork mask of the Ethernet link. Default Ethernet gateway address MAC Addresses

This double word %SDW145 receives the address 0 of the default Ethernet gateway. The words %SW147, %SW148,%SW149 code the addresses MAC 1, MAC 2 and MAC 3 respectively. 0

Coprocessor version This word codes the coprocessor version for 140 CPU 671 60 and 140 CPU 672 61 PLCs. The version is displayed in hexadecimal format. Status of Ethernet link This word codes the status of the Ethernet link. Bit 0 =0 if the Ethernet link is stopped Bit 1 =0 Bit 2: 0= half duplex mode, 1=full duplex Bit 3 =0 Bits 4 to 11: =7 for Quantum, =6 for Hot Standby Quantum Bit 12: 0 = 10 Mbits link, 1= 100 Mbits link Bit 13: 0 = 10/100Base-TX link (twisted pair) Bit 14: 0 Bit 15: 0 = Ethernet link inactive, 1= Ethernet link active

%SW151 BOARD_STS

%SW152 to %SW153 ERIO_DROP_ERROR

Detected ERIO Drop The bits of words %SW152 to %SW153 are error status associated with the detected Ethernet RIO Drop status. The bit is set to 0 if at least one I/O module in the drop has detected error. It is set to 1 if all modules are operating correctly. %SW152.0: Drop No. 1 %SW152.1: Drop No. 2 ........... %SW153.14: Drop No. 31

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Word Symbol %SW160 to %SW167 REFRESH_IO

Function

Description

Initial state

The bits of words %SW160 to %SW167 are Device operating status determined by associated with devices that have been IO scanned. IO scanning The bit is set to 0 if the device has a detected error. It is set to 1 if the device is operating correctly. %SW160.0: device No. 1. %SW160.1: device No. 2. ........... %SW167.15: device No. 128. Note: These system words are only available for Quantum coprocessors, and are unavailable for NOE modules. Operating status of Global Data The bits of words %SW168 to %SW171 are associated with Global Data. The bit is set to 0 if the device has a detected error. It is set to 1 if the device is operating correctly. %SW168.0: device No. 1. %SW168.1: device No. 2. ........... %SW171.15: device No. 64. The bits of words %SW172 to %SW173 are associated with the Ethernet RIO Drop connection status. The bit is set to 0 if the connection between the PLC and the Drop is not operating correctly. It is set to 1 if the connection is operating correctly. %SW172.0: Drop No. 1 %SW172.1: Drop No. 2 ........... %SW173.14: Drop No. 31 NOTE: In a Hot Standby system, these are for the Primary CPU. The bits of words %SW176 to %SW177 are associated with Ethernet RIO Drop connection status. The bit is set to 0 if the connection is not operating correctly. It is set to 1 if the connection is operating correctly. %SW176.0: Drop No. 1 %SW176.1: Drop No. 2 ........... %SW177.14: Drop No. 31 NOTE: In a Hot Standby system, these are for the Standby CPU. They are not significant in a Standalone PLC.

%SW168 to %SW171 VALID_GD

%SW172 to %SW173 ERIO_CONNECT_STATUS

Standalone and Hot Standby Primary Detected Ethernet RIO Communications Drop error status

%SW176 to %SW177 Hot Standby SDBY_ERIO_CONNECT_STATUS Detected Ethernet RIO Communications Drop error status

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Description of Quantum System Words %SW180 to %SW702

Detailed Description Description of system words %SW180 to %SW702:
Word Symbol %SW180 to %SW339 IOHEALTHij i=1..32, j=1..5 Function Description Initial state

Health bits of the Words %SW180 and %SW181 are associated with PLC stations 0 1 for Standalone and Hot Standby local PLCs main (1) and PLC modules extension (2) racks: Including Hot Standby CPUs %SW180: module health bits of the station 1, rack 1 %SW181: module health bits of the station 1, rack 2 Words %SW182 and %SW183 are associated with PLC stations 1 for only the Hot Standby peer PLCs main (1) and extension (2) racks: %SW182: module health bits of the station 1, rack 1 %SW183: module health bits of the station1, rack 2 NOTE: SW182 - %SW183 are not used in a Standalone PLC. SW184 is reserved. Words %SW185 and %SW339 are associated with PLC stations 2 to 32. Each station has 5 words available but only the first 2 are used: %SW185: module health bits of the S908 station 2, rack 1 %SW186: module health bits of the S908 station 2, rack 2 SW187 is reserved. SW188 is reserved. SW189 is reserved. ... %SW335: module health bits of the S908 station 32, rack 1 %SW336: module health bits of the S908 station 32, rack 2 SW337 is reserved. SW338 is reserved. SW339 is reserved. Bits 0 to 15 of each of these words are associated with the modules located in positions 16 to 1 of these racks. The bit equals 0 if the module is inoperative and equals 1 if the module is operating correctly. Example: %SW185.5 = 0: the module located in station 2, rack 1, slot 11 is inoperative. Note: Modules 140 XBE 100 00 (see Quantum with Unity Pro, Hardware, Reference Manual) require special management. These words are not available on Safety PLCs.

%SW340 MB+DIOSLOT

Slot number of the processor with Modbus Plus link

Slot number of the processor with the built-in Modbus Plus link for connection to the first DIO network. The slot number is coded from 0 to 15. This word is not available on Quantum safety PLCs.
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Word Symbol %SW341 to %SW404 MB+IOHEALTHi i=1..64

Function Operating status of the distributed station modules of the first DIO network

Description

Initial state

The words %SW341 to %SW404 are associated with the distributed stations (DIO): 64 words associated with the 64 DIO stations of the first network. %SW341: operating status of the station 1 modules. %SW342: operating status of the station 2 modules. ........... %SW404: operating status of the station 64 modules. Bits 0 to 15 of each of these words are associated with the modules located in positions 16 to 1 of these stations. The bit is set to 0 if the module is faulty, and set to 1 if the module is operating correctly. Example: %SW362.5 =0 The module located in station 22 slot 11 of the first DIO network is faulty. Note: For modules 140 CRA 2 the value of this bit is not significant, and is always set to 0. These words are not available on safety PLCs and DIO network. Slot number of module 140 NAME 2 for connection to the second DIO network. The slot number is coded from 0 to 15. This word is not available on Quantum safety PLCs. -

%SW405 NOM1DIOSLOT

Slot number of the first interface module of the DIO network Operating status of the distributed station modules of the second DIO network

%SW406 to %SW469 NOM1DIOHEALTHi i=1..64

The words %SW406 to %SW469 are associated with the distributed stations (DIO): 64 words associated with the 64 DIO stations of the second network. %SW406: operating status of the station 1 modules. %SW407: operating status of the station 2 modules. ........... %SW469: operating status of the station 64 modules. Bits 0 to 15 of each of these words are associated with the modules located in positions 16 to 1 of these stations. The bit is set to 0 if the module is faulty, and set to 1 if the module is operating correctly. Example: %SW412.5 = 0 The module located in station 7 slot 11 of the second DIO network is faulty. Note: For modules 140 CRA 2 the value of this bit is not significant, and is always set to 0. These words are not available on safety PLCs and DIO network. Slot number of module 140 NAME 2 for connection to the third DIO network. The slot number is coded from 0 to 15. This word is not available on Quantum safety PLCs.

%SW470 NOM2DIOSLOT

Slot number of the second interface module of the DIO network

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Word Symbol %SW471 to %SW534 NOM2DIOHEALTHi i=1..64

Function Operating status of the distributed station modules of the third DIO network

Description

Initial state

The words %SW471 to %SW534 are associated with the distributed stations (DIO): 64 words associated with the 64 DIO stations of the third network. %SW471: operating status of the station 1 modules. %SW472: operating status of the station 2 modules. ........... %SW534: operating status of the station 64 modules. Bits 0 to 15 of each of these words are associated with the modules located in positions 16 to 1 of these stations. The bit is set to 0 if the module is faulty, and set to 1 if the module is operating correctly. Example: %SW520.5 = 0 The module located in station 86 slot 11 of the third DIO network is faulty. Note: For modules 140 CRA 2 the value of this bit is not significant, and is always set to 0. These words are not available on safety PLCs and DIO network.

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Word Symbol %SW535 RIOERRSTAT

Function RIO error on start-up

Description

Initial state

This word stores the start-up error code. This word is always set to 0 when the system is running; in the event of error, the PLC does not start up, but generates a stop status code 01: I/O assignment length 02: Remote I/O link number 03: Number of stations in the I/O assignment 04: I/O assignment checksum 10: Length of the station descriptor 11: I/O station number 12: Station autonomy time 13: ASCII port number 14: Number of station modules 15: Station already configured 16: Port already configured 17: More than 1024 output points 18: More than 1024 input points 20: Module slot address 21: Module rack address 22: Number of output bytes 23: Number of input bytes 25: First reference number 26: Second reference number 28: Internal bits outside the 16 bit range 30: Unpaired odd output module 31: Unpaired odd input module 32: Unpaired odd module reference 33: Reference 1x after register 3x 34: Reference of dummy module already used 35: Module 3x is not a dummy module 36: Module 4x is not a dummy module -

Communication The words %SW536 to %SW538 are the communication error %SW536 status on cable A words on cable A. CAERRCNT0 %SW537 %SW536: CAERRCNT1%SW538 most significant byte: counts framing errors CAERRCNT2 least significant byte: counts overruns of the DMA receiver. %SW537: most significant byte: counts receiver errors least significant byte: counts incorrect station receptions. %SW538: %SW538.15 = 1, short frame %SW538.14 = 1, no end-of-frame %SW538.3 = 1, CRC error %SW538.2 = 1, alignment error %SW538.1 = 1, overrun error %SW538.13 to 4 and 0 are unused
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Word Symbol %SW539 CBERRCNT0 %SW540 CBERRCNT1 to %SW541 CBERRCNT2

Function

Description

Initial state -

Communication The words %SW539 to %SW541 are the communication error status on cable B words on cable B. %SW539: most significant byte: counts framing errors least significant byte: counts overruns of the DMA receiver. %SW540: most significant byte: counts receiver errors least significant byte: counts incorrect station receptions. %SW541: %SW541.15 = 1, short frame %SW541.14 = 1, no end-of-frame %SW541.3 = 1, CRC error %SW541.2 = 1, alignment error %SW541.1 = 1, overrun error %SW541.13 to 4 and 0 are unused

%SW542 GLOBERRCNT0 %SW543 GLOBERRCNT1 %SW544 GLOBERRCNT2

Global communication status

The words %SW542 to %SW544 are the global communication error words. %SW542: displays the global communication status. %SW542.15 = 1, communication operating correctly %SW542.14 = 1, communication on cable A operating correctly %SW542.13 = 1, communication on cable B operating correctly %SW542.11 to 8 = lost communications counter %SW542.7 to 0 = retry totalizer counter. %SW543: is the global error totalizer counter for cable A: most significant byte: counts the errors detected least significant byte: counts "non-responses". %SW544: is the global error totalizer counter for cable B: most significant byte: counts the errors detected least significant byte: counts "non-responses".

%SW545 to %SW547 MODUNHEALTH1 IOERRCNT1 IORETRY1

Status of the local station

For the PLCs where station 1 is reserved for local input/outputs, the status words %SW545 to %SW547 are used in the following way. %SW545: status of the local station. %SW545.15 = 1, all modules are operating correctly. %SW545.14 to 8 = unused, always set to 0. %SW545.7 to 0 = number of times the module has appeared defective; the counter loops back at 255. %SW546: this is used as a counter for 16-bit input/output bus errors. %SW547: this is used as a counter for 16-bit input/output bus repetitions.

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Word Symbol %SW548 to %SW640 MODUNHEALTHi IOERRCNTi IORETRYi (i=2..32)

Function Status of decentralized stations

Description

Initial state

The words %SW548 to %SW640 are used to describe the status of the decentralized stations. Three status words are used for each station. %SW548: displays the global communication status for station 2: %SW548.15 = 1, communication operating correctly %SW548.14 = 1, communication on cable A operating correctly %SW548.13 = 1, communication on cable B operating correctly %SW548.11 to 8 = lost communications counter %SW548.7 to 0 = retry totalizer counter. %SW549: is the global error totalizer counter for cable A station 2: most significant byte: counts the errors detected least significant byte: counts "non-responses". %SW550: is the global error totalizer counter for cable B station 2: most significant byte: counts the errors detected least significant byte: counts "non-responses". The words: %SW551 to 553 are assigned to station 3 %SW554 to 556 are assigned to station 4 ....... %SW638 to 640 are assigned to station 32

%SW641 to %SW702 ERIO_MOD_HEALTH

Ethernet RIO Module Health bit status

The words %SW641 to %SW702 are the module health bits: %SW641: health bits of the modules on rack 1, drop 1 %SW642: health bits of the modules on rack 2, drop 1 NOTE: Rack 1 is the Main rack., Rack 2 is the Extension rack. ........... %SW701: health bits of the modules on rack 1, drop 31 %SW702: health bits of the modules on rack 2, drop 31 Bits 0 to 15 of each of these words are associated with the modules located in positions 16 to 1 of the 140 CRA 312 00 Drop module. The bit is set to 0 if the module has a detected error It is set to 1 if the module is operating correctly.

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6.5

Modicon M340-Specific System Words

Description of System Words: %SW142 to %SW145, %SW146 and %SW147, %SW150 to %SW154, %SW160 to %SW167
Detailed Description Description of system words %SW142 to %SW145, %SW146 and %SW147, %SW150 to %SW154, %SW160 to %SW167:
Word Symbol Function Description Inhibit the I/O error raised by the system when a configured device on the CANopen bus is not present. This inhibition can be managed with 4 system words %SW142,143,144,145. These System words implement a bitlist indicating CANopen node error to inhibit: bit 0 of %SW142 concerns device at node address 1. bit 1 of %SW142 concerns device at node address 2. ... bit15 of %SW145 concerns device at node address 64. Bit values : If the bit is at 0 and device not present, then an error is raised. If the bit is at 1 and device not present, then no error is raised. NOTE: The default value is 0. NOTE: This inhibition can be performed on the fly, but in order for it to be taken into account, the CANopen Master must be reset (by setting bit 5 of the output word .%QW0.0.2.0 to 1). NOTE: The system words %SW142 to %SW145 are available since SV 2.1 of the CPU OS. %SW146 and %SW147 Modicon M340 Those 2 system words contain the unique SD card serial number (32bits).If there is not an SD card or an unrecognized SD card, the 2 system words are set to 0.This information can be used to protect an application (see Modicon M340 Using Unity Pro, Processors, Racks, and Power Supply Modules, Setup Manual) against duplication. NOTE: The system words %SW146 and %SW147 are available since SV 2.1 of the CPU OS. Initial State -

%SW142 to %SW145 Modicon M340

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Word Symbol

Function

Description Informations concerning the last SDO abort transfert: %SW150: Low word of the SDO abort code. %SW151: High word of the SDO abort code. %SW152: Node number of the SDO transfert. %SW153: Index number of the SDO transfert. %SW154: Sub-index number of the SDO transfert.

Initial State -

%SW150 to %SW154 CANopen Modicon M340

%SW160 to %SW167 Premium and Modicon M340 PREMRACK0 to Rack 0 to 7 error PREMRACK7

Words %SW160 to %SW167 are associated, respectively, to racks 0 to 7. Bits 0 to 15 of each of these words are associated with the modules located in positions 0 to 15 of these racks. The bit is at 0 if the module is in fault, and at 1 if the module is operating correctly. Example: %SW163.5=0 The module located in position 5 on rack 3 is in fault. In case of half racks, 2 contiguous half racks make a complete normal rack, referenced by only one Swi.

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III
In This Part This part describes the different data types that can be used in a project, and how to implement them. Whats in this Part? This part contains the following chapters:
Chapter 7 8 9 10 Chapter Name General Overview of Data Data Types Data Instances Data References Page 227 235 293 307

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7
Subject of this Chapter This chapter provides a general overview of: the different data types the data instances the data references Whats in this Chapter? This chapter contains the following topics:
Topic General General Overview of the Data Type Families Overview of Data Instances Overview of the Data References Syntax Rules for Type\Instance Names Page 228 229 231 233 234

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General
Introduction A data item designates an object which can beinstantiated such as: a variable, a function block. Data is defined in three phases. These are: the data types phase, which specifies the following: its category, its format. the data instances phase, which defines its storage location and property, which is: located, or unlocated. the data references phase, which defines its means of access: by immediate value, by name, by address. Illustration The following are the three phases that characterize the data:

Instantiating a data item consists in allocating it a memory slot according to its type. Referencing a data item consists in defining a reference for it (name, address, etc.) allowing it to be accessed in the memory.

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General Overview of the Data Type Families

Introduction A data type is a piece of software information which specifies for a data item: its structure its format a list of its attributes its behavior These properties are shared by all instances of the data type. Illustration The data type families are filed in different categories (dark gray).

Definitions Data type families and their definitions.

Family EDT Definition Elementary data types, such as: Bool Int Byte Word Dword etc.

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Family DDT

Definition Derived Data Types, such as: tables, which contain elements of the same type: Bool tables (EDT tables) tables of tables (DDT tables) tables of structures (DDT tables) structures, which contain elements of the different types: Bool structures, Word structures, etc. (EDT structures) structures of tables, structures of structures, structures of tables/structures (DDT structures) Bool structures, table structures, etc. (EDT and DDT structures) structures concerning input/output data (IODDT structures) Structures containing variables that restore the status properties of an action or transition of a Sequential Function Chart

EFB

Elementary Function Blocks written in C language. These comprise: input variables internal variables output variables a processing algorithm Derived Function Blocks written in automation languages (Structured Text, Instruction List, etc.). These comprise: input variables internal variables output variables a processing algorithm

DFB

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Overview of Data Instances

Introduction A data instance is an individual functional entity, which has all the characteristics of the data type to which it belongs. One or more instances can belong to a data type. The data instance can have a memory allocation that is: unlocated or located Illustration Memory allocation of instances (dark gray) belonging to the different types.

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Definitions Definition of the memory allocations of data instances.

Data instance Definition Unlocated The memory slot of the instance is automatically allocated by the system and can change for each generation of the application. The instance is located by a name (symbol) chosen by the user. The memory slot of the instance is fixed, predefined and never changes. The instance is located by a name (symbol) chosen by the user and a topological address defined by the manufacturer, or by the topological address of the manufacturer only.

Located

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Overview of the Data References

Introduction A data reference allows the user to access the instance of this data either by: immediate value, true only for data of type EDT address settings, true only for data of type EDT name (symbol), true for all EDT, DDT, EFB, DFB data types, as well as for SFC objects Illustration Possible data references according to data type (dark gray).

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Syntax Rules for Type\Instance Names

Introduction The syntax of names of types and variables can be written up with or without the extended character set. This option can be selected in the Language extensions tab of the Tools->Project settings menu. With Allow extended character set option selected, the application is compliant with the IEC standard With Allow extended character set option not selected, the user has a certain degree of flexibility, but the application is not compliant with the IEC standard The extended character set used for names entered into the application concerns: DFB (Derived Function Block) user function blocks or DDT (Derived data type) the internal elements composing a DFB/EFB function block data type or a derived data type (DDT) the data instances If the "Allow extended ..." Checkbox is Selected The names entered are strings made up of alphanumeric characters and the Underscore character. The rules are as follows: the first character of the name is an alphabetic character or an Underscore two Underscore characters cannot be used consecutively If the "Allow extended ..." Checkbox is not Selected The names entered are strings made up of alphanumeric characters and the Underscore character. Additional characters are authorized such as: characters corresponding to ASCII codes 192 to 223 (except for code 215) characters corresponding to ASCII codes 224 to 255 (except for code 247) The rules are as follows: the first character of the name is an alphanumeric character or an Underscore Underscore characters can be used consecutively

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8
Subject of this Chapter This chapter describes all the data types that can be used in an application. Whats in this Chapter? This chapter contains the following sections:
Section 8.1 8.2 8.3 8.4 8.5 8.6 8.7 8.8 8.9 8.10 Topic Elementary Data Types (EDT) in Binary Format Elementary Data Types (EDT) in BCD Format Elementary Data Types (EDT) in Real Format Elementary Data Types (EDT) in Character String Format Elementary Data Types (EDT) in Bit String Format Derived Data Types (DDT/IODDT) Function Block Data Types (DFB\EFB) Generic Data Types (GDT) Data Types Belonging to Sequential Function Charts (SFC) Compatibility Between Data Types Page 236 247 253 258 261 265 277 285 287 289

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8.1

Elementary Data Types (EDT) in Binary Format

Subject of this Section This section describes Binary format data types. These are: Boolean types Integer types Time types Whats in this Section? This section contains the following topics:
Topic Overview of Data Types in Binary Format Boolean Types Integer Types The Time Type Page 237 239 244 246

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Overview of Data Types in Binary Format

Introduction The data types in Binary format belong to the EDT (Elementary data type) family, which includes single rather than derived data types (tables, structures, function blocks). Reminder Concerning Binary Format A data item in binary format is made up of one or more bits, where each of these is represented by one of the base 2 figures (0 or 1). The scale of the data item depends on the number of bit(s) of which it is made. Example:

A data item can be: signed. Here the highest ranking bit is the sign bit: 0 indicates a positive value 1 indicates a negative value The range of values is:

unsigned. Here all the bits represent the value The range of values is:

Bits=number of bits (format).

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Data Types in Binary Format List of data types:

Type BOOL EBOOL INT DINT UINT UDINT TIME Designation Boolean Boolean with forcing and edge detection Integer Double integer Unsigned integer Unsigned double integer Unsigned double integer Format (bits) 8 8 16 32 16 32 32 Default value 0=(False) 0=(False) 0 0 0 0 T=0s

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Boolean Types
At a Glance There are two types of Boolean. These are: BOOL type, which contains only the value FALSE (=0) or TRUE (=1) EBOOL type, which contains the value FALSE (=0) or TRUE (=1) but also information concerning the management of falling or rising edges and forcing Principle of the BOOL Type This type takes up one memory byte, but the value is only stored in one bit. The default value for this type is FALSE (=0). It is accessible via an address containing the offset of the corresponding byte: Address settings:

In the case of the word extracted bit, it is accessible via an address containing the following information: an offset of the corresponding byte the rank defining its position in the word Address settings:

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Principle of the EBOOL Type This type takes up one memory byte which contains: the bit for the value (V), the history bit (H) for managing rising or falling edges. Each time the objects status changes, the value is copied to this bit, the bit containing the forcing status (F). Equal to 0 if the object is not forced and equal to 1 if the object is forced. The default value for the bits associated with the EBOOL type is FALSE (=0). It is accessible via an address specifying the offset of the corresponding byte: Address settings:

Historical Trend Diagram The trend diagram below shows the main statuses of the value and history bits associated with the EBOOL type. The rising edges of the value bit (1, 4) are copied to the history bit in the next PLC cycle (2, 5). The falling edges of the value bit (2, 7) are copied to the history bit of the next PLC cycle (3, 8).

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Trend Diagram and Forcing The trend diagram below shows the main statuses of the value, history and forcing bits associated with the EBOOL type. The rising edges of the value bit (1, 4) are copied to the history bit in the next PLC cycle (2, 5). The falling edges of the value bit (2, 7) are copied to the history bit in the next PLC cycle (3, 8). Between (4 and 5), the forcing bit equals 1, while the value and history bits remain at 1.

PLC Variables Belonging to Boolean Types List of variables

Variable Internal bit System bit Word extracted bit %I inputs Module error bit Channel error bit Input bit %Q outputs Output bit EBOOL BOOL BOOL EBOOL Type EBOOL BOOL BOOL

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Compatibility between BOOL and EBOOL The operations authorized between these two types of variables are: value copying address copying Copies between types
BOOL destination BOOL source EBOOL source Yes Yes EBOOL destination Yes Yes

Compatibility between the parameters of elementary functions (EF)

Effective parameter (external to EF) BOOL EBOOL Formal BOOL parameter (internal to EF) Yes In ->Yes In-Out ->No Out ->Yes Formal EBOOL parameter (internal to EF) No Yes

Compatibility between the parameters of block functions (EFB\DFB)

Effective parameter (external to FB) BOOL Formal BOOL parameter (internal to FB) Yes Formal EBOOL parameter (internal to FB) In ->Yes In-Out ->No Out -> Yes Yes

EBOOL

In ->Yes In-Out ->No Out -> Yes

Compatibility between array variables

ARRAY[i..j) OF BOOL destination ARRAY[i..j) OF BOOL Yes source ARRAY[i..j) OF EBOOL source No ARRAY[i..j) OF EBOOL destination No Yes

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Compatibility between static variables

BOOL (%MW:xi) direct addressing BOOL (Var:BOOL) declared variable EBOOL (Var:EBOOL) declared variable Yes No EBOOL (%Mi) direct addressing No Yes

Compatibility EBOOL data types follow the rules below: A EBOOL type variable cannot be passed as a BOOL type input/output parameter. EBOOL arrays cannot be passed as ANY type parameters of an FFB. BOOL and EBOOL arrays are not compatible for instructing assignment (same rule as for FFB parameters). On Quantum: EBOOL type located variables cannot be passed as EBOOL type input/output parameters. EBOOL arrays cannot be passed as parameters of a DFB.

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Integer Types
At a Glance Integer types are used to represent a value in different bases. These are: base 10 (decimal) by default. Here the value is signed or unsigned depending on the integer type base 2 (binary). Here the value is unsigned and the prefix is 2# base 8 (octal). Here the value is unsigned and the prefix is 8# base 16 (hexadecimal). Here the value is unsigned and the prefix is 16# NOTE: In decimal representation, if the chosen type is signed, the value can be preceded by the + sign or - sign (the + sign is optional). Integer Type (INT) Signed type with a 16-bit format. This table shows the range in each base.
Base Decimal Binary Octal Hexadecimal from... -32768 2#1000000000000000 8#100000 16#8000 to... 32767 2#0111111111111111 8#077777 16#7FFF

Double Integer Type (DINT) Signed type with a 32-bit format. This table shows the range in each base.
Base Decimal Binary Octal Hexadecimal from... -2147483648 2#10000000000000000000000000000000 8#20000000000 16#80000000 to... 2147483647 2#01111111111111111111111111111111 8#17777777777 16#7FFFFFFF

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Unsigned Integer Type (UINT) Unsigned type with a 16-bit format. This table shows the range in each base.
Base Decimal Binary Octal Hexadecimal from... 0 2#0 8#0 16#0 to... 65535 2#1111111111111111 8#177777 16#FFFF

Unsigned Double Integer Type (UDINT) Unsigned type with a 32-bit format. This table shows the range in each base.
Base Decimal Binary Octal Hexadecimal from... 0 2#0 8#0 16#0 to... 4294967295 2#11111111111111111111111111111111 8#37777777777 16#FFFFFFFF

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The Time Type

At a Glance The Time type T# or TIME# is represented by an unsigned double integer (UDINT) (see page 244) type. It expresses a duration in milliseconds, which approximately represents a maximum duration of 49 days. The units of time authorized to represent the value are: days (D) hours (H) minutes (M) seconds (S) milliseconds (MS) Entering a Value This table shows the possible ways of entering the maximum value of the Time type, according the authorized units of time.
Diagram T#4294967295MS T#4294967S_295MS T#71582M_47S_295MS T#1193H_2M_47S_295MS T#49D_17H_2M_47S_295MS Comment value in milliseconds value in seconds\milliseconds value in minutes\seconds\milliseconds value in hours\minutes\seconds\milliseconds value in days\hours\minutes\seconds\milliseconds

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8.2

Elementary Data Types (EDT) in BCD Format

Subject of this section This section describes BCD format (Binary Coded Decimal) data types. These are: Date type Time of Day type (TOD) Date and Time (DT) type Whats in this Section? This section contains the following topics:
Topic Overview of Data Types in BCD Format The Date Type The Time of Day (TOD) Type The Date and Time (DT) Type Page 248 250 251 252

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Overview of Data Types in BCD Format

Introduction The data types in BCD format belong to the EDT (Elementary data type) family, which includes single rather than derived data types (tables, structures, function blocks). Reminder Concerning BCD Format The Binary Coded Decimal (BCD) format is used to represent decimal numbers between 0 and 9 using a group of four bits (half-byte). In this format, the four bits used to code the decimal numbers have a range of unused combinations. Correspondence table:
Decimal 0 1 2 3 4 5 6 7 8 9 Binary 0000 0001 0010 0011 0100 0101 0110 0111 1000 1001 1010 (unused) 1011 (unused) 1100 (unused) 1101 (unused) 1110 (unused) 1111 (unused)

Example of coding using a 16 bit format:

Decimal value 2450 Binary value 2 0010 4 0100 5 0101 0 0000

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Example of coding using a 32 bit format:

Decimal value 78993016 Binary value 7 0111 8 1000 9 1001 9 1001 3 0011 0 0000 1 0001 6 0110

Data Types in BCD Format Three data types:

Type DATE TIME_OF_DAY DATE_AND_TIME Designation Date Time of day Date and Time Scale (bits) 32 32 64 Default value D#1990-01-01 TOD#00:00:00 DT#1990-01-01-00:00:00

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The Date Type

At a Glance The Date type in 32 bit format contains the following information: the year coded in a 16-bit field (4 most significant half-bytes) the month coded in an 8-bit field (2 half bytes) the day coded in an 8-bit field (2 least significant half bytes) Representation in BCD format of the date 2001-09-20:
Year (2001) 0010 0000 0000 0001 Month (09) 0000 1001 Day (20) 0010 0000

Syntax Rules The Date type is entered as follows: D#<Year>-<Month>-<Day> This table shows the lower/upper limits in each field.
Field Year Month Day Limits [1990,2099] [01,12] [01,31] [01,30] [01,29] [01,28] The left 0 is always displayed, but can be omitted at the time of entry For the months 01\03\05\07\08\10\12 For the months 04\06\09\11 For the month 02 (leap years) For the month 02 (non leap years) Comment

Example:
Entry D#2001-1-1 d#1990-02-02 Comments The left 0 of the month and the day can be omitted The prefix can be written in lower case

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The Time of Day (TOD) Type

At a Glance The Time of Day type coded in 32 bit format contains the following information: the hour coded in an 8-bit field (2 most significant half-bytes) the minutes coded in an 8-bit field (2 half bytes) the seconds coded in an 8-bit field (2 half bytes) NOTE: The 8 least significant bits are unused. Representation in BCD format of the time of day 13:25:47:
Hour (13) 0001 0011 Minutes (25) 0010 0101 Seconds (47) 0100 0111 Least significant byte Unused

Syntax Rules The Time of Day type is entered as follows: TOD#<Hour>:<Minutes>:<Seconds> This table shows the lower/upper limits in each field.
Field Hour Minute Second Limits [00,23] [00,59] [00,59] Comment The left 0 is always displayed, but can be omitted at the time of entry The left 0 is always displayed, but can be omitted at the time of entry The left 0 is always displayed, but can be omitted at the time of entry

Example:
Entry TOD#1:59:0 tod#23:10:59 Tod#0:0:0 Comment The left 0 of the hours and seconds can be omitted The prefix can be written in lower case The prefix can be mixed (lower\upper case)

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The Date and Time (DT) Type

At a Glance The Date and Time type coded in 64 bit format contains the following information: The year coded in a 16-bit field (4 most significant half-bytes) the month coded in an 8-bit field (2 half bytes) the day coded in an 8-bit field (2 half bytes) the hour coded in an 8-bit field (2 half bytes) the minutes coded in an 8-bit field (2 half bytes) the seconds coded in an 8-bit field (2 half bytes) NOTE: The 8 least significant bits are unused. Example: Representation in BCD format of the date and Time 2000-09-20:13:25:47.
Year (2000) 0010 0000 0000 0000 Month (09) Day (20) 0000 1001 0010 0000 Hour (13) 0001 0011 Minute (25) Seconds (47) 0010 0101 0100 0111 Least significant byte Unused

Syntax Rules The Date and Time type is entered as follows: DT#<Year>-<Month>-<Day>-<Hour>:<Minutes>:<Seconds> This table shows the lower/upper limits in each field.
Field Year Month Day Limits [1990,2099] [01,12] [01,31] [01,30] [01,29] [01,28] Hour Minute Second [00,23] [00,59] [00,59] The left 0 is always displayed, but can be omitted during entry For the months 01\03\05\07\08\10\12 For the months 04\06\09\11 For the month 02 (leap years) For the month 02 (non leap years) The left 0 is always displayed, but can be omitted during entry The left 0 is always displayed, but can be omitted during entry The left 0 is always displayed, but can be omitted during entry Comment

Example:
Entry DT#2000-1-10-0:40:0 dt#1999-12-31-23:59:59 Dt#1990-10-2-12:02:30 252 Comment The left 0 of the month\hour\second can be omitted The prefix can be written in lower case The prefix can be mixed (lower\upper case)
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8.3

Elementary Data Types (EDT) in Real Format

Presentation of the Real Data Type

Introduction The data types in Binary format belong to the EDT (Elementary data type) family, which includes single rather than derived data types (tables, structures, function blocks). Reminder Concerning Real Format The Real format (floating point in ANSI/IEEE 754 standard) is coded in 32 bit format which corresponds to the single decimal point floating numbers. The 32 bits representing the floating point value are organized in three distinct fields. These are: S, the sign bit which can have the value: 0, for a positive floating point number 1, for a negative floating point number e, the exponential coded in an 8 bit field (integer in binary format) f, the fixed-point part coded in a 23 bit field (integer in binary format) Representation:

The value of the fixed-point part (Mantissa) is between [0, 1[, and is calculated using the following formula.

Number Types that Can Be Represented These are the numbers which are: normalized denormalized of infinite values with values +0 and -0

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This table gives the values in the different fields according to number type.
e ]0, 255[ 0 255 255 255 255 0 0 f [0, 1[ [0, 1[ 0 0 ]0,1[ and bit 22 = 0 ]0,1[ and bit 22 = 1 0 0 S 0 or 1 near (1.4E-45) 0 1 0 or 1 0 or 1 0 1 Number type normalized denormalized DEN + infinity (INF) - infinity (-INF) SNAN QNAN +0 -0

NOTE: Standard IEC 559 defines two classes of NAN (not a number): QNAN and SNAN. QNAN: is a NAN whose bit 22 is set to 1 SNAN: is a NAN whose bit 22 is set to 0 They behave as follows: QNAN do not trigger errors when they appear in operands of a function or an expression. SNAN trigger an error when they appear in operands of a function or an arithmetic expression (See %SW17 (see page 175) and %S18 (see page 154)). This table gives the calculation formula of the value of the floating-point number:
Floating-point number Normalized Value

Denormalized (DEN)

NOTE: A real number between -1.1754944e-38 and 1.1754944e-38 is a denormalized DEN. When an operand is a DEN, the result is not guaranteed. The bits %SW17 (see page 175) and %S18 (see page 154) are raised except for the Modicon M340. The Modicon M340 PLCs are able to use the denormalized operands but, due to the format, with a loss of precision. Underflow is signaled depending on the operation only when the result is 0 (total underflow) or when the result is a denormalized (gradual underflow, with loss of precision).

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The Real Type Presentation:

Type REAL Scale (bits) 32 Default value 0.0

Range of values (grayed out parts):

When a calculation result is: between -1.1754944e-38 and 1.1754944e-38, it is a DEN less than -3.4028234e+38, the symbol -INF (for -infinite) is displayed greater than +3.4028234e+38, the symbol INF (for +infinite) is displayed undefined (square root of a negative number), the symbol NAN is displayed Examples of inaccuracy on normalized value 7.986 will be coded by the application as:
S 0 E=129 1000001 M=8359248 11111111000110101010000

Using the formula:

The number 7.986 should have a significant of:

As the significant is expressed as an integer, it can only be coded as 8359248 (rounded to the nearest limit). No number can be coded between the significant 8359247 and 8359248, or between the real number 7.985999584197998046875 and 7.98600006103515625 The weight of the less significant bit (gap) is, in absolute precision:

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The gap becomes very important for big values as shown below:
Value 100 000 000 Between 226 and 227 M=8359248

2127

2127

NOTE: The gap corresponds to the weight of the less significant bit. In order to get an expected resolution, it is necessary to define the maximum range for the calculation according the following formula:

p being the accuracy and e the exponent (e = E-127)

For instance, if the accuracy needs to be = 0.001, the fixed-point part will be:

with:

Beyond of this limit F, the accuracy will be lost. Typical case: Counters Floating must be used carefully, especially when it needs to add a small number to itself. In case of small increments, the counter wont count properly, giving wrong results and stopping to rise when the increment will be lower than the less significant bit of the counter. To get correct values, it is recommended to count on an double integer (UDINT) and multiply the result by the increment. Example: Increment a value by 0.001 from 33000 to 1000000, Count from 33000000 to 1000000000 (value times 1000) with 1 as increment, Get the result multiplying the value by 0.001.

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The accuracy F minimum per range will be:

From...to... 3300...65536 65536...131072 ... 524288...1000000 F (minimum) 0.004 0.008 ... 0.063

This counter can raise up to 4294967295 x 0.001 = 4294967.5 with a minimum accuracy of 0.5 NOTE: The real value here are the binary value encoded. It may differs from the display in an operator screen as rounding is done (4.294968e+006)

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8.4

Elementary Data Types (EDT) in Character String Format

Overview of Data Types in Character String Format

Introduction Data types in character string format belong to the EDT (Elementary data type) family, which includes single rather than derived data types (tables, structures, function blocks). The Character String Type The character string format is used to represent a string of ASCII characters, with each character being coded in an 8 bit format. The characteristics of character string types are as follows: 16 characters by default in a string (excluding end of string characters) a string is composed of ASCII characters between 16#20 and 16#FF (hexadecimal representation) in an empty string, the end of string character (code ASCII "ZERO") is the first character of the string the maximum size of a string is 65535 characters The size of the character string can be optimized during the definition of the type using the STRING[<size>] command, <size> being an unsigned integer UINT capable of defining a string of between 1 and 65535 ASCII characters. NOTE: The ASCII characters 0-127 are common to all languages, but the characters 128-255 are language dependent. Be careful is the language of the Unity Pro is not the same as the OS language. If the two languages are not the same, CHAR MODE communication can be disturbed and sending characters greater than 127 cannot be guaranteed to be correct. In particular, if the Stop on Reception character is greater than 127, it is not taken into account. Syntax Rules The entry is preceded by and ends with the quote character "" (ASCII code 16#27). The $ (dollar) sign is a special character, followed by certain letters which indicate: $L or $l, go to the next line (line feed) $N or $n, go to the start of the next line (new line) $P or $p, go to the next page $R or $r, carriage return $T or $t tabulation (Tab)

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$$, represents the character $ in a string $, represents the quote character in a string The user can use the syntax $nn to display, in a STRING variable, caracters which must not be printed. It can be a carriage return (ASCII code 16#0D) for instance. Examples Entry examples:
Type Entry Contents of the string represents the end of string character * represents empty bytes ABCD************ (16 characters) john Its john* ***** **** the no 0123456789*** <cr><lf>*** $1.00

STRING STRING[4] STRING[10] STRING[5] STRING[5] STRING[5] STRING[13] STRING[5] STRING[5]

ABCD john It$s john $ the number 0123456789 $R$L $$1.00

STRING Type Variable Declaration A STRING type variable can be declared in two different ways: STRING and STRING[<Number of elements>] Behavior differs depending on usage:
Type STRING STRING[<n>] Variable declaration Fixed size: 16 characters Fixed size: n characters FFB input parameter The size is equal to the actual size of the input parameter. The size is equal to the actual size of the input parameter limited to n characters. EF output parameter The size is equal to the actual size of the input parameter. The EF writes a maximum of n characters. FB output parameter Fixed size of 16 characters The FB writes a maximum of n characters.

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Strings and the ANY Pin When you use a STRING type variable as an ANY type parameter, it is highly recommended to check that the size of the variable is less than the maximum declared size. Example: Use of STRING on the SEL function (Selector). String1: STRING[8] String2: STRING[4] String3: STRING[4] String1:= AAAAAAAA; String3:= CC; Scenario 1: String2:= BBBB; (* the size of the string is equal to the maximum declared size *) String1:= SEL(FALSE, String2, String3); (* the result will be: BBBBAAAA *) Scenario 2: String2:= BBB; (* the size of the string is less than the maximum declared size *) String1:= SEL(FALSE, String2, String3); (* the result will be: BBB *)

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8.5

Elementary Data Types (EDT) in Bit String Format

Subject of this Section This section describes data types in bit string format. These are: Byte type Word type Dword type Whats in this Section? This section contains the following topics:
Topic Overview of Data Types in Bit String Format Bit String Types Page 262 263

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Overview of Data Types in Bit String Format

Introduction Data types in bit string format belong to the EDT (Elementary data type) family, which includes single rather than derived data types (tables, structure, function blocks). Reminder Concerning Bit String Format The particularity of this format is that all of its component bits do not represent a numerical value, but a combination of separate bits. The data belonging to types of this format can be represented in three bases. These are: hexadecimal (16#) octal (8#) binary (2#) Data Types in Bit String Format Three data types:
Type BYTE WORD DWORD Scale (bits) 8 16 32 Default value 0 0 0

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Bit String Types

The Byte Type The Byte type is coded in 8 bit format. This table shows the lower/upper limits of the bases which can be used.
Base Hexadecimal Octal Binary Lower limit 16#0 8#0 2#0 Upper limit 16#FF 8#377 2#11111111

Representation examples:
Data content 00001000 00110011 00110011 Representation in one of the bases 16#8 8#63 2#110011

The Word Type The Word type is coded in 16 bit format. This table shows the lower/upper limits of the bases which can be used.
Base Hexadecimal Octal Binary Lower limit 16#0 8#0 2#0 Upper limit 16#FFFF 8#177777 2#1111111111111111

Representation examples:
Data content 0000000011010011 1010101010101010 0000000011010011 Representation in one of the bases 16#D3 8#125252 2#11010011

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the Dword Type The Dword type is coded in 32 bit format. This table shows the lower/upper limits of the bases which can be used.
Base Hexadecimal Octal Binary Lower limit 16#0 8#0 2#0 Upper limit 16#FFFFFFFF 8#37777777777 2#11111111111111111111111111111111

Representation examples:
Data content 00000000000010101101110011011110 00000000000000010000000000000000 00000000000010101011110011011110 Representation in one of the bases 16#ADCDE 8#200000 2#10101011110011011110

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8.6

Derived Data Types (DDT/IODDT)

Subject of this Section This section presents Derived Data Types. These are: tables (DDT) structures structures concerning input/output data (IODDT) structures concerning other data (DDT) Whats in this Section? This section contains the following topics:
Topic Arrays Structures Overview of the Derived Data Type family (DDT) DDT: Mapping Rules Overview of Input/Output Derived Data Types (IODDT) Page 266 269 270 272 275

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Arrays
What Is an Array? It is a data item that contains a set of data of the same type, such as: elementary data (EDT), for example: a group of BOOL words, a group of UINT integer words, etc. derived data (DDT), for example: a group of WORD tables, a group of structures, etc. Characteristics An array is characterized by two parameters: a parameter which defines its organization (array dimension(s)), a parameter that defines the type of data it contains. NOTE: The most complex organization is the array with six dimensions. The syntax comprising these two parameters is:

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Defining and Instancing an Array Definition of an array type:

Instancing an array

The instances Tab_1 and Tab_2 are of the same type and the same dimension, the only difference being that during instancing: the Tab_1 type takes the name X, the Tab_2 type must be defined (unnamed table). NOTE: It is beneficial to name the type, as any modification that has to be made will only be done so once, otherwise there will be as many modifications as there are instances. Examples This table presents the instances of arrays of different dimensions:
Entry Tab_1: ARRAY[1..2] OF BOOL Tab_2: ARRAY[-10..20] OF WORD Tab_3: ARRAY[1..10, 1..20] OF INT Tab_4: ARRAY[0..2, -1..1, 201..300, 0..1] OF REAL Comments 1 dimensional array with 2 Boolean words 1 dimensional array with 31 WORD type structures (structure defined by the user) 2 dimensional arrays with 10x20 integers 4 dimensional arrays with 3x3x100x2 reals

NOTE: Many functions (READ_VAR, WRITE_VAR for example) dont recognize the index of an array of words starting by a number different from 0. If you use such an index the functions will look at the number of words in the array, but not at the starting index set in the definition of the array.

WARNING
UNEXPECTED APPLICATION BEHAVIOR - INVALID ARRAY INDEX When applying functions on variables of array type, check that the functions are compatible with the arrays starting index value when this value is greater than 0. Failure to follow these instructions can result in death, serious injury, or equipment damage.

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Access to a data item in array Tab_1 and Tab_3:

Inter-Arrays Assignment Rules There are the 4 following arrays:

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Structures
What is a Structure? It is a data item containing a set of data of a different type, such as: a group of BOOL, WORD, UNINT, etc. , (EDT structure), a group of tables (DDT structure), a group of REAL, DWORD, tables, etc., (EDT and DDT structures). NOTE: You can create nested structures (nested DDTs) over 8 levels. Recurring structures (DDT) are not allowed. Characteristics A structure is composed of data which are each characterized by: a type, a name, which enables it to be identified, a comment (optional) describing its role. Definition of a structure type:

Definition of two data instances of an IDENT type structure:

Access to the Data of a Structure Access to the data of the Person_1 IDENT-type instance:

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Overview of the Derived Data Type family (DDT)

Introduction The DDT (Derived Data Type) family includes "derived" data types such as: tables structures Illustration:

Characteristics A data item belonging to the DDT family is made up of: the type name (see page 234) (32 characters maximum) defined by the user (not obligatory for tables but recommended) (see page 267) the type (structure or table) an optional comment (of a maximum of 1024 characters). Authorized characters correspond to the ASCII codes 32 to 255 the description (in the case of a structure) of these elements the element name (see page 234) (32 characters maximum) the element type an optional comment (1024 characters maximum) describing its role. The authorized characters correspond to the ASCII codes 32 to 255
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information such as: type version number date of the last modification of the code or of the internal variables or of the interface variables an optional descriptive file (32767 characters) describing the block function and its different modifications NOTE: The total size of a table or of a structure does not exceed 64 Kbytes. Examples Definition of types

Access to the data of a DRAW-type structure instance

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DDT: Mapping Rules

At a Glance The DDTs are stored in the PLCs memory in the order in which its elements are declared. However, the following rules apply. Principle for Premium and Quantum The storage principle for Premium and Quantum is as follows: the elements are stored in the order in which they are declared in the structure, the basic element is the byte (alignment of data on the memory bytes), each element has an alignment rule: the BOOL and BYTE types are indiscriminately aligned on the odd or even bytes, all the other elementary types are aligned on the even bytes, the structures and tables are aligned according to the alignment rule for the BOOL and BYTE types if they only contain BOOL and BYTE elements, otherwise they are aligned on the memorys even bytes.

WARNING
RISK OF INCOMPATIBILITY AFTER CONCEPT CONVERSION With the Concept programming application, the data structures do not handle any shift in offsets (each element is set one after the other in the memory, regardless of its type). Consequently, we recommend that you check everything, in particular the consistency of the data when using DDTs located on the "State RAM" (risk of shifts) or functions for communication with other devices (transfers with a different size from those programmed in Concept). Failure to follow these instructions can result in death, serious injury, or equipment damage.

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Principle for Modicon M340 The storage principle for Modicon M340 PLCs is as follows: elements are stored in the order in which they are declared in the structure, the basic element is the byte, one alignment rule and function of the element: the BOOL and BYTE types are aligned on either even or uneven bytes, the INT, WORD and UINT types are aligned on even bytes, the DINT, UDINT, REAL, TIME, DATE, TOD, DT and DWORD are aligned on double words, structures and tables are aligned according to the rules of their elements.

WARNING
BAD EXCHANGES BETWEEN A MODICON M340 AND A PREMIUM OR QUANTUM. Check if the structure of the exchanged data have the same alignments in the two projects. Otherwise, the data will not be exchanged properly. Failure to follow these instructions can result in death, serious injury, or equipment damage. NOTE: It is possible that the alignment of data are not the same when the project is transferred from the simulator of Unity Pro to a M340 PLC. So check the structure of the data of the project. NOTE: Unity Pro (see Unity Pro, Operating Modes) indicates where the alignment seems to be different. Check the corresponding instances in the data editor. See the page of Project settings (see Unity Pro, Operating Modes) to know how enable this option. Examples The table below gives some examples of data structures. In the following examples, structure type DDTs are addressed to %MWi. The words 1st byte corresponds to the least significant 8 bits and the words 2nd byte corresponds to the most significant 8 bits. For all the following structures, the first variable is mapped to the address %MW100:
First Memory Address Modicon M340 %MW100 (1 byte) %MW102 (1 byte)
st st

Description of the structure Premium %MW100 (1 byte) %MW102 (1 byte)

st st

Para_PWM1 t_period: TIME t_min: TIME

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First Memory Address %MW104 (1 byte)

st

Description of the structure %MW104 (1 byte)

st

in_max: REAL

Mode_TOTALIZER %MW100 (1st byte) %MW100 (1 byte) %MW100 (2nd byte)

st

hold: BOOL rst: BOOL

%MW100 (2nd byte)

Info_TOTALIZER %MW100 (1 byte) %MW102 (1st byte) %MW103 (1st byte) %MW103 (2nd byte)
st

%MW100 (1 byte) %MW102 (1st byte) %MW103 (1st byte) %MW103 (2nd byte)

st

outc: REAL cter: UINT done: BOOL Reserved for the alignment

The table below gives two examples of data structures with arrays:
First Memory Address Modicon M340 %MW100 (1st byte) %MW100 (2nd byte) %MW104 (1st byte) Premium %MW100 (1st byte) %MW100 (2nd byte) %MW103 (1st byte) Description of the structure EHC105_Out Quit: BYTE Control: ARRAY [1..5] OF BYTE Final: ARRAY [1..5] OF DINT

CPCfg_ex %MW100 (1 byte) %MW101 (1st byte) %MW102 (1st byte) %MW103 (1st byte) %MW104 (1st byte) %MW106 (2nd byte)
st

%MW100 (1 byte) %MW101 (1st byte) %MW102 (1st byte) %MW103 (1st byte) %MW104 (1st byte) %MW106 (2nd byte)

st

Profile_type: INT Interp_type: INT Nb_of_coords: INT Nb_of_points: INT reserved: ARRAY [0..4] OF BYTE Reserved for the alignment of variable Master_offset on even bytes Master_offset: DINT Follower_offset: INT Reserved for the alignment

%MW108 (1st byte) %MW110 (1 byte) %MW111 (entire word)

st

%MW107 (1st byte) %MW109 (1 byte) st

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Overview of Input/Output Derived Data Types (IODDT)

At a Glance The IODDTs (Input Output Derived Data Types) are predefined by the manufacturer, and contain language objects of the EDT family belonging to the channel of an application-specific module. Illustration:

The IODDT types are structures whose size (the number of elements of which they are composed) depends on the channel or the input\output module that they represent. A given input\output module can have more than one IODDT. The difference with a conventional structure is that: the IODDT structure is predefined by the manufacturer The elements comprising the IODDT structure do not have a contiguous memory allocation, but rather a specific address in the module

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Examples IODDT structure for an input\output channel of an analog module

Access to the data of an instance of the ANA_IN_GEN type:

Access by direct addressing:

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8.7

Function Block Data Types (DFB\EFB)

Subject of this Section This section describes function block data types. These are: user function blocks (DFB) elementary function blocks (EFB) Whats in this Section? This section contains the following topics:
Topic Overview of Function Block Data Type Families Characteristics of Function Block Data Types (EFB\DFB) Characteristics of Elements Belonging to Function Blocks Page 278 280 282

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Overview of Function Block Data Type Families

Introduction Function block data type families are: the Elementary Function Block (EFB) (see page 229) type family the User function block (DFB) (see page 229) type family Illustration:

Function blocks are entities containing: input and output variables acting as an interface with the application a processing algorithm that operates input variables and completes the output variables private and public internal variables operated by the processing algorithm Illustration Function block:

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User Function Block (DFB) The user function block types (Derived Function Blocks) are developed by the user using one or more languages (according to the number of sections). These languages are: Ladder language Structured Text language Instruction List language Functional block language FBD A DFB type can have one or more instances where each instance is referenced by a name (symbol) and possesses DFB data types. Elementary Function Block (EFB) Elementary Function Blocks (EFBs) are provided by the manufacturer and are programmed in C language. The user can create his own EFB for which he will need an optional software tool "SDKC". An EFB type can have one or more instances where each instance is referenced by a name (symbol) and possesses EFB type data.

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Characteristics of Function Block Data Types (EFB\DFB)

Type Definition The type of an EFB or DFB function block is defined by: the type name (see page 234), defined by the user for the DFBs, an optional comment. The authorized characters correspond to the ASCII codes 32 to 255, the application interface data: the inputs, not accessible in read\write mode from the application, but read by the function block code, the inputs\outputs, not accessible in read\write mode from the application, but read and written by the function block code, the outputs, accessible in read only from the application and read and written by the function block code. the internal data: public internal data, accessible in read\write mode from the application, and read and written by the function block code, private internal data, not accessible from the application, but read and written by the function block code. the code: for DFBs, this is written by the user in PLC language (Structured Text, Instruction List, Ladder language, function block language), and is structured in a single section if the IEC option is active, or may be structured in several sections if this option is inactive for EFBs, this is written in C language. information such as: type version number, date of the last modification of the code, or of the internal variables, or of the interface variables. an optional descriptive file (32767 characters), describing the block function and its different modifications. Characteristics This table gives the characteristics of the elements that make up a type:
Element Name Comment Input Data Input/Output data Output data 280 EFB 32 characters 1024 characters 32 maximum 32 maximum 32 maximum DFB 32 characters 1024 characters 32 maximum 32 maximum 32 maximum
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Element Number of interfaces (Inputs+Outputs+Inputs/Outputs) Public data Private data Programming language

EFB 32 maximum (2) No limits (1) No limits (1) C language

DFB 32 maximum (2) No limits (1) No limits (1) Language: Structured Text, Instruction List, Ladder language, function block. A section is defined by: a name (maximum 32 characters), a validation condition, a comment (maximum 256 characters), a protection: without, read only, read\write mode. A section cannot access declared variables in the application, except for: system double words %SDi, system words %SWi, system bits %Si.

Section

(1): the only limit is the size of the PLCs memory. (2): the EN input and ENO output are not taken into account.

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Characteristics of Elements Belonging to Function Blocks

What is an element? Each element (interface data or internal data) is defined by: a name (see page 234) (maximum 32 characters), defined by the user, a type, which can belong to the following families: Elementary Data Types (EDT), Derived Data Type (DDT), Function Block data types (EFB\DFB). an optional comment (maximum 1024 characters). The authorized characters correspond to the ASCII codes 32 to 255, an initial value, an access right from the application program (sections of the application or section belonging to the DFBs see "Definition of the function block type (interface and internal variables)" (see page 280), an access right from communication requests, a public variables backup flag. Authorized Data Types for an Element Belonging to a DFB The authorized data types are:
Element of the DFB EDT types DDT types IODDT Input data Input/output data Output data Public data Private data Yes Yes (1) Yes Yes Yes No Yes No No No Unnamed tables Yes Yes Yes Yes Yes ANY_ARRAY other Yes Yes No No No Yes Yes Yes Yes Yes Yes (2) Yes (2) Yes (2) (3) No No No No No No Yes ANY... Function block types

(1): not authorized for the EBOOL type static data used on Quantum PLCs (2): not authorized for BOOL and EBOOL type data (3): must be completed during the execution of the DFB, and not usable outside the DFB

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Authorized Data Types for an Element Belonging to an EFB The authorized data types are:
Element of the EFB EDT types DDT types IODDT Input data Input/output data Output data Public data Private data Yes Yes Yes Yes Yes No Yes No No No Unnamed tables No No No No No ANY_ARRAY Yes Yes No No No other Yes Yes Yes Yes Yes Yes (1) Yes (1) Yes (1) (2) No No No No No No Yes ANY... Function block types

(1): not authorized for BOOL and EBOOL type data (2): must be completed during the execution of the EFB, and not usable outside the EFB Initial Values for an Element Belonging to a DFB This table specifies whether the initial values can be entered from the DFB type definition or the DFB instance:
Element of the DFB Input data (no ANY... type) Input data (of ANY... type) Input/output data Output data (no ANY... type) Output data (of ANY... type) Public data Private data From the DFB type Yes No No Yes No Yes Yes From the DFB instance Yes No No Yes No Yes No

Initial Values for an Element Belonging to an EFB This table specifies whether the initial values can be entered from the EFB type definition or the EFB instance:
Element of the EFB Input data (no ANY... type See generic data types (see page 285)) Input data (of ANY... type) Input/output data
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From the EFB type Yes

From the DFB instance Yes

No No

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Element of the EFB

From the EFB type

From the DFB instance Yes No Yes No

Output data (no ANY... type) Yes Output data (of ANY... type) Public data Private data No Yes Yes

WARNING
UNEXPECTED APPLICATION BEHAVIOR - INVALID ARRAY INDEX When using EFBs and DFBs on variables of array type, only use arrays with starting index=0. Failure to follow these instructions can result in death, serious injury, or equipment damage.

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8.8

Generic Data Types (GDT)

Overview of Generic Data Types

At a Glance Generic Data Types are conventional groups of data types (EDT, DDT) specifically intended to determine compatibility among these conventional groups of data types. These groups are identified by the prefix ANY_ARRAY, but these prefixes can under no circumstances be used to instance the data. Their field of use concerns function block (EFB\DFB) and elementary function (EF) data type families, in order to define which data types are compatible with their interfaces for the following : inputs input/outputs outputs Available Generic Data Types The generic data types available in Unity Pro are the following types: ANY_ARRAY_WORD ANY_ARRAY_UINT ANY_ARRAY_UDINT ANY_ARRAY_TOD ANY_ARRAY_TIME ANY_ARRAY_STRING ANY_ARRAY_REAL ANY_ARRAY_INT ANY_ARRAY_EBOOL ANY_ARRAY_DWORD ANY_ARRAY_DT ANY_ARRAY_DINT ANY_ARRAY_DATE ANY_ARRAY_BYTE ANY_ARRAY_BOOL

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Example This gives us the following DFB:

NOTE: The authorized objects for the various parameters are defined in this table (see page 561).

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8.9

Data Types Belonging to Sequential Function Charts (SFC)

Overview of the Data Types of the Sequential Function Chart Family

Introduction The Sequential Function Chart (SFC) data type family includes derived data types, such as the structures that restore the properties and status of the chart and its component actions. Each step is represented by two structures. These are: the SFCSTEP_STATE structure the SFCSTEP_TIMES structure Illustration:

NOTE: The two structure types SFCSTEP_STATE and SFCSTEP_TIMES are also linked to each Macro step of the sequential function chart. Definition of the SFCSTEP_STATE Structure Type This structure includes all types of data linked to the status of the step or of the Macro step. These data types are: x: BOOL elementary data type (EDT) containing the value TRUE when the step is active, t: TIME elementary data type (EDT) containing the activity time of the step. When deactivated, the step value is maintained until the next activation,

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tminErr: BOOL elementary data type (EDT) containing the value TRUE if the activity time of the step is less than the minimum programmed activity time, tmaxErr: BOOL elementary data type (EDT) containing the value TRUE if the activity time of the step is greater than the maximum programmed activity time, These data types are accessible from the application in read only mode. Definition of the SFCSTEP_TIMES Structure Type This structure includes all types of data linked to the definition of the runtime parameters of the step or of the Macro step. These data types are: delay: TIME elementary data type (EDT), defining the polling delay time of the transition situated downstream from the active step, tmin: TIME elementary data type (EDT) containing the minimum value during which the step must at least be executed. If this value is not respected the data tmin.Err switches to the value TRUE, tmax: TIME elementary data type (EDT) containing the maximum value during which the step must at least be executed. If this value is not respected the data tmax.Err switches to the value TRUE. These data types are only accessible from the SFC editor. Data Access Syntax of the Structure SFCSTEP_STATE The instance names of this structure correspond to the names of the steps or macro steps of the sequential function chart
Syntax Name_Step.x Name_Step.t Name_Step.tminErr Name_Step.tmaxErr Comment Used to find out the status of the step (active\inactive) Used to find out the current or total activation time for the step Used to find out if the minimum activation time of the step is less than the time programmed in Name_Step.tmin Used to find out if the maximum activation time of the step is greater than the time programmed in Name_Step.tmax

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8.10

Compatibility Between Data Types

Compatibility Between Data Types

Introduction The following is a presentation of the different rules of compatibility between types within each of the following families: the Elementary Data Type (EDT) family the Derived Data Type (DDT) family the Generic Data Type (GDT) family The Elementary Data Type (EDT) Family The Elementary Data Type (EDT) family contains the following sub-families: the binary format data type sub-family the BCD format data type sub-family the Real format data type sub-family the character string format data type sub-family the bit string format data type sub-family There is no compatibility whatsoever between two data types, even if they belong to the same sub-family. Derived Data Type (DDT) Family The Derived Data Type (DDT) family contains the following sub-families: the table type sub-family the structure type sub-family: structures concerning input/output data (IODDT) structures concerning other data

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Rules concerning the structures: Two structures are compatible if their elements are: of the same name of the same type organized in the same order There are four types of structure:

Compatibility between the structure types

Types ELEMENT_1 ELEMENT_2 ELEMENT_3 ELEMENT_4 YES NO NO NO NO NO ELEMENT_1 ELEMENT_2 YES ELEMENT_3 NO NO ELEMENT_4 NO NO NO

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Rules concerning the tables Two tables are compatible if: their dimensions and the order of their dimensions are identical each corresponding dimension is of the same type There are five types of table:

Compatibility between the table types:

Type... TAB_1 TAB_2 TAB_4 TAB_4[25] and type... TAB_2 TAB_3 TAB_5 TAB_5[28] are... incompatible compatible compatible compatible

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The Generic Data Type (GDT) Family The Generic Data Type (GDT) family is made up of groups organized hierarchically which contain data types belonging to the following families: Elementary Data Types (EDT) Derived Data Types (DDT) Rules: A conventional data type is compatible with the genetic data types related to it hierarchically. A generic data type is compatible with the generic data types related to it hierarchically. Example:

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Data Instances

9
Whats in this Chapter? This chapter describes data instances and their characteristics. These instances can be: unlocated data instances located data instances direct addressing data instances Whats in this Chapter? This chapter contains the following topics:
Topic Data Type Instances Data Instance Attributes Direct Addressing Data Instances Page 294 298 300

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Data Type Instances

Introduction What is a data type instance? (see page 231) A data type instance is referenced either by: a name (symbol), in which case we say the data is unlocated because its memory allocation is not defined but is carried out automatically by the system, a name (symbol) and a topological address defined by the manufacturer, in which case we say the data is located since its memory allocation is known, a topological address defined by the manufacturer, in which case we say the data is direct addressing, and its memory allocation is known. Unlocated Data Instances Unlocated data instances are managed by the PLC operating system, and their physical location in the memory is unknown to the user. Unlocated data instances are defined using data types belonging to one of the following families: Elementary Data Types (EDT) Derived Data Types (DDT) Function Block data types (EFB\DFB) Sequential Function Chart data types (SFC) Examples:

NOTE: Sequential Function Chart (SFC) data type instances are created when they are inserted in the application program, with a default name that the user can modify.

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Located Data Instances Localizing a variable (defined by a symbol) consists in creating an adress in the variable editor. Located data instances have a predefined memory location in the PLC, and this location is known by the user: Topological adress for input/output modules Global adress (M340, Premium) or State RAM (Quantum) Located data instances are defined using data types belonging to one of the following families: Elementary Data Types (EDT) Derived Data Types (DDT) Input/Output Derived Data Types (IODDT) The list below shows the datas instances that should be located on a %MW , %KW adresses type: INT, UINT, WORD, BYTE, DATE, DT, STRING, TIME, TOD, DDT structure type, Table. EBOOL or EBOOL tables, datas instances have to be located on a %M , %Q or %I adresses type. IODDT datas instances type have to be located by %CH module channel type. NOTE: Double-type instances of located data (DINT, DUNIT, DWORD) or floating (REAL) should be located by %MW, %KW adresses type. Only I/O objects instances type localization is possible with %MD<i>, %KD<i>, %QD, %ID, %MF<i>, %KF<i>, %QF, %IF type by using their topological address (for example %MD0.6.0.11, %MF0.6.0.31). NOTE: For Modicon M340, the index (i) value must be even (see page 273) for double-type instances of located data (%MW and %KW).

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Examples:

NOTE: Sequential Function Chart (SFC) data type instances are created the moment they are inserted in the application program, with a default name that the user can modify.

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Direct Addressing Data Instances Direct addressing data instances have a predefined location in the PLC memory or in an application-specific module, and this location is known to the user. Direct addressing data instances are defined using types belonging to the Elementary Data Type (EDT) family. Examples of direct addressing data instances:
Internal %Mi %MWi %MDi (1) %MFi (1) %KWi %KDi (1) %KFi (1) Constant System %Si %SWi Input/Output %Q, %I %QW, %IW %QD, %ID %QF, %IF %NW Network

Legend (1) Not available for Modicon M340

NOTE: Located data instances can be used by a direct addressing in the program Example: Var_1: DINT AT %MW10 ;%MW10 and %MW11 are both used. %MD10 direct adressing can be used or Var_1 in the program.

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Data Instance Attributes

At a Glance The attributes of a data instance are its defining information. This information is: its name (see page 234) (except for the direct addressing data instances (see page 300)) its topological address (except for unlocated data type instances) its data type, which can belong to one of the following families: Elementary Data Type (EDT) Derived Data Type (DDT) Function Block data type (EFB\DFB) Sequential Function Chart data type (SFC) an optional descriptive comment (1024 characters maximum). Authorized characters correspond to the ASCII codes 32 to 255 Name of a Data Instance This is a symbol (32 characters maximum) chosen by the user which is used to reference the instance and must be unique. Certain names cannot be used, for example: key words used in text languages names of program sections names of data types that are predefined or chosen by the user (structures, tables) names of DFB/EFB data types that are predefined or chosen by the user names of Elementary Functions (EF) that are predefined or chosen by the user Names of Instances Belonging to the SFC Family The names of instances are declared implicitly while the user drafts his sequential function chart. They are default names supplied by the manufacturer which the user can modify. Manufacturer-supplied default names:
SFC object Step Step of Macro step Macro step Nested macro step Input step of Macro step Output step of Macro step Name S_<section name>_<step No.> S_<section name>_<macro step No.>_<step No.> MS_<section name>_<step No.> MS_<section name>_<macro step No.>_<step No.> S_IN<section name>_<macro step No.> S_OUT<section name>_<macro step No.>

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SFC object Transition Transition of Macro step

Name T_<section name>_<transition No.> T_<section name>_<macro step No.>_<transition No.>

Names of Instances Belonging to the Function Block Family Instance names are implicitly declared while the user inserts the instances into the sections of the application program. They are default names supplied by the manufacturer which the user may modify. Syntax of manufacturer-supplied default names:

NOTE: Instance names do not include the name of the section in which the instance is used, since it can be used in different sections of the application. Access to an Element of a DDT Family Instance The access syntax is as follows:

Rule: The maximum size of the access syntax is 1024 characters, and the possible limits of a derived data type are as follows: 10 nesting levels (tables/structures) 6 dimensions per table 4 digits (figures) to define the index of a table element

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Direct Addressing Data Instances

At a Glance What is a direct addressing data instance? (see page 297) Access Syntax The syntax of a direct addressing data instance is defined by the % symbol followed by a memory location prefix and in certain cases some additional information. The memory location prefix can be: M, for internal variables K, for constants (Premium and Modicon M340) S, for system variables N, for network variables I, for input variables Q, for output variables %M Internal Variables Access syntax:
Syntax Bit Word Word extracted bit Double word Real (floating point) %M<i> or %MX<i> %MW<i> %MW<i>.<j> %MD<i> (1) %MF<i> (1) Format Example Program access rights R/W R/W R/W R/W R/W

3 bits (EBOOL) %M1 16 bits (INT) 1 bit (BOOL) 32 bits (DINT) 32 bits (REAL) %MW10 %MW15.5 %MD8 %MF15

Legend (1): Not available for Modicon M340.

<i> represents the instance number (starts a 0 for Premium and 1 for Quantum). For Modicon M340 double-type instance (double word) or floating instance (real) must be located in an integer type %MW. The index <i> of the %MW has to be even. NOTE: The %M<i> or %MX<i> data detect edges and manage forcing.

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Memory organization:

NOTE: The modification of %MW<i> involves the corresponding modifications of %MD<i> and %MF<i>. %K Constants Access syntax:
Syntax Word constant Double word constant Real (floating point) constant %KW<i> %KD<i> (1) %KF<i> (1) Format 16 bits (INT) 32 bits (DINT) 32 bits (REAL) Program access rights R R R

Legend (1): Not available for Modicon M340.

<i> represents the instance number. NOTE: The memory organization is identical to that of internal variables. It should be noted that these variables are not available on Quantum PLCs.

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%I Constants Access syntax:

Syntax Bit constant Word constant %I<i> %IW<i> Format 3 bits (EBOOL) 16 bits (INT) Program access rights R R

<i> represents the instance number. NOTE: These data are only available on Quantum and Momentum PLCs. %S System Variables Access syntax:
Syntax Bit Word Format Program access rights R/W or R R/W or R

%S<i> or %SX<i> 1 bit (BOOL) %SW<i> 32 bits (INT)

<i> represents the instance number. NOTE: The memory organization is identical to that of internal variables. The %S<i> and %SX<i> data are not used for detection of edges and do not manage forcing. %N Network Variables These variables contain information, which has to be exchanged between several application programs across the communication network. Access syntax:
Syntax Common word Word extracted bit %NW<n>.<s>.<d> %NW<n>.<s>.<d>.<j> Format 16 bits (INT) 1 bit (BOOL) Program access rights R\W or R R\W or R

<n> represents the network number. <s> represents the station number. <d> represents the data number. <j> represents the position of the bit in the word.

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Case with Input/Output Variables These variables are contained in the application-specific modules. Access syntax:
Syntax Example Program access rights R

Input/Output structure (IODDT) %I inputs BOOL type module error bit BOOL type channel error bit BOOL or EBOOL type bit

%CH<@mod>.<c>

%CH4.3.2

%I<@mod>.MOD.ERR %I<@mod>.<c>.ERR %I<@mod>.<c> %I<@mod>.<c>.<d>

%I4.2.MOD.ERR R %I4.2.3.ERR %I4.2.3 %I4.2.3.1 %IW4.2.3 %IW4.2.3.1 %ID4.2.3 %ID4.2.3.2 %IF4.2.3 %IF4.2.3.2 R R R R R R R R R

INT type word

%IW<@mod>.<c> %IW<@mod>.<c>.<d>

DINT type double word

%ID<@mod>.<c> %ID<@mod>.<c>.<d>

Read type REAL (floating point)

%IF<@mod>.<c> %IF<@mod>.<c>.<d>

%Q outputs EBOOL type bit %Q<@mod>.<c> %Q<@mod>.<c>.<d> INT type word %QW<@mod>.<c> %Q4.20.3 %Q4.20.30.1 %QW4.2.3 R/W R/W R/W R/W R/W R/W R/W R/W

%QW<@mod>.<c>.<d> %QW4.2.3.1 DINT type double word %QD<@mod>.<c> %QD<@mod>.<c>.<d> Read type REAL (floating point) %QF<@mod>.<c> %QF<@mod>.<c>.<d> %M variables (Premium) INT type word %MW<@mod>.<c> %MW4.2.3 %QD4.2.3 %QD4.2.3.2 %QF4.2.3 %QF4.2.3.2

R/W R/W R/W R/W R/W R/W

%MW<@mod>.<c>.<d> %MW4.2.3.1 DINT type double word %MD<@mod>.<c> %MD<@mod>.<c>.<d> Read type REAL (floating point) %MF<@mod>.<c> %MF<@mod>.<c>.<d> %MD4.2.3 %MD4.2.3.2 %MF4.2.3 %MF4.2.3.2

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Syntax

Example

Program access rights

%K Constants (Modicon M340 and Premium) INT type word %KW<@mod>.<c> %KW<@mod>.<c>.<d> DINT type double word %KD<@mod>.<c> %KD<@mod>.<c>.<d> Read type REAL (floating point) %KF<@mod>.<c> %KF<@mod>.<c>.<d> %KW4.2.3 %KW4.2.3.1 %KD4.2.3 %KD4.2.3.12 %KF4.2.3 %KF4.2.3.12 R R R R R R

<@mod = \<b>.<e>\<r>.<m> <b> bus number (omitted if station is local). <e> device connection point number (omitted if station is local, the connection point is also called Drop for Quantum users). <r> rack number. <m> module slot <c> channel number (0 to 999) or MOD reserved word. <d> data number (0 to 999) or ERR reserved word (optional if 0 value). For Modicon M340 <d> is always even.

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Examples: local station and station on bus for Modicon M340 PLCs.

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Examples: local station and station on bus for Quantum and Premium PLCs.

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Unity Pro Data References 35006144 07/2011

Data References

10
Whats in this Chapter? This chapter provides the references of data instances. These references can be: value-based references, name-based references, address-based references. Whats in this Chapter? This chapter contains the following topics:
Topic References to Data Instances by Value References to Data Instances by Name References to Data Instances by Address Data Naming Rules Page 308 310 313 317

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References to Data Instances by Value

Introduction What is a data instance reference? (see page 233) At a Glance A reference to a data instance by a value is an instance which does not have a name (symbol) or topological address. This corresponds to an immediate value which can be assigned to a data type instance belonging to the EDT family. Standard IEC 1131 authorizes immediate values on instances of the following data types: Booleans BOOL EBOOL integers INT UINT DINT UDINT TIME reals REAL dates and times DATE DATE AND TIME TIME OF DAY character strings STRING The programming software goes beyond the scope of the standard by adding the bit string types. BYTE WORD DWORD

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Examples of Immediate Values: This table associates immediate values with types of instance
Immediate value I am a character string T#1s D#2000-01-01 TOD#12:25:23 DT#2000-01-01-12:25:23 16#FFF0 UINT#16#9AF (typed value) DWORD#16#FFFF (typed value) Type of instance STRING TIME DATE TIME_OF_DAY DATE_AND_TIME WORD UINT DWORD

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References to Data Instances by Name

Introduction What is a data instance reference? (see page 233) References to Instances of the EDT Family The user chooses a name (symbol) which can be used to access the data instance:

References to Instances of the DDT Family Tables: The user chooses a name (symbol) which can be used to access the data instance:

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Structures: The user chooses a name (symbol) which can be used to access the data instance:

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References to Instances of the DFB\EFB Families The user chooses a name (symbol) which can be used to access the data instance.

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References to Data Instances by Address

Introduction What is a data instance reference? (see page 233) At a Glance It is only possible to reference a data instance by address for certain data instances that belong to the EDT family. These instances are: internal variables (%M<i>, %MW<i>, %MD<i>, %MF<i>) constants (%KW<i>, %KD<i>, %KF<i>) inputs/outputs (%I<address>, %Q<address>) NOTE: Instances %MD<i>, %MF<i>, %KD<i>, and %KF<i> are not available for Modicon M340. Reference by Direct Addressing Addressing is considered direct when the address of the instance is fixed, or, in other words, when it is written into the program. Examples:

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References by Indexed Address Addressing is considered indexed when the address of the instance is completed with an index. The index is defined either by: a value belonging to an Integer type an arithmetical expression made up of Integer types An indexed variable always has a non-indexed equivalent:

The rules for calculating <j> are as follows.

Object<i>[index] %M<i>[index] %MW<i>[index] %KW<i>[index] %MD<i>[index] %KD<i>[index] %MF<i>[index] %KF<i>[index] Object<j> <j>=<i> + <index> <j>=<i> + <index> <j>=<i> + <index> <j>=<i> + (<index> x 2) <j>=<i> + (<index> x 2) <j>=<i> + (<index> x 2) <j>=<i> + (<index> x 2)

Examples:

During compilation of the program, a check verifies that: the index is not negative the index does not exceed the space in the memory allocated to each of these three data types

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Word Extract Bits It is possible to extract one of the 16 bits of single words (%MW, %SW; %KW, %IW, %QW). The address of the instance is completed with the rank of the extracted bit (<j>).

Examples:

Byte Extract Bits It is possible to extract one of the bits of a byte The address of the extracted bit is accessible via: The name of the corresponding byte. The rank defining its position in the byte. (a number between 0 and 7) Example: MyByte is a variable of type BYTE. MyByte.i is a valid BOOL if 0 <= i <= 7 MyByte.0, MyByte.3 and MyByte.7 are valid BOOL. MyByte.8 is invalid.

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Bit and Word Tables These are a series of adjacent objects (bits or words) of the same type and of a defined length.

Presentation of bit tables:

Type Discrete I/O input bits Discrete I/O output bits Internal bits Address %Ix.i:L %Qx.i:L %Mi:L Write access No Yes Yes

Presentation of word tables:

Type Internal words Address %MWi:L %MDi:L %MFi:L %KWi:L %KDi:L %KFi:L %SW50:4 Write access Yes

Constant words

No

System words

Yes

Examples:

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Data Naming Rules

Introduction In an application the user chooses a name to: define a type of data instantiate a data item (symbol) identify a section Some rules have been defined in order to avoid conflicts occurring. This means that it is necessary to differentiate between the different domains of application of data What is a Domain? It is an area of the application from which a variable can or cannot be accessed, such as: the application domain which includes: the various application tasks the sections of which it is composed the domains for each data type such as: structures/tables for the DDT family EFB/DFBs for the function block family Rules This table defines whether or not it is possible to use a name that already exists in the application for newly-created elements:
Application Content -> New elements (below) Section SR DDT/IODDT FB type FB Instances EF Variable Section No No No Yes No Yes Yes SR No No No Yes No (2) No DDT/IODDT Yes Yes No No No No Yes FB type Yes Yes No (4) No Yes No Yes FB Instances Yes No No (3) No No No EF Yes (1) No (4) No Yes No (1) Variable Yes No No (3) No No No

(1): An instance belonging to the application domain cannot have the same name as an EF. (2): An instance belonging to the type domain (internal variable) can have the same name as an EF. The EF in question cannot be used in this type.

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(3): The creation or import of EFB/DFBs with the same name as an existing instance are prohibited. (4): An DDT/IODDT element might have the same name of an FB/EF, however it is not advised as the FB/EF should not be used in the application. NOTE: A number of additional considerations to the rules given in the table are listed below, specifying that: Within a type, an instance (internal variable) cannot have the same name as the type name of the object to which it belongs, There is no conflict between the name of an instance belonging to a section of the application and the name of the instance belonging to a section of a DFB, There is no conflict between the name of a section belonging to a task and the name of the section belonging to a DFB.

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Unity Pro Programming Language 35006144 07/2011

Programming Language

IV
Contents of this Part This part describes the syntax of the programming languages that are available. Whats in this Part? This part contains the following chapters:
Chapter 11 12 13 14 15 Chapter Name Function Block Language FBD Ladder Diagram (LD) SFC Sequence Language Instruction List (IL) Structured Text (ST) Page 321 347 389 449 497

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Unity Pro Function Block Language FBD 35006144 07/2011

Function Block Language FBD

11
Overview This chapter describes the function block language FBD which conforms to IEC 61131. Whats in this Chapter? This chapter contains the following topics:
Topic General Information about the FBD Function Block Language Elementary Functions, Elementary Function Blocks, Derived Function Blocks and Procedures (FFBs) Subroutine Calls Control Elements Link Text Object Execution Sequence of the FFBs Change Execution Sequence Loop Planning Page 322 324 334 335 336 338 339 342 346

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General Information about the FBD Function Block Language

Introduction The FBD editor is used for graphical function block programming according to IEC 61131-3. Representation of an FBD Section Representation:

Objects The objects of the FBD programming language (Function Block Diagram) help to divide a section into a number of: EFs and EFBs (Elementary Functions (see page 324) and Elementary Function Blocks (see page 325)), DFBs (Derived Function Blocks) (see page 326), Procedures (see page 326) and Control Elements (see page 335). These objects, combined under the name FFBs, can be linked with each other by: Links (see page 336) or Actual Parameters (see page 327). Comments regarding the section logic can be provided using text objects (see Text Object, page 338).

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Section Size One FBD section consists of a window containing a single page. This page has a grid background. A grid unit consists of 10 coordinates. A grid unit is the smallest possible space between 2 objects in an FBD section. The FBD programming language is not cell oriented but the objects are still aligned with the grid coordinates. An FBD section can be configured in number of cells (horizontal grid coordinates and vertical grid coordinates). IEC Conformity For a description of the extent to which the FBD programming language conforms to IEC, see IEC Conformity (see page 639).

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Function Block Language FBD

Elementary Functions, Elementary Function Blocks, Derived Function Blocks and Procedures (FFBs)
Introduction FFB is the generic term for: Elementary Function (EF) (see page 324) Elementary Function Block (EFB) (see page 325) DFB (Derived Function Block) (see page 326) Procedure (see page 326) Elementary Function Elementary functions (EF) have no internal states. If the input values are the same, the value on the output is the same every time the function is called. For example, the addition of two values always gives the same result. An elementary function is represented graphically as a frame with inputs and one output. The inputs are always represented on the left and the output is always on the right of the frame. The name of the function, i.e. the function type, is displayed in the center of the frame. The execution number (see page 339) for the function is shown to the right of the function type. The function counter is shown above the frame. The function counter is the sequential number of the function within the current section. Function counters cannot be modified. Elementary Function

With some elementary functions, the number of inputs can be increased.

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Elementary Function Block Elementary function blocks (EFBs) have internal states. If the input values are the same, the value on the output can be different each time the function is called. e.g. for a counter the value on the output is incremented. An elementary function block is represented graphically as a frame with inputs and outputs. The inputs are always represented on the left and the outputs always on the right of the frame. Function blocks can have more than one output. The name of the function block, i.e. the function block type, is displayed in the center of the frame. The execution number (see page 339) for the function block is shown to the right of the function block type. The instance name is displayed above the frame. The instance name serves as a unique identification for the function block in a project. The instance name is created automatically and has the following structure: FBI_n FBI = Function Block Instance n = sequential number of the function block in the project This automatically generated name can be modified for clarification. The instance name (max. 32 characters) must be unique throughout the project and is not casesensitive. The instance name must conform to general naming conventions. NOTE: To conform to IEC61131-3, only letters are permitted as the first character of the name. If you want to use a numeral as your first character however, this must be enabled explicitly. Elementary Function Block

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DFB Derived function blocks (DFBs) have the same properties as elementary function blocks. The user can create them in the programming languages FBD, LD, IL, and/or ST. The only difference to elementary function blocks is that the derived function block is represented as a frame with double vertical lines. Derived Function Block

Procedure Procedures are functions viewed technically. The only difference to elementary functions is that procedures can occupy more than one output and they support data type VAR_IN_OUT. Procedures are a supplement to IEC 61131-3 and must be enabled explicitly. To the eye, procedures are no different than elementary functions. Procedure

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Parameters Inputs and outputs are required to transfer values to or from an FFB. These are called formal parameters. Objects are linked to formal parameters; these objects contain the current process states. They are called actual parameters. Formal and actual parameters:

At program runtime, the values from the process are transferred to the FFB via the actual parameters and then output again after processing. Only one object (actual parameter) of the following types may be linked to FFB inputs: Variable Address Literal ST Expression (see page 499) ST expressions on FFB inputs are a supplement to IEC 61131-3 and must be enabled explicitly. Link The following combinations of objects (actual parameters) can be linked to FFB outputs: one variable a variable and one or more connections (but not for VAR_IN_OUT (see page 333) outputs) an address an address and one or more connections (but not for VAR_IN_OUT (see page 333) outputs) one or more connections (but not for VAR_IN_OUT (see page 333) outputs) The data type of the object to be linked must be the same as that of the FFB input/output. If all actual parameters consist of literals, a suitable data type is selected for the function block. Exception: For generic FFB inputs/outputs with data type ANY_BIT, it is possible to link objects of data type INT or DINT (not UINT and UDINT). This is a supplement to IEC 61131-3 and must be enabled explicitly.
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Example: Allowed:

Not allowed:

(In this case, AND_INT must be used.) Not all formal parameters have to be assigned an actual parameter. However, this does not apply in the case of negated pins. These must always be assigned an actual parameter. This is also the case with some formal parameter types. These types are shown in the following table. Table of formal parameter types:
Parameter type EFB: Input EFB: VAR_IN_OUT EFB: Output DFB: Input DFB: VAR_IN_OUT DFB: Output EF: Input EF: VAR_IN_OUT EF: Output Procedure: Input EDT + + + STRING + + + ARRAY + + + + + ANY_ARRAY + + + / + IODDT / + + / + / + + + STRUCT + + + FB / / / / / / + / / + ANY + + + + + -

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Parameter type Procedure: VAR_IN_OUT Procedure: Output + /

EDT + -

STRING + -

ARRAY + -

ANY_ARRAY + -

IODDT + -

STRUCT + -

FB / /

ANY + +

Actual parameter required Actual parameter not required not applicable

FFBs that use actual parameters on the inputs that have not yet received any value assignment, work with the initial values of these actual parameters. If no value is allocated to a formal parameter, then the initial value will be used for executing the function block. If no initial value has been defined then the default value ("0") is used. If a formal parameter is not assigned a value and the function block/DFB is instanced more than once, then the subsequent instances are run with the old value. NOTE: Unassigned data structures will always be initialized with value "0", initial values can not be defined. Public Variables In addition to inputs and outputs, some function blocks also provide public variables. These variables transfer statistical values (values that are not influenced by the process) to the function block. They are used for setting parameters for the function block. Public variables are a supplement to IEC 61131-3. The assignment of values to public variables is made using their initial values. Public variables are read via the instance name of the function block and the names of the public variables.

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Example:

Private Variables In addition to inputs, outputs and public variables, some function blocks also provide private variables. Like public variables, private variables are used to transfer statistical values (values that are not influenced by the process) to the function block. Private variables can not be accessed by user program. These type of variables can only be accessed by the animation table. NOTE: Nested DFBs are declared as private variables of the parent DFB. So their variables are also not accessible through programming, but trough the animation table. Private variables are a supplement to IEC 61131-3. Programming Notes Attention should be paid to the following programming notes: FFBs are only executed if the input EN=1 or if the input EN is grayed out (see also EN and ENO (see page 331)). Boolean inputs and outputs can be inverted. Special conditions apply when using VAR_IN_OUT variables (see page 333). Function block/DFB instances can be called multiple times (see also Multiple Function Block Instance Call (see page 331)).

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Multiple Function Block Instance Call Function block/DFB instances can be called more than once; other than instances from communication EFBs and function blocks/DFBs with an ANY output but no ANY input: these can only be called once. Calling the same function block/DFB instance more than once makes sense, for example, in the following cases: If the function block/DFB has no internal value or it is not required for further processing. In this case, memory is saved by calling the same function block/DFB instance more than once since the code for the function block/DFB is only loaded once. The function block/DFB is then handled like a "Function". If the function block/DFB has an internal value and this is supposed to influence various program segments, for example, the value of a counter should be increased in different parts of the program. In this case, calling the same function block/DFB means that temporary results do not have to be saved for further processing in another part of the program. EN and ENO One EN input and one ENO output can be used in all FFBs. If the value of EN is equal to "0" when the FFB is invoked, the algorithms defined by the FFB are not executed and ENO is set to "0". If the value of EN is equal to "1" when the FFB is invoked, the algorithms defined by the FFB will be executed. After the algorithms have been executed successfully, the value of ENO is set to "1". If an error occurs when executing these algorithms, ENO is set to "0". If the EN pin is not assigned a value, when the FFB is invoked, the algorithm defined by the FFB is executed (same as if EN equals to "1"), Please refer to Maintain output links on disabled EF (see Unity Pro, Operating Modes). If ENO is set to "0" (caused by EN=0 or an error during execution): Function blocks EN/ENO handling with function blocks that (only) have one link as an output parameter:

If EN of FUNCBLOCK_1 is set to "0", the link on output OUT of FUNCBLOCK_1 maintains the old status it had during the last correctly executed cycle.

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EN/ENO handling with function blocks that have one variable and one link as output parameters:

If EN of FUNCBLOCK_1 is set to "0", the link on output OUT of FUNCBLOCK_1 maintains the old status it had during the last correctly executed cycle. The OUT1 variable on the same pin either retains its previous status or can be changed externally without influencing the link. The variable and the link are saved independently of each other. Functions/Procedures As defined in IEC61131-3, the outputs from deactivated functions (EN input set to "0") are undefined. (The same applies to procedures.) Here nevertheless an explanation of the output statuses in this case: EN/ENO handling with function/procedure blocks that (only) have one link as an output parameter:

If EN of FUNC_PROC_1 is set to "0", the value of the link on output OUT of FUNC_PROC_1 depends on the project setting Maintain output links on disabled EF available since Unity Pro 4.1. If this project setting is set to 0, the value of the link is set to 0. If this project setting is set to 1, the link maintains the old value it had during the last correctly executed cycle. Please refer to Maintain output links on disabled EF (see Unity Pro, Operating Modes). EN/ENO handling with function/procedure blocks that have one variable and one link as output parameters:

If EN of FUNC_PROC_1 is set to "0", the value of the link on output OUT of FUNC_PROC_1 depends on the project setting Maintain output links on disabled EF available since Unity Pro 4.1.
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If this project setting is set to 0, the value of the link is set to 0. If this project setting is set to 1, the link maintains the old value it had during the last correctly executed cycle. Please refer to Maintain output links on disabled EF (see Unity Pro, Operating Modes). The OUT1 variable on the same pin either retains its previous status or can be changed externally without influencing the link. The variable and the link are saved independently of each other. The output behavior of the FFBs does not depend on whether the FFBs are invoked without EN/ENO or with EN=1. NOTE: For disabled function blocks (EN = 0) with an internal time function (e.g. function block DELAY), time seems to keep running, since it is calculated with the help of a system clock and is therefore independent of the program cycle and the release of the block. VAR_IN_OUT Variable FFBs are often used to read a variable at an input (input variables), to process it and to output the altered values of the same variable (output variables). This special type of input/output variable is also called a VAR_IN_OUT variable. The link between input and output variables is represented by a line in the FFB. VAR_IN_OUT variable

The following special features are to be noted when using FFBs with VAR_IN_OUT variables. All VAR_IN_OUT inputs must be assigned a variable. Via graphical links only VAR_IN_OUT outputs with VAR_IN_OUT inputs can be connected. Only one graphical link can be connected to a VAR_IN_OUT input/output. A combination of variable/address and graphical connections is not possible for VAR_IN_OUT outputs). No literals or constants can be connected to VAR_IN_OUT inputs/outputs. No negations can be used on VAR_IN_OUT inputs/outputs. Different variables/variable components can be connected to the VAR_IN_OUT input and the VAR_IN_OUT output. In this case the value of the variables/variable component on the input is copied to the at the output variables/variable component.
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Subroutine Calls
Calling a Subroutine In FBD, subroutines are called using the following blocks.

If the status of EN is 1, the respective subroutine (variable name inSR_Name) is called. The output ENO is not used to display the error status for this type of block. The output ENO is always 1 for this type of block and is used to call multiple subroutines simultaneously. The following construction makes it possible to call multiple subroutines simultaneously.

The subroutine to be called must be located in the same task as the FBD section called. Subroutines can also be called from within subroutines. Subroutine calls are a supplement to IEC 61131-3 and must be enabled explicitly. In SFC action sections, subroutine calls are only allowed when Multitoken Operation is enabled.

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Control Elements
Introduction Control elements are used for executing jumps within an FBD section and for returning from a subroutine (SRx) or derived function block (DFB) to the main program. Control Elements The following control elements are available.
Designation Jump Representation Description When the status of the left link is 1, a jump is made to a label (in the current section). To generate a conditional jump, a jump object is linked to a Boolean FFB output. To generate an unconditional jump, the jump object is assigned the value 1 for example, using the AND function. LABEL: Labels (jump targets) are indicated as text with a colon at the end. This text is limited to 32 characters and must be unique within the entire section. The text must conform to general naming conventions. Jump labels can only be placed between the first two grid points on the left edge of the section. Note: Jump labels may not "cut through" networks, i.e. an assumed line from the jump label to the right edge of the section may not be crossed by any object. This is also valid for links. RETURN objects can not be used in the main program. In a DFB, a RETURN object forces the return to the program which called the DFB. The rest of the DFB section containing the RETURN object is not executed. The next sections of the DFB are not executed. The program which called the DFB will be executed after return from the DFB. If the DFB is called by another DFB, the calling DFB will be executed after return. In a SR, a RETURN object forces the return to the program which called the SR. The rest of the SR containing the RETURN object is not executed. The program which called the SR will be executed after return from the SR.

Label

Return

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Link
Description Links are vertical and horizontal connections between FFBs.

Representation The link coordinates are identified by a filled circle.

Crossed links are indicated by a "broken" link.

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Programming Notes Attention should be paid to the following programming notes: Links can be used for any data type. The data types of the inputs/outputs to be linked must be the same. Several links can be connected with one FFB output. Only one may be linked with an FFB input however. Inputs and outputs may be linked to one-another. Linking more than one output together is not possible. That means that no OR connection is possible using links in FBD. An OR function is to be used in this case. Overlapping links with other objects is permitted. Links may not be used to create loops since the sequence of execution in this case cannot be clearly determined in the section. Loops must be created using actual parameters (see Loop Planning, page 346). To avoid links crossing each other, links can also be represented in the form of connectors. The source and target for the connection are labeled with a name that is unique within the section. The connector name has the following structure depending on the type of source object for the connection: For functions: "Function counter/formal parameter" for the source of the connection

For function blocks: "Instance name/formal parameter" for the source of the connection

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Text Object
Description Text can be positioned as text objects using FBD Function Block language. The size of these text objects depends on the length of the text. The size of the object, depending on the size of the text, can be extended vertically and horizontally to fill further grid units. Text objects may not overlap with FFBs; however they may overlap with links.

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Execution Sequence of the FFBs

Introduction The execution sequence is determined by the position of the FFBs within the section (executed from left to right and from top to bottom). If the FFBs are then linked graphically, the execution sequence is determined by the signal flow. The execution sequence is indicated by the execution number (number in the top right corner of the FFB frame). Execution Sequence on Networks For network execution sequences, the following rules apply: Executing a section is completed network by network based on the FFB links from above and below. Links may not be used to create loops since the sequence of execution in this case cannot be clearly determined. Loops must be created using actual parameters (see Loop Planning, page 346). The execution sequence for networks that are not linked is determined by the graphic sequence (from top-right to bottom-left). This execution sequence can be influenced (see Change Execution Sequence, page 342). Processing on a network is ended completely before the processing begins on another network for which outputs are used on the previous network. No element of a network is deemed to be processed as long as the status of all inputs of this element are not calculated. Processing on a network is only ended if all outputs on this network have been processed. Signal Flow within a Network For execution sequences within a network, the following rules apply: An FFB is only processed if all elements (FFB outputs etc.) with which its inputs are linked are processed. The execution sequence of FFBs that are linked with various outputs of the same FFB runs from top to bottom. The execution sequence of FFBs is not influenced by the location within the network. This does not apply if more than one FFB is linked to the same output of the "calling" FFB. In this case, the execution sequence is determined by the graphic sequence (from top to bottom).

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Priorities Priorities in Defining the Signal Flow Within a Section.

Priority 1 2 3 4 5 Rule Link User Definition Network by Network Output Sequence Rung by Rung Description Links have the highest priorities in defining the signal flow within a FBD section. User Access to Execution Sequence. Processing on a network is ended completely before the processing begins on another network. FFBs that are linked to the outputs of the same "calling" FFB are processed from top to bottom. Lowest priority. (Only applies if none of the other rules apply).

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Example Example of the Execution Sequence of Objects in an FBD Section:

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Change Execution Sequence

Introduction The execution order of networks and the execution order of objects within a network are defined by a number of rules (see page 340). In some cases the execution order suggested by the system should be changed. The procedure for defining/changing the execution sequence of networks is as follows: Using links instead of actual parameters Network positions Explicit execution sequence definition The procedure for defining/changing the execution sequence of networks is as follows: FFB positions Original Situation The following diagram shows two networks for which the execution sequences are simply defined by their positions within the section, without taking into account the fact that blocks .4/.5 and .7/.8 require a different execution sequence.

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Link Instead of Actual Parameters By using a link instead of a variable the two networks are executed in the proper sequence (see also Original Situation, page 342).

Network Positions The correct execution sequence can be achieved by changing the position of the networks in the section (see also Original Situation, page 342).

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Explicit Definition The correct execution sequence can be achieved by explicitly changing the execution sequence of an FFB. To indicate that which FFBs had their execution order changed, the execution number is shown in a black field (see also Original Situation, page 342).

NOTE: Only one reference of an instance is allowed, e.g. the instance ".7" may only be referenced once. FFB Positions The position of FFBs only influences the execution sequence if more than one FFB is linked to the same output of the "calling" FFB (see also Original Situation, page 342). In the first network, block positions .4 and .5 are switched. In this case (common origins for both block inputs) the execution sequence of both blocks is switched as well (processed from top to bottom).

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In the second network, block positions .7 and .8 are switched. In this case (different origins for the block inputs) the execution sequence of the blocks is not switched (processed in the order the block outputs are called).

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Loop Planning
Non-Permitted Loops Configuring loops exclusively via links is not permitted since it is not possible to clearly specify the signal flow (the output of one FFB is the input of the next FFB, and the output of this one is the input of the first). Non-permitted Loops via Links

Generating Via an Actual Parameter This type of logic must be resolved using feedback variables so that the signal flow can be determined. Feedback variables must be initialized. The initial value is used during the first execution of the logic. Once they have been executed the initial value is replaced by the actual value. Pay attention to the two different types of execution sequences (number in brackets after the instance name) for the two blocks. Loop generated with an actual parameter: Type 1

Loop generated with an actual parameter: Type 2

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Ladder Diagram (LD)

12
Overview This chapter describes the ladder diagram language LD which conforms to IEC 611311. Whats in this Chapter? This chapter contains the following topics:
Topic General Information about the LD Ladder Diagram Language Contacts Coils Elementary Functions, Elementary Function Blocks, Derived Function Blocks and Procedures (FFBs) Control Elements Operate Blocks and Compare Blocks Links Text Object Edge Recognition Execution Sequence and Signal Flow Loop Planning Change Execution Sequence Page 348 351 352 354 364 365 367 370 371 380 382 383

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General Information about the LD Ladder Diagram Language

Introduction This section describes the Ladder Diagram (LD) according to IEC 61131-3. The structure of an LD section corresponds to a rung for relay switching. The left power rail is located on the left-hand side of the LD editor. This left power rail corresponds to the phase (L ladder) of a rung. With LD programming, in the same way as in a rung, only the LD objects which are linked to a power supply, that is to say connected to the left power rail, are "processed". The right power rail corresponds to the neutral wire. However, all coils and FFB outputs are linked with it directly or indirectly, and this creates a power flow. A group of objects which are linked together one below the other, and have no links to other objects (excluding the power rail), is called a network or a rung.

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Representation of an LD Section Representation:

Objects The objects of the LD programming language help to divide a section into a number of: Contacts (see page 351) Coils (see page 352) EFs and EFBs (Elementary Functions (see page 354) and Elementary Function Blocks (see page 355))
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DFBs (Derived Function Blocks (see page 356)) Procedures (see page 356) Control Elements (see page 364) and Operation and Comparison blocks (see page 365) that represent an extension to IEC 61131-3 These objects can be connected with each other by means of: Links (see page 367) or Actual Parameters (see page 357) (FFBs only). Comments regarding the section logic can be provided using text objects (see Text Object, page 370). Section Size One LD section consists of a window containing a single page. This page has a grid that divides the section into rows and columns. A width of 11-64 columns and 17-2000 lines can be defined for LD sections. The LD programming language is cell oriented, i.e. only one object can be placed in each cell. Processing Sequence The processing sequence of the individual objects in an LD section is determined by the data flow within the section. Networks connected to the left power rail are processed from top to bottom (link to the left power rail). Networks that are independent of each other within the section are processed according to their position (from top to bottom) (see also Execution Sequence and Signal Flow, page 380). IEC Conformity For a description of IEC conformity for the LD programming language, see IEC Conformity (see page 639).

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Contacts
Introduction A contact is an LD element that transfers a status on the horizontal link to its right side. This status is the result of a Boolean AND operation on the status of the horizontal link on the left side with the status of the relevant Boolean actual parameter. A contact does not change the value of the relevant actual parameter. Contacts take up one cell. The following are permitted as actual parameters: Boolean variables Boolean constants Boolean addresses (topological addresses or symbolic addresses) ST expression (see page 499) delivering a Boolean result (e.g. VarA OR VarB) ST expressions as actual parameters for contacts are a supplement to IEC 61131-3 and must be enabled explicitly Contact Types The following contacts are available:
Designation Normally open Representation Description In the case of normally open contacts, the status of the left link is transferred to the right link if the status of the relevant Boolean actual parameter (indicated with xxx) is ON. Otherwise, the status of the right link is OFF. In the case of normally closed contacts, the status of the left link is transferred to the right link if the status of the relevant Boolean actual parameter (indicated with xxx) is OFF. Otherwise, the status of the right link is OFF. With contacts for detection of positive transitions, the right link for a program cycle is ON if a transfer of the relevant actual parameter (labeled by xxx) goes from OFF to ON and the status of the left link is ON at the same time. Otherwise, the status of the right link is 0. Also see Edge Recognition, page 371. With contacts for detection of negative transitions, the right link for a program cycle is ON if a transfer of the relevant actual parameter (labeled by xxx) goes from ON to OFF and the status of the left link is ON at the same time. Otherwise, the status of the right link is 0. Also see Edge Recognition, page 371.

Normally closed

Contact for detecting positive transitions

Contact for detecting negative transitions

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Coils
Introduction A coil is an LD element which transfers the status of the horizontal link on the left side, unchanged, to the horizontal link on the right side. The status is stored in the respective Boolean actual parameter. Normally, coils follow contacts or FFBs, but they can also be followed by contacts. Coils take up one cell. The following are permitted as actual parameters: Boolean variables Boolean addresses (topological addresses or symbolic addresses) Coil Types The following coils are available:
Designation Coil Representation Description With coils, the status of the left link is transferred to the relevant Boolean actual parameter (indicated by xxx) and the right link. With negated coils, the status of the left link is copied onto the right link. The inverted status of the left link is copied to the relevant Boolean actual parameter (indicated by xxx). If the left link is OFF, then the right link will also be OFF and the relevant Boolean actual parameter will be ON. With coils that detect positive transitions, the status of the left link is copied onto the right link. The relevant actual parameter of data type EBOOL (indicated by xxx) is 1 for a program cycle, if a transition of the left link from 0 to 1 is made. Also see Edge Recognition, page 371. With coils that detect negative transitions, the status of the left link is copied onto the right link. The relevant actual Boolean parameter (indicated by xxx) is 1 for a program cycle, if a transition of the left link from 1 to 0 is made. Also see Edge Recognition, page 371.

negated coil

Coil for detecting positive transitions

Coil for detecting negative transitions

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Designation Set coil

Representation

Description With set coils, the status of the left link is copied onto the right link. The relevant Boolean actual parameter (indicated by xxx) is set to ON if the left link has a status of ON, otherwise it remains unchanged. The relevant Boolean actual parameter can be reset through the reset coil. Also see Edge Recognition, page 371. With reset coils, the status of the left link is copied onto the right link. The relevant Boolean actual parameter (indicated by xxx) is set to OFF if the left link has a status of ON, otherwise it remains unchanged. The relevant Boolean actual parameter can be set through the set coil. Also see Edge Recognition, page 371. With halt coils, if the status of the left link is 1, the program execution is stopped immediately. (With stop coils the status of the left link is not copied to the right link.) With call coils, the status of the left link is copied to the right link. If the status of the left link is ON then the respective sub-program (indicated by xxx) is called. The subroutine to be called must be located in the same task as the calling LD section. Subroutines can also be called from within subroutines. Subroutines are a supplement to IEC 61131-3 and must be enabled explicitly. In SFC action sections, call coils (subroutine calls) are only allowed when Multitoken Operation is enabled.

Reset coil

Stop coil

Call coil

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Elementary Functions, Elementary Function Blocks, Derived Function Blocks and Procedures (FFBs)
Introduction FFB is the generic term for: Elementary Function (EF) (see page 354) Elementary Function Block (EFB) (see page 355) Derived Function Block (DFB) (see page 356) Procedure (see page 356) FFBs occupy 1 to 3 columns (depending on the length of the formal parameter names) and 2 to 33 lines (depending on the number of formal parameter rows). Elementary Function Functions have no internal states. If the input values are the same, the value on the output is the same every time the function is called. For example, the addition of two values always gives the same result. An elementary function is represented graphically as a frame with inputs and one output. The inputs are always represented on the left and the output is always on the right of the frame. The name of the function, i.e. the function type, is displayed in the center of the frame. The execution number (see page 380) for the function is shown to the right of the function type. The function counter is shown above the frame. The function counter is the sequential number of the function within the current section. Function counters cannot be modified. Elementary Function

With some elementary functions, the number of inputs can be increased.

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Elementary Function Block Elementary function blocks have internal states. If the input values are the same, the value on the output can be different each time the function is called. e.g. for a counter the value on the output is incremented. An elementary function block is represented graphically as a frame with inputs and outputs. The inputs are always represented on the left and the outputs always on the right of the frame. The name of the function block, i.e. the function block type, is displayed in the center of the frame. The instance name is displayed above the frame. Function blocks can have more than one output. The name of the function block, i.e. the function block type, is displayed in the center of the frame. The execution number (see page 380) for the function block is shown to the right of the function block type. The instance name is displayed above the frame. The instance name serves as a unique identification for the function block in a project. The instance name is created automatically and has the following structure: TYPE_n where TYPE is the function block type name: TYPE_n TYPE = Function block type name n = sequential number of the function block in the project NOTE: Prior to Unity Pro V6.0, the instance name was created automatically with the structure FBI_n, where FBI = Function Block Instance This automatically generated name can be modified for clarification. The instance name (max. 32 characters) must be unique throughout the project and is not casesensitive. The instance name must conform to general naming conventions. NOTE: To conform to IEC61131-3, only letters are permitted as the first character of the name. If you want to use a numeral as your first character however, this must be enabled explicitly. Elementary Function Block

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DFB Derived function blocks (DFBs) have the same properties as elementary function blocks. The user can create them in the programming languages FBD, LD, IL, and/or ST. The only difference to elementary function blocks is that the derived function block is represented as a frame with double vertical lines. Derived Function Block

Procedure Procedures are functions viewed technically. The only difference to elementary functions is that procedures can occupy more than one output and they support data type VAR_IN_OUT. To the eye, procedures are no different than elementary functions. Procedures are a supplement to IEC 61131-3 and must be enabled explicitly. Procedure

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Parameters Inputs and outputs are required to transfer values to or from an FFB. These are called formal parameters. Objects are linked to formal parameters; these objects contain the current process states. They are called actual parameters. Formal and actual parameters:

At program runtime, the values from the process are transferred to the FFB via the actual parameters and then output again after processing. Only one object (actual parameter) of the following types may be linked to FFB inputs: Contact Variable Address Literal ST Expression ST expressions on FFB inputs are a supplement to IEC 61131-3 and must be enabled explicitly. Link The following combinations of objects (actual parameters) can be linked to FFB outputs: one or more coils one or more contacts one variable a variable and one or more connections (but not for VAR_IN_OUT (see page 363) outputs) an address an address and one or more connections (but not for VAR_IN_OUT (see page 363) outputs) one or more connections (but not for VAR_IN_OUT (see page 363) outputs)
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The data type of the object to be linked must be the same as that of the FFB input/output. If all actual parameters consist of literals, a suitable data type is selected for the function block. Exception: For generic FFB inputs/outputs with data type ANY_BIT, it is possible to link objects of data type INT or DINT (not UINT and UDINT). This is a supplement to IEC 61131-3 and must be enabled explicitly. Example: Allowed:

Not allowed:

(In this case, AND_INT must be used.) Not all formal parameters have to be assigned an actual parameter. However, this does not apply in the case of negated pins. These must always be assigned an actual parameter. This is also the case with some formal parameter types. These types are shown in the following table. Table of formal parameter types:
Parameter type EFB: Input DFB: Output EDT STRING + + + + + ARRAY + + + + + + + + + ANY_ARRAY IODDT + / + + + + + + + / / + / + + + + + STRUCT FB + + + + + + + / / / / / / + / / + ANY + + + + + + + + +

EFB: VAR_IN_OUT + DFB: Input -

DFB: VAR_IN_OUT + EFB: Output EF: Input EF: VAR_IN_OUT EF: Output Procedure: Input + -

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Parameter type Procedure: VAR_IN_OUT Procedure: Output + /

EDT + -

STRING + -

ARRAY + -

ANY_ARRAY IODDT + + -

STRUCT FB + / /

ANY + +

Actual parameter required Actual parameter not required not applicable

FFBs that use actual parameters on the inputs that have not yet received any value assignment, work with the initial values of these actual parameters. If no value is allocated to a formal parameter, then the initial value will be used for executing the function block. If no initial value has been defined then the default value (0) is used. If a formal parameter is not assigned a value and the function block/DFB is instanced more than once, then the subsequent instances are run with the old value. Public Variables In addition to inputs/outputs, some function blocks also provide public variables. These variables transfer statistical values (values that are not influenced by the process) to the function block. They are used for setting parameters for the function block. Public variables are a supplement to IEC 61131-3. The assignment of values to public variables is made using their initial values. Public variables are read via the instance name of the function block and the names of the public variables. Example:

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Private Variables In addition to inputs, outputs and public variables, some function blocks also provide private variables. Like public variables, private variables are used to transfer statistical values (values that are not influenced by the process) to the function block. Private variables can not be accessed by user program. These type of variables can only be accessed by the animation table. NOTE: Nested DFBs are declared as private variables of the parent DFB. So their variables are also not accessible through programming, but trough the animation table. Private variables are a supplement to IEC 61131-3. Programming Notes Attention should be paid to the following programming notes: FFBs will only be processed when they are directly or indirectly connected to the left bus bar. If the FFB will be conditionally executed, the EN input may be pre-linked through contacts or other FFBs (also see EN and ENO (see page 361)). Boolean inputs and outputs can be inverted. Special conditions apply when using VAR_IN_OUT variables (see page 363). Function block/DFB instances can be called multiple times (also see ).Multiple Function Block Instance Call (see page 360) Multiple Function Block Instance Call Function block/DFB instances can be called more than once; other than instances from communication EFBs and function blocks/DFBs with an ANY output but no ANY input: these can only be called once. Calling the same function block/DFB instance more than once makes sense, for example, in the following cases: If the function block/DFB has no internal value or it is not required for further processing. In this case, memory is saved by calling the same function block/DFB instance more than once since the code for the function block/DFB is only loaded once. The function block/DFB is then handled like a "Function". If the function block/DFB has an internal value and this is supposed to influence various program segments, for example, the value of a counter should be increased in different parts of the program. In this case, calling the same function block/DFB means that temporary results do not have to be saved for further processing in another part of the program.

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EN and ENO One EN input and one ENO output can be used in all FFBs. If the value of EN is equal to "0" when the FFB is invoked, the algorithms defined by the FFB are not executed and ENO is set to "0". If the value of EN is equal to "1" when the FFB is invoked, the algorithms defined by the FFB will be executed. After the algorithms have been executed successfully, the value of ENO is set to "1". If an error occurs when executing these algorithms, ENO is set to "0". If the EN pin is not assigned a value, when the FFB is invoked, the algorithm defined by the FFB is executed (same as if EN equals to "1"), Please refer to Maintain output links on disabled EF (see Unity Pro, Operating Modes). If ENO is set to "0" (caused by EN=0 or an error during execution): Function blocks EN/ENO handling with function blocks that (only) have one link as an output parameter:

If EN of FUNCBLOCK_1 is set to "0", the link on output OUT of FUNCBLOCK_1 maintains the old status it had during the last correctly executed cycle. EN/ENO handling with function blocks that have one variable and one link as output parameters:

If EN of FUNCBLOCK_1 is set to "0", the link on output OUT of FUNCBLOCK_1 maintains the old status it had during the last correctly executed cycle. The OUT1 variable on the same pin either retains its previous status or can be changed externally without influencing the link. The variable and the link are saved independently of each other. Functions/Procedures As defined in IEC61131-3, the outputs from deactivated functions (EN input set to "0") are undefined. (The same applies to procedures.) Here nevertheless an explanation of the output statuses in this case:

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EN/ENO handling with function/procedure blocks that (only) have one link as an output parameter:

If EN of FUNC_PROC_1 is set to "0", the value of the link on output OUT of FUNC_PROC_1 depends on the project setting Maintain output links on disabled EF available since Unity Pro 4.1. If this project setting is set to 0, the value of the link is set to 0. If this project setting is set to 1, the link maintains the old value it had during the last correctly executed cycle. For detailed information, please refer to Maintain output links on disabled EF (see Unity Pro, Operating Modes). EN/ENO handling with function/procedure blocks that have one variable and one link as output parameters:

If EN of FUNC_PROC_1 is set to "0", the value of the link on output OUT of FUNC_PROC_1 depends on the project setting Maintain output links on disabled EF available since Unity Pro 4.1. If this project setting is set to 0, the value of the link is set to 0. If this project setting is set to 1, the link maintains the old value it had during the last correctly executed cycle. For detailed information, please refer to Maintain output links on disabled EF (see Unity Pro, Operating Modes). The OUT1 variable on the same pin either retains its previous status or can be changed externally without influencing the link. The variable and the link are saved independently of each other. The output behavior of the FFBs does not depend on whether the FFBs are invoked without EN/ENO or with EN=1. NOTE: For disabled function blocks (EN = 0) with an internal time function (e.g. function block DELAY), time seems to keep running, since it is calculated with the help of a system clock and is therefore independent of the program cycle and the release of the block.

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VAR_IN_OUT-Variable FFBs are often used to read a variable at an input (input variables), to process it and to output the altered values of the same variable (output variables). This special type of input/output variable is also called a VAR_IN_OUT variable. The link between input and output variables is represented by a line in the FFB. VAR_IN_OUT variable

The following special features are to be noted when using FFBs with VAR_IN_OUT variables. All VAR_IN_OUT inputs must be assigned a variable. Via graphical links only VAR_IN_OUT outputs with VAR_IN_OUT inputs can be connected. Only one graphical link can be connected to a VAR_IN_OUT input/output. A combination of variable/address and graphical connections is not possible for VAR_IN_OUT outputs. No literals or constants can be connected to VAR_IN_OUT inputs/outputs. No negations can be used on VAR_IN_OUT inputs/outputs. Different variables/variable components can be connected to the VAR_IN_OUT input and the VAR_IN_OUT output. In this case the value of the variables/variable component on the input is copied to the at the output variables/variable component.

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Control Elements
Introduction Control elements are used for executing jumps within an LD section and for returning from a subroutine (SRx) or derived function block (DFB) to the main program. Control elements take up one cell. Control Elements The following control elements are available.
Designation Jump Representation Description When the status of the left link is 1, a jump is made to a label (in the current section). To generate an unconditional jump, the jump object must be placed directly on the left power rail. To generate a conditional jump, a jump object is placed at the end of a series of contacts. LABEL: Labels (jump targets) are indicated as text with a colon at the end. This text is limited to 32 characters and must be unique within the entire section. The text must conform to general naming conventions. Jump labels can only be placed in the first cell directly on the power rail. Note: Jump labels may not "cut through" networks, i.e. an assumed line from the jump label to the right edge of the section may not be crossed by any object. This also applies to Boolean links and FFB links. RETURN objects can not be used in the main program. In a DFB, a RETURN object forces the return to the program which called the DFB. The rest of the DFB section containing the RETURN object is not executed. The next sections of the DFB are not executed. The program which called the DFB will be executed after return from the DFB. If the DFB is called by another DFB, the calling DFB will be executed after return. In a SR, a RETURN object forces the return to the program which called the SR. The rest of the SR containing the RETURN object is not executed. The program which called the SR will be executed after return from the SR.

Label

Return

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Operate Blocks and Compare Blocks

Introduction In addition to the objects defined in IEC 61131-3, there are several other blocks for executing ST instructions (see page 499) and ST expressions (see page 499) and for simple compare operations. These blocks are only available in the LD programming language. Objects The following objects are available:
Designation Representation Operate block Description When the status of the left link is 1, the ST instruction in the block is executed. All ST instructions (see page 499) are allowed except the control instructions: (RETURN, JUMP, IF, CASE, FOR etc.) For operate blocks, the state of the left link is passed to the right link (regardless of the result of the ST instruction). A block can contain up to 4096 characters. If not all characters can be displayed then the beginning of the character sequence will be followed by suspension points (...). An operate block takes up 1 line and 4 columns. Example:

In the example, Instruction1 is executed if In1=1. Instruction2 is executed if In1=1 and In2=1 (the result of Instruction1 has no meaning for the execution of Instruction2). Out1 becomes 1 if In1=1 and In2=1 (the results of Instruction1 and Instruction2 have no meaning for the status of Out1).

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Designation Representation Horizontal Matching Block

Description Horizontal compare blocks used to execute a compare expression (<, >, <=, >=, =, <>) in the ST programming language. (Note: The same functionality is also possible using ST expressions (see page 499).) A compare block performs an AND of its left In-pin and the result of its compare condition and assigns the result of this AND unconditionally to its right Out-pin. For example, if the state of the left link is 1 and the result of the comparison is 1, the state of the right link is 1. A horizontal matching block can contain up to 4096 characters. If not all characters can be displayed then the beginning of the character sequence will be followed by suspension points (...). A horizontal matching block takes up 1 line and 2 columns. Example:

In the example, Compare1 is executed if In1=1. Compare2 is executed if In1=1 , In2=1 a the result of Compare1=1. Out1 becomes 1 if In1=1, In2=1, the result of Compare1=1 and the result of Compare2=1.

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Links
Description Links are connections between LD objects (contacts, coils and FFBs etc.). There are 2 different types of links: Boolean Links Boolean links consist of one or more segments linking Boolean objects (contacts, coils) with one another. There are different types of Boolean links as well: Horizontal Boolean Links Horizontal Boolean links enable sequential contacts and coil switching. Vertical Boolean Links Vertical Boolean links enable parallel contacts and coil switching. FFB Links FFB connections are a combination of horizontal and vertical segments that connect FFB inputs/outputs with other objects. Connections:

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General Programming Notes Attention should be paid to the following general programming notes: The data types of the inputs/outputs to be linked must be the same. Links between parameters with variable lengths (e.g. ANY_ARRAY_INT) are not allowed. Several links can be connected with one output (right-hand side of one contact, one coil or one FFB output). However, only one link can be connected with an input (left-hand side of one contact, one coil or one FFB output). Unconnected contacts, coils and FFB inputs are specified as "0" by default. Links may not be used to create loops since the sequence of execution in this case cannot be clearly determined in the section. Loops must be created using actual parameters (see Non-Permitted Loops, page 382). Notes on Programming Boolean Links Notes on Programming Boolean Links: Overlapping Boolean links with other objects is not permitted. The signal flow (power flow) is from left to right for Boolean links. Therefore, backwards links are not allowed. If two Boolean links are crossed, the links are connected automatically. Since crossing Boolean links is not possible, links are not indicated in any special way. Notes on Programming FFB Links Notes on Programming FFB Links: At least one side of an FFB link must be connected with an FFB input or output. To differentiate them from Boolean links, FFB links are shown with a doubly thick line. The signal flow (power flow) in FFB links is from the FFB output to the FFB input, no matter which direction they are made in. Therefore, backwards links are allowed. Only FFB inputs and FFB outputs may be linked to one-another. Linking more than one FFB outputs together is not possible. That means that no OR connection is possible in LD using FFB links. Overlapping FFB links with other objects is permitted. Crossing FFB links is also permitted. Crossed links are indicated by a "broken" link.

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Connection points between more FFB links are shown with a filled circle.

To avoid links crossing each other, FFB links can also be represented in the form of connectors. The source and target for the FFB connection are labeled with a name that is unique within the section. The connector name has the following structure depending on the type of source object for the connection: For functions: "Function counter/formal parameter" for the source of the connection

For function blocks: "Instance name/formal parameter" for the source of the connection

For contacts: "OUT1_sequential number"

Vertical Links The "Vertical Link" is special. The vertical link serves as a logical OR. With this form of the OR link, 32 inputs (contacts) and 64 outputs (coils, links) are possible.
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Text Object
Introduction Text can be positioned as text objects in the Ladder Diagram (LD). The size of these text objects depends on the length of the text. The size of the object, depending on the size of the text, can be extended vertically and horizontally to fill further grid units. Text objects may overlap with other objects.

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Edge Recognition
Introduction During the edge recognition, a bit is monitored during a transition from 0 -> 1 (positive edge) or from 1 -> 0 (negative edge). For this, the value of the bit in the previous cycle is compared to the value of the bit in the current cycle. In this case, not only the current value, but also the old value, are needed. Instead of a bit, 2 bits are therefore needed for edge recognition (current value and old value). Because the data type BOOL only offers one single bit (current value), there is another data type for edge recognition, EBOOL (expanded BOOL). In addition to edge recognition, the data type EBOOL provides an option for forcing. It must also be saved whether forcing the bit is enabled or not. The data type EBOOL saves the following data: the current value of the bit in Value bit the old value of the bit in History bit (the content of the value bit is copied to the History bit at the beginning of each cycle) Information whether forcing of the bit is enabled in Force-Bit (0 = Forcing disabled, 1 = Forcing enabled) Restrictions for EBOOL

CAUTION
UNINTENDED EQUIPMENT OPERATION To perform a good edge detection the %M must be updated at each task cycle. When performing a unique writing, the edge will be infinite. Failure to follow these instructions can result in injury or equipment damage. Using an EBOOL variable for contacts to recognize positive (P) or negative (N) edges or with an EF called RE or FE, you have to adhere to the restrictions described below.

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EBOOL with %M not written inside program An EBOOL variable with a %M address, which is not written inside your program but directly, for example by an animation table, an operator screen or an HMI, will not work in the expected way. The edge is TRUE infinitely because the %M is only written one time. NOTE: To avoid this issue the %M has to be written at the end of the task to update the old value information. The old value is only updated, when the %M bit is written, so if you write the bit only one time, the edge detection will be infinite.
Old Value 0 0 0 1 Current Value 0 1 1 1 Edge Detect 0 1 1 0 Description state 0 (before writing the bit) Write 1 in the bit (e.g. by animation table). If you do not write again, the edge remains infinitely. Write 1 again in the bit, the old value is updated and the edge detection is set to 0.

EBOOL with %M written inside program For an EBOOL variable with a %M address, which is written inside your program, you have to adhere to the restrictions described below: Do not use the bit with a SET or RESET coil. In this case the old value is not updated. So you can perform an infinite edge. Do not write the bit conditionally. A simple logic as IF NOT %M1 THEN %M1 := TRUE; END_IF leads to an infinite edge, because it is written only one time. EBOOL with %I For an EBOOL variable with a %I address you have to adhere to the restriction described below: When using multitasking the test of %I edge must be performed in the task where it is updated. The use of the edge detection of a %I scheduled in a task of higher priority must be avoided. Example: If you have a fast task, which updates a %I, do not use a edge detection in the mast task. Depending on the scheduling you can detect the edge or not.

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Recognizing Positive Edges A contact to recognize positive edges is used to recognize positive edges. With this contact, the right connection for a program cycle is 1 when the transition of the associated actual parameter (A) is from 0 to 1 and, at the same time, the status of the left connection is 1. Otherwise, the status of the right link is 0. In the example, a positive edge of the variable A is supposed to be recognize and B should therefore be set for a cycle.

Anytime the value bit of A equals 1 and the history bit equals 0, B is set to 1 for a cycle (cycle 1, 4, and 9).

Recognizing Negative Edges A contact to recognize negative edges is used to recognize negative edges. With this contact, the right connection for a program cycle is 1 when the transition of the associated actual parameter (A) is from 1 to 0 and, at the same time, the status of the left connection is 1. Otherwise, the status of the right link is 0. In the example, a negative edge of the variable A is supposed to be recognize and B should therefore be set for a cycle.

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Anytime the value bit of A equals 0 and the history bit equals 1, B is set to 1 for a cycle (cycle 2 and 8).

Forcing Bits When forcing bits, the value of the variable determined by the logic will be overwritten by the force value. In the example, a negative edge of the variable A is supposed to be recognized and B should therefore be set for a cycle.

Anytime the value bit or force bit of A equals 0 and the history bit equals 1, B is set to 1 for a cycle (cycle 1 and 8).

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Using BOOL and EBOOL Variables Edge recognition behavior using BOOL or EBOOL variables types can be different: When using a BOOL variable, the system manages the history by allowing edge detection during the contact execution. When using an EBOOL variable, the history bit is updated during the coil execution. The following examples show the different behavior depending on the variable type. Variable A is define as BOOL, whenever A is set to 1, %MW1 is incremented by 1.

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Variable B is defined as EBOOL, the behavior is different when compared with variable A. While B is set to 1, %MW2 is incremented by 1 because the history bit is not updated.

Variable C is defined as EBOOL, the behavior is identical than variable A. The history bit is updated.

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Forcing of Coils Can Cause the Loss of Edge Recognition Forcing of coils can cause the loss of edge recognition. In the example, when A equals 1, B should equal 1, and with a rising edge from A, the coil B will be set for a cycle. In this example, the variable B is first assigned to the coil, and then to the link to recognize positive edges.

At the beginning of the second cycle, the value bit of B equals 0. When forcing B within this cycle, the force bit and value bit are set to 1. While processing the first line of the logic in the third cycle, the history bit of the coil (B) will also be set to 1.

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Problem: During edge recognition (comparison of the value bit and the history bit) in the second line of the logic, no edge is recognized, because due to the updating, the value bit and history bit on line 1 of B are always identical. Solution: In this example, the variable B is first assigned to the link to recognize positive edges and then the coil.

At the beginning of the second cycle, the value bit of B equals 0. When forcing B within this cycle, the force bit and value bit are set to 1. While processing the first line of the logic in the third cycle, the history bit of the link (B) will remain set to 0. Edge recognition recognizes the difference between value bits and history bit and sets the coil (C) to 1 for one cycle. Using Set Coil or Reset Coil Can Cause the Loss of Edge Recognition Using set coil or reset coil can cause the loss of edge recognition with EBOOL variables. The variable above the set/reset coil (variable C in the example) is always affected by the value of the left link. If the left link is 1, the value bit (variable C in the example) is copied to the history bit and the value bit is set to 1.
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If the left link is 0, the value bit (variable C in the example) is copied to the history bit, but the value bit is not changed. This means that whatever value the left link has before the set or reset coil, the history bit is always updated. In the example, a positive edge of the variable C should be recognized and set D for a cycle.
Code line 1 Behavior in LD Original situation: C = 0, History bit = 0 Corresponds to in ST IF A AND B THEN C := 1; ELSE C := C; END_IF;

A = 1, B = 1, C = 1, History bit = 0 2 IF NOT(A) AND NOT(B) THEN C := 0; ELSE C := C; END_IF;

A = 1, B = 1, C = 1, History = 1 3

C = 1, History = 1 D = 0, as the value bit and history bit of C are identical. The rising edge of C, shown in code line 1, is not recognized by the code in line 2, as this forces the history bit to be updated. (If the condition is FALSE, the present value of C is again assigned to C, see ELSE statement in code line 2 in ST example.)

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Execution Sequence and Signal Flow

Execution Sequence of Networks The following rules apply to network execution sequences: Executing a section is completed network by network based on the object links from above and below. Links may not be used to create loops since the sequence of execution in this case cannot be clearly determined. Loops must be created using actual parameters (see Loop Planning, page 382). The execution sequence of networks which are only linked by the left power rail, is determined by the graphical sequence (from top to bottom) in which these are connected to the left power rail. This does not apply if the sequence is influenced by control elements. Processing on a network is ended completely before the processing begins on another network. No element of a network is deemed to be processed until the status of all inputs of this element have been processed. Processing on a network is only ended if all outputs on this network have been processed. This also applies if the network contains one or more control elements. Signal Flow within a Network For signal flow within a network (rungs), the following rules apply: The signal flow for Boolean links is: left to right with horizontal Boolean links and from top to bottom with vertical Boolean links. The signal flow with FFB links is from the FFB output to the FFB input, regardless of which direction they are made in. An FFB is only processed if all elements (FFB outputs etc.) to which its inputs are linked are processed. The execution sequence of FFBs that are linked with various outputs of the same FFB runs from top to bottom. The execution sequence of objects is not influenced by their positions within the network. The execution sequence for FFBs is represented as execution number by the FFB.

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Priorities Priorities when defining the signal flow within a section:

Priority 1 2 3 4 Rule Link Network by Network Output sequence Rung by Rung Description Links have the highest priorities in defining the signal flow within an LD section. Processing on a network is ended completely before the processing begins on another network. Outputs of the same function block or outputs to vertical links are processed from top to bottom. Lowest priority. The execution sequence of networks which are only linked by the left power rail, is determined by the graphical sequence (from top to bottom) in which these are connected to the left power rail. (Only applies if none of the other rules apply).

Example Example of the execution sequence of objects in an LD section:

NOTE: The execution numbers for contacts and coils is not shown. They are only shown in the graphic to provide a better overview.

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Loop Planning
Non-Permitted Loops Creating loops using links alone is not permitted because it is not possible to clearly define the signal flow (the output of one FFB is the input of the next FFB, and the output of this one is the input of the first again). Non-permitted loops via links:

Generating Via an Actual Parameter This type of logic must be generated using feedback variables so that the signal flow can be determined. Feedback variables must be initialized. The initial value is used during the first execution of the logic. Once they have been executed the initial value is replaced by the actual value. Pay attention to the two different types of execution sequences (number in brackets after the instance name) for the two blocks. Loop generated with an actual parameter: Type 1

Loop generated with an actual parameter: Type 2

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Change Execution Sequence

Introduction The order of execution in networks and the execution order of objects within a network are defined by a number of rules (see page 380). In some cases the execution order suggested by the system should be changed. The procedure for defining/changing the execution sequence of networks is as follows: Using Links Instead of Actual Parameters Network Positions The procedure for defining/changing the execution sequence of networks is as follows: Positioning of Objects Original Situation The following representation shows two networks for which the execution sequences are only defined by their position within the section, without taking into account that block 0.4/0.5 and 0.7/0.8 require another execution sequence.

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Link Instead of Actual Parameter By using a link instead of a variable the two networks are run in the proper sequence (see also Original Situation, page 383).

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Network Positions The correct execution sequence can be achieved by changing the position of the networks in the section (see also Original Situation, page 383).

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Positioning of Objects The position of objects can only have an influence on the execution order if several inputs (left link of Contacts/Coils, FFB inputs) are linked with the same output of the object "to be called" (right link of Contacts/Coils, FFB outputs) (see also Original Situation, page 383). Original situation:

In the first network, block positions 0.1 and 0.2 are switched. In this case (common origins for both block inputs) the execution sequence of both blocks is switched as well (processed from top to bottom). The same applies when switching coils C and D in the second network.

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In the third network, block positions 0.4 and 0.5 are switched. In this case (different origins for the block inputs) the execution sequence of the blocks is not switched (processed in the sequence that the block outputs are called in). The same applies when switching coils G and H in the last network.

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13
Overview This chapter describes the SFC sequence language which conforms to IEC 611311. Whats in this Chapter? This chapter contains the following sections:
Section 13.1 13.2 13.3 13.4 13.5 13.6 13.7 13.8 13.9 13.10 Topic General Information about SFC Sequence Language Steps and Macro Steps Actions and Action Sections Transitions and Transition Sections Jump Link Branches and Merges Text Objects Single-Token Multi-Token Page 390 396 404 410 415 416 417 420 421 432

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13.1

General Information about SFC Sequence Language

Overview This section contains a general overview of the SFC sequence language. Whats in this Section? This section contains the following topics:
Topic General Information about SFC Sequence Language Link Rules Page 391 395

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General Information about SFC Sequence Language

Introduction The sequence language SFC (Sequential Function Chart), which conforms to IEC 61131-3, is described in this section. Structure of a Sequence Controller IEC conforming sequential control is created in Unity Pro from SFC sections (top level), transition sections and action sections. These SFC sections are only allowed in the Master Task of the project. SFC sections cannot be used in other tasks or DFBs. In Single Token, each SFC section contains exactly one SFC network (sequence). In Multi-Token, an SFC section can contain one or more independent SFC networks. Objects An SFC section provides the following objects for creating a program: Step (see page 397) Macro Step (embedded sub-step) (see page 400) Transition (transition condition) (see page 411) Jump (see page 415) Link (see page 416) Alternative branch (see page 418) Alternative junction (see page 418) Parallel branch (see page 419) Parallel junction (see page 419) Comments regarding the section logic can be provided using text objects (related topics Text Object, page 420).

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Representation of an SFC Section Appearance:

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Structure of an SFC Section An SFC section is a "Status Machine", i.e. the status is created by the active step and the transitions pass on the switch/change behavior. Steps and transitions are linked to one another through directional links. Two steps can never be directly linked and must always be separated by a transition. The active signal status processes take place along the directional links and are triggered by switching a transition. The direction of the chain process follows the directional links and runs from the end of the preceding step to the top of the next step. Branches are processed from left to right. Every step has zero or more actions. A transition condition is necessary for every transition. The last transition in the chain is always connected to another step in the chain (via a graphic link or jump symbol) to create a closed loop. Step chains are therefore processed cyclically. SFCCHART_STATE Variable When an SFC section is created, it is automatically assigned a variable of data type SFCCHART_STATE. The variable that is created always has the name of the respective SFC section. This variable is used to assign the SFC control blocks to the SFC section to be controlled. Token Rule The behavior of an SFC network is greatly affected by the number of tokens selected, i.e. the number of active steps. Explicit behavior is possible by using one token (single token). (Parallel branches each with an active token [step] per branch as a single token). This corresponds to a step chain as defined in IEC 61131-3). A step chain with a number of maximum active steps (Multi Token) defined by the user increases the degree of freedom. This reduces/eliminates the restrictions for enforcing unambiguousness and non-blocking and must be guaranteed by the user. Step chains with Multi Token do not conform to IEC 61131-3.

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Section Size An SFC section consists of a single-page window. Because of performance reasons, it is strongly recommended to create less than 100 SFC sections in a project (makro section are not counted). The window has a logical grid of 200 lines and 32 columns. Steps, transitions and jumps each require a cell. Branches and links do not require their own cells, they are inserted in the respective step or transition cell. A maximum of 1024 steps can be placed per SFC section (including all their macro sections). A maximum of 100 steps can be active (Multi Token) per SFC section (including all their macro sections) . A maximum of 64 steps can be set manually at the same time per SFC section (Multi Token). A maximum of 20 actions can be assigned to each SFC step. The nesting depth of macros, i.e. macro steps within macro steps, is to 8 levels. IEC Conformity For a description of the extent to which the SFC programming language conforms to IEC, see IEC Conformity (see page 639).

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Link Rules
Link Rules The table indicates which object outputs can be linked with which object inputs.
From object output of Step To object input of Transition Alternative Branch Parallel joint Transition Step Jump Parallel Branch Alternative joint Alternative Branch Alternative joint Transition Step Jump Parallel Branch Alternative joint Parallel Branch Step Jump Alternative joint (only with Multi-Token (see page 432)) Parallel joint Transition Alternative branch (only with Multitoken (see page 432)) Alternative joint

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13.2

Steps and Macro Steps

Overview This section describes the step and macro step objects of the SFC sequence language. Whats in this Section? This section contains the following topics:
Topic Step Macro Steps and Macro Sections Page 397 400

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Step
Step Types The following types of steps exist:
Type "Normal" Step Representation Description A step becomes active when the previous step becomes inactive (a delay that may be defined must pass) and the upstream transition is satisfied. A step normally becomes inactive when a delay that may be defined passes and the downstream transition is satisfied. For a parallel joint, all previous steps must satisfy these conditions. Zero or more actions belong to every step. Steps without action are known as waiting steps. The initial status of a sequence string is characterized by the initial step. After initializing the project or initializing the sequence string, the initial step is active. Initial steps are not normally assigned with any actions. With Single-Token (Conforming with IEC 61131-3) only one initial step is allowed per sequence. With Multi-Token, a definable number (0 to 100) of initial steps are possible. See Macro Step, page 400

Initial step

Macro Step

Input step

see Input Step, page 400

Output step

see Output Step, page 401

Step Names When creating a step, it is assigned with a suggested number. The suggested number is structured as follows S_i_j, whereas i is the (internal) current number of the section and j is the (internal) current step number in the current section. You can change the suggested numbers to give you a better overview. Step names (maximum 32 characters) must be unique over the entire project, i.e. no other step, variable or section etc. may exist with the same name. There are no case distinctions. The step name must correspond with the standardized name conventions.

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Step Times Each step can be assigned a minimum supervision time, a maximum supervision time and a delay time: Minimum Supervision Time The minimum supervision time sets the minimum time for which the step should normally be active. If the step becomes inactive before this time has elapsed, an error message is generated. In animation mode, the error is additionally identified by a colored outline (yellow) around the step object. If no minimum supervision time or a minimum supervision time of 0 is entered, step supervision is not carried out. The error status remains the same until the step becomes active again. Maximum Supervision Time The maximum supervision time specifies the maximum time in which the step should normally be active. If the step is still active after this time has elapsed, an error message is generated. In animation mode, the error is additionally identified by a colored outline (pink) around the step object. If no maximum supervision time or a maximum supervision time of 0 is entered, step supervision is not carried out. The error status remains the same until the step becomes inactive. Delay Time The delay time (step dwell time) sets the minimum time for which the step must be active. NOTE: The defined times apply for the step only, not for the allocated actions. Individual times can be defined for these. Setting the Step Times The following formula is to be used for defining/determining these times: Delay time< minimum supervision time< maximum supervision time There are 2 ways to assign the defined values to a step: As a duration literal Use of the data structure SFCSTEP_TIMES SFCSTEP_TIMES Variable Every step can be implicitly allocated a variable of data type SFCSTEP_TIMES. The elements for this data structure can be read from and written to (read/write). The data structure is handled the same as any other data structure, i.e. they can be used in variable declarations and therefore accessing the entire data structure (e.g. as FFB parameter) is possible.

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Structure of the Data Structure:

Element Name "VarName".delay "VarName".min "VarName".max Data type TIME TIME TIME Description Delay Time Minimum Supervision Time Maximum Supervision Time

SFCSTEP_STATE Variable Every step is implicitly allocated a variable of data type SFCSTEP_STATE. This step variable has the name of the allocated step. The elements for this data structure can only be read (read only). You can see the SFCSTEP_STATE variables in the Data Editor. The Comment for a SFCSTEP_STATE variable is the comment entered as a property of the step itself. Please refer to "Defining the properties of steps" (see Unity Pro, Operating Modes) in the Unity Pro Operating Modes Manual. The data structure cannot be used in variable declarations. Therefore, accessing the entire data structure (e.g. as FFB parameter) is not possible. Structure of the Data Structure:
Element Name "StepName".t "StepName".x "StepName".tminErr Data type TIME BOOL BOOL Description Current dwell time in the step. If the step is deactivated, the value of this element is retained until the step is activated again. 1: Step active 0: Step inactive This element is a supplement to IEC 61131-3. 1: Underflow of minimum supervision time 0: No underflow of minimum supervision time The element is automatically reset in the following cases: If the step is activated again If the sequence control is reset If the command button Reset Time Error is activated This element is a supplement to IEC 61131-3. 1: Overflow of maximum supervision time 0: No overflow of maximum supervision time The element is automatically reset in the following cases: If the step is exited If the sequence control is reset If the command button Reset Time Error is activated

"StepName".tmaxErr

BOOL

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Macro Steps and Macro Sections

Macro Step Macro steps are used for calling macro sections and thus for hierarchical structuring of sequential controls. Representation of a Macro Step:

Macro steps have the following properties: Macro steps can be positioned in "Sequence Control" sections and in macro sections. The number of macro steps is unlimited. The nesting depth, i.e. macro steps within macro steps is to 8 levels. Each macro step is implicitly allocated a variable of data type SFCSTEP_STATE, see SFCSTEP_STATE Variable, page 399. Macro steps can be allocated a variable of data type SFCSTEP_TIMES, see SFCSTEP_TIMES Variable, page 398. Macro steps can NOT be allocated with actions. Each macro step can be replaced with the sequence string in the allocated macro section. Macro steps are a supplement to IEC 61131-3 and must be enabled explicitly. Input Step Every macro section begins with an input step. Representation of an input step:

Input steps have the following properties: Input steps are automatically placed in macro sections by the SFC editor. Only 1 individual input step is placed for each macro section. An input step cannot be deleted, copied or inserted manually. Each input step is implicitly allocated a variable of data type SFCSTEP_STATE, see SFCSTEP_STATE Variable, page 399. Input steps can be allocated a variable of data type SFCSTEP_TIMES, see SFCSTEP_TIMES Variable, page 398. Input steps can be allocated actions.

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Output Step Every macro section ends with an output step. Representation of an output step:

Output steps have the following properties: Output steps are automatically placed in macro sections by the SFC editor. Only 1 individual output step is placed for each macro section. An output step cannot be deleted, copied or inserted manually. Output steps can NOT be allocated with actions. Output steps can only be assigned a delay time. Assigning supervision times is not possible, see Step Times, page 398. Macro Section A macro section consists of a single sequence string having principally the same elements as a "sequence control" section (e.g. steps, initial step[s], macro steps, transitions, branches, joints, etc.). Additionally, each macro section contains an input step at the beginning and an output step at the end. Each macro step can be replaced with the sequence string in the allocated macro section. Therefore, macro sections can contain 0, 1 or more initial steps, see also Step Types, page 397. Single-Token 0 Initial steps are used in macro sections, if there is already an initial step in the higher or lower section. 1 Initial step is used in macro sections, if there are no initial steps in the higher or lower section. Multi-Token A maximum of 100 initial steps can be placed per section (including all their macro sections).

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Using macro sections:

The name of the macro section is identical to the name of the macro step that it is called from. If the name of the macro step is changed then the name of the respective macro section is changed automatically. A macro section can only be used once. Macro Step Processing Macro Step Processing:
Phase 1 2 Description A macro step is activated if the previous transition condition is TRUE. At the same time, the input step in the macro section is activated. The sequence string of the macro section is processed. The macro step remains active as long as at least one step in the macro section is active. If the output step of the macro section is active then the transitions following the macro step are enabled. The macro step becomes inactive when the output step is activated which causes the following transition conditions to be enabled and the transition condition to be TRUE. At the same time, the output step in the macro section is activated.

3 4

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Step Names When creating a step, it is assigned with a suggested number. Meanings of the Suggested Numbers:
Step Type Macro Step Suggested Number Description MS_i_j MS = Macro Step i = (internal) current (sequential) number of the current section j = (internal) current (sequential) macro step number of the current section MS = Macro Step k = (internal) current (sequential) number of the calling section l = (internal) current (sequential) macro step number of the calling section IN = Input Step MS = Macro Step k = (internal) current (sequential) number of the calling section l = (internal) current (sequential) macro step number of the calling section OUT = Output Step S = Step k = (internal) current (sequential) number of the calling section m = (internal) current (sequential) step number of the calling section

Input step

MS_k_l_IN

Output step

MS_k_l_OUT

"Normal" Step (within a macro section)

S_k_m

You can change the suggested numbers to give you a better overview. Step names (maximum 28 characters for macro step names, maximum 32 characters for step names) must be unique within the entire project, i.e. no other step, variable or section (with the exception of the name of the macro section assigned to the macro step) etc. may exist with the same name. There are no case distinctions. The step name must correspond with the standardized name conventions. If the name of the macro step is changed then the name of the respective macro section and the steps within it are changed automatically. For example If MS_1_1 is renamed to MyStep then the step names in the macro section are renamed to MyStep_IN, MyStep_1, ..., MyStep_n, MyStep_OUT.

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13.3

Actions and Action Sections

Overview This section describes the actions and action sections of the SFC sequence language. Whats in this Section? This section contains the following topics:
Topic Action Action Section Qualifier Page 405 407 408

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Action
Introduction Actions have the following properties: An action can be a Boolean variable (action variable (see page 405)) or a section (action section (see page 407)) of programming language FBD, LD, IL or ST. A step can be assigned none or several actions. A step which is assigned no action has a waiting function, i.e. it waits until the assigned transition is completed. If more than one action is assigned to a step they are processed in the sequence in which they are positioned in the action list field. Exception: Independent of their position in the action list field, actions with the qualifier (see page 408) P1 are always processed first and actions with the qualifier P0 are processed last. The control of actions is expressed through the use of qualifiers (see page 408). A maximum of 20 actions can be assigned to each step. The action variable that is assigned to an action can also be used in actions from other steps. The action variable can also be used for reading or writing in any other section of the project (multiple assignment). Actions that are assigned an qualifier with duration can only be activated one time. Only Boolean variables/addresses or Boolean elements of multi-element variables are allowed as action variables. Actions have unique names. The name of the action is either the name of the action variable or the name of the action section. Action Variable The following are authorized as action variables: Address of data type BOOL An action can be assigned to a hardware output using an address. In this case, the action can be used as enable signal for a transition, as input signal in another section and as output signal for the hardware. Simple variable or element of a multi-element variable of data type BOOL The action can be used as an input signal with assistance from a variable in another section. Unlocated Variable With unlocated variables, the action can be used as enable signal for a transition and as input signal in another section. Located Variable With located variables the action can be used as an enabling signal for a transition, as an input signal in another section and as an output signal for the hardware.
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Action Names If an address or a variable is used as an action then that name (e.g. %Q10.4, Variable1) is used as the action name. If an action section is used as an action then the section name is used as the action name. Action names (maximum 32 characters) must be unique over the entire project, i.e. no other transition, variable or section etc. may exist with the same name. There are no case distinctions. The action name must correspond with the standardized name conventions.

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Action Section
Introduction An action section can be created for every action. This is a section which contains the logic of the action and it is automatically linked with the action. Name of the Action Section The name of the action section is always identical to the assigned action, see Action Names, page 406. Programming Languages FBD, LD, IL and ST are possible as programming languages for action sections. Properties of Action Sections Action sections have the following properties: Action sections can have any amount of outputs. Subroutine calls are only possible in action sections when Multitoken operation is enabled. Note: The called subroutines are not affected by the controller of the sequence string, i.e. the qualifier assigned to the called action section does not affect the subroutine the subroutine also remains active when the called step is deactivated No diagnosis functions, diagnosis function blocks or diagnosis procedures may be used in action sections. Action sections can have any amount of networks. Action sections belong to the SFC section in which they were defined and can be assigned any number of actions within this SFC section (including all of their macro sections). Action sections which are assigned an qualifier with duration, can only be activated one time. Action sections belong to the SFC section that they were defined in. If the respective SFC section is deleted then all action sections of this SFC section are also deleted automatically. Action sections can be called exclusively from actions.

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Qualifier
Introduction Each action that is linked to a step must have a qualifier which defines the control for that action. Available Qualifiers The following qualifiers are available:
Qualifier N / None R Meaning Not Stored Overriding reset Description If the step is active then action is 1 and if the step is inactive the action is 0. The action, which is set in another step with the qualifier S, is reset. The activation of any action can also be prevented. Note: Qualifiers are automatically declared as unbuffered. This means that the value is reset to 0 after stop and cold restart, e.g. when voltage is on/off. Should a buffered output be required, please use the RS or SR function block from the standard block library. The set action remains active, even when the associated step becomes inactive. The action only becomes inactive, when it is reset in another step of the current SFC section, using the qualifier R. Note: If an action variable is modified outside of the current SFC section, it may no longer reflect the actions activation state.

Set (saved)

Note: A maximum of 100 actions are permitted using the S qualifier per SFC Section.

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Qualifier L

Meaning Time limited

Description If the step is active, the action is also active. After the process of the time duration, defined manually for the action, the action returns to 0, even if the step is still active. The action also becomes 0 if the step is inactive. Note: For this qualifier, an additional duration of data type TIME must be defined. If the step is active, the internal timer is started and the action becomes 1 after the process of the time duration, which was defined manually for the action. If the step becomes inactive after that, the action becomes inactive as well. If the step becomes inactive before the internal time has elapsed then the action does not become active. Note: For this qualifier, an additional duration of data type TIME must be defined. If the step becomes active, the action becomes 1 and this remains for one program cycle, independent of whether or not the step remains active. If the step becomes active, the internal timer is started and the action becomes active after the process of the manually defined time duration. The action first becomes inactive again when qualifier R is used for a reset in another step. If the step becomes inactive before the internal time has elapsed then the action does not become active. Note: For this qualifier, an additional duration of data type TIME must be defined. If the step becomes active (0->1-edge), the action becomes 1 and this remains for one program cycle, independent of whether or not the step remains active. Note: Independent of their position in the action list field, actions with the qualifier P1 are always processed first. More information can be found in the Action (see page 405) of the SFC sequence language. If the step becomes inactive (1->0-edge), the action becomes 1 and this remains for one program cycle. Note: Independent of their position in the action list field, actions with the qualifier P0 are always processed last. More information can be found in the Action (see page 405) of the SFC sequence language.

Delayed

P DS

Pulse Delayed and saved

P1

Pulse (rising edge)

P0

Pulse (falling edge)

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13.4

Transitions and Transition Sections

Overview This section describes the transition objects and transition sections of the SFC sequence language. Whats in this Section? This section contains the following topics:
Topic Transition Transition Section Page 411 413

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Transition
Introduction A transition provides the condition through which the checks of one or more pretransition steps pass on one or more consecutive steps along the corresponding link. Transition Condition Every transition is allocated with a transition condition of data type BOOL. The following are authorized as transaction conditions: an address (input or output) a variable (input or output) a Literal or a Transition Section (see page 413) The type of transition condition determines the position of the name.
Transition Condition Address Variable Position of the Name

Literal

Transition Section

Transition Name If an address or a variable is used as a transition condition then the transition name is defined with that name (e.g. %I10.4, Variable1). If a transition section is used as a transition condition then the section name is used as the transition name. Transition names (maximum 32 characters) must be unique over the entire project, i.e. no other transition, variable or section (with the exception of the assigned transition section) etc., may exist with the same name. There are no case distinctions. The transition name must correspond with the standardized name conventions.

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Enabling a Transition A transition is enabled if the steps immediately preceding it are active. Transitions whose immediately preceding steps are not active are not normally analyzed. NOTE: If no transition condition is defined, the transition will never be active. Triggering a Transition A transition is triggered when the transition is enabled and the associated transition conditions are satisfied. Triggering a transition leads to the disabling (resetting) of all immediately preceding steps that are linked to the transition, followed by the activation of all immediately following steps. Trigger Time for a Transition The transition trigger time (switching time) can theoretically be as short as possible, but can never be zero. The transition trigger time lasts at least the duration of a program cycle.

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Transition Section
Introduction For every transition, a transition section can be created. This is a section containing the logic of the transition condition and it is automatically linked with the transition. Name of Transition Section The name of the transition section is always identical to the assigned transition, see Transition Name, page 411. Programming Languages FBD, LD, IL and ST are possible as programming languages for transition sections. Suggested Networks for Transition Section:
Language FBD Suggested Network Description The suggested network contains an AND block with 2 inputs for which the output is linked with a variable having the name of the transition section. The suggested block can either be linked or it can be deleted if desired. The suggested network contains a coil which is linked with a variable having the name of the transition section. The suggested coil can either be linked or it can be deleted if desired.

LD

IL

The suggested network is empty. The content may only be created of Boolean logic. The assignment of the logic result on the output (the transition variable) is done automatically, i.e. the memory assignment ST is not allowed. Example: LD A AND B The suggested network is empty. The content may only be created of Boolean logic in the form of a (nested) expression. The assignment of the logic result on the output (the transition variable) is done automatically, i.e. the instruction assignment := is not allowed. The expression is not terminated by a semicolon (;). Example: A AND B or A AND (WORD_TO_BOOL (B)) 413

ST

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Properties of Transition Sections Transition sections have the following properties: Transition sections only have one single output (transition variable), whose data type is BOOL. The name of these variables are identical to the names of the transition sections. The transition variable can only be used once in written form. The transition variable can be read in any position within the project. Only functions can be used, function blocks or procedures cannot. Only one coil may be used in LD. There is only one network, i.e. all functions used are linked with each other either directly or indirectly. Transition sections can only be used once. Transition sections belong to the SFC section in which they were defined. If the respective SFC section is deleted then all transition sections of this SFC section are also deleted automatically. Transition sections can be called exclusively from transitions.

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13.5
Jump
General

Jump

Jumps are used to indicate directional links that are not represented in their full length. Representation of a jump:

Properties of Jumps Jumps have the following properties: More than one jump may have the same target step. In accordance with IEC 61131-3, jumps into a parallel sequence (see page 419) or out of a parallel sequence are not possible. If it should also be used again then it must be enabled explicitly. With jumps, there is a difference between a Sequence Jump (see page 424) and a Sequence Loop (see page 425). The jump target is indicated by the jump target symbol (>).

Jump Name Jumps do not actually have their own names. Instead, the name of the target step (jump target) is shown inside of the jump symbol.

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13.6
Link
Introduction

Link

Links connect steps and transitions, transitions and steps etc. Properties of Links Links have the following properties: Links between objects of the same type (step with step, transition with transition, etc.) are not possible Links are possible between: unlinked object outputs and unlinked or linked step inputs (i.e. multiple step inputs can be linked) Overlapping links and other SFC objects (step, transition, jump, etc.) is not possible Overlapping links and links is possible Crossing links with links is possible and is indicated by a "broken" link:

Links consist of vertical and horizontal segments Standard signal flow in a sequence string is from top to bottom. To create a loop however, links can be made from below to a step above. This applies to links from transitions, parallel branches or alternative joints to a step. In these cases, the direction of the link is indicated with an arrow symbol:

With links, there is a difference between a String Jump (see page 424) and a String Loop (see page 425)
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13.7

Branches and Merges

Overview This section describes the branch and merge objects of the SFC sequence language. Whats in this Section? This section contains the following topics:
Topic Alternative Branches and Alternative Joints Parallel Branch and Parallel Joint Page 418 419

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Alternative Branches and Alternative Joints

Introduction The alternative branch offers the possibility to program branches conditionally in the control flow of the SFC structure. With alternative branches, as many transitions follow a step under the horizontal line as there are different processes. All alternative branches are run together into a single branch again with alternative joints or Jumps (see page 415) where they are processed further. Example of an Alternative Sequence Example of an Alternative Sequence

Properties of an Alternative Sequence The properties of an alternative sequence mainly depend on whether the sequence control is operating in single token or multi-token mode. See Properties of an Alternative Sequence in Single Token (see page 423) Properties of an Alternative Sequence in Multi Token (see page 435)

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Parallel Branch and Parallel Joint

Introduction With parallel branches, switching a single transition leads to a parallel activation of more than one (maximum 32) step (branches). Execution is from left to right. After this common activation, the individual branches are processed independently from one another. All parallel branches are grouped using a parallel joint according to IEC 61131-1. The transition following a parallel joint is evaluated when all the immediately preceding steps of the parallel joint have been set. Combining a parallel branch with an alternative joint is only possible in Multi-Token (see page 438) operation. Example of a Parallel Sequence Example of a Parallel Sequence

Properties of a Parallel Sequence see Properties of a Parallel Sequence in Single Token (see page 423) Properties of a Parallel Sequence in Multi-Token (see page 435)

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13.8
Text Object
Introduction

Text Objects

Text can be positioned in the form of text objects using SFC sequence language. The size of these text objects depends on the length of the text. This text object is at least the size of a cell and can be vertically and horizontally enlarged to other cells according to the size of the text. Text objects can overlap with other SFC objects.

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13.9

Single-Token

Overview This section describes the "Single-Token" operating mode for sequence controls. Whats in this Section? This section contains the following topics:
Topic Execution Sequence Single-Token Alternative String Sequence Jumps and Sequence Loops Parallel Strings Asymmetric Parallel String Selection Page 422 423 424 427 429

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Execution Sequence Single-Token

Description The following rules apply for single token: The original situation is defined by the initial step. The sequence string contains 1 initial step only. Only one step is ever active in the sequence string. The only exceptions are parallel branches in which one step is active per branch. The active signal status processes take place along the directional links, triggered by switching one or more transitions. The direction of the string process follows the directional links and runs from the under side of the predecessor step to the top side of the successive step. A transition is enabled if the steps immediately preceding it are active. Transitions whose immediately preceding steps are not active are not normally analyzed. A transition is triggered when the transition is enabled and the associated transition conditions are satisfied. Triggering a transition leads to the disabling (resetting) of all immediately preceding steps that are linked to the transition, followed by the activation of all immediately following steps. If more than one transition condition in a row of sequential steps has been satisfied then one step is processed per cycle. Steps cannot be activated or deactivated by other non-SFC sections. The use of macro steps is possible. Only one branch is ever active in alternative branches. The branch to be run is determined by the result of the transition conditions of the transitions that follow the alternative branch. If a transition condition is satisfied, the remaining transitions are no longer processed The branch with the satisfied transition is activated. This gives rise to a left to right priority for branches. All alternative branches are combined at the end by an alternative joint or jumps. With parallel branches, switching a single transition leads to the activation of more than one step (branch). After this common activation, the individual branches are processed independent of one another. All parallel branches are combined at the end by a parallel joint. Jumps into a parallel branch or out of a parallel branch are not possible.

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Alternative String
Alternative Strings According to IEC 61131-3, only one switch (1-off-n-select) can be made from the transitions. The branch to be run is determined by the result of the transition conditions of the transitions that follow the alternative branch. Branch transitions are processed from left to right. If a transition condition is satisfied, the remaining transitions are no longer processed The branch with the satisfied transition is activated. This results in a left to right priority for branches. If none of the transitions are switched, the step that is currently set remains set. Alternative Strings:

If...

Then

If S_5_10 is active and transition condition a then a sequence is run from S_5_10 to is true (independent of b), S_5_11. If S_5_10 is active and transition condition b then a sequence is run from S_5_10 to is true and a is false, S_5_12.

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Sequence Jumps and Sequence Loops

Sequence Jump A sequence jump is a special type of alternative branch that can be used to skip several steps of a sequence. A sequence jump can be made with jumps or with links. Sequence jump:

If... If transition condition a is true, If transition condition b is true, If transition condition e is true,

Then then a sequence is run from S_5_10 to S_5_11, S_5_12 and S_5_13. then a jump is made from S_5_10 directly to S_5_13. then a sequence is run from S_5_10 to S_5_14 and S_5_13.

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Sequence Loop A sequence loop is a special type of alternative branch with which one or more branches lead back to a previous step. A sequence loop can be made with jumps or with links. Sequence loop:

If... If transition condition a is true, If transition condition b is true, If transition condition b is false and c is true, If transition condition f is true,

Then then a sequence runs from S_1_11 to S_1_12. then a sequence runs from S_1_12 to S_1_13. then a sequence runs from S_1_12 to S_1_14. then a jump is made from S_1_14 back to S_1_12.

The loop from S_1_12 by means of transition conditions c and f back to S_1_12 is repeated until transition condition b is true or c is false and d is true.

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If... If transition conditions b and c are false and d is true,

Then then a jump is made from S_1_12 directly back to S_1_11.

The loop from S_1_11 to S_1_12 and back to S_1_11 via transition conditions a and d is repeated until transition condition b or c is true.

Infinite sequence loops are not permitted within an alternative sequence. Infinite sequence loops:

If... If transition condition b is true, If transition condition e is true, If transition condition f is true,

Then then a sequence runs from S_1_1 to S_1_3. then a jump is made to S_1_4. then a jump is made to S_1_3.

The loop from S_1_3 via transition condition e, to S_1_4 via transition condition f and a jump back to S_1_3 again, is now repeated infinitely.

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Parallel Strings
Parallel Strings With parallel branches, switching a single transition leads to a parallel activation of more than one (maximum 32) steps (branches). This applies with Single-Token as well as with Multi-Token. Processing Parallel Strings:

If...

Then

If S_5_10 is active and transition condition a, then a sequence runs from S_5_10 to S_5_11, S_5_12 and S_5_13. which belongs to the common transition, is also true, If steps S_5_11, S_5_12 and S_5_13 are activated, then the strings run independently of one another.

If S_5_14, S_5_15 and S_5_16 are active at then a sequence is run from S_5_14, S_5_15 and S_5_16 to S_5_17. the same time and transition condition e, which belongs to the common transition, is true,

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Using an Alternative Branch in a Parallel String If a single alternative branch is used in a parallel string, it leads to blocking the string with Single-Token. Using an Alternative Branch in a Parallel String:

If... If transition condition a is true, If steps S_7_1 and S_7_2 are activated, If transition condition d is true, If transition condition b is true and c is false,

Then then a sequence is run to S_7_1 and S_7_2. then the strings run independently of one another. then a sequence runs to S_7_5. then a sequence runs to S_7_3.

Since S_7_3, S_7_4 and S_7_5 are linked with a parallel merge, no sequence can follow to S_7_6 because S_7_3 and S_7_4 can never be active at the same time. (Either S_7_3 is activated with transition condition b or S_7_4 with transition condition c, never both at the same time.) Therefore S_7_3, S_7_4 and S_7_5 can never be active at the same time either. The string is blocked. The same problem occurs if transition condition b is false and c is true when entering the alternative branch.

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Asymmetric Parallel String Selection

Introduction According to IEC 61131-3, a parallel branch must always be terminated with a parallel merge. The number of parallel branches must not coincide with the number of parallel merges however. Greater Amount of Merges String with 1 Parallel Branch and 2 Parallel Merges:

If... If transition condition a is true, If steps S_19_2, S_19_3 and S_19_4 are activated, If transition condition b is true, If steps S_19_2 and S_19_5 are active and transition condition c, is true,

Then then a sequence runs to S_19_2, S_19_3 and S_19_4. then the strings run independently of one another. then a sequence runs to S_19_5. then the parallel string is departed.

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Greater Amount of Branches String with 2 Parallel Branches and 1 Parallel Merge:

If... If transition condition a is true, If steps S_19_2 and S_19_3 are activated, If transition condition b is true, If steps S_19_4 and S_19_5 are activated, If steps S_19_2, S_19_4 and S_19_5 are active and transition condition c is true,

Then then a sequence runs to S_19_2 and S_19_3. then the strings run independently of one another. then a sequence runs to S_19_4 and S_19_5. then the strings run independently of one another. then the parallel string is departed.

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Nested Parallel Strings Nested Parallel Strings:

If... If transition condition a is true, If transition condition b is true, If transition condition c is true, If steps S_8_13 and S_8_14 are active and transition condition d, is true, If steps S_8_12 and S_8_17 are active and transition condition e, is true, ...
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Then then a sequence runs to S_8_10 and S_8_11. then a sequence runs to S_8_12 and S_8_13. then a sequence runs to S_8_14, S_8_15 and S_8_16. then a sequence runs to S_8_17. then a sequence runs to S_8_18. ... 431

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13.10

Multi-Token

Overview This section describes the "Multi-Token" operating mode for sequence controls. Whats in this Section? This section contains the following topics:
Topic Multi-Token Execution Sequence Alternative String Parallel Strings Jump into a Parallel String Jump out of a Parallel String Page 433 435 438 442 444

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Multi-Token Execution Sequence

Description The following rules apply for Multi-Token: The original situation is defined in a number of initial steps (0 to 100) which can be defined. A number of steps which can be freely defined can be active at the same time in a sequence string. The active signal status processes take place along the directional links, triggered by switching one or more transitions. The direction of the string process follows the directional links and runs from the under side of the predecessor step to the top side of the successive step. A transition is enabled if the steps immediately preceding it are active. Transitions whose immediately preceding steps are not active are not analyzed. A transition is triggered when the transition is enabled and the associated transition conditions are satisfied. Triggering a transition leads to the disabling (resetting) of all immediately preceding steps that are linked to the transition, followed by the activation of all immediately following steps. If more than one transition condition in a row of sequential steps has been satisfied then one step is processed per cycle. Steps and macro steps can be activated or deactivated by other non-SFC sections or by user operations. If an active step is activated and deactivated at the same time then the step remains active. The use of macro steps is possible. Whereas the macro step section can also contain initial steps. More than one branch can be active with alternative branches. The branches to be run are determined by the result of the transition conditions of the transitions that follow the alternative branch. Branch transitions are processed in parallel. The branches with satisfied transitions are activated. All alternative branches do not have to be combined at the end by an alternative joint or jumps. If jumps are to be made into a parallel branch or out of a parallel branch then this option can be enabled. All parallel branches do not have to be combined at the end by a parallel joint in this case. Subroutine calls be used in an action section. Multiple tokens can be created with: Multiple initial steps Alternative or parallel branches that are not terminated Jumps in combination with alternative and parallel strings Activation of steps using the SFC control block SETSTEP from a non -SFC section or with SFC control instructions

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Tokens can be ended with: Simultaneous meeting of two or more tokens in a step Deactivation of steps using the SFC control block RESETSTEP from a non SFC section or with SFC control instructions

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Alternative String
Alternative Strings The user can define the behavior for the evaluation of transition conditions in alternative branches with Multi-Token. The following are possible: Processing is from left to right with a stop after the first active transition (1-off-nselect). This corresponds with the behavior of alternative strings with SingleToken (see page 423). Parallel processing of all transitions of the alternative branch (x-off-n-select) x-off-n-select With Multi-Token, more than one parallel switch can be made from the transitions (1-off-n-select). The branches to be run are determined by the result of the transition conditions of the transitions that follow the alternative branch. The transitions of the branches are all processed. All branches with satisfied transitions are activated. If none of the transitions are switched, the step that is currently set remains set. x-off-n-select:

If... If S_5_10 is active and transition condition a is true and b is false, If S_5_10 is active and transition condition a is false and b is true,
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If S_5_10 is active and transition conditions a then a sequence is run from S_5_10 to and b are true, S_5_11 and S_5_12. A second token is created by the parallel activation of the two alternative branches. These two tokens are now running parallel to one another, i.e. S_5_11 and S_5_12 are active at the same time. Token 1 (S_5_11) If... If the transition condition c is true, Then then a sequence is run from S_5_11 to S_5_13. Token 2 (S_5_12) If... If transition condition d is true, Then then a sequence is run from S_5_12 to S_5_13.

If S_5_13 is still active (token 1) because of the activation of transition condition c, then token 2 is ended and the string will be further processed as Single-Token. If S_5_13 is no longer active (token 1), then it is reactivated by token 2 and both tokens continue running parallel (Multi-Token).

If alternative branches should only be switched exclusively in this mode of operation, then this must be defined explicitly with the transition logic. Example:

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Terminating an Alternative Branch with a Parallel Merge If a parallel merge is used to terminate an alternative branch, it may block the string. Terminating an Alternative Branch with a Parallel Merge:

If...

Then

If transition condition a is true and b is false, then a sequence runs to S_6_1. Since S_6_1 and S_6_2 are linked by a parallel merge, the branch cannot be departed because S_6_1 and S_6_2 can never be active at the same time. (Either S_6_1 is activated with transition condition a or S_6_2 with transition condition b.) Therefore S_6_1 and S_6_2 can never be active at the same time either. The string is blocked. This block can be removed, for example, by a second timed token that runs via transition b.

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Parallel Strings
Parallel Strings With parallel branches, switching a single transition leads to a parallel activation of more than one (maximum 32) steps (branches). This applies with Single-Token as well as with Multi-Token Processing Parallel Strings:

If...

Then

If S_5_10 is active and transition condition a, then a sequence runs from S_5_10 to S_5_11, S_5_12 and S_5_13. which belongs to the common transition, is also true, If steps S_5_11, S_5_12 and S_5_13 are activated, then the strings run independently of one another.

If S_5_14, S_5_15 and S_5_16 are active at then a sequence is run from S_5_14, S_5_15 and S_5_16 to S_5_17. the same time and transition condition e, which belongs to the common transition, is true,

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Terminating a Parallel Branch with an Alternative Merge Terminating a parallel branch can also be done with an alternative merge instead of a parallel merge with Multi-Token. Terminating a Parallel String with an Alternative Branch (variation 1):

If... If the transition condition a is true, If steps S_5_1 and S_5_2 are activated,

Then then a sequence runs to S_5_1 and S_5_2. then the strings run independently of one another.

If transition condition b is true and c is false, then a sequence runs to S_5_3. A second token is created by the sequence running on the alternative merge out of the parallel string. The two tokens are running parallel to one another, i.e. S_5_2 and S_5_3 are active at the same time. Token 1 (S_5_3) If... Step S_5_3 is active. Then Token 2 (S_5_2) If... Step S_5_2 is active. If the transition condition c is true, then a sequence runs to S_5_3. Then

If S_5_3 is still active (token 1) then token 2 is ended and the string is further processed as Single-Token. If S_5_3 is no longer active (token 1), then it is reactivated by token 2 and both tokens continue running parallel (Multi-Token).

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Terminating a Parallel String with an Alternative Branch (variation 2):

If... If the transition condition a is true,

Then then a sequence runs to S_5_1 and S_5_2.

A second token is created by the sequence running on the alternative merge out of the parallel string. These two tokens are now running parallel to one another, i.e. S_5_1 and S_5_2 are active at the same time. Token 1 (S_5_2) If... Step S_5_2 is active. Then Token 2 (S_5_1) If... Step S_5_1 is active. If transition condition b is true, then a sequence runs to S_5_2. Then

If S_5_2 is still active (token 1) then token 2 is ended and the string is further processed as Single-Token. If S_5_2 is no longer active (token 1), then it is reactivated by token 2 and both tokens continue running parallel (Multi-Token).

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Using an Alternative Branch in a Parallel String If one single alternative branch is used in a parallel string, it may block the string. Using an Alternative Branch in a Parallel String:

If... If transition condition a is true, If steps S_7_1 and S_7_2 are activated, If transition condition d is true, If transition condition b is true,

Then then a sequence is run to S_7_1 and S_7_2. then the strings run independently of one another. then a sequence runs to S_7_5. then a sequence runs to S_7_3.

Since S_7_3, S_7_4 and S_7_5 are linked by a parallel merge, the parallel string cannot be departed because S_7_3 and S_7_4 can never be active at the same time. (Either S_7_3 is activated with transition condition b or S_7_4 with transition condition c.) Therefore S_7_3, S_7_4 and S_7_5 cannot be active at the same time either. The string is blocked. This block can be removed for example, by a second timed token that runs via transition c.

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Jump into a Parallel String

Description The ability to jump into a parallel string or out of a parallel string can be enabled optionally with multi-token A jump into a parallel string does not activate all branches. Since the transition after the parallel joint is only evaluated if all steps which directly precede the transition are set, the parallel string can no longer be departed, the string is blocking. Jump into a Parallel String Jump into a Parallel String

If... If the transition condition a is true, If steps S_1_1 and S_1_2 are activated, If S_1_2 is active and transition condition b, is true,

Then then a sequence runs to S_1_1 and S_1_2. then the strings run independently of one another. then a sequence runs from S_1_2 to S_1_3.

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If...

Then

If S_1_1 and S_1_3 are active and transition then a sequence runs from S_1_1 and S_1_3 to a jump to S_1_1. condition c, which belongs to the common transition, is true, If S_1_1 is activated by the jump, then only the branch from S_1_1 is active. The branch from S_1_2 is not active.

Since S_1_1 and S_1_3 are not active at the same time, the string cannot continue. The string is blocked. This block can removed by e.g. a second timed token that is set to reactivate step S_1_2.

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Jump out of a Parallel String

Introduction The ability to jump into a parallel string or out of a parallel string can be enabled optionally with multi-token Extra tokens are generated in all cases. Jump out of a Parallel String Jump out of a Parallel String:

If... If the transition condition a is true and b is false, If steps S_2_1 and S_2_2 are activated, If the transition condition c is true,

Then then a sequence runs to S_2_1 and S_2_2. then the strings run independently of one another. then a jump is made to S_2_3.

A second token is created by the jump out of the parallel string. Both tokens are running parallel to one another, i.e. S_2_1 and S_2_3 are active at the same time.

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Token 1 (S_2_1) If... If the transition condition e is true, Then then a sequence runs to S_2_5.

Token 2 (S_2_3) If... If transition condition d is true, If transition condition f is true, Then then a sequence runs to S_2_4. then a sequence runs to S_2_5.

If S_2_5 is still active (token 1) because of the activation of transition condition e, then token 2 is ended and the string will be further processed as Single-Token. If S_2_5 is no longer active (token 1), then it is reactivated by token 2 and both tokens continue running parallel (Multi-Token).

Jump Between Two Branches of a Parallel String Jump Between Two Branches of a Parallel String:

If... If the transition condition a is true, If steps S_4_1 and S_4_2 are activated, If transition condition b is true, If the transition condition c is true,

Then then a sequence runs to S_4_1 and S_4_2. then the strings run independently of one another. then a sequence runs to S_4_3. then a jump is made to S_4_1.

A second token is created by the jump out of a branch string. Both tokens are running parallel to one another, i.e. S_4_3 and S_4_1 are active at the same time.

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Token 1 (S_4_3) If... Step S_4_3 is processed Then

Token 2 (S_4_1) If... Then Step S_4_1 is processed If transition condition b is true, then a sequence runs to S_4_3.

If step S_4_3 is still active (token 1) during the activation by token 2 then token 2 is ended and the string will continue to be processed as Single-Token. If step S_4_3 is no longer active (token 1) because of the activation by token 2 , then it is reactivated by token 2 and both tokens continue running parallel (Multi-Token). In both cases, true transition condition d causes the parallel string to be left.

Leaving a Parallel String with an Alternative Branch Leaving a Parallel String with an Alternative Branch:

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If... If the transition condition a is true, If steps S_3_1 and S_3_2 are activated,

Then then a sequence runs to S_3_1 and S_3_2. then the strings run independently of one another.

If transition condition b is false and c is true, then a sequence runs to S_3_5. A second token is created by the sequence running on the alternative branch out of the parallel string. Both tokens are running parallel to one another, i.e. S_3_1 and S_3_5 are active at the same time. Token 1 (S_3_1) If... Then Since S_3_4 cannot become active, S_3_1 remains (token 1) active. Token 2 (S_3_5) If... If transition condition d is true, Then then a sequence runs to S_3_6.

If transition condition a is true then a sequence runs to S_3_1 and S_3_2. This ends token 2 and the string is again processed as Single-Token. If the transition condition a is true, then a sequence runs to S_3_1 and S_3_2. If transition condition b is true and c is false, then a sequence runs to S_3_4.

Since S_3_4 cannot become active, S_3_1 remains (token 1) active until a sequence appears on S_3_2 (token 2) and the transition is b. If S_4_4 is no longer active (token 1), then it is reactivated by token 2 and both tokens continue running parallel (Multi-Token). (Merging the two tokens can also be done in S_4_3.)

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Instruction List (IL)

14
Overview This chapter describes the programming language instruction list IL which conforms to IEC 61131. Whats in this Chapter? This chapter contains the following sections:
Section 14.1 14.2 Topic General Information about the IL Instruction List Calling Elementary Functions, Elementary Function Blocks, Derived Function Blocks and Procedures Page 450 472

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14.1

General Information about the IL Instruction List

Overview This section contains a general overview of the IL instruction list. Whats in this Section? This section contains the following topics:
Topic General Information about the IL Instruction List Operands Modifier Operators Subroutine Call Labels and Jumps Comment Page 451 454 457 459 468 469 471

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General Information about the IL Instruction List

Introduction Using the Instruction list programming language (IL), you can call function blocks and functions conditionally or unconditionally, perform assignments and make jumps conditionally or unconditionally within a section. Instructions An instruction list is composed of a series of instructions. Each instruction begins on a new line and consists of: an Operator (see page 459), if necessary with a Modifier (see page 457) and if necessary one or more Operands (see page 454) Should several operands be used, they are separated by commas. It is possible for a Label (see page 469) to be in front of the instruction. This label is followed by a colon. A Comment (see page 471) can follow the instruction. Example:

Structure of the Programming Language IL is a so-called accumulator orientated language, i.e. each instruction uses or alters the current content of the accumulator (a form of internal cache). IEC 61131 refers to this accumulator as the "result". For this reason, an instruction list should always begin with the LD operand ("Load in accumulator command").

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Example of an addition:
Command Meaning LD 10 ADD 25 ST A Load the value 10 into the accumulator. "25" is added to the contents of the accumulator. The result is stored in the variable A. The content of the variable A and the accumulator is now 35. Any further instruction will work with accumulator contents "35" if it does not begin with LD.

Compare operations likewise always refer to the accumulator. The Boolean result of the comparison is stored in the accumulator and therefore becomes the current accumulator content. Example of a comparison:
Command LD B GT 10 ST A Meaning The value B is loaded into the accumulator. 10 is compared with the contents of the accumulator. The result of the comparison is stored in the variable A. If B is less than or equal to 10, the value of both variable A and the accumulator content is 0 (FALSE). If B is greater than 10, the value of both variable A and the accumulator content is 1 (TRUE).

Section Size The length of an instruction line is limited to 300 characters. The length of an IL section is not limited within the programming environment. The length of an IL section is only limited by the size of the PLC memory. Syntax Identifiers and Keywords are not case sensitive. Spaces and tabs have no influence on the syntax and can be used as and when required, Exception: Not allowed - spaces and tabs keywords literals values identifiers variables and limiter combinations [e.g. (* for comments)]

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Execution Sequence Instructions are executed line by line, from top to bottom. This sequence can be altered with the use of parentheses. If, for example, A, B, C and D have the values 1, 2, 3 and 4, and are calculated as follows: LD A ADD B SUB C MUL C ST E the result in E will be 0. In the case of the following calculation: LD A ADD B SUB( LD C MUL D ) ST E the result in E will be -9. Error Behavior The following conditions are handled as an error when executing an expression: Attempting to divide by 0. Operands do not contain the correct data type for the operation. The result of a numerical operation exceeds the value range of its data type IEC Conformity For a description of IEC conformity for the IL programming language, see IEC Conformity (see page 639).

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Operands
Introduction Operators are used for operands. An operand can be: an address a literal a variable a multi-element variable an element of a multi-element variable an EFB/DFB output or an EFB/DFB call Data Types The operand and the current accumulator content must be of the same type. Should operands of various types be processed, a type conversion must be performed beforehand. In the example the integer variable i1 is converted into a real variable before being added to the real variable r4. LD i1 INT_TO_REAL ADD r4 ST r3 As an exception to this rule, variables with data type TIME can be multiplied or divided by variables with data type INT, DINT, UINT or UDINT. Permitted operations: LD timeVar1 DIV dintVar1 ST timeVar2 LD timeVar1 MUL intVar1 ST timeVar2 LD timeVar1 MUL 10 ST timeVar2 This function is listed by IEC 61131-3 as "undesired" service.

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Direct Use of Addresses Addresses can be used directly (without a previous declaration). In this case the data type is assigned to the address directly. The assignment is made using the "Large prefix". The different large prefixes are given in the following table.
Large prefix / Symbol no prefix X B W D F Example %I10, %CH203.MOD, %CH203.MOD.ERR %MX20 %QB102.3 %KW43 %QD100 %MF100 Data type BOOL BOOL BYTE INT DINT REAL

Using Other Data Types Should other data types be assigned as the default data types of an address, this must be done through an explicit declaration. This variable declaration takes place comfortably using the variable editor. The data type of an address can not be declared directly in an ST section (e.g. declaration AT %MW1: UINT; not permitted). The following variables are declared in the variable editor: UnlocV1: ARRAY [1..10] OF INT; LocV1: ARRAY [1..10] OF INT AT %MW100; LocV2: TIME AT %MW100; The following calls then have the correct syntax: %MW200 := 5; LD LocV1[%MW200] ST UnlocV1[2] LD t#3s ST LocV2

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Accessing Field Variables When accessing field variables (ARRAY), only literals and variables of INT, DINT, UINT and UDINT types are permitted in the index entry. The index of an ARRAY element can be negative if the lower threshold of the range is negative. Example: Saving a field variable LD var1[i] ST var2.otto[4]

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Modifier
Introduction Modifiers influence the execution of the operators (see Operators, page 459). Table of Modifiers Table of Modifiers:
Modifier Use of Operators of data type BOOL, BYTE, WORD, DWORD Description

The modifier N is used to invert the value of the operands bit by bit. Example: In the example C is 1, if A is 1 and B is 0. LD A ANDN B ST C The modifier C is used to carry out the associated instruction, should the value of the accumulator be 1 (TRUE). Example: In the example, the jump after START is only performed when A is 1 (TRUE) and B is 1 (TRUE). LD A AND B JMPC START If the modifiers C and N are combined, the associated instruction is only performed if the value of the accumulator be a Boolean 0 (FALSE). Example: In the example, the jump after START is only performed when A is 0 (FALSE) and B is 0 (FALSE). LD A AND B JMPCN START

BOOL

CN

BOOL

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Modifier

Use of Operators of data type all

Description

The left bracket modifier (is used to move back the evaluation of the operand, until the right bracket operator) appears. The number of right parenthesis operations must be equal to the number of left bracket modifiers. Brackets can be nested. Example: In the example E is 1, if C and/or D is 1 and A and B are 1. LD A AND B AND( C OR D ) ST E The example can also be programmed in the following manner: LD A AND B AND( LD C OR D ) ST E

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Operators
Introduction An operator is a symbol for: an arithmetic operation to be executed, a logical operation to be executed or calling an elementary function block - DFBs or subroutines. Operators are generic, i.e. they adapt automatically to the data type of the operands. Load and Save Operators IL programming language load and save operators:
Operator LD Modifier N (only for operands of data type BOOL, BYTE, WORD or DWORD) Meaning Loads the operands value into the accumulator Operands Description

The value of an operand is loaded into the Literal, variable, direct address of any accumulator using LD. The size of the accumulator adapts automatically to the data type data type of the operand. This also applies to the derived data types. Example: In this example the value of A is loaded into the accumulator, the value of B then added and the result saved in E. LD A ADD B ST E

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Operator ST

Modifier N (only for operands of data type BOOL, BYTE, WORD or DWORD)

Meaning Saves the accumulator value in the operand

Operands Variable, direct address of any data type

Description The current value of the accumulator is stored in the operand using ST. The data type of the operand must be the same as the "data type" of the accumulator. Example: In this example the value of A is loaded into the accumulator, the value of B then added and the result saved in E. LD A ADD B ST E The "old" result is used in subsequent calculations, depending on whether or not an LD follows an ST. Example: In this example the value of A is loaded into the accumulator, the value of B then added and the result saved in E. The value of B is then subtracted from the value of E (current accumulator content) and the result saved in C. LD A ADD B ST E SUB 3 ST C

Set and Reset Operators Set and reset operators of the IL programming language:
Operator S Modifier Meaning Sets the operand to 1, when the accumulator content is 1 Operands Variable, direct address of BOOL data type Description S sets the operand to "1" when the current content of the accumulator is a Boolean 1. Example: In this example the value of A is loaded to the accumulator. If the content of the accumulator (value of A) is 1, then OUT is set to 1. LD A S OUT Usually this operator is used together with the reset operator R as a pair. Example: This example shows a RS flip-flop (reset dominant) that is controlled through the two Boolean variables A and C. LD A S OUT LD C R OUT

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Operator R

Modifier -

Meaning Sets the operand to 0 when the accumulator content is 1

Operands Variable, direct address of BOOL data type

Description R sets the operand to "0" when the current content of the accumulator is a Boolean 1. Example: In this example the value of A is loaded to the accumulator. If the content of the accumulator (value of A) is 1, then OUT is set to 0. LD A R OUT Usually this operator is used together with the set operator S as a pair. Example: This example shows a SR flip-flop (set dominant) that is controlled through the two Boolean variables A and C. LD A R OUT LD C S OUT

Logical Operators IL programming language logic operators:

Operator AND Modifier N, N(, ( Meaning Logical AND Operands Literal, variable, direct address of BOOL, BYTE, WORD or DWORD data types Description The AND operator makes a logical AND link between the accumulator content and the operand. In the case of BYTE, WORD and DWORD data types, the link is made bit by bit. Example: In the example D is 1 if A, B and C are 1. LD A AND B AND C ST D The OR operator makes a logical OR link between the accumulator content and the operand. In the case of BYTE, WORD and DWORD data types, the link is made bit by bit. Example: In the example D is 1 if A or B are 1 and C is 1. LD A OR B OR C ST D

OR

N, N(, (

Logical OR

Literal, variable, direct address of BOOL, BYTE, WORD or DWORD data types

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Operator XOR

Modifier N, N(, (

Meaning Logical exclusive OR

Operands Literal, variable, direct address of BOOL, BYTE, WORD or DWORD data types

Description The XOR operator makes a logical exclusive OR link between the accumulator content and the operand. If more than two operands are linked, the result with an uneven number of 1-states is 1, and is 0 with an even number of 1-states. In the case of BYTE, WORD and DWORD data types, the link is made bit by bit. Example: In the example D is 1 if A or B is 1. If A and B have the same status (both 0 or 1), D is 0. LD A XOR B ST D If more than two operands are linked, the result with an uneven number of 1-states is 1, and is 0 with an even number of 1-states. Example: In the example F is 1 if 1 or 3 operands are 1. F is 0 if 0, 2 or 4 operands are 1. LD A XOR B XOR C XOR D XOR E ST F The accumulator content is inverted bit by bit with NOT. Example: In the example B is 1 if A is 0 and B is 0 if A is 1. LD A NOT ST B

NOT

Logical negation (complement)

Accumulator contents of data types BOOL, BYTE, WORD or DWORD

Arithmetic Operators IL programming language Arithmetic operators:

Operator ADD Modifier ( Meaning Addition Operands Literal, variable, direct address of data types INT, DINT, UINT, UDINT, REAL or TIME Description With ADD the value of the operand is added to the value of the accumulator contents. Example: The example corresponds to the formula D = A + B + C LD A ADD B ADD C ST D

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Operator SUB

Modifier (

Meaning Subtraction

Operands Literal, variable, direct address of data types INT, DINT, UINT, UDINT, REAL or TIME

Description With SUB the value of the operand is subtracted from the accumulator content. Example: The example corresponds to the formula D = A - B - C LD A SUB B SUB C ST D The MUL operator multiplies the content of the accumulator by the value of the operand. Example: The example corresponds to the formula D = A * B * C LD A MUL B MUL C ST D Note: The MULTIME function in the obsolete library is available for multiplications involving the data type Time. The DIV operator divides the contents of the accumulator by the value of the operand. Example: The example corresponds to the formula D = A / B / C LD A DIV B DIV C ST D Note: The DIVTIME function in the obsolete library is available for divisions involving the data type Time. The MOD operator divides the value of the first operand by the value of the second and returns the remainder (Modulo) as the result. Example: In this example C is 1 if A is 7 and B is 2 C is 1 if A is 7 and B is -2 C is -1 if A is -7 and B is 2 C is -1 if A is -7 and B is -2 LD A MOD B ST C

MUL

Multiplication

Literal, variable, direct address of data type INT, DINT, UINT, UDINT or REAL

DIV

Division

Literal, variable, direct address of data type INT, DINT, UINT, UDINT or REAL

MOD

Modulo Division

Literal, variable, direct address of INT, DINT, UINT or UDINT data types

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Comparison Operators IL programming language comparison operators:

Operator GT Modifier ( Meaning Comparison: > Operands Literal, variable, direct address of data type BOOL, BYTE, WORD, DWORD, STRING, INT, DINT, UINT, UDINT, REAL, TIME, DATE, DT or TOD Description The GT operator compares the contents of the accumulator with the contents of the operand. If the contents of the accumulator are greater than the contents of the operands, the result is a Boolean 1. If the contents of the accumulator are less than/equal to contents of the operands, the result is a Boolean 0. Example: In the example the value of D is 1 if A is greater than 10, otherwise the value of D is 0. LD A GT 10 ST D The GE operator compares the contents of the accumulator with the contents of the operand. If the contents of the accumulator are greater than/equal to the contents of the operands, the result is a Boolean 1. If the contents of the accumulator are less than the contents of the operands, the result is a Boolean 0. Example: In the example the value of D is 1 if A is greater than or equal to 10, otherwise the value of D is 0. LD A GE 10 ST D The EQ operator compares the contents of the accumulator with the contents of the operand. If the contents of the accumulator is equal to the contents of the operands, the result is a Boolean 1. If the contents of the accumulator are not equal to the contents of the operands, the result is a Boolean 0. Example: In the example the value of D is 1 if A is equal to 10, otherwise the value of D is 0. LD A EQ 10 ST D

GE

Comparison: >= Literal, variable, direct address of data type BOOL, BYTE, WORD, DWORD, STRING, INT, DINT, UINT, UDINT, REAL, TIME, DATE, DT or TOD

EQ

Comparison: =

Literal, variable, direct address of data type BOOL, BYTE, WORD, DWORD, STRING, INT, DINT, UINT, UDINT, REAL, TIME, DATE, DT or TOD

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Operator NE

Modifier (

Meaning

Operands

Description The NE operator compares the contents of the accumulator with the contents of the operand. If the contents of the accumulator are not equal to the contents of the operands, the result is a Boolean 1. If the contents of the accumulator are equal to the contents of the operands, the result is a Boolean 0. Example: In the example the value of D is 1 if A is not equal to 10, otherwise the value of D is 0. LD A NE 10 ST D The LE operator compares the contents of the accumulator with the contents of the operand. If the contents of the accumulator are less than/equal to the contents of the operands, the result is a Boolean 1. If the contents of the accumulator are greater than the contents of the operands, the result is a Boolean 0. Example: In the example the value of D is 1 if A is smaller than or equal to 10, otherwise the value of D is 0. LD A LE 10 ST D The LT operator compares the contents of the accumulator with the contents of the operand. If the contents of the accumulator is less than the contents of the operands, the result is a Boolean 1. If the contents of the accumulator is greater than/equal to contents of the operands, the result is a Boolean 0. Example: In the example the value of D is 1 if A is smaller than 10, otherwise the value of D is 0. LD A LT 10 ST D

Comparison: <> Literal, variable, direct address of data type BOOL, BYTE, WORD, DWORD, STRING, INT, DINT, UINT, UDINT, REAL, TIME, DATE, DT or TOD

LE

Comparison: <= Literal, variable, direct address of data type BOOL, BYTE, WORD, DWORD, STRING, INT, DINT, UINT, UDINT, REAL, TIME, DATE, DT or TOD

LT

Comparison: <

Literal, variable, direct address of data type BOOL, BYTE, WORD, DWORD, STRING, INT, DINT, UINT, UDINT, REAL, TIME, DATE, DT or TOD

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Call Operators IL programming language call operators:

Operator CAL Modifier C, CN (only if the accumulator contents are of the BOOL data type) Meaning Operands Description A function block, DFB or subprogram is called up conditionally or unconditionally with CAL. see also Calling Elementary Function Blocks and Derived Function Blocks, page 478 and Subroutine Call, page 468

Instance name of the Call of a function block, function block, DFB or subprogram DFB or subprogram

FUNCTIO NNAME

Executing a function

A function is performed by specifying the name of Literal, variable, direct address (data the function. type is dependent on see also Calling Elementary Functions, page 473 function) A procedure is performed by specifying the name Literal, variable, direct address (data of the procedure. type is dependent on see also Calling Procedures, page 489 procedure)

PROCEDU RENAME

Executing a procedure

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Structuring Operators IL programming language structuring operators:

Operator JMP Modifier C, CN (only if the accumulator contents are of the BOOL data type) C, CN (only if the accumulator contents are of the BOOL data type) Meaning Jump to label Operands LABEL Description With JMP a jump to the label can be conditional or unconditional. see also Labels and Jumps, page 469

RET

Return to the next highest program organization unit

RETURN operators can be used in DFBs (derived function blocks) and in SRs (subroutines). RETURN operators can not be used in the main program. In a DFB, a RETURN operator forces the return to the program which called the DFB. The rest of the DFB section containing the RETURN operator is not executed. The next sections of the DFB are not executed. The program which called the DFB will be executed after return from the DFB. If the DFB is called by another DFB, the calling DFB will be executed after return. In a SR, a RETURN operator forces the return to the program which called the SR. The rest of the SR containing the RETURN operator is not executed. The program which called the SR will be executed after return from the SR.

Processing deferred operations

A right bracket ) starts the processing of the deferred operator. The number of right bracket operations must be equal to the number of left bracket modifiers. Brackets can be nested. Example: In the example E is 1 if C and/or D is 1 and A and B are 1. LD A AND B AND( C OR D ) ST E

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Subroutine Call
Call Subroutine A subroutine call consists of the CAL operator, followed by the name of the subroutine section, followed by an empty parameter list (optional). Subroutine calls do not return a value. The subroutine to be called must be located in the same task as the IL section called. Subroutines can also be called from within subroutines. e.g. ST A CAL SubroutineName () LD B or ST A CAL SubroutineName LD B Subroutines are a supplement to IEC 61131-3 and must be enabled explicitly. In SFC action sections, subroutine calls are only allowed when Multitoken Operation is enabled.

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Labels and Jumps

Introduction Labels serve as destinations for Jumps. Label Properties: Label properties: Labels must always be the first element in a line. The name must be clear throughout the directory, and it is not upper/lower case sensitive. Labels can be 32 characters long (max.). Labels must conform to the IEC name conventions. Labels are separated by a colon : from the following instruction. Labels are only permitted at the beginning of "Expressions", otherwise an undefined value can be found in the battery. Example: start: LD A AND B OR C ST D JMP start Jump Properties: Jump properties: With JMP operation a jump to the label can be restricted or unrestricted. JMP can be used with the modifiers C and CN (only if the battery content is data type BOOL). Jumps can be made within program and DFB sections. Jumps are only possible in the current section. Possible destinations are: the first LD instruction of an EFB/DFB call with assignment of input parameters (see start2), a normal LD instruction (see start1), a CAL instruction, which does not work with assignment of input parameters (see start3), a JMP instruction (see start4), the end of an instruction list (see start5).

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Example start2: LD A ST counter.CU LD B ST counter.R LD C ST counter.PV CAL counter JMPCN start4 start1: LD A AND B OR C ST D JMPC start3 LD A ADD E JMP start5 start3: CAL counter ( CU:=A R:=B PV:=C ) JMP start1 LD A OR B OR C ST D start4: JMPC start1 LD C OR B start5: ST A

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Comment
Description In the IL editor, comments always start with the string (* and end in the string *). Any comments can be entered between these character strings. Nesting comments is not permitted according to IEC 61131-3. If comments are nested nevertheless, then they must be enabled explicitly.

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14.2

Calling Elementary Functions, Elementary Function Blocks, Derived Function Blocks and Procedures

Overview Calling Elementary Functions, Elementary Function Blocks, Derived Function Blocks and Procedures in the IL programming language. Whats in this Section? This section contains the following topics:
Topic Calling Elementary Functions Calling Elementary Function Blocks and Derived Function Blocks Calling Procedures Page 473 478 489

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Calling Elementary Functions

Using Functions Elementary functions are provided in the form of libraries. The logic of the functions is created in the programming language C and may not be modified in the IL editor. Functions have no internal states. If the input values are the same, the value on the output is the same every time the function is called. For example, the addition of two values always gives the same result. With some elementary functions, the number of inputs can be increased. Elementary functions only have one return value (output). Parameters "Inputs" and one "output" are required to transfer values to or from a function. These are called formal parameters. The current process states are transferred to the formal parameters. These are called actual parameters. The following can be used as actual parameters for function inputs: Variable Address Literal The following can be used as actual parameters for function outputs: Variable Address The data type of the actual parameters must match the data type of the formal parameters. The only exceptions are generic formal parameters whose data type is determined by the actual parameter. When dealing with generic ANY_BIT formal parameters, actual parameters of the INT or DINT (not UINT and UDINT) data types can be used. This is a supplement to IEC 61131-3 and must be enabled explicitly. Example: Allowed: AND (AnyBitParam := IntVar1, AnyBitParam2 := IntVar2) Not allowed: AND_WORD (WordParam1 := IntVar1, WordParam2 := IntVar2) (In this case, AND_INT must be used.) AND_ARRAY_WORD (ArrayInt, ...) (In this case an explicit type conversion must be carried out using INT_ARR_TO_WORD_ARR (...).
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Not all formal parameters must be assigned a value for formal calls. Which formal parameter types must be assigned a value can be seen in the following table.
Parameter type Input VAR_IN_OUT Output + / EDT + STRING + ARRAY + + ANY_ARRAY IODDT + + + + STRUCT FB + + + / / ANY + + -

Actual parameter required Actual parameter not required not applicable

If no value is assigned to a formal parameter, the initial value will be used when the function is executed. If no initial value has been defined, the default value (0) is used. Programming Notes Attention should be paid to the following programming notes: Functions are only executed if the input EN=1 or the EN input is not used (see also EN and ENO (see page 477)). All generic functions are overloaded. This means the functions can be called with or without entering the data type. E.g. LD i1 ADD i2 ST i3 is identical to LD i1 ADD_INT i2 ST i3 In contrast to ST, functions in IL cannot be nested. There are two ways of invoking a function: Formal call (calling a function with formal parameter names) Informal call (calling a function without formal parameter names)

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Formal Call With this type of call (call with formal parameter names), the function is called using an instruction sequence consisting of the function name, followed by the bracketed list of value assignments (actual parameters) to the formal parameters. The order in which the formal parameters are listed is not significant. The list of actual parameters may be wrapped immediately following a comma. After executing the function the result is loaded into the accumulator and can be stored using ST. EN and ENO can be used for this type of call. Calling a function with formal parameter names:

or LIMIT ( MN:=0, IN:=var1, MX:=var2 ) ST out Calling the same function in FBD:

With formal calls, values do not have to be assigned to all formal parameters (see also Parameter (see page 473)). LIMIT (MN:=0, IN:=var1) ST out Calling the same function in FBD:

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Informal Call With this type of call (call without formal parameter names), the function is called using an instruction sequence made up by loading the first actual parameter into the accumulator, followed by the function name and an optional list of actual parameters. The order in which the actual parameters are listed is significant. The list of actual parameters cannot be wrapped. After executing the function the result is loaded into the accumulator and can be stored using ST. EN and ENO cannot be used for this type of call. Calling a function with formal parameter names:

Calling the same function in FBD:

NOTE: Note that when making an informal call, the list of actual parameters cannot be put in brackets. IEC 61133-3 requires that the brackets be left out in this case to illustrate that the first actual parameter is not a part of the list. Invalid informal call for a function:

If the value to be processed (first actual parameter) is already in the accumulator, the load instruction can be omitted. LIMIT B,C ST result If the result is to be used immediately, the store instruction can be omitted. LD A LIMIT_REAL B,C MUL E

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If the function to be executed only has one input, the name of the function is not followed by a list of actual parameters. Calling a function with one actual parameter:

Calling the same function in FBD:

EN and ENO With all functions an EN input and an ENO output can be configured. If the value of EN is equal to "0" when the function is called, the algorithms defined by the function are not executed and ENO is set to "0". If the value of EN is equal to 1 when the function is called, the algorithms defined by the function are executed. After the algorithms have been executed successfully, the value of ENO is set to "1". If an error occurred while executing the algorithms, ENO is set to "0". If the EN pin is not assigned a value, when the FFB is invoked, the algorithm defined by the FFB is executed (same as if EN equals to "1"). If ENO is set to "0" (caused when EN=0 or an error occurred during execution), the output of the function is set to "0". The output behavior of the function does not depend on whether the function was called up without EN/ENO or with EN=1. If EN/ENO are used, the function call must be formal. LIMIT (EN:=1, MN:=0, IN:=var1, MX:=5, ENO=>var2) ST out Calling the same function in FBD:

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Calling Elementary Function Blocks and Derived Function Blocks

Elementary Function Block Elementary function blocks have internal states. If the inputs have the same values, the value on the output can have another value during the individual operations. For example, with a counter, the value on the output is incremented. Function blocks can have several output values (outputs). Derived Function Block Derived function blocks (DFBs) have the same properties as elementary function blocks. The user can create them in the programming languages FBD, LD, IL, and/or ST. Parameter "Inputs and outputs" are required to transfer values to or from function blocks. These are called formal parameters. The current process states are transferred to the formal parameters. They are called actual parameters. The following can be used as actual parameters for function block inputs: Variable Address Literal The following can be used as actual parameters for function block outputs: Variable Address The data type of the actual parameters must match the data type of the formal parameters. The only exceptions are generic formal parameters whose data type is determined by the actual parameter. Exception: When dealing with generic ANY_BIT formal parameters, actual INT or DINT (not UINT and UDINT) parameters can be used. This is a supplement to IEC 61131-3 and must be enabled explicitly. Example: Allowed: AND (AnyBitParam := IntVar1, AnyBitParam2 := IntVar2)

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Not allowed: AND_WORD (WordParam1 := IntVar1, WordParam2 := IntVar2) (In this case, AND_INT must be used.) AND_ARRAY_WORD (ArrayInt, ...) (In this case an explicit type conversion must be carried out using INT_ARR_TO_WORD_ARR (...). Not all formal parameters need be assigned a value. You can see which formal parameter types must be assigned a value in the following table.
Parameter type EFB: Input EDT STRING + + + + ARRAY + + + + + + ANY_ARRAY IODDT + + + + + / / + + / + / STRUCT FB + + + + / / / / / / ANY + + + + + +

EFB: VAR_IN_OUT + EFB: Output DFB: Input -

DFB: VAR_IN_OUT + DFB: Output + / -

Actual parameter required Actual parameter not required not applicable

If no value is allocated to a formal parameter, then the initial value will be used for executing the function block. If no initial value has been defined then the default value (0) is used. If a formal parameter is not assigned a value and the function block/DFB is instanced more than once, then the following instances are run with the old value. Public Variables In addition to inputs and outputs, some function blocks also provide public variables. These variables transfer statistical values (values that are not influenced by the process) to the function block. They are used for setting parameters for the function block. Public variables are a supplement to IEC 61131-3. The assignment of values to public variables is made via their initial values or via the load and save instructions.

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Example:

Public variables are read via the instance name of the function block and the names of the public variables. Example:

Private Variables In addition to inputs, outputs and public variables, some function blocks also provide private variables. Like public variables, private variables are used to transfer statistical values (values that are not influenced by the process) to the function block. Private variables can not be accessed by user program. These type of variables can only be accessed by the animation table. NOTE: Nested DFBs are declared as private variables of the parent DFB. So their variables are also not accessible through programming, but trough the animation table. Private variables are a supplement to IEC 61131-3. Programming Notes Attention should be paid to the following programming notes: Functions are only executed if the input EN=1 or the EN input is not used (see also EN and ENO (see page 486)). The assignment of variables to ANY or ARRAY output types must be made using the => operator (see also Formal Form of CAL with a List of the Input Parameters (see page 481)). Assignments cannot be made outside the function block call. The instruction My_Var := My_SAH.OUT is invalid, if the output OUT of the SAH function block is of type ANY.

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The instruction Cal My_SAH (OUT=>My_Var) is valid. Special conditions apply when using VAR_IN_OUT variables (see page 487). The use of function blocks consists of two parts: the Declaration (see page 481) calling the function block There are four ways of calling a function block: Formal Form of CAL with a list of input parameters (see page 481) (call with formal parameter names) In this case variables can be assigned to outputs using the => operator. Informal form of CAL with a list of input parameters (see page 483) (call without formal parameter names) CAL and Load/Save (see page 484) the input parameter Use of the input operators (see page 484) Function block/DFB instances can be called multiple times; other than instances of communication EFBs, these can only be called once (see Multiple Call of a Function Block Instance (see page 486)). Declaration Before calling a function block it must be declared in the variables editor. Formal Form of CAL with a List of Input Parameters With this type of call (call with formal parameter names), the function block is called using a CAL instruction which follows the instance name of the function block and a bracketed list of actual parameter assignments to the formal parameters. The assignment of the input formal parameter is made using the := assignment and the output formal parameter is made using the => assignment. The sequence in which the input formal parameters and output formal parameters are enumerated is not significant. The list of actual parameters may be continued immediately following a comma. EN and ENO can be used for this type of call. Function block call in the formal form of CAL with a list of input parameters:

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or CAL MY_COUNT (CU:=var1, R:=reset, PV:=100, Q=>out, CV=>current) Calling the same function block in FBD:

It is not necessary to assign a value to all formal parameters (see also Parameter (see page 478)). CAL MY_COUNT (CU:=var1, R:=reset, Q=>out, CV=>current) Calling the same function block in FBD:

The value of a function block output can be stored and then saved by loading the function block output (function block instance name and separated by a full stop or entering the formal parameter). Loading and saving function block outputs:

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Informal Form of CAL with a List of Input Parameters With this type of call (call without formal parameter names), the function block is called using a CAL instruction, that follows the instance name of the function block and a bracketed list of actual parameter for the inputs and outputs. The order in which the actual parameters are listed in a function block call is significant. The list of actual parameters cannot be wrapped. EN and ENO cannot be used for this type of call. Function block call in the informal form of CAL with a list of input parameters:

Calling the same function block in FBD:

With informal calls it is not necessary to assign a value to all formal parameters (see also Parameter (see page 478)). This is a supplement to IEC 61131-3 and must be enabled explicitly. An empty parameter field is used to omit a parameter. Call with empty parameter field: CAL MY_COUNT (var1, , 100, out, current) Calling the same function block in FBD:

An empty parameter field does not have to be used if formal parameters are omitted at the end. MY_COUNT (var1, reset)

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Calling the same function block in FBD:

CAL and Load/Save the Input Parameters Function blocks may be called with an instruction list consisting of loading the actual parameters, followed by saving into the formal parameter, followed by the CAL instruction. The sequence of loading and saving the parameters is not significant. Only load and save instructions for the function block currently being configured are allowed between the first load instruction for the actual parameters and the call of the function block. All other instructions are not allowed in this position. It is not necessary to assign a value to all formal parameters (see also Parameter (see page 478)). CAL with Load/Save the input parameters:

Use of the Input Operators Function blocks can be called using an instruction list that consists of loading the actual parameters followed by saving them in the formal parameters followed by an input operator. The sequence of loading and saving the parameters is not significant. Only load and save instructions for the function block currently being configured are allowed between the first load instruction for the actual parameters and the input operator of the function block. All other instructions are not allowed in this position. EN and ENO cannot be used for this type of call.

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It is not necessary to assign a value to all formal parameters (see also Parameter (see page 478)). The possible input operators for the various function blocks can be found in the table. Additional input operators are not available.
Input Operator S1, R S, R1 CLK CLK CU, R, PV CD, LD, PV CU, CD, R, LD, PV IN, PT IN, PT IN, PT FB type SR RS R_TRIG F_TRIG CTU_INT, CTU_DINT, CTU_UINT, CTU_UDINT CTD_INT, CTD_DINT, CTD_UINT, CTD_UDINT CTUD_INT, CTUD_DINT, CTUD_UINT, CTUD_UDINT TP TON TOF

Use of the input operators:

Calling a Function Block without Inputs Even if the function block has no inputs or the inputs are not to be parameterized, the function block should be called before its outputs can be used. Otherwise the initial values of the outputs will be transferred, i.e. "0". E.g. Calling the function block in the IL programming language: CAL MY_CLOCK ()CAL MY_COUNT (CU:=MY_CLOCK.CLK1, R:=reset, PV:=100) LD MY_COUNT.Q ST out LD MY_COUNT.CV ST current

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Calling the same function block in FBD:

Multiple Function Block Instance Call Function block/DFB instances can be called multiple times; other than instances of communication EFBs, these can only be called once. Calling the same function block/DFB instance more than once makes sense, for example, in the following cases: If the function block/DFB has no internal value or it is not required for further processing. In this case, memory is saved by calling the same function block/DFB instance more than once since the code for the function block/DFB is only loaded one time. The function block/DFB is then handled like a "Function". If the function block/DFB has an internal value and this is supposed to influence various program segments, for example, the value of a counter should be increased in different parts of the program. In this case, calling the same function block/DFB means that temporary results do not have to be saved for further processing in another part of the program. EN and ENO With all function blocks/DFBs, an EN input and an ENO output can be configured. If the value of EN is equal to "0", when the function block/DFB is called, the algorithms defined by the function block/DFB are not executed and ENO is set to "0". If the value of EN is equal to "1", when the function block/DFB is invoked, the algorithms which are defined by the function block/DFB will be executed. After the algorithms have been executed successfully, the value of ENO is set to "1". If an error occurs when executing these algorithms, ENO is set to "0". If the EN pin is not assigned a value, when the FFB is invoked, the algorithm defined by the FFB is executed (same as if EN equals to "1"). If ENO is set to "0" (results from EN=0 or an error during execution), the outputs of the function block/DFB retain the status from the last cycle in which they were correctly executed. The output behavior of the function blocks/DFBs does not depend on whether the function blocks/DFBs are called without EN/ENO or with EN=1.

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If EN/ENO are used, the function block call must be formal. The assignment of variables to ENO must be made using the => operator. CAL MY_COUNT (EN:=1, CU:=var1, R:=reset, PV:=value, ENO=>error, Q=>out, CV=>current) ; Calling the same function block in FBD:

VAR_IN_OUT Variable Function blocks are often used to read a variable at an input (input variables), to process it and to output the updated values of the same variable (output variables). This special type of input/output variable is also called a VAR_IN_OUT variable. The following special features are to be noted when using function blocks/DFBs with VAR_IN_OUT variables. All VAR_IN_OUT inputs must be assigned a variable. VAR_IN_OUT inputs may not have literals or constants assigned to them. VAR_IN_OUT outputs may not have values assigned to them. VAR_IN_OUT variables cannot be used outside the block call. Calling a function block with a VAR_IN_OUT variable in IL: CAL MY_FBLOCK(IN1:=V1, IN2:=V2, IO1:=V3, OUT1=>V4, OUT2=>V5) Calling the same function block in FBD:

VAR_IN_OUT variables cannot be used outside the function block call.

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The following function block calls are therefore invalid: Invalid call, example 1:
LD V1 CAL InOutFB Loading a V1 variable in the accumulator Calling a function block with the VAR_IN_OUT parameter. The accumulator now contains a reference to a VAR_IN_OUT parameter. AND operation on accumulator contents and V2 variable. Error: The operation cannot be performed since the VAR_IN_OUT parameter (accumulator contents) cannot be accessed from outside the function block call.

AND V2

Invalid call, example 2:

LD V1 AND InOutFB.inout Loading a V1 variable in the accumulator AND operation on accumulator contents and a reference to a VAR_IN_OUT parameter. Error: The operation cannot be performed since the VAR_IN_OUT parameter cannot be accessed from outside the function block call.

The following function block calls are always valid: Valid call, example 1:
CAL InOutFB (IN1:=V1,inout:=V2 Calling a function block with the VAR_IN_OUT parameter and assigning the actual parameter within the function block call.

Valid call, example 2:

LD V1 ST InOutFB.IN1 CAL InOutFB(inout:=V2) Loading a V1 variable in the accumulator Assigning the accumulator contents to the IN1 parameter of the IN1 function block. Calling the function block with assignment of the actual parameter (V2) to the VAR_IN_OUT parameter.

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Calling Procedures
Procedure Procedures are provided in the form of libraries. The logic of the procedure is created in the programming language C and may not be modified in the IL editor. Procedures - like functions - have no internal states. If the input values are the same, the value on the output is the same every time the procedure is executed. For example, the addition of two values gives the same result every time. In contrast to functions, procedures do not return a value and support VAR_IN_OUT variables. Procedures are a supplement to IEC 61131-3 and must be enabled explicitly. Parameter "Inputs and outputs" are required to transfer values to or from procedures. These are called formal parameters. The current process states are transferred to the formal parameters. These are called actual parameters. The following can be used as actual parameters for procedure inputs: Variable Address Literal The following can be used as actual parameters for procedure outputs: Variable Address The data type of the actual parameter must match the data type of the formal parameter. The only exceptions are generic formal parameters whose data type is determined by the actual parameter. When dealing with generic ANY_BIT formal parameters, actual parameters of the INT or DINT (not UINT and UDINT) data types can be used. This is a supplement to IEC 61131-3 and must be enabled explicitly. Example: Allowed: AND (AnyBitParam := IntVar1, AnyBitParam2 := IntVar2)

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Not allowed: AND_WORD (WordParam1 := IntVar1, WordParam2 := IntVar2) (In this case, AND_INT must be used.) AND_ARRAY_WORD (ArrayInt, ...) (In this case an explicit type conversion must be carried out using INT_ARR_TO_WORD_ARR (...). Not all formal parameters must be assigned a value for formal calls. Which formal parameter types must be assigned a value can be seen in the following table.
Parameter type Input VAR_IN_OUT Output + / EDT + STRING + ARRAY + + ANY_ARRAY IODDT + + + + STRUCT FB + + + / / ANY + + +

Actual parameter required Actual parameter not required not applicable

If no value is allocated to a formal parameter, then the initial value will be used for executing the function block. If no initial value has been defined, the default value (0) is used. Programming Notes Attention should be paid to the following programming notes: Procedures are only executed if the input EN=1 or the EN input is not used (see also EN and ENO (see page 494)). Special conditions apply when using VAR_IN_OUT variables (see page 494). There are two ways of calling a procedure: Formal call (calling a function with formal parameter names) In this case variables can be assigned to outputs using the => operator (calling a function block in shortened form). Informal call (calling a function without formal parameter names)

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Formal Call With this type of call (call with formal parameter names), the procedure is called using an optional CAL instruction sequence followed by the name of the procedure and a bracketed list of actual parameter to formal parameter assignments. The assignment of the input formal parameter is made using the := assignment and the output formal parameter is made using the => assignment. The order in which the input formal parameters and output formal parameters are listed is not significant. The list of actual parameters may be wrapped immediately following a comma. EN and ENO can be used for this type of call. Calling a procedure with formal parameter names:

or CAL PROC (IN1:=var1, IN2:=var1, OUT1=>result1,OUT2=>result2) or PROC (IN1:=var1, IN2:=var1, OUT1=>result1, OUT2=>result2) or CAL PROC (IN1:=var1, IN2:=var1, OUT1=>result1, OUT2=>result2)

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Calling the same procedure in FBD:

With formal calls, values do not have to be assigned to all formal parameters (see also Parameter (see page 489)). PROC (IN1:=var1, OUT1=>result1, OUT2=>result2) or CAL PROC (IN1:=var1, OUT1=>result1, OUT2=>result2) Calling the same procedure in FBD:

Informal Call without CAL Instruction With this type of call (call without formal parameter names), procedures are called using an instruction sequence consisting of the first actual parameter loaded into the accumulator, followed by the procedure name, followed by a list of the input and output actual parameters. The order in which the actual parameters are listed is significant. The list of actual parameters cannot be wrapped. EN and ENO cannot be used for this type of call. Calling a procedure with formal parameter names:

Calling the same procedure in FBD:

NOTE: Note that when making an informal call, the list of actual parameters cannot be put in brackets. IEC 61133-3 requires that the brackets be left out in this case to illustrate that the first actual parameter is not a part of the list.

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Invalid informal call for a procedure:

If the value to be processed (first actual parameter) is already in the accumulator, the load instruction can be omitted. EXAMP1 var2,result1,result2 Informal Call with CAL Instruction With this type of call, procedures are called using an instruction sequence consisting of the CAL instruction, followed by the procedure name followed by a list of the input and output actual parameters. The order in which the actual parameters are listed is significant. The list of actual parameters cannot be wrapped. EN and ENO cannot be used for this type of call. Calling a procedure with formal parameter names using CAL instruction:

or CAL PROC (var1, var2, result1, result2) Calling the same procedure in FBD:

NOTE: Unlike informal calls without a CAL instruction, when making informal calls with a CAL instruction, the value to be processed (first actual parameter) is not explicitly loaded in the battery. Instead it is part of the list of actual parameters. For this reason, when making informal calls with a CAL instruction, the list of actual parameters must be put in brackets.

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EN and ENO With all procedures, an EN input and an ENO output can be configured. If the value of EN is equal to "0" when the procedure is called, the algorithms defined by the procedure are not executed and ENO is set to "0". If the value of EN is "1" when the procedure is called, the algorithms defined by the function are executed. After the algorithms have been executed successfully, the value of ENO is set to "1". If an error occurs when executing these algorithms, ENO is set to "0". If the EN pin is not assigned a value, when the FFB is invoked, the algorithm defined by the FFB is executed (same as if EN equals to "1"). If ENO is set to "0" (caused when EN=0 or an error occurred during executing), the outputs of the procedure are set to "0". If EN/ENO are used, the procedure call must be formal. The assignment of variables to ENO must be made using the => operator. PROC (EN:=1, IN1:=var1, IN2:=var2, ENO=>error, OUT1=>result1, OUT2=>result2) ; Calling the same procedure in FBD:

VAR_IN_OUT Variable Procedures are often used to read a variable at an input (input variables), to process it and to output the updated values of the same variable (output variables). This special type of input/output variable is also called a VAR_IN_OUT variable. The following special features are to be noted when using procedures with VAR_IN_OUT variables. All VAR_IN_OUT inputs must be assigned a variable. VAR_IN_OUT inputs may not have literals or constants assigned to them. VAR_IN_OUT outputs may not have values assigned to them. VAR_IN_OUT variables cannot be used outside of the procedure call. Calling a procedure with VAR_IN_OUT variable in IL: PROC3 (IN1:=V1, IN2:=V2, IO1:=V3, OUT1=>V4, OUT2=>V5) ;

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Calling the same procedure in FBD:

VAR_IN_OUT variables cannot be used outside the procedure call. The following procedure calls are therefore invalid: Invalid call, example 1:
LD V1 CAL InOutProc Loading a V1 variable in the accumulator Calling a procedure with the VAR_IN_OUT parameter. The accumulator now contains a reference to a VAR_IN_OUT parameter. AND operation on contents of accumulator with variable V2. Error: The operation cannot be carried out since the VAR_IN_OUT parameter (contents of accumulator) cannot be accessed outside the procedure call.

AND V2

Invalid call, example 2:

LD V1 AND InOutProc.inout Loading a V1 variable in the accumulator AND operation on the contents of the accumulator and a reference to a VAR_IN_OUT parameter. Fehler: The operation cannot be carried out since the VAR_IN_OUT parameter cannot be accessed outside the procedure call.

Invalid call, example 3:

LD V1 InOutFB V2 Loading a V1 variable in the accumulator Calling the procedure with assignment of the actual parameter (V2) to the VAR_IN_OUT parameter. Error: The operation cannot be carried out as with this type of procedure call only the VAR_IN_OUT parameter would be stored in the accumulator for later use.

The following procedure calls are always valid: Valid call, example 1:
CAL InOutProc (IN1:=V1,inout:=V2) Calling a procedure with the VAR_IN_OUT parameter and formal assignment of the actual parameter within the procedure call.

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Valid call, example 2:

InOutProc (IN1:=V1,inout:=V2) Calling a procedure with the VAR_IN_OUT parameter and formal assignment of the actual parameter within the procedure call.

Valid call, example 3:

CAL InOutProc (V1,V2) Calling a procedure with the VAR_IN_OUT parameter and informal assignment of the actual parameter within the procedure call.

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15
Overview This chapter describes the programming language structured text ST which conforms to IEC 61131. Whats in this Chapter? This chapter contains the following sections:
Section 15.1 15.2 15.3 Topic General Information about the Structured Text ST Instructions Calling Elementary Functions, Elementary Function Blocks, Derived Function Blocks and Procedures Page 498 508 528

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15.1

General Information about the Structured Text ST

Overview This section contains a general overview of the structured text ST. Whats in this Section? This section contains the following topics:
Topic General Information about Structured Text (ST) Operands Operators Page 499 502 504

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General Information about Structured Text (ST)

Introduction With the programming language of structured text (ST), it is possible, for example, to call up function blocks, perform functions and assignments, conditionally perform instructions and repeat tasks. Expression The ST programming language works with "Expressions". Expressions are constructions consisting of operators and operands that return a value when executed. Operator Operators are symbols representing the operations to be executed. Operand Operators are used for operands. Operands are variables, literals, FFB inputs/outputs etc. Instructions Instructions are used to assign the values returned from the expressions to actual parameters and to structure and control the expressions. Representation of an ST Section Representation of an ST section:

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Section Size The length of an instruction line is limited to 300 characters. The length of an ST section is not limited within the programming environment. The length of an ST section is only limited by the size of the PLC memory. Syntax Identifiers and Keywords are not case sensitive. Exception: Not allowed - spaces and tabs keywords literals values identifiers variables and limiter combinations [e.g. (* for comments)] Execution Sequence The evaluation of an expression consists of applying the operators to the operands in the sequence as defined by the rank of the operators (see Table of Operators (see page 504)). The operator with the highest rank in an expression is performed first, followed by the operator with the next highest rank, etc., until the evaluation is complete. Operators with the same rank are performed from left to right, as they are written in the expression. This sequence can be altered with the use of parentheses. If, for example, A, B, C and D have the values 1, 2, 3 and 4, and are calculated as follows: A+B-C*D the result is -9. In the case of the following calculation: (A+B-C)*D the result is 0. If an operator contains two operands, the left operand is executed first, e.g. in the expression SIN(A)*COS(B) the expression SIN(A) is calculated first, then COS(B) and only then is the product calculated.

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Error Behavior The following conditions are handled as an error when executing an expression: Attempting to divide by 0. Operands do not contain the correct data type for the operation. The result of a numerical operation exceeds the value range of its data type If an error occurs when executing the operation, the corresponding Systembit (%S) is set (if supported by the PLC being used). IEC Conformity For a description of IEC conformity for the ST programming language, see IEC Conformity (see page 639).

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Operands
Introduction An operand can be: an address a literal a variable a multi-element variable an element of a multi-element variable a function call an FFB output Data Types Data types, which are in an instruction of processing operands, must be identical. Should operands of various types be processed, a type conversion must be performed beforehand. In the example the integer variable i1 is converted into a real variable before being added to the real variable r4. r3 := r4 + SIN(INT_TO_REAL(i1)) ; As an exception to this rule, variables with data type TIME can be multiplied or divided by variables with data type INT, DINT, UINT or UDINT. Permitted operations: timeVar1 := timeVar2 / dintVar1; timeVar1 := timeVar2 * intVar1; timeVar := 10 * time#10s; This function is listed by IEC 61131-3 as "undesired" service.

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Direct Use of Addresses Addresses can be used directly (without a previous declaration). In this case the addresses data type is assigned directly. The assignment is made using the "Large prefix". The different large prefixes are given in the following table:
Large prefix / Symbol no prefix X B W D F Example %I10, %CH203.MOD, %CH203.MOD.ERR %MX20 %QB102.3 %KW43 %QD100 %MF100 Data type BOOL BOOL BYTE INT DINT REAL

Using Other Data Types Should other data types be assigned as the default data types of an address, this must be done through an explicit declaration. This variable declaration takes place comfortably using the variable editor. The data type of an address can not be declared directly in an ST section (e.g. declaration AT %MW1: UINT; not permitted). For example, the following variables are declared in the variable editor: UnlocV1: ARRAY [1..10] OF INT; LocV1: ARRAY [1..10] OF INT AT %MW100; LocV2: TIME AT %MW100; The following calls then have the correct syntax: %MW200 := 5; UnlocV1[2] := LocV1[%MW200]; LocV2 := t#3s; Accessing Field Variables When accessing field variables (ARRAY), only literals and variables of the INT, UINT, DINT and UDINT data types are permitted in the index entry. The index of an ARRAY element can be negative if the lower threshold of the range is negative. Example: Using field variables var1[i] := 8 ; var2.otto[4] := var3 ; var4[1+i+j*5] := 4 ;

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Operators
Introduction An operator is a symbol for: an arithmetic operation to be executed or a logical operation to be executed or a function edit (call) Operators are generic, i.e. they adapt automatically to the data type of the operands. Table of Operators Operators are executed in sequence according to priority, see also Execution Sequence, page 500. ST programming language operators:
Operator () Meaning Use of Brackets: Order of rank 1 (highest) possible operands Description Expression Brackets are used to alter the execution sequence of the operators. Example: If the operands A, B, C and D have the values 1, 2, 3, and 4, A+B-C*D has the result -9 and (A+B-C)*D has the result 0. Function processing is used to execute functions (see Calling Elementary Functions, page 529).

FUNCNAME Function processing (Actual parameter - (call) list) Negation

Expression, Literal, Variable, Address (all data types) Expression, Literal, Variable, Address of Data TypeINT, DINT or REAL Expression, Literal, Variable, Address of Data Type BOOL, BYTE, WORD or DWORD Expression, Literal, Variable, Address of Data TypeREAL (Basis) and INT, DINT, UINT, UDINT or REAL (Exponent)

During negation - a sign reversal for the value of the operand takes place. Example: In the example OUT is -4 if IN1 is 4. OUT := - IN1 ; In NOT a bit by bit inversion of the operands takes place. Example: In the example OUT is 0011001100 if IN1 is 1100110011. OUT := NOT IN1 ; In exponentiation, ** the value of the first operand (basis) is raised to the power of the second operand (exponent). Example: In the example OUT is 625.0 if IN1 is 5.0 and IN2 is 4.0. OUT := IN1 ** IN2 ;

NOT

Complement

**

Exponentiation 4

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Operator *

Meaning Multiplication

Order of rank 5

possible operands Description Expression, Literal, Variable, Address of Data TypeINT, DINT, UINT, UDINT or REAL In multiplication, * the value of the first operand is multiplied by the value of the second operand (exponent) . Example: In the example OUT is 20.0 if IN1 is 5.0 and IN2 is 4.0. OUT := IN1 * IN2 ; Note: The MULTIME function in the obsolete library is available for multiplications involving the data type Time. In division, / the value of the first operand is divided by the value of the second operand. Example: In the example OUT is 4.0 if IN1 is 20.0 and IN2 is 5.0. OUT := IN1 / IN2 ; Note: The DIVTIME function in the obsolete library is available for divisions involving the data type Time. For MOD the value of the first operand is divided by that of the second operand and the remainder of the division (Modulo) is displayed as the result. Example: In this example OUT is 1 if IN1 is 7 and IN2 is 2 OUT is 1 if IN1 is 7 and IN2 is -2 OUT is -1 if IN1 is -7 and IN2 is 2 OUT is -1 if IN1 is -7 and IN2 is -2 OUT := IN1 MOD IN2 ; In addition, + the value of the first operand is added to the value of the second operand. Example: In this example OUT is 9, if IN1 is 7 and IN2 is 2 OUT := IN1 + IN2 ; In subtraction, - the value of the second operand is subtracted from the value of the first operand. Example: In the example OUT is 6 if IN1 is 10 and IN2 is 4. OUT := IN1 - IN2 ;

Division

Expression, Literal, Variable, Address of Data TypeINT, DINT, UINT, UDINT or REAL

MOD

Modulo

Expression, Literal, Variable, Address of Data Type INT, DINT, UINT or UDINT

Addition

Expression, Literal, Variable, Address of Data Type INT, DINT, UINT, UDINT, REAL or TIME Expression, Literal, Variable, Address of Data Type INT, DINT, UINT, UDINT, REAL or TIME

Subtraction

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Operator <

Meaning Less than comparison

Order of rank 7

possible operands Description Expression, Literal, Variable, Address of Data Type BOOL, BYTE, INT, DINT, UINT, UDINT, REAL, TIME, WORD, DWORD, STRING, DT, DATE or TOD Expression, Literal, Variable, Address of Data Type BOOL, BYTE, INT, DINT, UINT, UDINT, REAL, TIME, WORD, DWORD, STRING, DT, DATE or TOD Expression, Literal, Variable, Address of Data Type BOOL, BYTE, INT, DINT, UINT, UDINT, REAL, TIME, WORD, DWORD, STRING, DT, DATE or TOD Expression, Literal, Variable, Address of Data Type BOOL, BYTE, INT, DINT, UINT, UDINT, REAL, TIME, WORD, DWORD, STRING, DT, DATE or TOD Expression, Literal, Variable, Address of Data Type BOOL, BYTE, INT, DINT, UINT, UDINT, REAL, TIME, WORD, DWORD, STRING, DT, DATE or TOD The value of the first operand is compared with the value of the second using <. If the value of the first operand is less than the value of the second, the result is a Boolean 1. If the value of the first operand is greater than or equal to the value of the second, the result is a Boolean 0. Example: In the example OUT is 1 if IN1 is less than 10 and is otherwise 0. OUT := IN1 < 10 ; The value of the first operand is compared with the value of the second using >. If the value of the first operand is greater than the value of the second, the result is a Boolean 1. If the value of the first operand is less than or equal to the value of the second, the result is a Boolean 0. Example: In the example OUT is 1 if IN1 is greater than 10, and is 0 if IN1 is less than 0. OUT := IN1 > 10 ; The value of the first operand is compared with the value of the second operand using <=. If the value of the first operand is less than or equal to the value of the second, the result is a Boolean 1. If the value of the first operand is greater than the value of the second, the result is a Boolean 0. Example: In the example OUT is 1 if IN1 is less than or equal to 10, and otherwise is 0. OUT := IN1 <= 10 ; The value of the first operand is compared with the value of the second operand using >=. If the value of the first operand is greater than or equal to the value of the second, the result is a Boolean 1. If the value of the first operand is less than the value of the second, the result is a Boolean 0. Example: In the example OUT is 1 if IN1 is greater than or equal to 10, and otherwise is 0. OUT := IN1 >= 10 ; The value of the first operand is compared with the value of the second operand using =. If the value of the first operand is equal to the value of the second, the result is a Boolean 1. If the value of the first operand is not equal to the value of the second, the result is a Boolean 0. Example: In the example OUT is 1 if IN1 is equal to 10 and is otherwise 0. OUT := IN1 = 10 ;

>

Greater than comparison

<=

Less than or equal to comparison

>=

Greater than or 7 equal to comparison

Equality

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Operator <>

Meaning Inequality

Order of rank 8

possible operands Description Expression, Literal, Variable, Address of Data Type BOOL, BYTE, INT, DINT, UINT, UDINT, REAL, TIME, WORD, DWORD, STRING, DT, DATE or TOD Expression, Literal, Variable, Address of Data Type BOOL, BYTE, WORD or DWORD Expression, Literal, Variable, Address of Data Type BOOL, BYTE, WORD or DWORD Expression, Literal, Variable, Address of Data Type BOOL, BYTE, WORD or DWORD The value of the first operand is compared with the value of the second using <>. If the value of the first operand is not equal to the value of the second, the result is a Boolean 1. If the value of the first operand is equal to the value of the second, the result is a Boolean 0. Example: In the example OUT is 1 if IN1 is not equal to 10 and is otherwise 0. OUT := IN1 <> 10 ; With &, there is a logical AND link between the operands. In the case of BYTE, WORD and DWORD data types, the link is made bit by bit. Example: In the examples OUT is 1 if IN1, IN2 and IN3 are 1. OUT := IN1 & IN2 & IN3 ; With AND, there is a logical AND link between the operands. In the case of BYTE, WORD and DWORD data types, the link is made bit by bit. Example: In the examples OUT is 1 if IN1, IN2 and IN3 are 1. OUT := IN1 AND IN2 AND IN3 ; With XOR, there is a logical Exclusive OR link between the operations. In the case of BYTE, WORD and DWORD data types, the link is made bit by bit. Example: In the example OUT is 1 if IN1 and IN2 are not equal. If A and B have the same status (both 0 or 1), D is 0. OUT := IN1 XOR IN2 ; If more than two operands are linked, the result with an uneven number of 1-states is 1, and is 0 with an even number of 1-states. Example: In the example OUT is 1 if 1 or 3 operands are 1. OUT is 0 if 0, 2 or 4 operands are 1. OUT := IN1 XOR IN2 XOR IN3 XOR IN4 ; With OR, there is a logical OR link between the operands. With the BYTE and WORD, DWORD data types, the link is made bit by bit. Example: In the example OUT is 1 if IN1, IN2 or IN3 is 1. OUT := IN1 OR IN2 OR IN3 ;

&

Logical AND

AND

Logical AND

XOR

Logical Exclusive OR

10

OR

Logical OR

11 (lowest)

Expression, Literal, Variable, Address of Data Type BOOL, BYTE, WORD or DWORD

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15.2

Instructions

Overview This section describes the instructions for the programming language of structured text ST. Whats in this Section? This section contains the following topics:
Topic Instructions Assignment Select Instruction IF...THEN...END_IF Select Instruction ELSE Select Instruction ELSIF...THEN Select Instruction CASE...OF...END_CASE Repeat Instruction FOR...TO...BY...DO...END_FOR Repeat Instruction WHILE...DO...END_WHILE Repeat Instruction REPEAT...UNTIL...END_REPEAT Repeat Instruction EXIT Subroutine Call RETURN Empty Instruction Labels and Jumps Comment Page 509 510 513 514 515 516 517 520 521 522 523 524 525 526 527

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Instructions
Description Instructions are the "Commands" of the ST programming language. Instructions must be terminated with semicolons. Several instructions (separated by semicolons) can be present in one line. A single semicolon represents an Empty instruction (see page 525).

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Assignment
Introduction When an assignment is performed, the current value of a single or multi-element variable is replaced by the result of the evaluation of the expression. An assignment consists of a variable specification on the left side, followed by the assignment operator :=, followed by the expression to be evaluated. Both variables (left and right sides of the assignment operator) must have the same data type. Arrays are a special case. After being explicitly enabled, assignment of two arrays with different lengths can be made. Assigning the Value of a Variable to Another Variable Assignments are used to assign the value of a variable to another variable. The instruction A := B ; is used, for example, to replace the value of the variable A with the current value of variable B. If A and B are elementary data types, the individual value of B is passed to A. If A and B are derived data types, the values of all B elements are passed to A. Assigning the Value of a Literal to a Variable Assignments are used to assign a literal to variables. The instruction C := 25 ; is used, for example, to assign the value 25 to the variable C. Assigning the Value of an Operation to a Variable Assignments are used to assign to a variable a value which is the result of an operation. The instruction X := (A+B-C)*D ; is used, for example, to assign the result of the operation (A+B-C)*D to the variable X.

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Assigning the Value of an FFB to a Variable Assignments are used to assign a value returned by a function or a function block to a variable. The instruction B := MOD(C,A) ; is used, for example, to call the MOD (Modulo) function and assign the result of the calculation to the variable B. The instruction A := MY_TON.Q ; is used, for example, to assign the value of the Q output of the MY_TON function block (instance of the TON function block) to the variable A. (This is not a function block call) ) Multiple Assignments Multiple assignments are a supplement to IEC 61131-3 and must be enabled explicitly. Even after being enabled, multiple assignments are NOT allowed in the following cases: in the parameter list for a function block call in the element list to initialize structured variables The instruction X := Y := Z is allowed. The instructions FB(in1 := 1, In2 := In3 := 2) ; and strucVar := (comp1 := 1, comp2 := comp3 := 2) ; are not allowed.

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Assignments between Arrays and WORD-/DWORD Variables Assignments between arrays and WORD-/DWORD variables are only possible if a type conversion has previously been carried out, e.g.: %Q3.0:16 := INT_TO_AR_BOOL(%MW20) ; The following conversion functions are available (General Library, family Array): MOVE_BOOL_AREBOOL MOVE_WORD_ARWORD MOVE_DWORD_ARDWORD MOVE_INT_ARINT MOVE_DINT_ARDINT MOVE_REAL_ARREAL

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Select Instruction IF...THEN...END_IF

Description The IF instruction determines that an instruction or a group of instructions will only be executed if its related Boolean expression has the value 1 (true). If the condition is 0 (false), the instruction or the instruction group will not be executed. The THEN instruction identifies the end of the condition and the beginning of the instruction(s). The END_IF instruction marks the end of the instruction(s). NOTE: Any number of IF...THEN...END_IF instructions may be nested to generate complex selection instructions. Example IF...THEN...END_IF The condition can be expressed using a Boolean variable. If FLAG is 1, the instructions will be executed; if FLAG is 0, they will not be executed. IF FLAG THEN C:=SIN(A) * COS(B) ; B:=C - A ; END_IF ; The condition can be expressed using an operation that returns a Boolean result. If A is greater than B, the instructions will be executed; if A is less than or equal to B, they will not be executed. IF A>B THEN C:=SIN(A) * COS(B) ; B:=C - A ; END_IF ; Example IF NOT...THEN...END_IF The condition can be inverted using NOT (execution of both instructions at 0). IF NOT FLAG THEN C:=SIN_REAL(A) * COS_REAL(B) ; B:=C - A ; END_IF ; See Also ELSE (see page 514) ELSIF (see page 515)

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Select Instruction ELSE

Description The ELSE instruction always comes after an IF...THEN, ELSIF...THEN or CASE instruction. If the ELSE instruction comes after an IF or ELSIF instruction, the instruction or group of instructions will only be executed if the associated Boolean expressions of the IF and ELSIF instruction are 0 (false). If the condition of the IF or ELSIF instruction is 1 (true), the instruction or group of instructions will not be executed. If the ELSE instruction comes after CASE, the instruction or group of instructions will only be executed if no tag contains the value of the selector. If an identification contains the value of the selector, the instruction or group of instructions will not be executed. NOTE: Any number of IF...THEN...ELSE...END_IF instructions may be nested to generate complex selection instructions. Example ELSE IF A>B THEN C:=SIN(A) * COS(B) ; B:=C - A ; ELSE C:=A + B ; B:=C * A ; END_IF ; See Also IF (see page 513) ELSIF (see page 515) CASE (see page 516)

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Select Instruction ELSIF...THEN

Description The ELSE instruction always comes after an IF...THEN instruction. The ELSIF instruction determines that an instruction or group of instructions is only executed if the associated Boolean expression for the IF instruction has the value 0 (false) and the associated Boolean expression of the ELSIF instruction has the value 1 (true). If the condition of the IF instruction is 1 (true) or the condition of the ELSIF instruction is 0 (false), the command or group of commands will not be executed. The THEN instruction identifies the end of the ELSIF condition(s) and the beginning of the instruction(s). NOTE: Any number of IF...THEN...ELSIF...THEN...END_IF instructions may be nested to generate complex selection instructions. Example ELSIF...THEN IF A>B THEN C:=SIN(A) * B:=SUB(C,A) ELSIF A=B THEN C:=ADD(A,B) B:=MUL(C,A) END_IF ; For Example Nested Instructions IF A>B THEN IF B=C THEN C:=SIN(A) * COS(B) ; ELSE B:=SUB(C,A) ; END_IF ; ELSIF A=B THEN C:=ADD(A,B) ; B:=MUL(C,A) ; ELSE C:=DIV(A,B) ; END_IF ; See Also IF (see page 513) ELSE (see page 514) COS(B) ; ; ; ;

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Select Instruction CASE...OF...END_CASE

Description The CASE instruction consists of an INT data type expression (the "selector") and a list of instruction groups. Each group is provided with a tag which consists of one or several whole numbers (INT, DINT, UINT, UDINT) or ranges of whole number values. The first group is executed by instructions, whose tag contains the calculated value of the selector. Otherwise none of the instructions will be executed. The OF instruction indicates the start of the tag. An ELSE instruction may be carried out within the CASE instruction, whose instructions are executed if no tag contains the selector value. The END_CASE instruction marks the end of the instruction(s). Example CASE...OF...END_CASE ExampleCASE...OF...END_CASE

See Also ELSE (see page 514)

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Repeat Instruction FOR...TO...BY...DO...END_FOR

Description The FOR instruction is used when the number of occurrences can be determined in advance. Otherwise WHILE (see page 520) or REPEAT (see page 521) are used. The FOR instruction repeats an instruction sequence until the END_FOR instruction. The number of occurrences is determined by start value, end value and control variable. The control variable, initial value and end value must be of the same data type (DINT or INT). The control variable, initial value and end value can be changed by a repeated instruction. This is a supplement to IEC 61131-3. The FOR instruction increments the control variable value of one start value to an end value. The increment value has the default value 1. If a different value is to be used, it is possible to specify an explicit increment value (variable or constant). The control variable value is checked before each new loop. If it is outside the start value and end value range, the loop will be left. Before running the loop for the first time a check is made to determine whether incrementation of the control variables, starting from the initial value, is moving toward the end value. If this is not the case (e.g. initial value end value and negative increment), the loop will not be processed. The control variable value is not defined outside of the loop. The DO instruction identifies the end of the repeat definition and the beginning of the instruction(s). The occurrence may be terminated early using the EXIT. The END_FOR instruction marks the end of the instruction(s). Example: FOR with Increment 1 FOR with increment 1

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FOR with Increment not Equal to 1 If an increment other than 1 is to be used, it can be defined by BY. The increment, the initial value, the end value and the control variable must be of the same data type (DINT or INT). The criterion for the processing direction (forwards, backwards) is the sign of the BY expression. If this expression is positive, the loop will run forward; if it is negative, the loop will run backward. Example: Counting forward in Two Steps Counting forward in two steps

Example: Counting Backwards Counting backwards FOR i:= 10 TO 1 BY -1 DO (* BY < 0 : Backwards.loop *) C:= C * COS(B) ; (* Instruction is executed 10 x *) END_FOR ; Example: "Unique" Loops The loops in the example are run exactly once, as the initial value = end value. In this context it does not matter whether the increment is positive or negative. FOR i:= 10 TO 10 DO (* Unique Loop *) C:= C * COS(B) ; END_FOR ; or FOR i:= 10 TO 10 BY -1 DO (* Unique Loop *) C:= C * COS(B) ; END_FOR ;

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Example: Critical Loops If the increment is j > 0 in the example, the instruction is executed. If j < is 0, the instructions are not executed because the situation initial value < only allows the end value to be incremented by 0. If j = 0, the instructions are executed and an endless loop is created as the end value will never be reached with an increment of 0. FOR i:= 1 TO 10 BY j DO C:= C * COS(B) ; END_FOR ;

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Repeat Instruction WHILE...DO...END_WHILE

Description The WHILE instruction has the effect that a sequence of instructions will be executed repeatedly until its related Boolean expression is 0 (false). If the expression is false right from the start, the group of instructions will not be executed at all. The DO instruction identifies the end of the repeat definition and the beginning of the instruction(s). The occurrence may be terminated early using the EXIT. The END_WHILE instruction marks the end of the instruction(s). In the following cases WHILE may not be used as it can created an endless loop which causes the program to crash: WHILE may not be used for synchronization between processes, e.g. as a "Waiting Loop" with an externally defined end condition. WHILE may not be used in an algorithm, as the completion of the loop end condition or execution of an EXIT instruction can not be guaranteed. Example WHILE...DO...END_WHILE x := 1; WHILE x <= 100 DO x := x + 4; END_WHILE ; See Also EXIT (see page 522)

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Repeat Instruction REPEAT...UNTIL...END_REPEAT

Description The REPEAT instruction has the effect that a sequence of instructions is executed repeatedly (at least once), until its related Boolean condition is 1 (true). The UNTIL instruction marks the end condition. The occurrence may be terminated early using the EXIT. The END_REPEAT instruction marks the end of the instruction(s). In the following cases REPEAT may not be used as it can create an endless loop which causes the program to crash: REPEAT may not be used for synchronization between processes, e.g. as a "Waiting Loop" with an externally defined end condition. REPEAT may not be used in an algorithm, as the completion of the loop end condition or execution of an EXIT instruction can not be guaranteed. Example REPEAT...UNTIL...END_REPEAT x := -1 REPEAT x := x + 2 UNTIL x >= 101 END_REPEAT ; See Also EXIT (see page 522)

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Repeat Instruction EXIT

Description The EXIT instruction is used to terminate repeat instructions (FOR, WHILE, REPEAT) before the end condition has been met. If the EXIT instruction is within a nested repetition, the innermost loop (in which EXIT is situated) is left. Next, the first instruction following the loop end (END_FOR, END_WHILE or END_REPEAT) is executed. Example EXIT If FLAG has the value 0, SUM will be 15 following the execution of the instructions. If FLAG has the value 1, SUM will be 6 following the execution of the instructions. SUM : = 0 ; FOR I := 1 TO 3 DO FOR J := 1 TO 2 DO IF FLAG=1 THEN EXIT; END_IF ; SUM := SUM + J ; END_FOR ; SUM := SUM + I ; END_FOR See Also CASE (see page 516) WHILE (see page 520) REPEAT (see page 521)

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Subroutine Call
Subroutine Call A subroutine call consists of the name of the subroutine section followed by an empty parameter list. Subroutine calls do not return a value. The subroutine to be called must be located in the same task as the ST section called. Subroutines can also be called from within subroutines. For example: SubroutineName () ; Subroutine calls are a supplement to IEC 61131-3 and must be enabled explicitly. In SFC action sections, subroutine calls are only allowed when Multitoken Operation is enabled.

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RETURN
Description RETURN instructions can be used in DFBs (derived function blocks) and in SRs (subroutines). RETURN instructions can not be used in the main program. In a DFB, a RETURN instruction forces the return to the program which called the DFB. The rest of the DFB section containing the RETURN instruction is not executed. The next sections of the DFB are not executed. The program which called the DFB will be executed after return from the DFB. If the DFB is called by another DFB, the calling DFB will be executed after return. In a SR, a RETURN instruction forces the return to the program which called the SR. The rest of the SR containing the RETURN instruction is not executed. The program which called the SR will be executed after return from the SR.

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Empty Instruction
Description A single semicolon ; represents an empty instruction. For example, IF x THEN ; ELSE .. In this example, an empty instruction follows the THEN instruction. This means that the program exits the IF instruction as soon as the IF condition is 1.

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Labels and Jumps

Introduction Labels serve as destinations for jumps. Jumps and labels in ST are a supplement to the IEC 61131-3 and must be enabled explicitly. Label Properties Label properties: Labels must always be the first element in a line. Labels may only come before instructions of the first order (not in loops). The name must be clear throughout the directory, and it is not upper/lower case sensitive. Labels can be 32 characters long (max.). Labels must conform to the general naming conventions. Labels are separated by a colon : from the following instruction. Properties of Jumps Properties of jumps Jumps can be made within program and DFB sections. Jumps are only possible in the current section. Example IF var1 THEN JMP START; : : START: ...

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Comment
Description In the ST editor, comments always start with the string (* and end in the string *). Any comments can be entered between these character strings. Comments can be entered in any position in the ST editor, except in keywords, literals, identifiers and variables. Nesting comments is not permitted according to IEC 61131-3. If comments are nested nevertheless, then they must be enabled explicitly.

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15.3

Calling Elementary Functions, Elementary Function Blocks, Derived Function Blocks and Procedures

Overview Calling Elementary Functions, Elementary Function Blocks, Derived Function Blocks and Procedures in the ST programming language. Whats in this Section? This section contains the following topics:
Topic Calling Elementary Functions Call Elementary Function Block and Derived Function Block Procedures Page 529 535 544

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Calling Elementary Functions

Elementary Functions Elementary functions are provided in the form of libraries. The logic of the functions is created in the programming language C and may not be modified in the ST editor. Functions have no internal states. If the input values are the same, the value at the output is the same for all executions of the function. For example, the addition of two values gives the same result at every execution. Some elementary functions can be extended to more than 2 inputs. Elementary functions only have one return value (Output). Parameters "Inputs" and one "output" are required to transfer values to or from a function. These are called formal parameters. The current process states are transferred to the formal parameters. These are called actual parameters. The following can be used as actual parameters for function inputs: Variable Address Literal ST Expression The following can be used as actual parameters for function outputs: Variable Address The data type of the actual parameters must match the data type of the formal parameters. The only exceptions are generic formal parameters whose data type is determined by the actual parameter. When dealing with generic ANY_BIT formal parameters, actual parameters of the INT or DINT (not UINT and UDINT) data types can be used. This is a supplement to IEC 61131-3 and must be enabled explicitly. Example: Allowed: AND (AnyBitParam := IntVar1, AnyBitParam2 := IntVar2);

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Not allowed: AND_WORD (WordParam1 := IntVar1, WordParam2 := IntVar2); (In this case, AND_INT must be used.) AND_ARRAY_WORD (ArrayInt, ...); (In this case an explicit type conversion must be carried out using INT_ARR_TO_WORD_ARR (...);. Not all formal parameters must be assigned with a value. You can see which formal parameter types must be assigned with a value in the following table.
Parameter type Input VAR_IN_OUT Output + / EDT + STRING + ARRAY + + ANY_ARRAY IODDT + + + + STRUCT FB + + + / / ANY + + -

Actual parameter required Actual parameter not required not applicable

If no value is allocated to a formal parameter, then the initial value will be used for executing the function block. If no initial value has been defined then the default value (0) is used. Programming Notes Attention should be paid to the following programming notes: All generic functions are overloaded. This means the functions can be called with or without entering the data type. E.g. i1 := ADD (i2, 3); is identical to i1 := ADD_INT (i2, 3); Functions can be nested (see also Nesting Functions, page 533). Functions are only executed if the input EN=1 or the EN input is not used (see also EN and ENO, page 533). There are two ways of calling a function: Formal call (calling a function with formal parameter names) Informal call (calling a function without formal parameter names)

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Formal Call With formal calls (calls with formal parameter names), the call consists of the actual parameter of the output, followed by the assignment instruction :=, then the function name and then by a bracketed list of value assignments (actual parameters) to the formal parameter. The order in which the formal parameters are enumerated in a function call is not significant. EN and ENO can be used for this type of call. Calling a function with formal parameter names:

Calling the same function in FBD:

With formal calls it is not necessary to assign a value to all formal parameters (see also Parameters, page 529). out:=LIMIT (MN:=0, IN:=var1) ; Calling the same function in FBD:

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Informal Call With informal calls (calls without formal parameter names), the call consists of the actual parameter of the output, followed by the symbol of the assignment instruction :=, then the function name and then by a bracketed list of the inputs actual parameters. The order that the actual parameters are enumerated in a function call is significant. EN and ENO cannot be used for this type of call. Calling a function without formal parameter names:

Calling the same function in FBD:

With informal calls it is not necessary to assign a value to all formal parameters (see also Parameters, page 529). This is a supplement to IEC 61131-3 and must be enabled explicitly. An empty parameter field is used to skip a parameter. Call with empty parameter field: out:=LIMIT ( ,var1, 5 + var) ; Calling the same function in FBD:

An empty parameter field does not have to be used if formal parameters are omitted at the end. out:=LIMIT (0, var1) ; Calling the same function in FBD:

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Nesting Functions A function call can include the call of further functions. The nesting depth is not limited. Nested call of array function: out:=LIMIT (MN:=4, IN:=MUL(IN1:=var1, IN2:=var2), MX:=5) ; Calling the same function in FBD:

Functions that return a value of the ANY_ARRAY data type can not be used within a function call. Unauthorized nesting with ANY_ARRAY:

ANY_ARRAY is permitted as the return value of the function called or as a parameter of the nested functions. Authorized nesting with ANY_ARRAY:

EN and ENO With all functions an EN input and an ENO output can be configured. If the value of EN is equal to "0", when the function is called, the algorithms defined by the function are not executed and ENO is set to "0". If the value of EN is equal to "1", when the function is called, the algorithms which are defined by the function are executed. After successful execution of these algorithms, the value of ENO is set to "1". If an error occurs during execution of these algorithms, ENO will be set to "0". If the EN pin is not assigned a value, when the FFB is invoked, the algorithm defined by the FFB is executed (same as if EN equals to "1"). If ENO is set to "0" (caused when EN=0 or an error occurred during executing), the output of the function is set to "0". The output behavior of the function does not depend on whether the function was called up without EN/ENO or with EN=1.

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If EN/ENO are used, the function call must be formal. out:=LIMIT (EN:=1, MN:=0, IN:=var1, MX:=5, ENO=>var2) ; Calling the same function in FBD:

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Call Elementary Function Block and Derived Function Block

Elementary Function Block Elementary function blocks have internal states. If the inputs have the same values, the value on the output can have another value during the individual operations. For example, with a counter, the value on the output is incremented. Function blocks can have several output values (outputs). Derived Function Block Derived function blocks (DFBs) have the same characteristics as elementary function blocks. The user can create them in the programming languages FBD, LD, IL, and/or ST. Parameter "Inputs and outputs" are required to transfer values to or from function blocks. These are called formal parameters. The current process states are transferred to the formal parameters. They are called actual parameters. The following can be used as actual parameters for function block inputs: Variable Address Literal The following can be used as actual parameters for function block outputs: Variable Address The data type of the actual parameters must match the data type of the formal parameters. The only exceptions are generic formal parameters whose data type is determined by the actual parameter. When dealing with generic ANY_BIT formal parameters, actual parameters of the INT or DINT (not UINT and UDINT) data types can be used. This is a supplement to IEC 61131-3 and must be enabled explicitly. Example: Allowed: AND (AnyBitParam := IntVar1, AnyBitParam2 := IntVar2);

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Not allowed: AND_WORD (WordParam1 := IntVar1, WordParam2 := IntVar2); (In this case, AND_INT must be used.) AND_ARRAY_WORD (ArrayInt, ...); (In this case an explicit type conversion must be carried out using INT_ARR_TO_WORD_ARR (...);.) Not all formal parameters must be assigned with a value. Which formal parameter types must be assigned a value can be seen in the following table.
Parameter type EFB: Input EDT STRING + + + + ARRAY + + + + + + ANY_ARRAY IODDT + + + + + / / + + / + / STRUCT FB + + + + / / / / / / ANY + + + + + +

EFB: VAR_IN_OUT + EFB: Output DFB: Input -

DFB: VAR_IN_OUT + DFB: Output + / -

Actual parameter required Actual parameter not required not applicable

If no value is allocated to a formal parameter, then the initial value will be used for executing the function block. If no initial value has been defined then the default value (0) is used. If a formal parameter is not assigned with a value and the function block/DFB is instanced more than once, then the following instances are run with the old value.

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Public Variables In addition to inputs and outputs, some function blocks also provide public variables. These variables transfer statistical values (values that are not influenced by the process) to the function block. They are used for setting parameters for the function block. Public variables are a supplement to IEC 61131-3. The assignment of values to public variables is made via their initial values or assignments. Example:

Public variables are read via the instance name of the function block and the names of the public variables. Example:

Private Variables In addition to inputs, outputs and public variables, some function blocks also provide private variables. Like public variables, private variables are used to transfer statistical values (values that are not influenced by the process) to the function block. Private variables can not be accessed by user program. These type of variables can only be accessed by the animation table. NOTE: Nested DFBs are declared as private variables of the parent DFB. So their variables are also not accessible through programming, but trough the animation table. Private variables are a supplement to IEC 61131-3.

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Programming Notes Attention should be paid to the following programming notes: Functions blocks are only executed if the input EN=1 or the EN input is not used (see also EN and ENO, page 542). The assignment of variables to ANY or ARRAY output types must be made using the => operator (see also Formal Call, page 538). Assignments cannot be made outside of the function block call. The instruction My_Var := My_SAH.OUT; is invalid, if the output OUT of the SAH function block is of type ANY. The instruction Cal My_SAH (OUT=>My_Var); is valid. Special conditions apply when using VAR_IN_OUT variables (see page 542). The use of function blocks consists of two parts in ST: the Declaration (see page 538) calling the function block There are two ways of calling a function block: Formal call (see page 538) (calling a function with formal parameter names) This way variables can be assigned to outputs using the => operator. Informal call (see page 540) (call without formal parameter names) Function block/DFB instances can be called multiple times; other than instances of communication EFBs, these can only be called once (see Multiple Function Block Instance Call, page 541). Declaration Before calling a function block it must be declared in the variables editor. Formal Call With formal calls (call with formal parameter names), the function block is called using an instruction sequence made from the function blocks instance names that follows a bracketed list of actual parameter assignments to the formal parameters. Assign input formal parameters via :=Assignment and the assignment of the input formal parameter using the := assignment. The sequence in which the input formal parameters and output formal parameters are enumerated is not significant. EN and ENO can be used for this type of call.

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Calling a function block with formal parameter names:

Calling the same function block in FBD:

Assigning the value of a function block output is made by entering the actual parameter name, followed by the assignment instruction :=followed by the instance name of the function block and loading the formal parameter of the function block output (separated by a full-stop). E.g. MY_COUNT (CU:=var1, R:=reset, PV:=100 + value); Q := MY_COUNT.out ; CV := MY_COUNT.current ; NOTE: Type Array DDTs cannot be assigned this way. However, Type Structure DDTs may be assigned. It is not necessary to assign a value to all formal parameters (see also Parameter, page 535). MY_COUNT (CU:=var1, R:=reset, Q=>out, CV=>current); Calling the same function block in FBD:

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Informal Call With informal calls (call without Formal parameter names), the function block is called using an instruction made from the function block instance names, followed by a bracketed list of the actual parameters for the inputs and outputs. The order in which the actual parameters are listed in a function block call is significant. EN and ENO cannot be used for this type of call. Calling a function block without formal parameter names:

Calling the same function block in FBD:

With informal calls it is not necessary to assign a value to all formal parameters (see also Parameter, page 535). This does not apply for VAR_IN_OUT variables, for input parameters with dynamic lengths and outputs of type ANY. It must always be assigned a variable. This is a supplement to IEC 61131-3 and must be enabled explicitly. An empty parameter field is used to skip a parameter. Call with empty parameter field: MY_COUNT (var1, , 100 + value, out, current) ; Calling the same function block in FBD:

An empty parameter field does not have to be used if formal parameters are omitted at the end. MY_COUNT (var1, reset) ;

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Calling the same function block in FBD:

Calling a Function Block without Inputs Even if the function block has no inputs or the inputs are not to be parameterized, the function block should be called before its outputs can be used. Otherwise the initial values of the outputs will be transferred, i.e. "0". E.g. Calling the function block in ST: MY_CLOCK () ;MY_COUNT (CU:=MY_CLOCK.CLK1, R:=reset, PV:=100, Q=>out, CV=>current) ; Calling the same function block in FBD:

Multiple Function Block Instance Call Function block/DFB instances can be called multiple times; other than instances of communication EFBs, these can only be called once. Calling the same function block/DFB instance more than once makes sense, for example, in the following cases: If the function block/DFB has no internal value or it is not required for further processing. In this case, memory is saved by calling the same function block/DFB instance more than once since the code for the function block/DFB is only loaded once. The function block/DFB is then handled like a "Function". If the function block/DFB has an internal value and this is supposed to influence various program segments, for example, the value of a counter should be increased in different parts of the program. In this case, calling the same function block/DFB means that temporary results do not have to be saved for further processing in another part of the program.

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EN and ENO With all function blocks/DFBs, an EN input and an ENO output can be configured. If the value of EN is equal to "0", when the function block/DFB is called, the algorithms defined by the function block/DFB are not executed and ENO is set to "0". If the value of EN is equal to "1", when the function block/DFB is invoked, the algorithms which are defined by the function block/DFB will be executed. After the algorithms have been executed successfully, the value of ENO is set to "1". If an error occurred while executing the algorithms, ENO is set to "0". If the EN pin is not assigned a value, when the FFB is invoked, the algorithm defined by the FFB is executed (same as if EN equals to "1"). If ENO is set to "0" (results from EN=0 or an error during execution), the outputs of the function block/DFB retain the status from the last cycle in which they were correctly executed. The output behavior of the function blocks/DFBs does not depend on whether the function blocks/DFBs are called without EN/ENO or with EN=1. If EN/ENO are used, the function block call must be formal. The assignment of variables to ENO must be made using the => operator. MY_COUNT (EN:=1, CU:=var1, R:=reset, PV:=100 + value, ENO=>error, Q=>out, CV=>current) ; Calling the same function block in FBD:

VAR_IN_OUT-Variable Function blocks are often used to read a variable at an input (input variables), to process it and to restate the altered values of the same variable (output variables). This special type of input/output variable is also called a VAR_IN_OUT variable. The following special features are to be noted when using function blocks/DFBs with VAR_IN_OUT variables. All VAR_IN_OUT inputs must be assigned a variable. VAR_IN_OUT inputs may not have literals or constants assigned to them. VAR_IN_OUT outputs may not have values assigned to them. VAR_IN_OUT variables cannot be used outside of the function block call. Calling a function block with VAR_IN_OUT variable in ST: MY_FBLOCK(IN1:=V1, IN2:=V2, IO1:=V3, OUT1=>V4, OUT2=>V5);

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Calling the same function block in FBD:

VAR_IN_OUT variables cannot be used outside the function block call. The following function block calls are therefore invalid: Invalid call, example 1:
InOutFB.inout := V1; Assigning the variables V1 to a VAR_IN_OUT parameter. Error: The operation cannot be executed since the VAR_IN_OUT parameter cannot be accessed outside of the function block call.

Invalid call, example 2:

V1 := InOutFB.inout; Assigning a VAR_IN_OUT parameter to the V1 variable. Error: The operation cannot be executed since the VAR_IN_OUT parameter cannot be accessed outside of the function block call.

The following function block calls are always valid: Valid call, example 1:
InOutFB (inout:=V1); Calling a function block with the VAR_IN_OUT parameter and formal assignment of the actual parameter within the function block call.

Valid call, example 2:

InOutFB (V1); Calling a function block with the VAR_IN_OUT parameter and informal assignment of the actual parameter within the function block call.

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Procedures
Procedure Procedures are provided in the form of libraries. The logic of the procedure is created in the programming language C and may not be modified in the ST editor. Procedures - like functions - have no internal states. If the input values are the same, the value on the output is the same for all executions of the procedure. For example, the addition of two values gives the same result at every execution. In contrast to functions, procedures do not return a value and support VAR_IN_OUT variables. Procedures are a supplement to IEC 61131-3 and must be enabled explicitly. Parameter "Inputs and outputs" are required to transfer values to or from procedures. These are called formal parameters. The current process states are transferred to the formal parameters. These are called actual parameters. The following can be used as actual parameters for procedure inputs: Variable Address Literal ST Expression The following can be used as actual parameters for procedure outputs: Variable Address The data type of the actual parameters must match the data type of the formal parameters. The only exceptions are generic formal parameters whose data type is determined by the actual parameter. When dealing with generic ANY_BIT formal parameters, actual parameters of the INT or DINT (not UINT and UDINT) data types can be used. This is a supplement to IEC 61131-3 and must be enabled explicitly. Example: Allowed: AND (AnyBitParam := IntVar1, AnyBitParam2 := IntVar2);

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Not allowed: AND_WORD (WordParam1 := IntVar1, WordParam2 := IntVar2); (In this case, AND_INT must be used.) AND_ARRAY_WORD (ArrayInt, ...); (In this case an explicit type conversion must be carried out using INT_ARR_TO_WORD_ARR (...);. Not all formal parameters must be assigned with a value. You can see which formal parameter types must be assigned with a value in the following table.
Parameter type Input VAR_IN_OUT Output + / EDT + STRING + ARRAY + + ANY_ARRAY IODDT + + + + STRUCT FB + + + / / ANY + + +

Actual parameter required Actual parameter not required not applicable

If no value is allocated to a formal parameter, then the initial value will be used for executing the function block. If no initial value has been defined then the default value (0) is used. Programming Notes Attention should be paid to the following programming notes: Procedures are only executed if the input EN=1 or the EN input is not used (see also EN and ENO, page 548). Special conditions apply when using VAR_IN_OUT variables (see page 548). There are two ways of calling a procedure: Formal call (see page 546) (calling a function with formal parameter names) This way variables can be assigned to outputs using the => operator. Informal call (see page 547) (call without formal parameter names)

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Formal Call With formal calls (call with formal parameter names), the procedures are called using an instruction sequence made from the procedure name, followed by a bracketed list of actual parameter assignments to the formal parameters. The assignment of the input formal parameter is made using the := assignment and the output formal parameter is made using the => assignment. The sequence in which the input formal parameters and output formal parameters are enumerated is not significant. EN and ENO can be used for this type of call. Calling a procedure with formal parameter names:

Calling the same procedure in FBD:

With formal calls it is not necessary to assign a value to all formal parameters (see also Parameter, page 544). PROC (IN1:=var1, OUT1=>result1, OUT2=>result2); Calling the same procedure in FBD:

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Informal Call With informal calls (call without formal parameter names), procedures are called using an instruction made from the procedure name, followed by a bracketed list of the inputs and outputs actual parameters. The order that the actual parameters are enumerated in a procedure call is significant. EN and ENO cannot be used for this type of call. Calling a procedure without formal parameter names:

Calling the same procedure in FBD:

With informal calls it is not necessary to assign a value to all formal parameters (see also Parameter, page 544). This is a supplement to IEC 61131-3 and must be enabled explicitly. An empty parameter field is used to skip a parameter. Call with empty parameter field: PROC (var1, , result1, result2) ; Calling the same procedure in FBD:

An empty parameter field does not have to be used if formal parameters are omitted at the end. PROC (var1, var2, result1) ; Calling the same procedure in FBD:

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EN and ENO With all procedures, an EN input and an ENO output can be configured. If the value of EN is equal to "0", when the procedure is called, the algorithms defined by the procedure are not executed and ENO is set to "0". If the value of EN is "1" when the procedure is called, the algorithms defined by the function are executed. After successful execution of these algorithms, the value of ENO is set to "1". If an error occurs during execution of these algorithms, ENO will be set to "0". If the EN pin is not assigned a value, when the FFB is invoked, the algorithm defined by the FFB is executed (same as if EN equals to "1"). If ENO is set to "0" (caused when EN=0 or an error occurred during executing), the outputs of the procedure are set to "0". The output behavior of the procedure does not depend on whether the function is called without EN or with EN=1. If EN/ENO are used, the procedure call must be formal. The assignment of variables to ENO must be made using the => operator. PROC (EN:=1, IN1:=var1, IN2:=var2, ENO=>error, OUT1=>result1, OUT2=>result2) ; Calling the same procedure in FBD:

VAR_IN_OUT Variable Procedures are often used to read a variable at an input (input variables), to process it and to restate the altered values of the same variable (output variables). This special type of input/output variable is also called a VAR_IN_OUT variable. The following special features are to be noted when using procedures with VAR_IN_OUT variables. All VAR_IN_OUT inputs must be assigned a variable. VAR_IN_OUT inputs may not have literals or constants assigned to them. VAR_IN_OUT outputs may not have values assigned to them. VAR_IN_OUT variables cannot be used outside of the procedure call. Calling a procedure with VAR_IN_OUT variable in ST: PROC2 (IN1:=V1, IN2:=V2, IO1:=V3, OUT1=>V4, OUT2=>V5) ;

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Calling the same procedure in FBD:

VAR_IN_OUT variables cannot be used outside of the procedure call. The following procedure calls are therefore invalid: Invalid call, example 1:
InOutProc.inout := V1; Assigning the variables V1 to a VAR_IN_OUT parameter. Error: The operation cannot be executed since the VAR_IN_OUT parameter cannot be accessed outside of the procedure call.

Invalid call, example 2:

V1 := InOutProc.inout; Assigning a VAR_IN_OUT parameter to the V1 variable. Error: The operation cannot be executed since the VAR_IN_OUT parameter cannot be accessed outside of the procedure call.

The following procedure calls are always valid: Valid call, example 1:
InOutProc (inout:=V1); Calling a procedure with the VAR_IN_OUT parameter and formal assignment of the actual parameter within the procedure call.

Valid call, example 2:

InOutProc (V1); Calling a procedure with the VAR_IN_OUT parameter and informal assignment of the actual parameter within the procedure call.

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User Function Blocks (DFB)

V
In This Part This part presents: The user function blocks (DFB) The internal structure of DFBs Diagnostics DFBs The types and instances of DFBs The instance calls using different languages Whats in this Part? This part contains the following chapters:
Chapter 16 17 18 19 20 Chapter Name Overview of User Function Blocks (DFB) Description of User Function Blocks (DFB) User Function Blocks (DFB) Instance Use of the DFBs from the Different Programming Languages User Diagnostics DFB Page 553 559 571 579 599

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Subject of this Chapter This chapter provides an overview of the user function blocks (DFB), and the different steps in their implementation. Whats in this Chapter? This chapter contains the following topics:
Topic Introduction to User Function Blocks Implementing a DFB Function Block Page 554 556

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Introduction to User Function Blocks

Introduction Unity Pro software enables you to create DFB user function blocks, using automation languages. A DFB is a program block that you write to meet the specific requirements of your application. It includes: one or more sections written in Ladder (LD), Instruction List (IL), Structured Text (ST) or Functional Block Diagram (FBD) language input/output parameters public or private internal variables Function blocks can be used to structure and optimize your application. They can be used whenever a program sequence is repeated several times in your application, or to set a standard programming operation (for example, an algorithm that controls a motor, incorporating local safety requirements). By exporting then importing these blocks, they can be used by a group of programmers working on a single application or in different applications. Benefits of Using a DFB Using a DFB function block in an application enables you to: simplify the design and entry of the program increase the legibility of the program facilitate the debugging of the application (all of the variables handled by the function block are identified on its interface) reduce the volume of code generated (the code that corresponds to the DFB is only loaded once - however many calls are made to the DFB in the program, only the data corresponding to the instances are generated) Comparison with a Subroutine Compared to a subroutine, using a DFB makes it possible to: set processing parameters more easily use internal variables that are specific to the DFB and therefore independent from the application test its operation independently from the application Furthermore, LD and FBD languages provide a graphic view of the DFBs, facilitating the design and debugging of your program. DFB Created with Previous Software Versions DFBs created using PL7 and Concept must first be converted using the converters that come with the product, before being used in the application.

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Domain of Use The following table shows the domain of use for the DFBs.
Function PLCs for which DFBs can be used. DFB creation software Software with which DFBs can be used. Programming language for creating the DFB code. Domain Premium\Atrium and Quantum Unity Pro Unity Pro or Unity Pro Medium IL, ST, LD or FBD (1)

Programming language with which DFBs can be used. IL, ST, LD or FBD (1)

(1) IL: Instruction List , ST: Structured Text, LD: LaDder, FBD: Functional Block Diagram language.

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Implementing a DFB Function Block

Implementation Procedure There are 3 steps in the DFB function block implementation procedure:
Step 1 2 3 Action Create your DFB model (called: DFB type). Create a copy of this function block, called an instance, every time the DFB is used in the application. Use the DFB instances in your application program.

Creation of the DFB Type This operation consists in designing a model of the DFB you want to use in your application. To do this, use the DFB editor to define and code all the elements that make up the DFB: Description of the function block: name, type (DFB), activation of diagnostics, comment. Structure of the function block: parameters, variables, code sections. NOTE: If you use a DFB that is already in the User-Defined Library and modify it, the new modified type will be used for any additional instances in the open project. However, the User-Defined Library remains unchanged. Description of a DFB Type The following diagram shows a graphic representation of a DFB model.

The function block comprises the following elements: Name: name of the DFB type (max. 32 characters). This name must be unique in the libraries, the authorized characters used depend on the choice made in the Identifiers area of the Language extensions tab in the Project Settings (see Unity Pro, Operating Modes): Inputs: input parameters (excluding input/output parameters). Outputs: output parameters (excluding input/output parameters).
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Inputs/Outputs: input/output parameters. Public variables: internal variables accessible by the application program. Private variables: nested internal variables or DFBs, not accessible by the application program. Sections: DFB code sections in LD, IL, ST or FBD. Comment of a maximum of 1024 characters. Formatting characters (carriage return, tab, etc.) are not authorized. For each type of DFB, a descriptive file is also accessible via a dialog box: size of the DFB, number of parameters and variables, version number, date of last modification, protection level, etc. Online Help for DFB Types It is possible to link an HTML help file to each DFB in the User-Defined Library. This file must: Have a name that is identical to the linked DFB, Be located in the directory \Schneider Electric\FFBLibset\CustomLib\MyCustomFam\ Language (where Language is named Eng, Fre, Ger, Ita, Spa or Chs according to the language desired). Creation of a DFB Instance Once the DFB type is created, you can define an instance of this DFB via the variable editor or when the function is called in the program editor. Use of DFB Instances A DFB instance is used as follows as a standard function block in Ladder (LD) or Functional Block Diagram (FBD) language, as an elementary function in Structured Text (ST) or Instruction List (IL) language. A DFB instance can be used in all application program tasks, except event tasks and Sequential Function Chart (SFC) transitions. Storage The DFB types the user creates can be stored (see Unity Pro, Operating Modes) in the function and function block library.

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Subject of this Chapter This chapter provides an overview of the different elements that make up the user function blocks. Whats in this Chapter? This chapter contains the following topics:
Topic Definition of DFB Function Block Internal Data DFB Parameters DFB Variables DFB Code Section Page 560 562 566 568

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Definition of DFB Function Block Internal Data

At a Glance There are two types of DFB internal data: The parameters: Input, Output or Input/Output. Public or Private variables. The internal data of the DFB must be defined using symbols (this data cannot be addressed as an address). Elements to Define for Each Parameter When the function block is created, the following must be defined for each parameter: Name: Name of DFB type (max. 32 characters). This name must be unique in the libraries; the authorized characters used depend on the choice made in the Identifiers area of the Language extensions tab in Project Settings (see Unity Pro, Operating Modes): A type of object (BOOL, INT, REAL, etc.). A comment of a maximum of 1024 characters (optional). Formatting characters (carriage return, tab, etc.) are not allowed. An initial value. The read/write attribute that defines whether the variable may or may not be written in runtime: R (read only) or R/W (read/write). This attribute must only be defined for public variables. The backup attribute that defines whether the variable may or may not be saved. Types of Objects The types of objects that may be defined for the DFB parameters belong to the following families: Elementary data family: EDT. This family includes the following object types: Boolean (BOOL, EBOOL), Integer (INT, DINT, etc.), Real (REAL), Character string (STRING), Bit string (BYTE, WORD, etc.), etc. Derived data family: DDT. This family includes table (ARRAY) and structure (user or IODDT) object types. Generic data families: ANY_ARRAY_xxx. The function block family: FB. This family includes EFB and DFB object types.

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Authorized Objects for the Different Parameters For performances reasons, the addressing mode of the DFB parameters must be transferred by address for the following object families Inputs Inputs/Outputs Outputs The addressing mode of a Function Block element is linked to the element type. The addressing modes are passed by: Value (VAL) Relocation table entry (RTE) Logical address: RTE+Offset (L-ADR) Logical address and number of elements (L-ADR-LG) IO channel structure (IOCHS) For each of the DFB parameters, the following object families may be used with its associated addressing modes:
Object families Inputs EDT VAL STRING Anonymous DDT (1) or DDT array L-ADR L-ADR VAL VAL VAL IODDT No IOCHS (see page 584) No No No GDT: FB ANY_ARRAY_x L-ADR-LG L-ADR-LG L-ADR-LG No No No No No No ANY... L-ADR-LG L-ADR-LG L-ADR-LG No

L-ADR-LG L-ADR-LG

Inputs/out- L-ADR(2) L-ADR-LG L-ADR-LG puts Outputs Public variables Private variables VAL VAL VAL VAL VAL VAL L-ADR-LG VAL VAL

RTE No

Key: (1) (2) Derived data family, except input/output derived data types (IODDT). Except for EBOOL-type static variables, with Quantum PLCs.

CAUTION
UNEXPECTED APPLICATION BEHAVIOR - ARRAY INDEX Take into account the shift of the index for ARRAY variables that have a not null start index on ANY_ARRAY_x entry (the shift equals the start index value). Failure to follow these instructions can result in injury or equipment damage.

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DFB Parameters
Illustration This illustration shows some examples of DFB parameters

Description of the Parameters This table shows the role of each parameter
Parameter Inputs Maximum number 32 (1) Role These parameters can be used to transfer the values of the application program to the internal program of the DFB. They are accessible in read-only by the DFB, but are not accessible by the application program. These parameters can be used to transfer the values of the DFB to the application program. They are accessible for reading by the application program except for ARRAY-type parameters. These parameters may be used to transfer data from the application program to the DFB, which can then modify it and return it to the application program. These parameters are not accessible by the application program.

Outputs

32 (2)

Inputs/Outputs

32

Legend: (1) Number of inputs + Number of inputs/outputs less than or equal to 32 (2) Number of outputs + Number of inputs/outputs less than or equal to 32 NOTE: The IODDT related to CANopen devices for Modicon M340 cannot be used as a DFB I/O parameter. During the analyse/build step of a project, the following message:"This IODDT cannot be used as a DFB parameter" advises the limitations to the user.
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Parameters that Can Be Accessed by the Application Program The only parameters that can be accessed by the application program outside the call are output parameters. To make this possible, the following syntax must be used in the program: DFB_Name.Parameter_name DFB_Name represents the name of the instance of the DFB used (maximum of 32 characters). Parameter_Name represents the name of the output parameter (maximum 32 characters). Example: Control.Accel indicates the output Accel of the DFB instance called Control EN and ENO Parameters EN is an input parameter, and ENO is an output parameter. They are both of BOOL type, and may or may not be used (optional) in the definition of a DFB type. Where the user wishes to use these parameters, the editor sets them automatically: EN is the first input parameter and ENO the first output parameter. Example of implementation of EN\ENO parameters.

If the EN input parameter of an instance is assigned the value 0 (FALSE), then: the section(s) that make up the code of the DFB is/are not executed (this is managed by the system), the ENO output parameter is set to 0 (FALSE) by the system. If the EN input parameter of an instance is assigned the value 1 (TRUE), then: the section(s) that make up the code of the DFB is/are executed (this is managed by the system), the ENO output parameter is set to 1 (TRUE) by the system.

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If an error is detected (for example a processing error) by the DFB instance, the user has the option of setting the ENO output parameter to 0 (FALSE). In this case: either the output parameters are frozen in the state they were in during the previous process until the fault disappears, or the user provides a function in the DFB code whereby the outputs are forced to the required state until the fault disappears. VAR_IN_OUT Variable Function blocks are often used to read a variable at an input (input variables), to process it and to output the updated values of the same variable (output variables). This special type of input/output variable is also called a VAR_IN_OUT variable. The following special features are to be noted when using function blocks/DFBs with VAR_IN_OUT variables. All VAR_IN_OUT inputs must be assigned a variable. VAR_IN_OUT inputs may not have literals or constants assigned to them. VAR_IN_OUT outputs may not have values assigned to them. VAR_IN_OUT variables cannot be used outside the block call. Calling a function block with a VAR_IN_OUT variable in IL: CAL MY_FBLOCK(IN1:=V1, IN2:=V2, IO1:=V3, OUT1=>V4, OUT2=>V5) Calling the same function block in FBD:

VAR_IN_OUT variables cannot be used outside the function block call. The following function block calls are therefore invalid: Invalid call, example 1:
LD V1 Loading a V1 variable in the accumulator

CAL InOutFB Calling a function block with the VAR_IN_OUT parameter. The accumulator now contains a reference to a VAR_IN_OUT parameter. AND V2 AND operation on accumulator contents and V2 variable. Error: The operation cannot be performed since the VAR_IN_OUT parameter (accumulator contents) cannot be accessed from outside the function block call.

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Invalid call, example 2:

LD V1 Loading a V1 variable in the accumulator

AND InOutFB.inout AND operation on accumulator contents and a reference to a VAR_IN_OUT parameter. Error: The operation cannot be performed since the VAR_IN_OUT parameter cannot be accessed from outside the function block call.

The following function block calls are always valid: Valid call, example 1:
CAL InOutFB (IN1:=V1,inout:=V2 Calling a function block with the VAR_IN_OUT parameter and assigning the actual parameter within the function block call.

Valid call, example 2:

LD V1 ST InOutFB.IN1 Loading a V1 variable in the accumulator Assigning the accumulator contents to the IN1 parameter of the IN1 function block.

CAL InOutFB(inout:=V2) Calling the function block with assignment of the actual parameter (V2) to the VAR_IN_OUT parameter.

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DFB Variables
Description of the Variables This table shows the role of each type of variable.
Variable Public Private Maximum Role number unlimited unlimited These internal variables of the DFB may be used by the DFB, by the application program and by the user in adjust mode. These internal variables of the DFB can only be used by this function block, and are therefore not accessible by the application program, but these type of variables can be accessed by the animation table. These variables are generally necessary to the programming of the block, but are of no interest to the user (for example, the result of an intermediate calculation, etc.).

NOTE: Nested DFBs are declared as private variables of the parent DFB. So their variables are also not accessible through programming, but trough the animation table. Variables that Can Be Accessed by the Application Program The only variables that can be accessed by the application program are public variables. To make this possible, the following syntax must be used in the program: DFB_Name.Variable_Name DFB_Name represents the name of the instance of the DFB used (maximum of 32 characters), Variable_Name represents the name of the public variable (maximum of 8 characters). Example: Control.Gain indicates the public variable Gain of the DFB instance called Control

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Saving Public Variables Setting the %S94 system bit to 1 causes the public variables you have modified to be saved by program or by adjustment, in place of the initial values of these variables (defined in the DFB instances). Replacement is only possible if the backup attribute is correctly set for the variable.

CAUTION
APPLICATION UPLOAD NOT SUCCESSFUL The bit %S94 must not be set to 1 during an upload. If the bit %S94 is set to 1 upload then the upload may be impossible. Failure to follow these instructions can result in equipment damage.

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DFB Code Section

General The code section(s) define(s) the process the DFB is to carry out, as a function of the declared parameters. If the IEC option is set, a single section may be attached to the DFB. Otherwise, a DFB may contain several code sections; the number of sections being unlimited. Programming Languages To program DFB sections, you can use the following languages: Instruction List (IL) Structured Text (ST) Ladder language (LD) Functional Block Diagram (FBD) Defining a Section A section is defined by: a symbolic name that identifies the section (maximum of 32 characters) a validation condition that defines the execution of the section a comment (maximum of 256 characters) a protection attribute (no protection, write-protected section, read/write-protected section) Programming Rules When executed, a DFB section can only use the parameters you have defined for the function block (input, output and input/output parameters and internal variables). Consequently, a DFB function block cannot use either the global variables of the application, or the input/output objects, except the system words and bits (%Si, %SWi and %SDi). A DFB section has maximum access rights (read and write) for its parameters.

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Example of Code The following program provides an example of Structured Text code

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Subject of this Chapter This chapter provides an overview of the creation of a DFB instance, and its execution. Whats in this Chapter? This chapter contains the following topics:
Topic Creation of a DFB Instance Execution of a DFB Instance Programming Example for a Derived Function Block (DFB) Page 572 574 575

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Creation of a DFB Instance

DFB Instance A DFB instance is a copy of the DFB model (DFB type): It uses the DFB type code (the code is not duplicated). It creates a data zone specific to this instance, which is a copy of the parameters and variables of the DFB type. This zone is situated in the applications data area. You must identify each DFB instance you create with a name of a maximum 32 characters, the authorized characters used depend on the choice made in the Identifiers area of the Language extensions tab in the Project Settings (see Unity Pro, Operating Modes). The first character must be a letter! Keywords and symbols are prohibited. Creation of an Instance From a DFB type, you can create as many instances as necessary; the only limitation is the size of the PLC memory. Initial Values The initial values of the parameters and public variables that you defined when creating the DFB type can be modified for each DFB instance. Not all DFB parameters have an initial value. Modification of the initial values of the elements in the DFB instances
EDT (except String String type) Type Inputs Input/Output Outputs Public variables Private Variables Yes No Yes Yes No No No Yes Yes No EDT No No No Yes No DDT structure No No Yes Yes No FB No ANY_ARRAY No No IODDT No ANY_... No No No -

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Modification of the initial values of the elements in the DFB type

EDT (except String type) Inputs Input/Output Outputs Public variables Private Variables Yes No Yes Yes Yes String Type EDT No No Yes Yes Yes No No No Yes Yes DDT FB structure No No Yes Yes Yes No ANY_ARRAY No No IODDT No ANY_... No No No -

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Execution of a DFB Instance

Operation A DFB instance is executed as follows.
Step 1 Action Loading the values in the input and input/output parameters. On initialization (or on cold restart), all non-assigned inputs take the initial value defined in the DFB type. They then keep the last value assigned to them. Execution of the internal program of the DFB. Writing the output parameters.

2 3

NOTE: The internal variables of DFBs are not reinitialized when using Build project online command after an input modification. To reinitialize all internal variables use Rebuild all project command. Debugging of DFBs The Unity Pro software offers several DFB debugging tools: animation table: all parameters, and public and private variables are displayed and animated in real-time. Objects may be modified and forced breakpoint, step by step and program diagnostics runtime screens: for unitary debugging

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Programming Example for a Derived Function Block (DFB)

General This example of programming a counter using a DFB is provided for instruction purposes. Characteristics of the DFB Type The DFB type used to create the counter is as follows.

The elements of the Cpt_parts DFB type are as follows.

Elements Name of the DFB type Input parameters Description Cpt_parts Reset: counter reset (EBOOL type) Presel: Preset value of the counter (DINT type) Count: upcounter input (EBOOL type) Done: preset value reached output (BOOL type) V_cour: current value of the counter (DINT type)

Output parameters Public internal variable

Operation of the Counter The operation of the counter must be as follows.

Phase 1 2 3 Description The DFB counts the rising edges on the Count input. The number of edges it counts is then stored by the variable V_cour. This variable is reset by a rising edge on the Reset input. When the number of edges counted is equal to the preset value, the Done output is set to 1. This variable is reset by a rising edge on the Reset input.

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Internal Program of the DFB The internal program of the DFB type Cpt_parts is defined in Structured Text as follows.

Example of Use Let us suppose your application needs to count 3 part types (for example, bolts, nuts and screws). The DFB type Cpt_parts can be used three times (3 instances) to perform these different counts. The number of parts to be procured for each type is defined in the words %MD10, %MD12 and %MD14 respectively. When the number of parts is reached, the counter sends a command to an output (%Q1.2.1, %Q1.2.2 or %Q1.2.3) which then stops the procurement system for the corresponding parts.

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The application program is entered in Ladder language as follows. The 3 DFBs (instances) Cpt_bolts, Cpt_nuts and Cpt_screws are used to count the different parts.

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Subject of this Chapter This chapter provides an overview of DFB instance calls made using the different programming languages. Whats in this Chapter? This chapter contains the following topics:
Topic Rules for Using DFBs in a Program Use of IODDTs in a DFB Use of a DFB in a Ladder Language Program Use of a DFB in a Structured Text Language Program Use of a DFB in an Instruction List Program Use of a DFB in a Program in Function Block Diagram Language Page 580 584 587 589 592 596

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Rules for Using DFBs in a Program

General DFB instances can be used in all languages [Instruction List (IL), Structured Text (ST), Ladder (LD) and Function Block Diagram (FBD)] and in all the tasks of the application program (sections, subroutine, etc.), except for event tasks and SFC program transitions. General Rules of Use When using a DFB, you must comply with the following rules for whatever language is being used: It is not necessary to connect all the input, input/output or output parameters, except the following parameters, which it is compulsory for you to assign: generic data-type input parameters (ANY_INT, ANY_ARRAY, etc.) input/output parameters generic data-type output parameters (other than tables) (ANY_INT, ANY_REAL, etc.) STRING-type input parameters unconnected input parameters keep the value of the previous call or the initialization value defined for these parameters, if the block has never been called all of the objects assigned to the input, input/output and output parameters must be of the same type as those defined when the DFB type was created (for example: if the type INT is defined for the input parameter "speed", then you cannot assign it the type DINT or REAL) The only exceptions are BOOL and EBOOL types for input and output parameters (not for input/output parameters), which can be mixed. Example: The input parameter "Validation" may be defined as BOOL and associated with a %Mi internal bit of type EBOOL. However, in the internal code of the DFB type, the input parameter actually has BOOL-type properties (it cannot manage edges).

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Assignment of Parameters The following table summarizes the different possibilities for assigning parameters in the different programming languages.
Parameter Inputs Type EDT (2) BOOL DDT ANY_... ANY_ARRAY Inputs/outputs EDT DDT IODDT ANY_... ANY_ARRAY Outputs EDT DDT ANY_... ANY_ARRAY Assignment of the parameter (1) Assignment Connected, value, object or expression Connected, value, object or expression Connected, value or object Connected or object Connected or object Connected or object Connected or object Connected or object Connected or object Connected or object Connected or object Connected or object Connected or object Connected or object Optional (3) Optional Compulsory Compulsory Compulsory Compulsory Compulsory Compulsory Compulsory Compulsory Optional Optional Compulsory Optional

(1) Connected in Ladder (LD) or Function Block Diagram (FBD) language. Value or object in Instruction List (IL) or Structured Text (ST) language. (2) Except BOOL-type parameters (3) Except for STRING-type parameters that is compulsory. Assignment of Parameters The following table summarizes the different possibilities for assigning parameters in the different programming languages.
Parameter Inputs Type EDT (2) BOOL DDT ANY_... ANY_ARRAY
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Assignment of the parameter (1) Assignment Connected, value, object or expression Connected, value, object or expression Connected, value or object Connected or object Connected or object Optional (3) Optional Compulsory Compulsory Compulsory 581

Use of DFBs

Parameter Inputs/outputs

Type EDT DDT IODDT ANY_... ANY_ARRAY

Assignment of the parameter (1) Assignment Connected or object Connected or object Connected or object Connected or object Connected or object Connected or object Connected or object Connected or object Connected or object Compulsory Compulsory Compulsory Compulsory Compulsory Optional Optional Compulsory Optional

Outputs

EDT DDT ANY_... ANY_ARRAY

(1) Connected in Ladder (LD) or Function Block Diagram (FBD) language. Value or object in Instruction List (IL) or Structured Text (ST) language. (2) Except BOOL-type parameters (3) Except for STRING-type parameters that is compulsory. Rules when using DFBs with arrays

WARNING
UNEXPECTED EQUIPMENT OPERATION Check the size of arrays when copying from source into target arrays using DFBs. Failure to follow these instructions can result in death, serious injury, or equipment damage. When using dynamic arrays, it is mandatory to check the sizes of arrays that are identical. In specific case, using dynamic arrays as an output or input/output, an overflow could lead to improper execution of the program and stop of the PLC. This behavior occurs if the following conditions are fulfilled simultaneously: Use of a DFB with at least one output or I/O parameter of dynamic array type (ANY_ARRAY_XXX). In the coding of a DFB, use of a function or function block (FFB of type FIFO, LIFO, MOVE, MVX, T2T, SAH or SEL). Note that, the function or FFB needs two ANY type parameters with at least one defined on the output. The DFB parameter of the dynamic array is used in writting during the FFB call (on the ANY type parameter). For other ANY parameters, an array with a fixed size is used. The size of the fixed size array is bigger than the size of the dynamic array calculated to store the result.
582

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Example for checking the size of arrays The following example shows how to check the size of arrays using the function LENGTH_ARWORD in a DFB.

In this example, Table_1 is an array with a fixed size, Table_2 is a dynamic array of type ANY_ARRAY_WORD. This program checks the size of each array. The functions LENGTH_ARWORD compute the size of each array in order to condition the execution of the MOVE function.

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Use of IODDTs in a DFB

At a Glance The following tables present the different IODDTs for the Modicon M340, Premium and Quantum PLCs that can be used in a DFB (exclusively as input/output (see page 561)) parameters. IOODT that Can Be Used in a DFB The following table lists the IODDTs of the differente application for Modicon M340, Premium and Quantum PLCs that can be used in a DFB .
IODDT families Discrete application T_DIS_IN_GEN T_DIS_IN_STD T_DIS_EVT T_DIS_OUT_GEN T_DIS_OUT_STD T_DIS_OUT_REFLEX Analog application T_ANA_IN_GEN T_ANA_IN_STD T_ANA_IN_CTRL T_ANA_IN_EVT T_ANA_OUT_GEN T_ANA_OUT_STD T_ANA_IN_BMX T_ANA_IN_T_BMX T_ANA_OUT_BMX T_ANA_IN_VE T_ANA_IN_VWE T_ANA_BI_VWE T_ANA_BI_IN_VWE Counting application T_COUNT_ACQ T_COUNT_HIGH_SPEED T_COUNT_STD 584 No No No Yes Yes Yes No No No
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Premium

Quantum

No No No No No No

No No No No No No

No No No No No No

No No No No No No Yes Yes Yes No No No No

No No Yes Yes No No No No No No No No No

No No No No No No No No No No No No No

Use of DFBs

IODDT families T_SIGN_CPT_BMX T_UNSIGN_CPT_BMX T_CNT_105 Electronic cam application T_CCY_GROUP0 T_CCY_GROUP1_2_3 Axis control application T_AXIS_AUTO T_AXIS_STD T_INTERPO_STD T_STEPPER_STD Sercos application T_CSY_CMD T_CSY_TRF T_CSY_RING T_CSY_IND T_CSY_FOLLOW T_CSY_COORD T_CSY_CAM Communication application T_COM_STS_GEN T_COM_UTW_M T_COM_UTW_S T_COM_MB T_COM_CHAR T_COM_FPW T_COM_MBP T_COM_JNET T_COM_ASI T_COM_ETY_1X0 T_COM_ETY_210 T_COM_IBS_128 T_COM_IBS_242 T_COM_PBY

Modicon M340 Yes Yes No

Premium No No No

Quantum No No No

No No

No No

No No

No No No No

Yes Yes Yes Yes

No No No No

No No No No No No No

Yes Yes Yes Yes Yes Yes Yes

No No No No No No No

Yes No No No No No No No No No No No No No

Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes

No No No No No No No No No No No No No No

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IODDT families T_COM_CPP100 T_COM_ETYX103 T_COM_ETHCOPRO T_COM_MB_BMX T_COM_CHAR_BMX T_COM_CO_BMX T_COM_ETH_BMX Adjustment application T_PROC_PLOOP T_PROC_3SING_LOOP T_PROC_CASC_LOOP T_PROC_SPP T_PROC_CONST_LOOP Weiging application T_WEIGHING_ISPY101 Common to all applications T_GEN_MOD

Modicon M340 No No No Yes Yes Yes Yes

Premium Yes Yes Yes No No No No

Quantum No No No No No No No

No No No No No

Yes Yes Yes Yes Yes

No No No No No

No

Yes

No

No

No

No

586

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Use of DFBs

Use of a DFB in a Ladder Language Program

Principle In Ladder language, there are two possible ways of calling a DFB function block: via a textual call in an operation block in which the syntax and constraints on the parameters are identical to those of Structured Text language via a graphic call The inputs of the function blocks may be connected or assigned a value, an object or an expression. In any case, the type of external element (value, evaluation of the expression, etc.) must be identical to that of the input parameter. A DFB block must have at least one connected Boolean input and an output (if necessary). For this you may use the EN input parameters and the ENO output parameter (see the description of these parameters below). It is compulsory to connect or assign the ANY_ARRAY-type inputs, the generic datatype outputs (ANY_...) and the input/outputs of a DFB block. Graphic Representation of a DFB Block The following illustration shows a simple DFB programming example.

Elements of the DFB Block The following table lists the different elements of the DFB block, labeled in the above illustration.
Label 1 2 3 Element Name of the DFB (instance) Name of the DFB type Input assigned by an expression

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Label 4 5 6 7 8 9

Element Input assigned by a value Connected input Input assigned by an object (address or symbol) Input parameters Output parameters Input/output parameters

Use of EN\ENO Parameters See EN and ENO Parameters, page 563

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Use of a DFB in a Structured Text Language Program

Principle In Structured Text, a user function block is called by a DFB call: name of the DFB instance followed by a list of arguments. Arguments are displayed in the list between brackets and separated by commas. The DFB call can be of one of two types: a formal call, when arguments are assignments (parameter = value). In this case, the order in which the arguments are entered in the list is not important. The EN input parameter and the ENO output parameter can be used to control the execution of the function block an informal call, when arguments are values (expression, object or an immediate value). In this case, the order in which the arguments are entered in the list must follow the order of the DFB input parameters, including for non-assigned inputs (the argument is an empty field) It is not possible to use EN and ENO parameters. DFB_Name (argument 1,argument 2,....,argument n) NOTE: The ANY_ARRAY-type inputs, generic data-type outputs (ANY_...) and input/outputs of a DFB must be assigned. Use of EN\ENO Parameters See EN and ENO Parameters, page 563 Example of a DFB The following simple example explains the different DFB calls in Structured Text language. This is the instance Cpt_1 of the Cpt_parts: type DFB.

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Formal DFB Call The formal DFB call Cpt_1 is performed with the following syntax: Cpt_1 (Reset:=Clear, Presel:=P_Select, Count:=100, Done=>%Q1.2.1); Where the input parameters assigned by a value (expression, object or immediate value) are entered in the list of arguments, the syntax is: Cpt_1 (Reset:=Clear, Presel:=P_Select, Count:=100); ... %Q1.2.1:=Cpt_1.Done; Elements of the Sequence The following table lists the different elements of the program sequence, when a formal DFB call is made.
Element Cpt_1 Reset, Presel, Count := Clear 100 Done => %Q1.2.1 ; , Meaning Name of the DFB instance Input parameters Assignment symbol of an input Assignment object of an input (symbol) Assignment value of an input Output parameter Assignment symbol of an output Assignment object of an output (address) End of sequence symbol Argument separation symbol

Informal DFB Call The informal DFB call Cpt_1 is performed with the following syntax: Cpt_1 (Clear, %MD10, , 100); ... %Q1.2.1:=Cpt_1.Done;

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Elements of the Sequence The following table lists the different elements of the program sequence, when a formal DFB call is made.
Element Cpt_1 Meaning Name of the DFB instance

Clear, %MD10, ,100 Assignment object or value of the inputs. Non-assigned inputs are represented by an empty field ; , End of sequence symbol Argument separation symbol

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Use of a DFB in an Instruction List Program

Principle In Instruction List, a user function block is called by a CAL instruction, followed by the name of the DFB instance as an operand and a list of arguments (optional). Arguments are displayed in the list between brackets and separated by commas. In Instruction List, there are three possible ways of calling a DFB: The instruction CAL DFB_Name is followed by a list of arguments that are assignments (parameter = value). In this case, the order in which the arguments are entered in the list is not important. The EN input parameter can be used to control the execution of the function block. The instruction CAL DFB_Name is followed by a list of arguments that are values (expression, object or immediate value). In this case, the order in which the arguments are entered in the list must follow the order of the DFB input parameters, including for non-assigned inputs (the argument is an empty field). It is not possible to use EN and ENO parameters. The instruction CAL DFB_Name is not followed by a list of arguments. In this case, this instruction must be preceded by the assignment of the input parameters, via a register: loading of the value (Load) then assignment to the input parameter (Store). The order of assignment of the parameters (LD/ST) is not important; however, you must assign all the required input parameters before executing the CAL command. It is not possible to use EN and ENO parameters. CAL DFB_Name (argument 1,argument 2,...,argument n) or LD Value 1 ST Parameter 1 ... LD Value n ST Parameter n CAL DFB_Name NOTE: The ANY_ARRAY-type inputs, generic data-type outputs (ANY_...) and input/outputs of a DFB must be assigned. Use of EN\ENO Parameters See EN and ENO Parameters, page 563.

592

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Example of a DFB The following example explains the different calls of a DFB in Instruction List. This is the instance Cpt_1 of the Cpt_parts: type DFB

DFB Call when the Arguments Are Assignments When the arguments are assignments, the DFB call Cpt_1 is performed with the following syntax: CAL Cpt_1 (Reset:=Clear, Presel:=%MD10, Count:=100, Done=>%Q1.2.1) Where the input parameters assigned by a value (expression, object or immediate value) are entered in the list of arguments, the syntax is: CAL Cpt_1 (Reset:=Clear, Presel:=%MD10, Count:=100) ... LD Cpt_1.Done ST %Q1.2.1 In order to make your application program more legible, you can enter a carriage return after the commas that separate the arguments. The sequence then takes the following syntax: CAL Cpt_1( Reset:=Clear, Presel:=%MD10, Count:=100, Done=>%Q1.2.1)

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Elements of the DFB Call Program The following table lists the different elements of the DFB call program.
Element CAL Cpt_1 Reset, Presel, Count := Clear, %MD10, 100 Done => %Q1.2.1 , Meaning DFB call instruction Name of the DFB instance Input parameters Assignment symbol of an input Assignment object or value of the inputs Output parameter Assignment symbol of an output Assignment object of an output Argument separation symbol

DFB Call when the Arguments Are Values When the arguments are values, the DFB call Cpt_1 is performed with the following syntax: CAL Cpt_1 (Clear, %MD10,, 100) ... LD Cpt_1.Done ST %Q1.2.1 Elements of the DFB Call Program The following table lists the different elements of the DFB call program.
Element CAL Cpt_1 Clear, %MD10, 100 , Meaning DFB call instruction Name of the DFB instance Assignment object or value of the inputs Argument separation symbol

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DFB Call with no Argument When there is no argument, the DFB call Cpt_1 is performed with the following syntax: LD Clear ST Cpt_1.Reset LD %MD10 ST Cpt_1.Presel LD 100 ST Cpt_1.Count CAL Cpt_1( ... LD Cpt_1.Done ST %Q1.2.1 Elements of the DFB Call Program The following table lists the different elements of the DFB call program.
Element LD Clear ST Cpt_1.Reset CAL Cpt_1( Meaning Load instruction to load the Clear value into a register Assign instruction to assign the contents of the register to the input parameter Cpt_1.Reset Call instruction for the DFB Cpt_1

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Use of a DFB in a Program in Function Block Diagram Language

Principle In FBD (Function Block Diagram) language, the user function blocks are represented in the same way as in Ladder language and are called graphically. The inputs of the user function blocks may be connected or assigned a value, an immediate object or an expression. In any case, the type of external element must be identical to that of the input parameter. Only one object can be assigned (link to another block with the same variable) to an input of the DFB. However, several objects may be connected to a single output. A DFB block must have at least one connected Boolean input and an output (if necessary). For this, you can use an EN input parameter and an ENO output parameter. It is compulsory to connect or assign the ANY_ARRAY-type inputs, the generic datatype outputs (ANY_...) and the input/outputs of a DFB block. Graphic Representation of a DFB Block The following illustration shows a simple DFB programming example.

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Elements of the DFB Block The following table lists the different elements of the DFB block, labeled in the above illustration.
Label 1 2 3 4 5 6 7 8 Element Name of the DFB (instance) Name of the DFB type Input assigned by an object (symbol) Input assigned by a value Connected input Input parameters Output parameter Input assigned by an object (address)

Use of EN\ENO Parameters See EN and ENO Parameters, page 563.

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Use of DFBs

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Unity Pro Diagnostics DFB 35006144 07/2011

User Diagnostics DFB

20
Presentation of User Diagnostic DFBs
General The Unity Pro application is used to create your own diagnostic DFBs (see Unity Pro, Operating Modes). These diagnostic DFBs are standard DFBs that you will have configured beforehand with the Diagnostic property and in which you will have used the following two functions: REGDFB (see Unity Pro, Diagnostics, Block Library) to save the alarm date DEREG (see Unity Pro, Diagnostics, Block Library) to de-register the alarm NOTE: It is strongly recommended to only program a diagnostic DFB instance once within the application. These DFBs enable you to monitor your process. They will automatically report the information you will have chosen in the Viewer. You can thus monitor changes in state or variations in your process. Advantages The main advantages inherent in this service are as follows: The diagnostic is integrated in the project, and can thus be conceived during development and therefore better meets the users requirements. The error dating and recording system is done at the source (in the PLC), which means the information exactly represents the state of the process. You can connect a number of Viewers (Unity Pro, Magelis, Factory Cast) which will transcribe the exact state of the process to the user. Each Viewer is independent, and any action performed on one (for example, an acknowledgement) is automatically viewed on the others.

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Diagnostics DFB

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Appendices

At a Glance The appendix contains additional information. Whats in this Appendix? The appendix contains the following chapters:
Chapter A B Chapter Name EFB Error Codes and Values IEC Compliance Page 603 639

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602

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EFB Error Codes and Values

A
Introduction The following tables show the error codes and error values created for the EFBs sort by library and family. Whats in this Chapter? This chapter contains the following topics:
Topic Tables of Error Codes for the Base Library Tables of Error Codes for the Diagnostics Library Tables of Error Codes for the Communication Library Tables of Error Codes for the IO Management Library Tables of Error Codes for the CONT_CTL Library Tables of Error Codes for the Motion Library Tables of Error Codes for the Obsolete Library Common Floating Point Errors Page 604 606 607 611 620 627 629 637

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Tables of Error Codes for the Base Library

Introduction The following tables show the error codes and error values created for the EFBs of the Base Library. Date & Time Table of error codes and errors values created for EFBs of the Date & Time family.
EFB name Error code ENO state in case of error F F Error value in Dec Error value in Hex Error description

DIVTIME DIVTIME

E_DIVIDE_BY_ZERO E_NEGATIVE_INPUT_ FOR_TIME_OPERATION E_ARITHMETIC_ ERROR E_ERR_ARITHMETIC FP_ERROR

-30176 -30177

16#8A20 Divide by zero 16#8A1F A negative value cannot be converted to data type TIME Arithmetic error

DIVTIME DIVTIME DIVTIME

F F F

-30170 -30003 -

16#8A26

16#8ACD Arithmetic overflow (%S18 set) See table Common Floating Point Errors, page 637

MULTIME MULTIME

E_ERR_ARITHMETIC E_ARITHMETIC_ERROR_MUL_OV

F F

-30003 -30172

16#8ACD Arithmetic overflow (%S18 set) 16#8A24 Arithmetic error / Muliplication overflow Arithmetic error / Addition overflow Arithmetic error / Parameter exceeds range A negative value cannot be converted to data type TIME See table Common Floating Point Errors, page 637

MULTIME MULTIME

E_ARITHMETIC_ERROR_ADD_OV E_ARITHMETIC_ERROR_BIG_PAR

F F

-30173 -30171

16#8A23 16#8A25

MULTIME

E_NEGATIVE_INPUT_FOR_TIME_OPERATION F

-30177

16#8A1F

MULTIME

FP_ERROR

604

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EFB Error Codes and Values

Statistical Table of error codes and errors values created for EFBs of the Statistical family.
EFB Error code name ENO state in case of error F F F F F F F F Error value in Dec Error value in Hex Error description

AVE AVE AVE AVE AVE AVE AVE AVE AVE MAX MIN MUX

E_INPUT_VALUE_OUT_OF_RANGE E_DIVIDE_BY_ZERO FP_ERROR E_ARITHMETIC_ ERROR E_FP_STATUS_FAILED E_ARITHMETIC_ ERROR_MUL_OV E_ARITHMETIC_ ERROR_ADD_OV E_ARITHMETIC_ ERROR_BIG_PAR

-30183 -30176 -30170 -30150

16#8A19 Input value is out of range 16#8A20 Divide by zero See table Common Floating Point Errors, page 637

16#8A26 Arithmetic error Illegal floating point operation 16#8A3A 16#8A24 Arithmetic error / Muliplication overflow 16#8A23 Arithmetic error / Addition overflow 16#8A25 Arithmetic error / Parameter exceeds range 16#8A22 Arithmetic error / Unsigned overflow See table Common Floating Point Errors, page 637 See table Common Floating Point Errors, page 637

-30172 -30173 -30171 -30174 -30175

E_ARITHMETIC_ERROR_UNSIGN_OV F FP_ERROR FP_ERROR E_SELECTOR_OUT_OF_RANGE F F F

16#8A21 Selector is out of range

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Tables of Error Codes for the Diagnostics Library

Introduction The following tables show the error codes and error values created for the EFBs of the Diagnostics Library. Diagnostics Table of error codes and errors values created for EFBs of the Diagnostics family.
EFB name ONLEVT Error code E_EFB_ONLEVT ENO state in case of error T/F Error value Error value in Dec in Hex -30196 16#8A0C Error description Error of EFB ONLEVT ENO states True = Error registration OK False = Error registration failed

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Tables of Error Codes for the Communication Library

Introduction The following tables show the error codes and error values created for the EFBs of the Communication Library. Extended Table of error codes and errors values created for EFBs of the Extended family.
EFB name Error code ENO state in case of error F Error value in Dec Error value in Hex Error description

CREAD_REG CREAD_REG CREAD_REG

E_EFB_MSTR_ERROR

-30191 -30531 8195

16#8A11

MSTR communication error

E_EFB_NOT_STATE_RAM_4X F F

16#88BD Variable not mapped to % MW (4x) area 16#2003 Value displayed in status word. (Comes together with E_EFB_MSTR_ERROR) Value displayed in status word. Comes together with E_EFB_NOT_STATE_RAM_4X See tables of : Modbus Plus and SY/MAX EtherNet Error Codes (see Modicon Quantum with Unity, Ethernet Network Modules, User Manual) SY/MAX specific Error Codes (see Modicon Quantum with Unity, Ethernet Network Modules, User Manual) TCP/IP EtherNet Error Codes (see Modicon Quantum with Unity, Ethernet Network Modules, User Manual) MSTR communication error Value displayed in status word Comes together with E_EFB_MSTR_ERROR

CREAD_REG

8206

16#200E

CREAD_REG

CWRITE_REG E_EFB_MSTR_ERROR CWRITE_REG -

F F

-30191 8195

16#8A11 16#2003

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EFB Error Codes and Values

EFB name

Error code

ENO state in case of error F

Error value in Dec

Error value in Hex

Error description

CWRITE_REG -

8206

16#200E

Value displayed in status word Comes together with E_EFB_NOT_STATE_RAM_4X See tables of : Modbus Plus and SY/MAX EtherNet Error Codes (see Modicon Quantum with Unity, Ethernet Network Modules, User Manual) SY/MAX specific Error Codes (see Modicon Quantum with Unity, Ethernet Network Modules, User Manual) TCP/IP EtherNet Error Codes (see Modicon Quantum with Unity, Ethernet Network Modules, User Manual) Internal error: EFB has detected a violation e.g. write exceeds %MW (4x) boundaries

CWRITE_REG -

MBP_MSTR

E_EFB_OUT_OF_RANGE

-30192

16#8A10

MBP_MSTR MBP_MSTR

E_EFB_NOT_STATE_RAM_4X F F

-30531 8195

16#88BD Variable not mapped to %MW (4x) area 16#2003 Value displayed in status word Comes together with E_EFB_MSTR_ERROR in status of control block Value displayed in status word Comes together with E_EFB_NOT_STATE_RAM_4X in status of control block

MBP_MSTR

8206

16#200E

608

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EFB Error Codes and Values

EFB name

Error code

ENO state in case of error F

Error value in Dec

Error value in Hex

Error description

MBP_MSTR

See tables of : Modbus Plus and SY/MAX EtherNet Error Codes (see Modicon Quantum with Unity, Ethernet Network Modules, User Manual) SY/MAX specific Error Codes (see Modicon Quantum with Unity, Ethernet Network Modules, User Manual) TCP/IP EtherNet Error Codes (see Modicon Quantum with Unity, Ethernet Network Modules, User Manual) Parameter out of range

READ_REG READ_REG READ_REG READ_REG

W_WARN_OUT_OF_RANGE

30110 -30531 -30191 8195

16#759E

E_EFB_NOT_STATE_RAM_4X F E_EFB_MSTR_ERROR F F

16#88BD Variable not mapped to %MW (4x) area 16#8A11 16#2003 MSTR communication error Value displayed in status word Comes together with W_WARN_OUT_OF_RANGE Value displayed in status word Comes together with E_EFB_NOT_STATE_RAM_4X See tables of : Modbus Plus and SY/MAX EtherNet Error Codes (see Modicon Quantum with Unity, Ethernet Network Modules, User Manual) SY/MAX specific Error Codes (see Modicon Quantum with Unity, Ethernet Network Modules, User Manual) TCP/IP EtherNet Error Codes (see Modicon Quantum with Unity, Ethernet Network Modules, User Manual) Parameter out of range

READ_REG

MBPUNLOC

8206

16#200E

READ_REG

WRITE_REG

W_WARN_OUT_OF_RANGE

30110

16#759E

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EFB Error Codes and Values

EFB name

Error code

ENO state in case of error

Error value in Dec

Error value in Hex

Error description

WRITE_REG WRITE_REG WRITE_REG

E_EFB_NOT_STATE_RAM_4X F E_EFB_MSTR_ERROR F F

-30531 -30191 8195

16#88BD Variable not mapped to %MW (4x) area 16#8A11 16#2003 MSTR communication error Value displayed in status word Comes together with W_WARN_OUT_OF_RANGE Value displayed in status word Comes together with E_EFB_NOT_STATE_RAM_4X See tables of : Modbus Plus and SY/MAX EtherNet Error Codes (see Modicon Quantum with Unity, Ethernet Network Modules, User Manual) SY/MAX specific Error Codes (see Modicon Quantum with Unity, Ethernet Network Modules, User Manual) TCP/IP EtherNet Error Codes (see Modicon Quantum with Unity, Ethernet Network Modules, User Manual)

WRITE_REG

8206

16#200E

WRITE_REG

610

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Tables of Error Codes for the IO Management Library

Introduction The following tables show the error codes and error values created for the EFBs of the IO Management Library. Analog I/O Configuration Table of error codes and errors values created for EFBs of the Analog I/O Configuration family.
EFB name Error code ENO state in case of error Error value in Dec -30188 -30200 Error value in Hex Error description

I_FILTER I_SET

E_EFB_NOT_CONFIGURED F E_EFB_USER_ERROR_1 F

16#8A14 EFB configuration does not match hardware configuration 16#8A08 The input IN_REG is not connected with the number of an input word (%IW). 16#8A07 The input IN_REG is connected with an invalid number of an input word (%IW). 16#8A06 MN_RAW MX_RAW 16#8A05 Unknown value for MN_PHYS 16#8A04 Unknown value for MX_PHYS 16#89FE ST_REG not entered 16#89FD ST_REG too large 16#89FC ST_CH not entered 16#8A14 EFB configuration does not match hardware configuration 16#8A08 The input OUT_REG is not connected with the number of an output word (%MW). 16#8A07 The input OUT_REG is connected with an invalid number of an output word (%MW). 16#8A06 MN_RAW MX_RAW 16#8A05 Unknown value for MN_PHYS

I_SET

E_EFB_USER_ERROR_2

-30201

I_SET I_SET I_SET I_SET I_SET I_SET O_FILTER O_SET

E_EFB_USER_ERROR_3 E_EFB_USER_ERROR_4 E_EFB_USER_ERROR_5 E_EFB_USER_ERROR_11 E_EFB_USER_ERROR_12 E_EFB_USER_ERROR_13

F F F F F F

-30202 -30203 -30204 -30210 -30211 -30212 -30188 -30200

E_EFB_NOT_CONFIGURED F E_EFB_USER_ERROR_1 F

O_SET

E_EFB_USER_ERROR_2

-30201

O_SET O_SET

E_EFB_USER_ERROR_3 E_EFB_USER_ERROR_4

F F

-30202 -30203

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EFB Error Codes and Values

EFB name Error code

ENO state in case of error F F F F

Error value in Dec -30204 -30210 -30211 -30212

Error value in Hex

Error description

O_SET O_SET O_SET O_SET

E_EFB_USER_ERROR_5 E_EFB_USER_ERROR_11 E_EFB_USER_ERROR_12 E_EFB_USER_ERROR_13

16#8A04 Unknown value for MX_PHYS 16#89FE ST_REG not entered 16#89FD ST_REG too large 16#89FC ST_CH not entered

Analog I/O Scaling Table of error codes and errors values created for EFBs of the Analog I/O Scaling family.
EFB name Error code ENO state in case of error F F Error Error value in value in Dec Hex Error description

I_NORM I_NORM

E_EFB_NEG_OVER_RANGE E_EFB_NOT_CONFIGURED

-30187 -30188

16#8A15 16#8A14

Negative overflow EFB configuration does not match hardware configuration Module delivers no warning status Positive overflow Negative overflow EFB configuration does not match hardware configuration Module delivers no warning status Input value is out of range
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I_NORM_WARN

E_EFB_NO_WARNING_STATUS_AVAILABLE

-30189

16#8A13

I_NORM_WARN I_NORM_WARN I_NORM_WARN

E_EFB_POS_OVER_RANGE E_EFB_NEG_OVER_RANGE E_EFB_NOT_CONFIGURED

F F F

-30186 -30187 -30188

16#8A16 16#8A15 16#8A14

I_PHYS

E_EFB_NO_WARNING_STATUS_AVAILABLE

-30189

16#8A13

I_PHYS

E_INPUT_VALUE_OUT_OF_RANGE

-30183

16#8A19

612

EFB Error Codes and Values

EFB name

Error code

ENO state in case of error F F F F

Error Error value in value in Hex Dec

Error description

I_PHYS I_PHYS I_PHYS I_PHYS

E_EFB_NO_MEASURING_RANGE E_EFB_POS_OVER_RANGE E_EFB_NEG_OVER_RANGE E_EFB_NOT_CONFIGURED

-30185 -30186 -30187 -30188

16#8A17 16#8A16 16#8A15 16#8A14

Internal error Positive overflow Negative overflow EFB configuration does not match hardware configuration Module delivers no warning status Filter SQRT is not available Input value is out of range Internal error Positive overflow Negative overflow EFB configuration does not match hardware configuration Internal error: EFB has detected a violation e.g. write exceeds %MW (4x) boundaries

I_PHYS_WARN

E_EFB_NO_WARNING_STATUS_AVAILABLE

-30189

16#8A13

I_PHYS_WARN

E_EFB_FILTER_SQRT_NOT_AVAIL

-30195

16#8A0D

I_PHYS_WARN I_PHYS_WARN I_PHYS_WARN I_PHYS_WARN I_PHYS_WARN

E_INPUT_VALUE_OUT_OF_RANGE E_EFB_NO_MEASURING_RANGE E_EFB_POS_OVER_RANGE E_EFB_NEG_OVER_RANGE E_EFB_NOT_CONFIGURED

F F F F F

-30183 -30185 -30186 -30187 -30188

16#8A19 16#8A17 16#8A16 16#8A15 16#8A14

I_RAW

E_EFB_OUT_OF_RANGE

-30192

16#8A10

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EFB Error Codes and Values

EFB name

Error code

ENO state in case of error F

Error Error value in value in Hex Dec

Error description

I_RAW

E_EFB_NOT_CONFIGURED

-30188

16#8A14

EFB configuration does not match hardware configuration EFB configuration does not match hardware configuration Positive overflow Negative overflow EFB configuration does not match hardware configuration Module delivers no warning status Positive overflow Negative overflow EFB configuration does not match hardware configuration Positive overflow Negative overflow

I_RAWSIM

E_EFB_NOT_CONFIGURED

-30188

16#8A14

I_SCALE I_SCALE I_SCALE

E_EFB_POS_OVER_RANGE E_EFB_NEG_OVER_RANGE E_EFB_NOT_CONFIGURED

F F F

-30186 -30187 -30188

16#8A16 16#8A15 16#8A14

I_SCALE_WARN

E_EFB_NO_WARNING_STATUS_AVAILABLE

-30189

16#8A13

I_SCALE_WARN I_SCALE_WARN I_SCALE_WARN

E_EFB_POS_OVER_RANGE E_EFB_NEG_OVER_RANGE E_EFB_NOT_CONFIGURED

F F F

-30186 -30187 -30188

16#8A16 16#8A15 16#8A14

O_NORM O_NORM

E_EFB_POS_OVER_RANGE E_EFB_NEG_OVER_RANGE

F F

-30186 -30187

16#8A16 16#8A15

614

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EFB Error Codes and Values

EFB name

Error code

ENO state in case of error F

Error Error value in value in Hex Dec

Error description

O_NORM

E_EFB_NOT_CONFIGURED

-30188

16#8A14

EFB configuration does not match hardware configuration Positive overflow Negative overflow EFB configuration does not match hardware configuration Internal error Positive overflow Negative overflow EFB configuration does not match hardware configuration Internal error Positive overflow Negative overflow EFB configuration does not match hardware configuration Negative overflow

O_NORM_WARN O_NORM_WARN O_NORM_WARN

E_EFB_POS_OVER_RANGE E_EFB_NEG_OVER_RANGE E_EFB_NOT_CONFIGURED

F F F

-30186 -30187 -30188

16#8A16 16#8A15 16#8A14

O_PHYS O_PHYS O_PHYS O_PHYS

E_EFB_NO_MEASURING_RANGE E_EFB_POS_OVER_RANGE E_EFB_NEG_OVER_RANGE E_EFB_NOT_CONFIGURED

F F F F

-30185 -30186 -30187 -30188

16#8A17 16#8A16 16#8A15 16#8A14

O_PHYS_WARN O_PHYS_WARN O_PHYS_WARN O_PHYS_WARN

E_EFB_NO_MEASURING_RANGE E_EFB_POS_OVER_RANGE E_EFB_NEG_OVER_RANGE E_EFB_NOT_CONFIGURED

F F F F

-30185 -30186 -30187 -30188

16#8A17 16#8A16 16#8A15 16#8A14

O_RAW

E_EFB_NEG_OVER_RANGE

-30187

16#8A15

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EFB Error Codes and Values

EFB name

Error code

ENO state in case of error F

Error Error value in value in Hex Dec

Error description

O_RAW

E_EFB_NOT_CONFIGURED

-30188

16#8A14

EFB configuration does not match hardware configuration Input value is out of range Positive overflow Negative overflow EFB configuration does not match hardware configuration Input value is out of range Positive overflow Negative overflow EFB configuration does not match hardware configuration

O_SCALE O_SCALE O_SCALE O_SCALE

E_INPUT_VALUE_OUT_OF_RANGE E_EFB_POS_OVER_RANGE E_EFB_NEG_OVER_RANGE E_EFB_NOT_CONFIGURED

F F F F

-30183 -30186 -30187 -30188

16#8A19 16#8A16 16#8A15 16#8A14

O_SCALE_WARN E_INPUT_VALUE_OUT_OF_RANGE O_SCALE_WARN E_EFB_POS_OVER_RANGE O_SCALE_WARN E_EFB_NEG_OVER_RANGE O_SCALE_WARN E_EFB_NOT_CONFIGURED

F F F F

-30183 -30186 -30187 -30188

16#8A19 16#8A16 16#8A15 16#8A14

616

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EFB Error Codes and Values

Immediate I/O Table of error codes and errors values created for EFBs of the Immediate I/O family.
EFB name Error code ENO state in case of error F F F F F F F F F F Error value in Dec Error description Error value in Hex

IMIO_IN IMIO_IN IMIO_IN IMIO_IN IMIO_IN IMIO_OUT IMIO_OUT IMIO_OUT IMIO_OUT IMIO_OUT

0000 8193 8194 8195 -4095 0000 8193 8194 8195 -4095

0000 2001 2002 2003 F001 0000 2001 2002 2003 F001

Operation OK invalid operation type (e.g. the I/O module addressed is not an input module) Invalid rack or slot number (I/O map in the configurator contains no module entry for this slot) invalid slot number Module not OK Operation OK invalid operation type (e.g. the I/O module addressed is not an input module) Invalid rack or slot number (I/O map in the configurator contains no module entry for this slot) invalid slot number Module not OK

Quantum I/O Configuration Table of error codes and errors values created for EFBs of the Quantum I/O Configuration family.
EFB name Error code ENO state in case of error Error value in Dec Error value in Hex Error description

ACI030 ACI040 ACI040

E_EFB_NOT_CONFIGURED F E_EFB_NOT_CONFIGURED F E_EFB_CURRENT_MODE_ NOT_ALLOWED F

-30188 -30188 -30197

16#8A14 EFB configuration does not match hardware configuration 16#8A14 EFB configuration does not match hardware configuration 16#8A0B EFB error: Current mode is not allowed

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EFB Error Codes and Values

EFB name

Error code

ENO state in case of error

Error value in Dec

Error value in Hex

Error description

ACO020 ACO130 ACO130 AII330 AII330 AII33010 AII33010 AIO330 AIO330 AMM090 ARI030 ARI030 ATI030 AVI030 AVO020 DROP ERT_854_10 ERT_854_10

E_EFB_NOT_CONFIGURED F E_EFB_NOT_CONFIGURED F E_EFB_CURRENT_MODE_ NOT_ALLOWED F

-30188 -30188 -30197 -30188 -30198 -30188 -30197 -30188 -30197 -30188 -30188 -30198 -30188 -30188 -30188 -30188 20480 -30215

16#8A14 EFB configuration does not match hardware configuration 16#8A14 EFB configuration does not match hardware configuration 16#8A0B EFB error: Current mode is not allowed 16#8A14 EFB configuration does not match hardware configuration 16#8A0A EFB error: Illegal configuration data 16#8A14 EFB configuration does not match hardware configuration 16#8A0B EFB error: Current mode is not allowed 16#8A14 EFB configuration does not match hardware configuration 16#8A0B EFB error: Current mode is not allowed 16#8A14 EFB configuration does not match hardware configuration 16#8A14 EFB configuration does not match hardware configuration 16#8A0A EFB error: Illegal configuration data 16#8A14 EFB configuration does not match hardware configuration 16#8A14 EFB configuration does not match hardware configuration 16#8A14 EFB configuration does not match hardware configuration 16#8A14 EFB configuration does not match hardware configuration 16#5000 16#89F9 Defined as E_EFB_USER_ERROR_16

E_EFB_NOT_CONFIGURED F E_EFB_ILLEGAL_CONFIG_ DATA F

E_EFB_NOT_CONFIGURED F E_EFB_CURRENT_MODE_ NOT_ALLOWED F

E_EFB_NOT_CONFIGURED F E_EFB_CURRENT_MODE_ NOT_ALLOWED F

E_EFB_NOT_CONFIGURED F E_EFB_NOT_CONFIGURED F E_EFB_ILLEGAL_CONFIG_ DATA F

E_EFB_NOT_CONFIGURED F E_EFB_NOT_CONFIGURED F E_EFB_NOT_CONFIGURED F E_EFB_NOT_CONFIGURED F ES_WRONG_SLOT E_WRONG_SLOT F F

618

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EFB Error Codes and Values

EFB name

Error code

ENO state in case of error F F F F F F F F F F F F

Error value in Dec

Error value in Hex

Error description

ERT_854_10 ERT_854_10 ERT_854_10 ERT_854_10 ERT_854_10 ERT_854_10 ERT_854_10 ERT_854_10 ERT_854_10 ERT_854_10 ERT_854_10 ERT_854_10 QUANTUM QUANTUM XBE XBE XDROP

ES_HEALTHBIT E_HEALTHBIT ES_TIMEOUT E_TIMEOUT E_ERT_BASIC - values E_WRONG_ANSW ES_CBUF_OFLOW E_CBUF_OFLOW ES_WRONG_PAKET E_WRONG_PAKET ES_WRONG_FELD E_WRONG_FELD

24576 -30216 32768 -30210 -30199 -30211 28672 -30217 8192 -30212 12288 -30213 -30188 -30190 -30188 -30190 -30188

16#6000 16#89F8 16#8000

Defined as E_EFB_USER_ERROR_17 -

16#89FE Defined as E_EFB_USER_ERROR_11 16#8A09 Defined as E_EFB_USER_ERROR_1 + 1 16#89FD Defined as E_EFB_USER_ERROR_12 16#7000 16#89F7 16#2000 Defined as E_EFB_USER_ERROR_18 -

16#89FC Defined as E_EFB_USER_ERROR_13 16#3000 -

16#89FB Defined as E_EFB_USER_ERROR_14 16#8A14 EFB configuration does not match hardware configuration 16#8A12 Unknown drop / No Quantum traffic cop 16#8A14 EFB configuration does not match hardware configuration 16#8A12 Unknown drop / No Quantum traffic cop 16#8A14 EFB configuration does not match hardware configuration

E_EFB_NOT_CONFIGURED F E_EFB_UNKNOWN_DROP F

E_EFB_NOT_CONFIGURED F E_EFB_UNKNOWN_DROP F

E_EFB_NOT_CONFIGURED F

NOTE: For details about ERT_854_10, please refer to the ERT_854_10 description (see Quantum with Unity Pro, 140 ERT 854 10 Time Stamp Module, Users manual) in the IO Management Library.

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EFB Error Codes and Values

Tables of Error Codes for the CONT_CTL Library

Introduction The following tables show the error codes and error values created for the EFBs of the CONT_CTL Library. Conditioning Table of error codes and errors values created for EFBs of the Conditioning family.
EFB name Error code ENO state in case of error T F T/F Error Error value in value in Dec Hex Error description

DTIME DTIME DTIME

W_WARN_OUT_OF_RANGE FP_ERROR Status word values

30110 16#759E -

Parameter out of range See table Common Floating Point Errors, page 637 For details about the DTIME status word refer to the DTIME desription (see Unity Pro, Control, Block Library) Not a valid floating point number 16#8A38 YMAX < YMIN 16#8A6A See table Common Floating Point Errors, page 637 Not a valid floating point number 16#8A38 See table Common Floating Point Errors, page 637 Not a valid floating point number 16#8A38 See table Common Floating Point Errors, page 637 Not a valid floating point number 16#8A38 See table Common Floating Point Errors, page 637
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INTEGRATOR E_ERR_DEN INTEGRATOR E_ERR_IB_MAX_MIN INTEGRATOR FP_ERROR LAG_FILTER LAG_FILTER LDLG LDLG LEAD LEAD E_ERR_DEN FP_ERROR E_ERR_DEN FP_ERROR E_ERR_DEN FP_ERROR

F F F F F F F F F

-30152 -30102 -30152 -30152 -30152 -

620

EFB Error Codes and Values

EFB name

Error code

ENO state in case of error T F T/F

Error Error value in value in Hex Dec

Error description

MFLOW MFLOW MFLOW

W_WARN_OUT_OF_RANGE FP_ERROR Status word values

30110 16#759E -

Parameter out of range See table Common Floating Point Errors, page 637 For details about the MFLOW status word refer to the MFLOW desription (see Unity Pro, Control, Block Library) Not a valid floating point number 16#8A38 Null input scale: max and min limit 16#8A57 must be different See table Common Floating Point Errors, page 637 For details about the SCALING status word refer to the SCALING description (see Unity Pro, Control, Block Library) Parameter out of range 16#759E See table Common Floating Point Errors, page 637

QDTIME SCALING SCALING SCALING

E_ERR_DEN E_ERR_NULL_INPUT_SCALE FP_ERROR Status word values

F F F T/F

-30152 -30121 -

TOTALIZER TOTALIZER TOTALIZER TOTALIZER

W_WARN_OUT_OF_RANGE FP_ERROR

T F

30110 30113 -

W_WARN_TOTALIZER_CTER_ T MAX Status word values T/F

Maximum value of cter has been 16#75A1 reached For details about the TOTALIZER status word refer to the TOTALIZER description (see Unity Pro, Control, Block Library) Not a valid floating point number 16#8A38 YMAX < YMIN 16#8A6B See table Common Floating Point Errors, page 637

VEL_LIM VEL_LIM VEL_LIM

E_ERR_DEN E_ERR_AB1_MAX_MIN FP_ERROR

F F F

-30152 -30101 -

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EFB Error Codes and Values

Controller Table of error codes and errors values created for EFBs of the Controller family.
EFB name Error code ENO state in case of error T F T F Error value in Dec Error value in Hex Error description

AUTOTUNE AUTOTUNE AUTOTUNE AUTOTUNE AUTOTUNE

W_WARN_OUT_OF_RANGE E_ERR_NULL_INPUT_SCALE W_WARN_AUTOTUNE_FAILED FP_ERROR

30110 -30121 30111 -30120

16#759E Parameter out of range 16#8A57 Null input scale: max and min limit must be different

16#759F AUTOTUNE has failed 16#8A58 See table Common Floating Point Errors, page 637 The tuned EFB is not allowed or has not yet been called For details about the AUTOTUNE status word refer to the AUTOTUNE description (see Unity Pro, Control, Block Library)

E_ERR_AUTOTUNE_ID_UNKNOWN F

AUTOTUNE

Status word values

T/F

PI_B PI_B PI_B PI_B

W_WARN_OUT_OF_RANGE E_ERR_NULL_INPUT_SCALE FP_ERROR Status word values

T F F T/F

30110 -30121 -

16#759E Parameter out of range 16#8A57 Null input scale: max and min limit must be different See table Common Floating Point Errors, page 637 For details about the PI_B status word refer to the PI_B description (see Unity Pro, Control, Block Library)

PIDFF PIDFF PIDFF PIDFF

W_WARN_OUT_OF_RANGE E_ERR_NULL_INPUT_SCALE FP_ERROR Status word values

T F F T/F

30110 -30121 -

16#759E Parameter out of range 16#8A57 Null input scale: max and min limit must be different See table Common Floating Point Errors, page 637 For details about the PIDFF status word refer to the PIDFF description (see Unity Pro, Control, Block Library)

SAMPLETM 622

E_EFB_SAMPLE_TIME_OVERFLOW F

-30184

16#8A18 Internal error

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EFB Error Codes and Values

EFB name

Error code

ENO state in case of error T F T/F

Error value in Dec

Error value in Hex

Error description

STEP2 STEP2 STEP2

W_WARN_OUT_OF_RANGE FP_ERROR Status word values

30110 -

16#759E Parameter out of range See table Common Floating Point Errors, page 637 For details about the STEP2 status word refer to the STEP2 description (see Unity Pro, Control, Block Library)

STEP3 STEP3 STEP3

W_WARN_OUT_OF_RANGE FP_ERROR Status word values

T F T/F

30110 -

16#759E Parameter out of range See table Common Floating Point Errors, page 637 For details about the STEP3 status word refer to the STEP3 description (see Unity Pro, Control, Block Library)

Mathematics Table of error codes and errors values created for EFBs of the Mathematics family.
EFB name Error code ENO state in case of error T F T F Error value in Dec Error value in Hex Error description

COMP_DB COMP_DB K_SQRT K_SQRT

W_WARN_OUT_OF_RANGE FP_ERROR W_WARN_OUT_OF_RANGE FP_ERROR

30110 30110 -

16#759E 16#759E -

Parameter out of range See table Common Floating Point Errors, page 637 Parameter out of range See table Common Floating Point Errors, page 637

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EFB Error Codes and Values

EFB name

Error code

ENO state in case of error F F

Error value in Dec

Error value in Hex

Error description

MULDIV_W FP_ERROR SUM_W FP_ERROR

See table Common Floating Point Errors, page 637 See table Common Floating Point Errors, page 637

Measurement Table of error codes and errors values created for EFBs of the Measurement family.
EFB name Error code ENO state in case of error F T F F T F F F F F F F F Error value in Dec Error value in Hex Error description

AVGMV AVGMV AVGMV AVGMV_K AVGMV_K AVGMV_K DEAD_ZONE DEAD_ZONE DEAD_ZONE

E_ERR_DEN W_WARN_AVGMV FP_ERROR E_ERR_DEN W_WARN_AVGMV_K FP_ERROR E_ERR_DEN E_ERR_DZONE FP_ERROR

-30152 30108 -30152 30109 -30152 -30119 -30152 -30107 -30108 -

16#8A38 Not a valid floating point number 16#759C AVGMV: N must be <= 50 See table Common Floating Point Errors, page 637

16#8A38 Not a valid floating point number 16#759D AVGMV_K: N must be <= 10000 See table Common Floating Point Errors, page 637

16#8A38 Not a valid floating point number 16#8A59 DZONE: DZ must be >= 0 See table Common Floating Point Errors, page 637

LOOKUP_TABLE1 E_ERR_DEN LOOKUP_TABLE1 E_ERR_POLY_ANZAHL LOOKUP_TABLE1 E_ERR_POLY_FOLGE LOOKUP_TABLE1 FP_ERROR

16#8A38 Not a valid floating point number 16#8A65 number of inputs not even 16#8A64 base point x(i) <= x(i-1) See table Common Floating Point Errors, page 637

624

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EFB Error Codes and Values

Output Processing Table of error codes and errors values created for EFBs of the Output Processing family.
EFB name Error code ENO state in case of error T F T/F Error value in Dec Error value in Hex Error description

MS MS MS

W_WARN_OUT_OF_RANGE FP_ERROR Status word values

30110 -

16#759E Parameter out of range See table Common Floating Point Errors, page 637 For details about the MS status word refer to the MS description (see Unity Pro, Control, Block Library)

PWM1 PWM1 SERVO SERVO

WAF_PBM_TMINMAX FP_ERROR FP_ERROR Status word values

F F F T/F

-30113 -

16#8A5F t_min < t_max See table Common Floating Point Errors, page 637 See table Common Floating Point Errors, page 637 For details about the SERVO status word refer to the SERVO description (see Unity Pro, Control, Block Library)

SPLRG SPLRG SPLRG SPLRG

W_WARN_OUT_OF_RANGE E_ERR_NULL_INPUT_SCALE FP_ERROR Status word values

T F F T/F

30110 -30121 -

16#759E Parameter out of range 16#8A57 Null input scale: max and min limit must be different See table Common Floating Point Errors, page 637 For details about the SPLRG status word refer to the SPLRG description (see Unity Pro, Control, Block Library)

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625

EFB Error Codes and Values

Setpoint Management Table of error codes and errors values created for EFBs of the Setpoint Management family.
EFB name Error code ENO state in case of error Error value in Dec Error value in Hex Error description

RAMP RAMP RAMP

W_WARN_OUT_OF_RANGE T FP_ERROR Status word values F T/F

30110 16#759E -

Parameter out of range See table Common Floating Point Errors, page 637 For details about the RAMP status word refer to the RAMP description (see Unity Pro, Control, Block Library) See table Common Floating Point Errors, page 637 For details about the RATIO status word refer to the RATIO description (see Unity Pro, Control, Block Library) Parameter out of range 16#759E See table Common Floating Point Errors, page 637 For details about the SP_SEL status word refer to the SP_SEL description (see Unity Pro, Control, Block Library)

RATIO RATIO

FP_ERROR Status word values

F T/F

SP_SEL SP_SEL SP_SEL

W_WARN_OUT_OF_RANGE T FP_ERROR Status word values F T/F

30110 -

626

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EFB Error Codes and Values

Tables of Error Codes for the Motion Library

Introduction The following tables show the error codes and error values created for the EFBs of the Motion Library. MMF Start Table of error codes and errors values created for EFBs of the MMF Start family.
EFB name Error code ENO state in case of error F T T F T T F T F T F T F T F T F T F Error value in Dec -30200 9010 7004 -30200 9010 7004 -30200 7004 -30200 7004 -30200 7004 -30200 7004 -30200 7004 -30200 7004 -30200 Error value in Hex Error description

CFG_CP_F CFG_CP_F CFG_CP_F CFG_CP_V CFG_CP_V CFG_CP_V CFG_CS CFG_CS CFG_FS CFG_FS CFG_IA CFG_IA CFG_RA CFG_RA CFG_SA CFG_SA DRV_DNLD DRV_DNLD DRV_UPLD

BAD_REVISION MMF_BAD_4X MMF_ABORT_SUB BAD_REVISION MMF_BAD_4X MMF_ABORT_SUB BAD_REVISION MMF_ABORT_SUB BAD_REVISION MMF_ABORT_SUB BAD_REVISION MMF_ABORT_SUB BAD_REVISION MMF_ABORT_SUB BAD_REVISION MMF_ABORT_SUB BAD_REVISION MMF_ABORT_SUB BAD_REVISION

16#8A08 defined as E_EFB_USER_ERROR_1 16#2332 16#1B5C SubNum/SubNumEcho handshake error

16#8A08 defined as E_EFB_USER_ERROR_1 16#2332 16#1B5C SubNum/SubNumEcho handshake error

16#8A08 defined as E_EFB_USER_ERROR_1 16#1B5C SubNum/SubNumEcho handshake error

16#8A08 defined as E_EFB_USER_ERROR_1 16#1B5C SubNum/SubNumEcho handshake error

16#8A08 defined as E_EFB_USER_ERROR_1 16#1B5C SubNum/SubNumEcho handshake error

16#8A08 defined as E_EFB_USER_ERROR_1 16#1B5C SubNum/SubNumEcho handshake error

16#8A08 defined as E_EFB_USER_ERROR_1 16#1B5C SubNum/SubNumEcho handshake error

16#8A08 defined as E_EFB_USER_ERROR_1 16#1B5C SubNum/SubNumEcho handshake error

16#8A08 defined as E_EFB_USER_ERROR_1

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EFB Error Codes and Values

EFB name

Error code

ENO state in case of error T F T F T F F T F T F T

Error value in Dec 7004 -30200 7004 -30200 7004 -30200 -30200 7004 -30200 7004 -30200 7004 7005 -30200 7004 -30200 -30200 7004 -30200 7004

Error value in Hex 16#1B5C

Error description

DRV_UPLD IDN_CHK IDN_CHK IDN_XFER IDN_XFER MMF_BITS MMF_ESUB MMF_ESUB MMF_IDNX MMF_IDNX MMF_JOG MMF_JOG MMF_JOG

MMF_ABORT_SUB BAD_REVISION MMF_ABORT_SUB BAD_REVISION MMF_ABORT_SUB BAD_REVISION BAD_REVISION MMF_ABORT_SUB BAD_REVISION MMF_ABORT_SUB BAD_REVISION MMF_ABORT_SUB

SubNum/SubNumEcho handshake error

16#8A08 defined as E_EFB_USER_ERROR_1 16#1B5C SubNum/SubNumEcho handshake error

16#8A08 defined as E_EFB_USER_ERROR_1 16#1B5C SubNum/SubNumEcho handshake error

16#8A08 defined as E_EFB_USER_ERROR_1 16#8A08 defined as E_EFB_USER_ERROR_1 16#1B5C SubNum/SubNumEcho handshake error

16#8A08 defined as E_EFB_USER_ERROR_1 16#1B5C SubNum/SubNumEcho handshake error

16#8A08 defined as E_EFB_USER_ERROR_1 16#1B5C 16#1B5D SubNum/SubNumEcho handshake error Subroutine does not complete in time

MMF_SUB_TIMEOUT T F T F F T F T

MMF_MOVE BAD_REVISION MMF_MOVE MMF_ABORT_SUB MMF_RST MMF_SUB MMF_SUB MMF_USUB MMF_USUB BAD_REVISION BAD_REVISION MMF_ABORT_SUB BAD_REVISION MMF_ABORT_SUB

16#8A08 defined as E_EFB_USER_ERROR_1 16#1B5C SubNum/SubNumEcho handshake error

16#8A08 defined as E_EFB_USER_ERROR_1 16#8A08 defined as E_EFB_USER_ERROR_1 16#1B5C SubNum/SubNumEcho handshake error

16#8A08 defined as E_EFB_USER_ERROR_1 16#1B5C SubNum/SubNumEcho handshake error

NOTE: For details about MMF error codes and error values, please refer to the Faults and Error Reporting (see Unity Pro, Drive control, Block Library) description in the Motion Library.

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Tables of Error Codes for the Obsolete Library

Introduction The following tables show the error codes and error values created for the EFBs of the Obsolete Library. CLC Table of error codes and errors values created for EFBs of the CLC family.
EFB name Error code Error ENO Error state in value in value in Hex case of Dec error F F F F F F F F F F F F F F F -30152 -30152 -30102 -30152 -30152 -30152 -30101 -30152 -30103 -30152 Error description

DELAY INTEGRATOR1 INTEGRATOR1 INTEGRATOR1 LAG1 LAG1 LEAD_LAG1 LEAD_LAG1 LIMV LIMV LIMV PI1 PI1 PI1 PID1

E_ERR_DEN E_ERR_DEN E_ERR_IB_MAX_MIN FP_ERROR E_ERR_DEN FP_ERROR E_ERR_DEN FP_ERROR E_ERR_DEN E_ERR_AB1_MAX_MIN FP_ERROR E_ERR_DEN E_ERR_PI_MAX_MIN FP_ERROR E_ERR_DEN

16#8A38 Not a valid floating point number 16#8A38 Not a valid floating point number 16#8A6A YMAX < YMIN See table Common Floating Point Errors, page 637

16#8A38 Not a valid floating point number See table Common Floating Point Errors, page 637

16#8A38 Not a valid floating point number See table Common Floating Point Errors, page 637

16#8A38 Not a valid floating point number 16#8A6B YMAX < YMIN See table Common Floating Point Errors, page 637

16#8A38 Not a valid floating point number 16#8A69 YMAX < YMIN See table Common Floating Point Errors, page 637

16#8A38 Not a valid floating point number

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EFB Error Codes and Values

EFB name

Error code

Error ENO Error state in value in value in Hex case of Dec error F F F F F F F F T T T F F F F F F F F F F F F -30104 -30152 -30104 -30152 -30152 30101 30102 30103 -30105 -30152 30105 30104 -30106 -30152 30105 30104 -30106

Error description

PID1 PID1 PIDP1 PIDP1 PIDP1 SMOOTH_RATE SMOOTH_RATE THREE_STEP_CON1 THREE_STEP_CON1 THREE_STEP_CON1 THREE_STEP_CON1 THREE_STEP_CON1 THREE_STEP_CON1 THREEPOINT_CON1 THREEPOINT_CON1 THREEPOINT_CON1 THREEPOINT_CON1 THREEPOINT_CON1 TWOPOINT_CON1 TWOPOINT_CON1 TWOPOINT_CON1 TWOPOINT_CON1 TWOPOINT_CON1

E_ERR_PID_MAX_MIN FP_ERROR E_ERR_DEN E_ERR_PID_MAX_MIN FP_ERROR E_ERR_DEN FP_ERROR E_ERR_DEN W_WARN_DSR_TN W_WARN_DSR_TSN W_WARN_DSR_KP E_ERR_DSR_HYS FP_ERROR E_ERR_DEN W_WARN_ZDR_XRR W_WARN_ZDR_T1T2 FP_ERROR E_ERR_ZDR_HYS E_ERR_DEN W_WARN_ZDR_XRR W_WARN_ZDR_T1T2 FP_ERROR E_ERR_ZDR_HYS

16#8A68 YMAX < YMIN See table Common Floating Point Errors, page 637

16#8A38 Not a valid floating point number 16#8A68 YMAX < YMIN See table Common Floating Point Errors, page 637

16#8A38 Not a valid floating point number See table Common Floating Point Errors, page 637

16#8A38 Not a valid floating point number 16#7595 TN = 0 16#7596 TSN = 0 16#7597 KP <= 0 16#8A67 2 * |UZ| < |HYS| See table Common Floating Point Errors, page 637

16#8A38 Not a valid floating point number 16#7599 DR: XRR < -100 or XRR > 100 16#7598 T2 > T1 See table Common Floating Point Errors, page 637

16#8A66 2 * |UZ| < |HYS| 16#8A38 Not a valid floating point number 16#7599 DR: XRR < -100 or XRR > 100 16#7598 T2 > T1 See table Common Floating Point Errors, page 637

16#8A66 2 * |UZ| < |HYS|

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CLC_PRO Table of error codes and errors values created for EFBs of the CLC_PRO family.
EFB name Error code ENO Error Error state in value in value in case of Dec Hex error F F F F F F F F F F F F F F F T T F F F F F F F F -30152 -30111 -30112 -30152 -30110 -30104 -30109 -30152 -30152 -30152 -30116 -30117 30106 30107 -30118 -30152 -30102 -30152 -30152 Error description

ALIM ALIM ALIM ALIM COMP_PID COMP_PID COMP_PID COMP_PID COMP_PID DEADTIME DERIV DERIV FGEN FGEN FGEN FGEN FGEN FGEN FGEN INTEG INTEG INTEG LAG LAG LAG2

E_ERR_DEN WAF_AB2_VMAX WAF_AB2_BMAX FP_ERROR E_ERR_DEN WAF_KPID_KUZ WAF_KPID_OGUG WAF_KPID_UZ FP_ERROR E_ERR_DEN E_ERR_DEN FP_ERROR E_ERR_DEN WAF_SIG_TV_MAX WAF_SIG_TH_MAX WAF_SIG_TA_MAX WAF_SIG_T1_MIN WAF_SIG_FKT FP_ERROR E_ERR_DEN E_ERR_IB_MAX_MIN FP_ERROR E_ERR_DEN FP_ERROR E_ERR_DEN

16#8A38 Not a valid floating point number 16#8A61 16#8A60 vmax <= 0 bmax <= 0 See table Common Floating Point Errors, page 637

16#8A38 Not a valid floating point number 16#8A62 16#8A68 16#8A63 gain_red < 0 or gain_red > 1 YMAX < YMIN db < 0 See table Common Floating Point Errors, page 637

16#8A38 Not a valid floating point number 16#8A38 Not a valid floating point number See table Common Floating Point Errors, page 637

16#8A38 Not a valid floating point number 16#8A5C t_acc > t_rise / 2 16#8A5B t_rise too big 16#759A t_off >= halfperiod 16#759B t_max <= t_min 16#8A5A func_no <= 0 or func_no > 8 See table Common Floating Point Errors, page 637

16#8A38 Not a valid floating point number 16#8A6A YMAX < YMIN See table Common Floating Point Errors, page 637

16#8A38 Not a valid floating point number See table Common Floating Point Errors, page 637

16#8A38 Not a valid floating point number

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EFB Error Codes and Values

EFB name

Error code

Error ENO Error state in value in value in Hex case of Dec error F F F F T T F F F T T F F F F F F F F F F F F F F F -30152 -30152 30105 30104 -30106 -30152 30105 30104 -30106 -30152 -30103 -30115 -30114 -30152 -30103 -30152 -30104 -30152 -

Error description

LAG2 LEAD_LAG LEAD_LAG PCON2 PCON2 PCON2 PCON2 PCON2 PCON3 PCON3 PCON3 PCON3 PCON3 PD_OR_PI PD_OR_PI PD_OR_PI PDM PDM PDM PI PI PI PID PID PID PID_P 632

FP_ERROR E_ERR_DEN FP_ERROR E_ERR_DEN W_WARN_ZDR_XRR W_WARN_ZDR_T1T2 FP_ERROR E_ERR_ZDR_HYS E_ERR_DEN W_WARN_ZDR_XRR W_WARN_ZDR_T1T2 FP_ERROR E_ERR_ZDR_HYS E_ERR_DEN WAF_PDPI_OG_UG FP_ERROR PDM_TMAX_TMIN PDM_OG_UG FP_ERROR E_ERR_DEN E_ERR_PI_MAX_MIN FP_ERROR E_ERR_DEN E_ERR_PID_MAX_MIN FP_ERROR E_ERR_DEN

See table Common Floating Point Errors, page 637

16#8A38 Not a valid floating point number See table Common Floating Point Errors, page 637

16#8A38 Not a valid floating point number 16#7599 16#7598 DR: XRR < -100 or XRR > 100 T2 > T1 See table Common Floating Point Errors, page 637

16#8A66 2 * |UZ| < |HYS| 16#8A38 Not a valid floating point number 16#7599 16#7598 DR: XRR < -100 or XRR > 100 T2 > T1 See table Common Floating Point Errors, page 637

16#8A66 2 * |UZ| < |HYS| 16#8A38 Not a valid floating point number 16#8A69 16#8A5D 16#8A69 YMAX < YMIN See table Common Floating Point Errors, page 637 t_max <= t_min |pos_up_x| > |pos_lo_x| or |neg_up_x| > |neg_lo_x| See table Common Floating Point Errors, page 637

16#8A38 Not a valid floating point number 16#8A69 YMAX < YMIN See table Common Floating Point Errors, page 637

16#8A38 Not a valid floating point number 16#8A68 YMAX < YMIN See table Common Floating Point Errors, page 637

16#8A38 Not a valid floating point number

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EFB Error Codes and Values

EFB name

Error code

Error ENO Error state in value in value in Hex case of Dec error F F F F F F F F F F F F F T T T F F F F F -30104 -30152 -30103 -30152 -30103 -30113 -30113 -30152 30101 30102 30103 -30105 -30152 -30101 -

Error description

PID_P PID_P PIP PIP PIP PPI PPI PPI PWM PWM QPWM QPWM SCON3 SCON3 SCON3 SCON3 SCON3 SCON3 VLIM VLIM VLIM

E_ERR_PID_MAX_MIN FP_ERROR E_ERR_DEN E_ERR_PI_MAX_MIN FP_ERROR E_ERR_DEN E_ERR_PI_MAX_MIN FP_ERROR WAF_PBM_TMINMAX FP_ERROR WAF_PBM_TMINMAX FP_ERROR E_ERR_DEN W_WARN_DSR_TN W_WARN_DSR_TSN W_WARN_DSR_KP E_ERR_DSR_HYS FP_ERROR E_ERR_DEN E_ERR_AB1_MAX_MIN FP_ERROR

16#8A68 YMAX < YMIN See table Common Floating Point Errors, page 637

16#8A38 Not a valid floating point number 16#8A69 YMAX < YMIN See table Common Floating Point Errors, page 637

16#8A38 Not a valid floating point number 16#8A69 YMAX < YMIN See table Common Floating Point Errors, page 637

16#8A5F t_min < t_max See table Common Floating Point Errors, page 637

16#8A5F t_min < t_max See table Common Floating Point Errors, page 637

16#8A38 Not a valid floating point number 16#7595 16#7596 16#7597 TN = 0 TSN = 0 KP <= 0

16#8A67 2 * |UZ| < |HYS| See table Common Floating Point Errors, page 637

16#8A38 Not a valid floating point number 16#8A6B YMAX < YMIN See table Common Floating Point Errors, page 637

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Extension/Compatibility Table of error codes and errors values created for EFBs of the Extension/Compatibility family.
EFB name Error code Error ENO Error state in value in value in Hex case of Dec error F F F F F F F F F F -30482 -30482 -30482 -30482 -30482 -30183 -30183 -30183 -30183 -30200 16#88EE 16#88EE 16#88EE 16#88EE 16#88EE 16#8A19 16#8A19 16#8A19 16#8A19 16#8A08 Error description

AKF_TA AKF_TE AKF_TI AKF_TS AKF_TV FIFO GET_3X GET_4X GET_BIT IEC_BMDI

E_AKFEFB_TIMEBASE_IS_ZERO E_AKFEFB_TIMEBASE_IS_ZERO E_AKFEFB_TIMEBASE_IS_ZERO E_AKFEFB_TIMEBASE_IS_ZERO E_AKFEFB_TIMEBASE_IS_ZERO E_INPUT_VALUE_OUT_OF_RANGE E_INPUT_VALUE_OUT_OF_RANGE E_INPUT_VALUE_OUT_OF_RANGE E_INPUT_VALUE_OUT_OF_RANGE E_EFB_USER_ERROR_1

Time base is zero Time base is zero Time base is zero Time base is zero Time base is zero Input value is out of range Input value is out of range Input value is out of range Input value is out of range Input value is invalid register type (SourceTable). The input offset (OffsetInSourceTable) selects an address outside acceptable limits. The input offset (OFF_IN) is not 1 or a multiple of 16+1. Output value is invalid register type (DestinationTable). The output offset (OffsetInDestinationTable) selects an address outside acceptable limits.

IEC_BMDI

E_EFB_USER_ERROR_2

-30201

16#8A07

IEC_BMDI

E_EFB_USER_ERROR_3

-30202

16#8A06

IEC_BMDI

E_EFB_USER_ERROR_4

-30203

16#8A05

IEC_BMDI

E_EFB_USER_ERROR_5

-30204

16#8A04

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EFB name

Error code

Error ENO Error state in value in value in Hex case of Dec error F -30205 16#8A03

Error description

IEC_BMDI

E_EFB_USER_ERROR_6

The output offset (OffsetInDestinationTable) is not 1 or a multiple of 16+1. The value for (NumberOfElements) is 0. The value for (NumberOfElements) addresses more than 1600 bits. The value for (NumberOfElements) addresses more than 100 words. The value for (NumberOfElements) selects a source address outside the acceptable limits. The value for (NumberOfElements) selects a destination address outside the acceptable limits. The value for (NumberOfElements) is not a multiple of 16. Warning: Address overlap of input and output addresses. Input value is out of range

IEC_BMDI

E_EFB_USER_ERROR_7

-30206

16#8A02

IEC_BMDI

E_EFB_USER_ERROR_8

-30207

16#8A01

IEC_BMDI

E_EFB_USER_ERROR_9

-30208

16#8A00

IEC_BMDI

E_EFB_USER_ERROR_10

-30209

16#89FF

IEC_BMDI

E_EFB_USER_ERROR_11

-30210

16#89FE

IEC_BMDI

E_EFB_USER_ERROR_12

-30211

16#89FD

IEC_BMDI

E_EFB_USER_ERROR_13

-30212

16#89FC

LIFO

E_INPUT_VALUE_OUT_OF_RANGE

-30183

16#8A19

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EFB Error Codes and Values

EFB name

Error code

Error ENO Error state in value in value in Hex case of Dec error F F F -30183 -30175 -30183 16#8A19 16#8A21 16#8A19

Error description

PUT_4X

E_INPUT_VALUE_OUT_OF_RANGE

Input value is out of range Selector is out of range Input value is out of range

MUX_DINTARR_125 E_SELECTOR_OUT_OF_RANGE SET_BIT E_INPUT_VALUE_OUT_OF_RANGE

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Common Floating Point Errors

Introduction The following table shows the commen error codes and error values created for floating point errors. Common Floating Point Errors Table of common floating point errors
Error codes FP_ERROR E_FP_STATUS_FAILED_IE E_FP_STATUS_FAILED_DE E_FP_STATUS_FAILED_ZE E_FP_STATUS_FAILED_ZE_IE E_FP_STATUS_FAILED_OE E_FP_STATUS_FAILED_OE_IE E_FP_STATUS_FAILED_OE_ZE E_FP_STATUS_FAILED_OE_ZE_IE E_FP_NOT_COMPARABLE Error value Error value Error description in Dec in Hex -30150 -30151 -30152 -30154 -30155 -30158 -30159 -30162 -30163 -30166 16#8A3A 16#8A39 16#8A38 16#8A36 16#8A35 16#8A32 16#8A31 16#8A2E 16#8A2D 16#8A2A Base value (not apearing as an error value) Illegal floating point operation Operand is denormalized - not a valid REAL number Illegal divide by zero Illegal floating point operation / Divide by zero Floating point overflow Illegal floating point operation / Overflow Floating point overflow / Divide by zero Illegal floating point operation / Overflow / Divide by zero Internal error

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EFB Error Codes and Values

638

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Unity Pro IEC Compliance 35006144 07/2011

IEC Compliance

B
Overview This chapter contains the compliance tables required by IEC 61131-3. Whats in this Chapter? This chapter contains the following sections:
Section B.1 B.2 B.3 B.4 Topic General Information regarding IEC 61131-3 IEC Compliance Tables Extensions of IEC 61131-3 Textual language syntax Page 640 642 664 666

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IEC Compliance

B.1

General Information regarding IEC 61131-3

General information about IEC 61131-3 Compliance

At a Glance The IEC 61131-3 Standard (cf. its subclause 1.4) specifies the syntax and semantics of a unified suite of programming languages for programmable controllers. These consist of two textual languages, IL (Instruction List) and ST (Structured Text), and two graphical languages, LD (Ladder Diagram) and FBD (Function Block Diagram). Additionally, Sequential Function Chart (SFC) language elements are defined for structuring the internal organization of programmable controller programs and function blocks. Also, configuration elements are defined which support the installation of programmable controller programs into programmable controller systems. NOTE: Unity Pro uses the English acronyms for the programming languages. Further more, features are defined which facilitate communication among programmable controllers and other components of automated systems. Unity Pro compliance to IEC 61131-3 The current version of the Unity Pro Programming System supports a compliant subset of the language elements defined in the Standard. Compliance in this context means the following: The Standard allows an implementer of an IEC Programming System to choose or to drop specific language features or even complete languages out of the Feature Tables which form an inherent part of the specifications; a system claiming compliance to the Standard just has to implement the chosen features according to the specifications given in the Standard. Further on, the Standard allows an implementer to use the defined programming language elements in an interactive programming environment. Since the Standard explicitely states that the specification of such environments is beyond its scope, the implementer has certain degrees of freedom in providing optimized presentation and handling procedures for specific language elements to the benefit of the user. Unity Pro uses these degrees of freedom e.g. by introducing the notion of "Project" for the combined handling of the IEC language elements "Configuration" and "Resource". It also uses them e.g. in the mechanisms provided for handling variable declarations or function block instantiations.

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IEC Compliance

IEC standards tables The supported features and other implementation specific information is given in the following compliance statement and the subsequent tables as required by the Standard.

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B.2

IEC Compliance Tables

Overview This system complies with the requirements of IEC 61131-3 for the language and feature listed in the following tables. Whats in this Section? This section contains the following topics:
Topic Common elements IL language elements ST language elements Common graphical elements LD language elements Implementation-dependent parameters Error Conditions Page 643 654 656 657 658 659 662

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Common elements
Common elements IEC compliance table for common elements:
Table No. Feature No. 1 2 3a 4a 5a 2 1 2 3 3 3a 4 1 1 1 2 3 4 5 6 7 8 9 5 1 3 6 2 3 4 5 6 7 8 9 Description of Feature Lower case characters Number sign (#) Dollar sign ($) Vertical bar (|) Upper case and numbers Upper and lower case, numbers, embedded underlines Upper and lower case , numbers, leading or embedded underlines Comments Pragmas Integer literals Real literals Real literals with exponents Base 2 literals Base 8 literals Base 16 literals Boolean zero and one Boolean FALSE and TRUE Typed literals Single-byte character strings Single-byte typed string literals Dollar sign Single quote Line feed New line Form feed (page) Carriage return Tab Double quote

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IEC Compliance

Table No. Feature No. 7 1a 1b 2a 2b 8 1 2 3 4 5 5 10 1 3 4 7 8 10 12 13 14 15 16 17 18 19 12 4 5 14 4 6

Description of Feature Duration literals without underlines: short prefix long prefix Duration literals with underlines: short prefix long prefix Date literals (long prefix) Date literals (short prefix) Time of day literals (long prefix) Time of day literals (short prefix) Date and time literals (long prefix) Date and time literals (short prefix) Data type BOOL Data type INT Data type DINT Data type UINT Data type UDINT Data type REAL Data type TIME Data type DATE Data type TIME_OF_DAY or TOD Data type DATE_AND_TIME or DT Data type STRING Data type BYTE Data type WORD Data type DWORD Array data types Structured data types Initialization of array data types Initialization of derived structured data types

644

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IEC Compliance

Table No. Feature No. 15 1 2 3 4 5 7 8 9 17 3 4 5 6 7 8 18 1 3 4 5 6 7 8 9 10 19 1 2 19a 1 2 20 1 2 20a 1 2 3

Description of Feature Input location Output location Memory location Single bit size (X Prefix) Single bit size (No Prefix) Word (16 bits) size Double word (32 bits) size Long (quad) word (64 bits) size Declaration of locations of symbolic variables (Note 5, page 652) Array location assignment (Note 5, page 652) Automatic memory allocation of symbolic variables Array declaration (Note 11, page 653) Retentive array declaration (Note 11, page 653) Declaration for structured variables Initialization of directly represented variables (Note 11, page 653) Location and initial value assignment to symbolic variables Array location assignment and initialization Initialization of symbolic variables Array initialization (Note 11, page 653) Retentive array declaration and initialization (Note 11, page 653) Initialization of structured variables Initialization of constants Initialization of function block instances Negated input Negated output formal function / function block call non-formal function / function block call Use of EN and ENO shown in LD Usage without EN and ENO shown in FBD In-out variable declaration (textual) In-out variable declaration (graphical) Graphical connection of in-out variable to different variables (graphical)

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Table No. Feature No. 21 1 2 22 1 2 3 4 23 1 2 3 4 5 6 7 8 9 10 11 24 12 13 14 15 16 17 18 25 1 2 3 4 26 5 6 7 8

Description of Feature Overloaded functions Typed functions *_TO_** (Note 1, page 650) TRUNC (Note 2, page 651) *_BCD_TO_** (Note 3, page 651) **_TO_BCD_* (Note 3, page 651) ABS function SQRT function LN function LOG function EXP function SIN function COS function TAN function ASIN function ACOS function ATAN function ADD function MUL function SUB function DIV function MOD function EXPT function MOVE function SHL function SHR function ROR function ROL function AND function OR function XOR function NOT function

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Table No. Feature No. 27 1 2a 2b 3 4 28 5 6 7 8 9 10 29 1 2 3 4 6 7 8 9 30 1a 1b 2b 3b 4a 4b 5b 6b 7b 8b 9b 10a 10b 11a 11b

Description of Feature SEL function MAX function MIN function LIMIT function MUX function GT function GE function EQ function LE function LT function NE function LEN function (Note 4, page 651) LEFT function (Note 4, page 651) RIGHT function (Note 4, page 651) MID function (Note 4, page 651) INSERT function (Note 4, page 651) DELETE function (Note 4, page 651) REPLACE function (Note 4, page 651) FIND function (Note 4, page 651) ADD function (Note 6, page 653) ADD_TIME function ADD_TOD_TIME function ADD_DT_TIME function SUB function (Note 6, page 653) SUB_TIME function SUB_DATE_DATE function SUB_TOD_TIME function SUB_TOD_TOD function SUB_DT_TIME function SUB_DT_DT function MUL function (Note 6, page 653) MULTIME function DIV function function (Note 6, page 653) DIVTIME function

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IEC Compliance

Table No. Feature No. 33 1a 2a 2b 3a 4a 4b 4c 34 1 2 35 1 2 36 1a 1b 1d 2a 2b 2d 3a 3b 3d 37 1 2a 3a 39 40 19 1 3a 4

Description of Feature RETAIN qualifier for internal variables (Note 11, page 653) RETAIN qualifier for output variables (Note 11, page 653) RETAIN qualifier for input variables (Note 11, page 653) RETAIN qualifier for internal function blocks (Note 11, page 653) VAR_IN_OUT declaration (textual) VAR_IN_OUT declaration and usage (graphical) VAR_IN_OUT declaration with assignment to different variables (graphical) Bistable Function Block (set dominant) Bistable Function Block (reset dominant) Rising edge detector Falling edge detector CTU (Up-counter) function block CTU_DINT function block CTU_UDINT function block CTD (Down-counter) function block CTD_DINT function block CTD_UDINT function block CTUD (Up-down-counter) function block CTUD_DINT function block CTUD_UDINT function block TP (Pulse) function block TON (On delay) function block TOF (Off delay) function block Use of directly represented variables Step and initial step - Graphical form with directed links Step flag General form Step elapsed time General form

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Table No. Feature No. 41 7 7a 7b 7c 7d 42 1 2l 2f 3s 3i 43 1 2 44 1 2 45 1 2 3 4 5 6 7 9 11 12 45a 2

Description of Feature Use of transition name Transition condition linked through transition name using LD language Transition condition linked through transition name using FBD language Transition condition linked through transition name using IL language Transition condition linked through transition name using ST language Any Boolean variable declared in a VAR or VAR_OUTPUT block, or their graphical equivalents, can be an action Graphical declaration of action in LD language Graphical declaration of action in FBD language Textual declaration of action in ST language Textual declaration of action in IL language Action block physically or logically adjacent to the step (Note 7, page 653) Concatenated action blocks physically or logically adjacent to the step (Note 8, page 653) Action qualifier in action block supported Action name in action block supported None - no qualifier Qualifier N Qualifier R Qualifier S Qualifier L Qualifier D Qualifier P Qualifier DS Qualifier P1 Qualifier P0 Action control without "final scan"

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IEC Compliance

Table No. Feature No. 46 1 2a 3 4 5a 6a 49 1 5a 5b 6a 6c 50 5a 5b

Description of Feature Single sequence Divergence of sequence selection: left-to-right priority of transition evaluations Convergence of sequence selection Simultaneous sequences - divergence and convergence Sequence skip: left-to-right priority of transition evaluations Sequence loop: left-to-right priority of transition evaluations CONFIGURATION...END_CONFIGURATION construction (Note 12, page 653) Periodic TASK construction Non-periodic TASK construction WITH construction for PROGRAM to TASK association (Note 9, page 653) PROGRAM declaration with no TASK association (Note 10, page 653) Non-preemptive scheduling (Note 13, page 653) Preemptive scheduling (Note 14, page 653)

Note 1 List of type conversion functions: BOOL_TO_BYTE, BOOL_TO_DINT, BOOL_TO_INT, BOOL_TO_REAL, BOOL_TO_TIME, BOOL_TO_UDINT, BOOL_TO_UINT, BOOL_TO_WORD, BOOL_TO_DWORD BYTE_TO_BOOL, BYTE_TO_DINT, BYTE_TO_INT, BYTE_TO_REAL, BYTE_TO_TIME, BYTE_TO_UDINT, BYTE_TO_UINT, BYTE_TO_WORD, BYTE_TO_DWORD, BYTE_TO_BIT DINT_TO_BOOL, DINT_TO_BYTE, DINT_TO_INT, DINT_TO_REAL, DINT_TO_TIME, DINT_TO_UDINT, DINT_TO_UINT, DINT_TO_WORD, DINT_TO_DWORD, DINT_TO_DBCD, DINT_TO_STRING INT_TO_BOOL, INT_TO_BYTE, INT_TO_DINT, INT_TO_REAL, INT_TO_TIME, INT_TO_UDINT, INT_TO_UINT, INT_TO_WORD, INT_TO_BCD, INT_TO_DBCD, INT_TO_DWORD, INT_TO_STRING REAL_TO_BOOL, REAL_TO_BYTE, REAL_TO_DINT, REAL_TO_INT, REAL_TO_TIME, REAL_TO_UDINT, REAL_TO_UINT, REAL_TO_WORD, REAL_TO_DWORD, REAL_TO_STRING TIME_TO_BOOL, TIME_TO_BYTE, TIME_TO_DINT, TIME_TO_INT, TIME_TO_REAL, TIME_TO_UDINT, TIME_TO_UINT, TIME_TO_WORD, TIME_TO_DWORD, TIME_TO_STRING

650

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UDINT_TO_BOOL, UDINT_TO_BYTE, UDINT_TO_DINT, UDINT_TO_INT, UDINT_TO_REAL, UDINT_TO_TIME, UDINT_TO_UINT, UDINT_TO_WORD, UDINT_TO_DWORD UINT_TO_BOOL, UINT_TO_BYTE, UINT_TO_DINT, UINT_TO_INT, UINT_TO_REAL, UINT_TO_TIME, UINT_TO_UDINT, UINT_TO_WORD, UINT_TO_DWORD, WORD_TO_BOOL, WORD_TO_BYTE, WORD_TO_DINT, WORD_TO_INT, WORD_TO_REAL, WORD_TO_TIME, WORD_TO_UDINT, WORD_TO_UINT, WORD_TO_BIT, WORD_TO_DWORD DWORD_TO_BOOL, DWORD_TO_BYTE, DWORD_TO_DINT, DWORD_TO_INT, DWORD_TO_REAL, DWORD_TO_TIME, DWORD_TO_UDINT, DWORD_TO_UINT, DWORD_TO_BIT, The effects of each conversion are described in the help text supplied with the Base Library. Note 2 List of types for truncate function: REAL_TRUNC_DINT, REAL_TRUNC_INT, REAL_TRUNC_UDINT, REAL_TRUNC_UINT The effects of each conversion are described in the help text supplied with the Base Library. Note 3 List of types for BCD conversion function: BCD_TO_INT, DBCD_TO_INT, DBCD_TO_DINT List of types for BCD conversion function: INT_TO_BCD, INT_TO_DBCD, DINT_TO_DBCD The effects of each conversion are described in the help text supplied with the Base Library. Note 4 List of types for String functions: LEN_INT, LEFT_INT, RIGHT_INT, MID_INT, INSERT_INT, DELETE_INT, REPLACE_INT, FIND_INT

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Note 5 A variable can be mapped to a directly represented variable if they stricly have the same type. This means that a variable of type INT can only be mapped on a directly represented variable of type INT. But there is one exception to this rule: for internal word (%MW<i>), Flat word (%IW<i>) and constant word (%KW<i>) memory variables any declared variable type is allowed. Allowed mappings:
Syntax Internal bit Internal word Data type Allowed variable types EBOOL ARRAY [..] OF EBOOL All types are allowed except: EBOOL ARRAY [..] OF EBOOL No mapping, because of overlapping between %MW<i> and %MD<i> and %MF<i>. No mapping, because of overlapping between %MW<i> and %MD<i> and %MF<i>. All types are allowed except: EBOOL ARRAY [..] OF EBOOL No mapping, because of overlapping between %KW<i> and %KD<i> and %KF<i>. This kind of variables only exists on Premium PLCs. No mapping, because of overlapping between %KW<i> and %KD<i> and %KF<i>. This kind of variables only exists on Premium PLCs. EBOOL INT DINT EBOOL ARRAY [..] OF EBOOL This kind of variables only exists on Qantum PLCs. All types are allowed except: EBOOL ARRAY [..] OF EBOOL This kind of variables only exists on Qantum PLCs. Common word %NWi.j.k INT INT

%M<i> or %MX<i> EBOOL %MW<i> INT

Internal double word Internal real Constant word

%MD<i> %MF<i> %KW<i>

DINT REAL INT

Constant double word %KD<i>

DINT

Constant real

%KF<i>

REAL

System bit System word System double word Flat bit

%S<i> or %SX<i> EBOOL %SW<i> %SD<i> %I<i> INT DINT EBOOL

Flat word

%IW<i>

INT

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Syntax Topological variables

Data type

Allowed variable types Same Type (On some digital I/O modules it is allowed to map arrays of EBOOL on %IX<topo> and %QX<topo> objects.) BOOL

%I..., %Q..., ... ...

Extract bits

%MWi.j, ...

BOOL

Note 6 Only operator "+" (for ADD), "-" (for SUB), "*" (for MUL) or "/" (for DIV) in ST language. Note 7 This feature is only presented in the "expanded view" of the chart. Note 8 This feature is presented in the "expanded view" of the chart, but not as concatenated blocks, but as a scrollable list of action names with associated qualifiers inside one single block symbol. Note 9 There is only a one-to-one mapping of program instance to task. The textual format is replaced by a property dialog. Note 10 The textual format is replaced by a property dialog. Note 11 All variables are retentive (RETAIN qualifier implicitly assumed in variable declarations). Note 12 The textual format is replaced by the project browser representation. Note 13 Using Mask-IT instruction, the user is able to get a non-preemptive behaviour. You will find MASKEVT (Global EVT masking) and UNMASKEVT (Global EVT unmasking) in the System functions of the libset. Note 14 By default, the multi-task system is preemptive.
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IL language elements
IL language elements IEC compliance table for IL language elements:
Table No. Feature No. 51b 51b 52 1 2 1 2 3 4 6 7 7a 8 9 10 11 11a 12 13 14 15 16 17 18 19 20 21 Feature description Parenthesized expression beginning with explicit operator Parenthesized expression (short form) LD operator (with modifier "N") ST operator (with modifier "N") S, R operator AND operator (with modifiers "(", "N") OR operator (with modifiers "(", "N") XOR operator (with modifiers "(", "N") NOT operator ADD operator (with modifier "(") SUB operator (with modifier "(") MUL operator (with modifier "(") DIV operator (with modifier "(") MOD operator (with modifier "(") GT operator (with modifier "(") GE operator (with modifier "(") EQ operator (with modifier "(") NE operator (with modifier "(") LE operator (with modifier "(") LT operator (with modifier "(") JMP operator (with modifiers "C", "N") CAL operator (with modifiers "C", "N") RET operator (with modifiers "C", "N") (Note, page 655) ) (evaluate deferred operation)

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Table No. Feature No. 53 1a 1b 2 4 5

Feature description CAL of Function Block with non-formal argument list CAL of Function Block with formal argument list CAL of Function Block with load/store of arguments Function invocation with formal argument list Function invocation with non-formal argument list

Note In DFB only.

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ST language elements
ST language elements IEC compliance table for ST language elements:
Table No. Feature No. 55 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 56 1 2 3 4 5 6 7 8 9 10 Feature description Parenthesization (expression) Function evaluation: functionName(listOfArguments) Exponentiation: ** Negation: Complement: NOT Multiply: * Divide: / Modulo: MOD Add: + Subtract: Comparison: <, >, <=, >= Equality: = Inequality: <> Boolean AND: & Boolean AND: AND Boolean Exclusive OR: XOR Boolean OR: OR Assignment Function block invocation and function block output usage RETURN statement (Note, page 656) IF statement CASE statement FOR statement WHILE statement REPEAT statement EXIT statement Empty statement

Note In DFB only.

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Common graphical elements

Common graphical elements IEC compliance table for common graphical elements:
Table No. Feature No. 57 2 4 6 8 10 12 58 1 2 3 4 5 6 7 8 Feature description Horizontal lines: Graphic or semigraphic Vertical lines: Graphic or semigraphic Horizontal/vertical connection: Graphic or semigraphic Line crossings without connection: Graphic or semigraphic Connected and non-connected corners: Graphic or semigraphic Blocks with connecting lines: Graphic or semi-graphic Unconditional Jump: FBD Language Unconditional Jump: LD Language Conditional Jump: FBD Language Conditional Jump: LD Language Conditional Return: LD Language (Note, page 657) Conditional Return: FBD Language (Note, page 657) Unconditional Return from function or function block (Note, page 657) Unconditional Return: LD Language (Note, page 657)

Note In DFB only.

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LD language elements
LD language elements IEC compliance table for LD language elements:
Table No. Feature No. 59 1 2 60 1 2 61 1 3 5 7 62 1 2 3 4 8 9 Feature description Left power rail Right power rail Horizontal link Vertical link Normally open contact (vertical bar) (Note, page 658) Normally closed contact (vertical bar) (Note, page 658) Positive transition-sensing contact (vertical bar) (Note, page 658) Negative transition-sensing contact (vertical bar) (Note, page 658) Coil Negated coil SET (latch) coil RESET (unlatch) coil Positive transition-sensing coil Negative transition-sensing coil

Note Only graphical representation.

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Implementation-dependent parameters
Implementation-dependent parameters IEC compliance table for implementation-dependent parameters:
Parameters Maximum length of identifiers Maximum comment length Limitations/Behavior 32 characters Within the Unity Pro: 1024 characters for each editor object. Import: limited by XML constraints or UDBString usage in the persistent layer. Unity V1.0 only implements 1 pragma, used for legacy convertor: { ConvError ( error text); } any other pragma construct is ignored (a warning message is given) (#2 of table 5 is supported)

Syntax and semantics of pragmas

Syntax and semantics for the use of the double-quote character when a particular implementation supports Feature #4 but not Feature #2 of Table 5. Range of values and precision of representation for variables of type TIME, DATE, TIME_OF_DAY and DATE_AND_TIME Precision of representation of seconds in types TIME, TIME_OF_DAY and DATE_AND_TIME Maximum number of enumerated values Maximum number of array subscripts Maximum array size Maximum number of structure elements Maximum structure size Maximum range of subscript values Maximum number of levels of nested structures Default maximum length of STRING and WSTRING variables Maximum allowed length of STRING and WSTRING variables Maximum number of hierarchical levels Logical or physical mapping

for TIME : t#0ms .. t#4294967295ms (=t#49D_17H_2M_47S_295MS) for DATE: D#1990-01-01 .. D#2099-12-31 for TOD: TOD#00:00:00 .. TOD#23:59:59 TIME: precision 1 ms TIME_OF_DAY: precision 1 s Not applicable 6 64 kbytes no limit 64 kbytes DINT range 10 16 characters 64 kbytes Premium: physical mapping (5 levels) Quantum: logical mapping (1 level)

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Parameters Maximum number of inputs of extensible functions

Limitations/Behavior The number of all input parameters (including inout parameters) is limited to 32. The number of all output parameters (including in-out parameters) is also limited to 32. Thus the limit for extensible input parameters is (32 - number of input parameters - number of inout parameters). The limit for extensible output parameters is (32 - number of output parameters - number of in-out parameters). See online help. Error conditions are described in the online-help. Globally %S18 is set for overflow errors. ENO is also set. The result is depending on the specific function. INTEL floating point processing or emulation. See online help.

Effects of type conversions on accuracy Error conditions during type conversions

Accuracy of numerical functions Effects of type conversions between time data types and other data types not defined in Table 30 Maximum number of function block specifications and instantiations Function block input variable assignment when EN is FALSE Pvmin, Pvmax of counters

Only limited by the maximum size of a section. No assignment INT base counters: Pvmin=-32768 (0x8000) Pvmax=32767 (0x7FFF) UINT base counters: Pvmin=0 (0x0) Pvmax=65535 (0xFFFF) DINT base counters: Pvmin= -2147483648 (0x80000000) Pvmax=2147483647 (0x7FFFFFFF) UDINT base counters: Pvmin=0 (0x0) Pvmax=4294967295 (0xFFFFFFFF)

Effect of a change in the value of a PT input during a timing operation

The new PT values are immediatelytaken at once into account, even during a running timing operation immediately works with the new values. Depends on controller type and memory 10 ms 1024 steps per SFC section

Program size limitations Precision of step elapsed time Maximum number of steps per SFC

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Parameters Maximum number of transitions per SFC and per step

Limitations/Behavior Limited by the available area for entering steps/transitions and by the maximum number of steps per SFC section (1024 Steps). 32 transition per step. Limited by the available area for entering Alternative/Parallel branches, maximum is 32 rows. 20 not applicable Target dependent; always < 100 micro-seconds 32 Not applicable Not applicable Depends on controller type. Maximum on most powerful controller: 9 tasks 10 ms Practically no limit Practically no limit Practically no limit

Maximum number of action blocks per step Access to the functional equivalent of the Q or A outputs Transition clearing time Maximum width of diverge/converge constructs Contents of RESOURCE libraries Effect of using READ_WRITE access to function block outputs Maximum number of tasks Task interval resolution Maximum length of expressions Maximum length of statements Maximum number of CASE selections

Value of control variable upon termination Undefined of FOR loop Restrictions on network topology Evaluation order of feedback loops No restrictions The block connected to the feedback variable is executed first

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Error Conditions
Error Conditions IEC standards table for error conditions:
Error conditions Nested comments Value of a variable exceeds the specified subrange Missing configuration of an incomplete address specification ("*" notation) Treatment (see Note, page 663) 2) error is reported during programming 4) error is reported during execution Not applicable

Attempt by a program organization unit to modify a 2) error is reported during programming variable which has been declared CONSTANT Improper use of directly represented or external variables in functions Not applicable

A VAR_IN_OUT variable is not "properly mapped" 2) error is reported during programming Type conversion errors Numerical result exceeds range for data type Division by zero Mixed input data types to a selection function Result exceeds range for data type No value specified for an in-out variable 4) error is reported during execution 4) error is reported during execution 4) error is reported during execution 2) error is reported during programming 4) error is reported during execution 2) error is reported during programming

Zero or more than one initial steps in SFC network 3) error is reported during analyzing/loading/linking User program attempts to modify step state or time 2) error is reported during programming Side effects in evaluation of transition condition Action control contention error 3) error is reported during analyzing/loading/linking 3) error is reported during analyzing/loading/linking

Simultaneously true, non-prioritized transitions in a Not applicable selection divergence Unsafe or unreachable SFC Data type conflict in VAR_ACCESS 3) error is reported during analyzing/loading/linking Not applicable

A task fails to be scheduled or to meet its execution 4) error is reported during execution deadline Numerical result exceeds range for data type Current result and operand not of same data type Division by zero 662 4) error is reported during execution 2) error is reported during programming 4) error is reported during execution

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Error conditions Numerical result exceeds range for data type Invalid data type for operation Return from function without value assigned Iteration fails to terminate Same identifier used as connector label and element name Uninitialized feedback variable

Treatment (see Note, page 663) 4) error is reported during execution 4) error is reported during execution Not applicable 4) error is reported during execution Not applicable 1) error is not reported

Note Identifications for the treatment of error conditions according to IEC 61131-3, subclause 1.5.1, d): 1) error is not reported 2) error is reported during programming 3) error is reported during analyzing/loading/linking 4) error is reported during execution

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B.3

Extensions of IEC 61131-3

Extensions of IEC 61131-3, 2nd Edition

At a Glance In addition to the standardized IEC features listed in the (see page 642), the Unity Pro programming environment inherited a number of features from the PL7 programming environment. These extensions are optionally provided; they can be checked or not in a corresponding options dialog. The dialog and the features are described in detail in a chapter of the online help titled Data and Languages (see Unity Pro, Operating Modes). Not included in the options dialog is another extension, which is inherited both from the PL7 and the Concept programming environments: Unity Pro provides the construct of the so-called Section in all programming languages, which allows to subdivide a Program Organization Unit (POU). This construct introduces the possibility to mix several languages (e.g. FBD sections, SFC sections) in a POU body, a feature which, if used for this purpose, constitutes an extension of the IEC syntax. A compliant POU body should contain a single section only. Sections do not create a distinct name scope; the name scope for all language elements is the POU. Purpose of Sections Sections serve different purposes: Sections allow to subdivide large POU bodies according to functional aspects: the user has the possibility to subdivide his POU body into functionally meaningful parts. The list of sections represents a kind of functional table of contents of a large, otherwise unstructured POU body. Sections allow to subdivide large POU bodies according to graphical aspects: the user has the possibility to design substructures of a large POU body according to an intended graphical presentation. He can create small or large graphical sections according to his taste. The subdivision of large POU bodies allows quick online changes: in Unity Pro, the Section serves as the unit for online change. If a POU body is modified during runtime at different locations, automatically all sections affected by the changes are downloaded on explicit request. Sections allow to rearrange the execution order of specific, labeled parts of a POU body: the section name serves as a label of that part of the body which is contained inside the section, and by ordering these labels the execution order of those parts is managable.

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Sections allow to use different languages in parallel in the same POU: this feature is a major extension of the IEC syntax, which allows only one single IEC language to be used for a POU body. In a compliant body, SFC has to be used to manage different languages inside a body (each transition and action may be formulated in its own language).

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B.4

Textual language syntax

Textual Language Syntax

Description The Unity Pro V1.0 programming environment does not yet provide support for an import or export of text files complying with the full textual language syntax as specified in Annex B of IEC 61131-3, 2nd Edition. However, the textual syntax of the IL and ST languages, as specified in Annex B.2 and B.3 of IEC 61131-3, 2nd Edition, including all directly and indirectly referenced productions out of Annex B.1, is supported in textual language sections. Those syntax productions in Annex B of IEC 61131-3, 2nd Edition belonging to features which are not supported by Unity Pro according to the compliance tables (see page 642) are not implemented.

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0-9
%I According to the IEC standard, %I indicates a discrete input-type language object. %ID According to the IEC standard, %MW indicates an input double word-type language object. Only I/O objects make it possible to locate type instances (%MD<i>, %KD<i>, %QD, %ID, %MF<i>, %KF<i>, %QF, %IF) by using their topological address (for example %MD0.6.0.11, %MF0.6.0.31). %IF According to the IEC standard, %MW indicates an input real-type language object. Only I/O objects make it possible to locate type instances (%MD<i>, %KD<i>, %QD, %ID, %MF<i>, %KF<i>, %QF, %IF) by using their topological address (for example %MD0.6.0.11, %MF0.6.0.31). %IW According to the IEC standard, %IW indicates an analog input -type language object.

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%KD According to the IEC standard, %MW indicates a constant double word-type language object. For Premium/Atrium PLCs double-type instances of located data (%MD<i>, %KD<i>) or floating (%MF<i>, %KF<i>) should be located by an integer type (%MW<i>, %KW<i>). Only I/O objects make it possible to locate type instances (%MD<i>, %KD<i>, %QD, %ID, %MF<i>, %KF<i>, %QF, %IF) by using their topological address (for example %MD0.6.0.11, %MF0.6.0.31). For Modicon M340 PLCs, double-type instances of located data (%MD<i>, %KD<i>) or floating (%MF<i>, %KF<i>) are not available. %KF According to the IEC standard, %MW indicates a constant real-type language object. For Premium/Atrium PLCs double-type instances of located data (%MD<i>, %KD<i>) or floating (%MF<i>, %KF<i>) should be located by an integer type (%MW<i>, %KW<i>). Only I/O objects make it possible to locate type instances (%MD<i>, %KD<i>, %QD, %ID, %MF<i>, %KF<i>, %QF, %IF) by using their topological address (for example %MD0.6.0.11, %MF0.6.0.31). For Modicon M340 PLCs, double-type instances of located data (%MD<i>, %KD<i>) or floating (%MF<i>, %KF<i>) are not available. %KW According to the IEC standard, %KW indicates a constant word-type language object. For Premium/Atrium PLCs double-type instances of located data (%MD<i>, %KD<i>) or floating (%MF<i>, %KF<i>) should be located by an integer type (%MW<i>, %KW<i>). Only I/O objects make it possible to locate type instances (%MD<i>, %KD<i>, %QD, %ID, %MF<i>, %KF<i>, %QF, %IF) by using their topological address (for example %MD0.6.0.11, %MF0.6.0.31). For Modicon M340 PLCs, double-type instances of located data (%MD<i>, %KD<i>) or floating (%MF<i>, %KF<i>) are not available. %M According to the IEC standard, %M indicates a memory bit-type language object.

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%MD According to the IEC standard, %MW indicates a memory double word-type language object. For Premium/Atrium PLCs double-type instances of located data (%MD<i>, %KD<i>) or floating (%MF<i>, %KF<i>) should be located by an integer type (%MW<i>, %KW<i>). Only I/O objects make it possible to locate type instances (%MD<i>, %KD<i>, %QD, %ID, %MF<i>, %KF<i>, %QF, %IF) by using their topological address (for example %MD0.6.0.11, %MF0.6.0.31). For Modicon M340 PLCs, double-type instances of located data (%MD<i>, %KD<i>) or floating (%MF<i>, %KF<i>) are not available. %MF According to the IEC standard, %MW indicates a memory real-type language object. For Premium/Atrium PLCs double-type instances of located data (%MD<i>, %KD<i>) or floating (%MF<i>, %KF<i>) should be located by an integer type (%MW<i>, %KW<i>). Only I/O objects make it possible to locate type instances (%MD<i>, %KD<i>, %QD, %ID, %MF<i>, %KF<i>, %QF, %IF) by using their topological address (for example %MD0.6.0.11, %MF0.6.0.31). For Modicon M340 PLCs, double-type instances of located data (%MD<i>, %KD<i>) or floating (%MF<i>, %KF<i>) are not available. %MW According to the IEC standard, %MW indicates a memory word-type language object. For Premium/Atrium PLCs double-type instances of located data (%MD<i>, %KD<i>) or floating (%MF<i>, %KF<i>) should be located by an integer type (%MW<i>, %KW<i>). Only I/O objects make it possible to locate type instances (%MD<i>, %KD<i>, %QD, %ID, %MF<i>, %KF<i>, %QF, %IF) by using their topological address (for example %MD0.6.0.11, %MF0.6.0.31). For Modicon M340 PLCs, double-type instances of located data (%MD<i>, %KD<i>) or floating (%MF<i>, %KF<i>) are not available. %Q According to the IEC standard, %Q indicates a discrete output-type language object.

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%QD According to the IEC standard, %MW indicates an output double word-type language object. Only I/O objects make it possible to locate type instances (%MD<i>, %KD<i>, %QD, %ID, %MF<i>, %KF<i>, %QF, %IF) by using their topological address (for example %MD0.6.0.11, %MF0.6.0.31). %QF According to the IEC standard, %MW indicates an output real-type language object. Only I/O objects make it possible to locate type instances (%MD<i>, %KD<i>, %QD, %ID, %MF<i>, %KF<i>, %QF, %IF) by using their topological address (for example %MD0.6.0.11, %MF0.6.0.31). %QW According to the IEC standard, %QW indicates an analog output-type language object.

A
Animating the links This is also called power flow, and refers to a type of animation used with Ladder language and the function blocks. The links are displayed in red, green or black according to the variables connected.

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ANY There is a hierarchy between the different types of data. In the DFB, it is sometimes possible to declare which variables can contain several types of values. Here, we use ANY_xxx types. The following diagram shows the hierarchically-ordered structure:

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ARRAY An ARRAY is a table of elements of the same type. The syntax is as follows: ARRAY [<terminals>] OF <Type> Example: ARRAY [1..2] OF BOOL is a one-dimensional table made up of two BOOL-type elements. ARRAY [1..10, 1..20] OF INT is a two-dimensional table made up of 10x20 INT-type elements. ASCII ASCII is the abbreviation of American Standard Code for Information Interchange. This is an American code (but which has become an international standard) that uses 7 bits to define every alphanumerical character used in English, punctuation symbols, certain graphic characters and other miscellaneous commands.

Auxiliary tasks Optional periodic tasks used to process procedures that do not require fast processing: measurement, adjustment, diagnostic aid, etc.

B
Base 10 literals A literal value in base 10 is used to represent a decimal integer value. This value can be preceded by the signs "+" and "-". If the character "_" is employed in this literal value, it is not significant. Example: -12, 0, 123_456, +986 Base 16 literals An literal value in base 16 is used to represent an integer in hexadecimal. The base is determined by the number "16" and the sign "#". The signs "+" and "-" are not allowed. For greater clarity when reading, you can use the sign "_" between bits. Example: 16#F_F or 16#FF (in decimal 255) 16#F_F or 16#FF (in decimal 224)

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Base 2 literals A literal value in base 2 is used to represent a binary integer. The base is determined by the number "2" and the sign "#". The signs "+" and "-" are not allowed. For greater clarity when reading, you can use the sign "_" between bits. Example: 2#1111_1111 or 2#11111111 (in decimal 255) 2#1110_0000 or 2#11100000 (in decimal 224) Base 8 literals A literal value in base 8 is used to represent an octal integer. The base is determined by the number "8" and the sign "#". The signs "+" and "-" are not allowed. For greater clarity when reading, you can use the sign "_" between bits. Example: 8#3_77 or 8#377 (in decimal 255) 8#34_0 or 8#340 (in decimal 224) BCD The Binary Coded Decimal (BCD) format is used to represent decimal numbers between 0 and 9 using a group of four bits (half-byte). In this format, the four bits used to code the decimal numbers have a range of unused combinations. Example of BCD coding: the number 2450 is coded: 0010 0100 0101 0000 BIT This is a binary unit for a quantity of information which can represent two distinct values (or statuses): 0 or 1.

BOOL BOOL is the abbreviation of Boolean type. This is the elementary data item in computing. A BOOL type variable has a value of either: 0 (FALSE) or 1 (TRUE). A BOOL type word extract bit, for example: %MW10.4.

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Break point Used in the "debug" mode of the application. It is unique (one at a time) and, when reached, signals to the processor to stop the program run. Used in connected mode, it can be positioned in one of the following program elements: LD network, Structured Text Sequence or Instruction List, Structured Text Line (Line mode).

BYTE When 8 bits are put together, this is callad a BYTE. A BYTE is either entered in binary, or in base 8. The BYTE type is coded in an 8 bit format, which, in hexadecimal, ranges from 16#00 to 16#FF

C
Constants An INT, DINT or REAL type variable located in the constant field (%K), or variables used in direct addressing (%KW, %KD or %KF). The contents of these cannot be modified by the program during execution.

CPU Is the abbreviation of Control Processing Unit. This is the microprocessor. It is made up of the control unit combined with the arithmetic unit. The aim of the control unit is to extract the instruction to be executed and the data needed to execute this instruction from the central memory, to establish electrical connections in the arithmetic unit and logic, and to run the processing of this data in this unit. We can sometimes find ROM or RAM memories included in the same chip, or even I/O interfaces or buffers.

Cyclic execution The master task is executed either cyclically or periodically. Cyclical execution consists of stringing cycles together one after the other with no waiting time between the cycles.

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D
DATE The DATE type coded in BCD in 32 bit format contains the following information: the year coded in a 16-bit field, the month coded in an 8-bit field, the day coded in an 8-bit field. The DATE type is entered as follows: D#<Year>-<Month>-<Day> This table shows the lower/upper limits in each field:
Field Year Month Day Limits [1990,2099] [01,12] [01,31] [01,30] [01,29] [01,28] Comment Year The left 0 is always displayed, but can be omitted at the time of entry For the months 01\03\05\07\08\10\12 For the months 04\06\09\11 For the month 02 (leap years) For the month 02 (non leap years)

DATE_AND_TIME see DT DBCD Representation of a Double BCD-format double integer. The Binary Coded Decimal (BCD) format is used to represent decimal numbers between 0 and 9 using a group of four bits. In this format, the four bits used to code the decimal numbers have a range of unused combinations. Example of DBCD coding: the number 78993016 is coded: 0111 1000 1001 1001 0011 0000 0001 0110 DDT DDT is the abbreviation of Derived Data Type. A derived data type is a set of elements of the same type (ARRAY) or of various types (structure)

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DFB DFB is the abbrevation of Derived Function Block. DFB types are function blocks that can be programmed by the user ST, IL, LD or FBD. By using DFB types in an application, it is possible to: simplify the design and input of the program, increase the legibility of the program, facilitate the debugging of the program, reduce the volume of the generated code.

DFB instance A DFB type instance occurs when an instance is called from a language editor. The instance possesses a name, input/output interfaces, the public and private variables are duplicated (one duplication per instance, the code is not duplicated). A DFB type can have several instances.

DINT DINT is the abbrevation of Double Integer format (coded on 32 bits). The lower and upper limits are as follows: -(2 to the power of 31) to (2 to the power of 31) - 1. Example: -2147483648, 2147483647, 16#FFFFFFFF. Documentation Contains all the information of the project. The documentation is printed once compiled and used for maintenance purposes. The information contained in the documentation cover: the hardware and software configuration, the program, the DFB types, the variables and animation tables, the cross-references. ... When building the documentation file, you can include all or some of these items.

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Driver A program indicating to your computers operating system the presence and characteristics of a peripheral device. We also use the term peripheral device driver. The best-known drivers are printer drivers. To make a PLC communicate with a PC, communication drivers need to be installed (Uni-Telway, XIP, Fipway, etc.).

DT DT is the abbreviation of Date and Time. The DT type coded in BCD in 64 bit format contains the following information: The year coded in a 16-bit field, the month coded in an 8-bit field, the day coded in an 8-bit field, the hour coded in a 8-bit field, the minutes coded in an 8-bit field, the seconds coded in an 8-bit field. NOTE: The 8 least significant bits are unused. The DT type is entered as follows: DT#<Year>-<Month>-<Day>-<Hour>:<Minutes>:<Seconds> This table shows the lower/upper limits in each field:
Field Year Month Day Limits Comment

[1990,2099] Year [01,12] [01,31] [01,30] [01,29] [01,28] The left 0 is always displayed, but can be omitted at the time of entry For the months 01\03\05\07\08\10\12 For the months 04\06\09\11 For the month 02 (leap years) For the month 02 (non leap years) The left 0 is always displayed, but can be omitted at the time of entry The left 0 is always displayed, but can be omitted at the time of entry The left 0 is always displayed, but can be omitted at the time of entry

Hour Minute

[00,23] [00,59]

Second [00,59]

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DWORD DWORD is the abbreviation of Double Word. The DWORD type is coded in 32 bit format. This table shows the lower/upper limits of the bases which can be used:
Base Hexadecimal Octal Binary Lower limit 16#0 8#0 2#0 Upper limit 16#FFFFFFFF 8#37777777777 2#11111111111111111111111111111111

Representation examples:
Data content 00000000000010101101110011011110 00000000000000010000000000000000 00000000000010101011110011011110 Representation in one of the bases 16#ADCDE 8#200000 2#10101011110011011110

E
EBOOL EBOOL is the abbrevation of Extended Boolean type. A EBOOL type variable brings a value (0 (FALSE) or 1 (TRUE) but also rising or falling edges and forcing capabilities. An EBOOL type variable takes up one byte of memory. The byte split up into: one bit for the value, one bit for the history bit (each time the states object changes, the value is copied inside the history bit), one bit for the forcing bit (equals to 0 if the object isnt forced, equal to 1 if the bit is forced. The default type value of each bit is 0 (FALSE).

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EDT EDT is the abbreviation of Elementary Data Type. These types are as follows: BOOL, EBOOL, WORD, DWORD, INT, DINT, UINT, UDINT, REAL, DATE, TOD, DT. EF Is the abbreviation of Elemantary Function. This is a block which is used in a program, and which performs a predefined software function. A function has no internal status information. Multiple invocations of the same function using the same input parameters always supply the same output values. Details of the graphic form of the function invocation can be found in the "[Functional block (instance)] ". In contrast to the invocation of the function blocks, function invocations only have a single unnamed output, whose name is the same as the function. In FBD each invocation is denoted by a unique [number] via the graphic block, this number is automatically generated and can not be altered. You position and set up these functions in your program in order to carry out your application. You can also develop other functions using the SDKC development kit.

EFB Is the abbreviation for Elementary Function Block. This is a block which is used in a program, and which performs a predefined software function. EFBs have internal statuses and parameters. Even where the inputs are identical, the output values may be different. For example, a counter has an output which indicates that the preselection value has been reached. This output is set to 1 when the current value is equal to the preselection value.

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Elemantary Function see EF

EN / ENO (enable / error notification) EN means ENable, this is an optional block input. If EN = 0, the block is not activated, its internal program is not executed and ENO ist set to 0. If EN = 1, the internal program of the block is executed, and ENO is set to 1 by the system. If an error occurs, ENO is set to 0. ENO means Error NOtification, this is the output associated to the optional input EN. If ENO is set to 0 (caused by EN=0 or in case of an execution error), the outputs of function blocks remain in the status they were in for the last correct executed scanning cycle and the output(s) of functions and procedures are set to "0". NOTE: If EN is not connected, it is automatically set to 1.

Event processing Event processing 1 is a program section launched by an event. The instructions programmed in this section are executed when a software application event (Timer) or a hardware event (application specific module) is received by the processor. Event processes take priority over other tasks, and are executed the moment the event is detected. The event process EVT0 is of highest priority. All others have the same level of priority. NOTE: For M340, IO events with the same priority level are stored in a FIFO and are treated in the order in which they are received. All the timers have the same priority. When several timers end at the same time, the lowest timer number is processed first. The system word %SW48 counts IO events and telegram processed. NOTE: TELEGRAM is available only for PREMIUM (not on Quantum or M340)

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F
Fast task Task launched periodically (setting of the period in the PC configuration) used to carry out a part of the application having a superior level of priority to the Mast task (master).

FBD FBD is the abbreviation of Function Block Diagram. FBD is a graphic programming language that operates as a logic diagram. In addition to the simple logic blocks (AND, OR, etc.), each function or function block of the program is represented using this graphic form. For each block, the inputs are located to the left and the outputs to the right. The outputs of the blocks can be linked to the inputs of other blocks to form complex expressions.

FFB Collective term for EF (Elementary Function), EFB (Elementary Function Block) and DFB (Derived Function block)

Flash Eprom PCMCIA memory card containing the program and constants of the application.

FNES FNES is the abbreviation of Fichiers Neutres dEntres Sorties (Neutral I/O Documentation). FNES format describes using a tree structure the PLCs in terms of rack, cards and channels. It is based on the CNOMO standard (comit de normalisation des outillages de machines outils).

Function see EF

Function block see EFB

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Function view View making it possible to see the program part of the application through the functional modules created by the user (see Functional module definition).

Functional Module A functional module is a group of program elements (sections, sub-programs, macro steps, animation tables, runtime screen, etc.) whose purpose is to perform an automation device function. A functional module may itself be separated into lower-level functional modules, which perform one or more sub-functions of the main function of the automation device.

G
GRAY Gray or "reflected binary" code is used to code a numerical value being developed into a chain of binary configurations that can be differentiated by the change in status of one and only one bit. This code can be used, for example, to avoid the following random event: in pure binary, the change of the value 0111 to 1000 can produce random numbers between 0 and 1000, as the bits do not change value altogether simultaneously. Equivalence between decimal, BCD and Gray:

H
Hyperlink The hyperlink function enables links to be created between your project and external documents. You can create hyperlinks in all the elements of the project directory, in the variables, in the processing screen objects, etc. The external documents can be web pages, files (xls, pdf, wav, mp3, jpg, gif, etc.).

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I
I/O Object An I/O object is an implicit or explicit language object for an expert function module or a I/O device on a fieldbus. They are of the following types: %Ch, %I, %IW, %ID, %IF, %Q, %QW, % QD, QF, %KW, %KD, %KF, %MW, %MD, and %MF. The objects topological address depends on the modules position on the rack or the devices position on the bus. For Premium/Atrium PLCs double-type instances of located data (%MD<i>, %KD<i>) or floating (%MF<i>, %KF<i>) should be located by an integer type (%MW<i>, %KW<i>). Only I/O objects make it possible to locate type instances (%MD<i>, %KD<i>, %QD, %ID, %MF<i>, %KF<i>, %QF, %IF) by using their topological address (for example %MD0.6.0.11, %MF0.6.0.31). For Modicon M340 PLCs, double-type instances of located data (%MD<i>, %KD<i>) or floating (%MF<i>, %KF<i>) are not available. IEC 61131-3 International standard: Programmable Logic Controls Part 3: Programming languages.

IL IL is the abbreviation of Instruction List. This language is a series of basic instructions. This language is very close to the assembly language used to program processors. Each instruction is composed of an instruction code and an operand.

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INF Used to indicate that a number overruns the allowed limits. For a number of Integers, the value ranges (shown in gray) are as follows:

When a calculation result is: less than -3.402824e+38, the symbol -INF (for -infinite) is displayed, greater than +3.402824e+38, the symbol +INF (for +infinite) is displayed. Instanciate To instanciate an object is to allocate a memory space whose size depends on the type of object to be instantiated. When an object is instantiated, it exists and can be manipulated by the program.

INT INT is the abbreviation of single integer format (coded on 16 bits). The lower and upper limits are as follows: -(2 to the power of 31) to (2 to the power of 31) - 1. Example: -32768, 32767, 2#1111110001001001, 16#9FA4. Integer literals Integer literal are used to enter integer values in the decimal system. The values can have a preceding sign (+/-). Individual underlines (_ ) between numbers are not significant. Example: -12, 0, 123_456, +986 IODDT IODDT is the abbreviation of Input/Output Derived Data Type. The term IODDT designates a structured data type representing a module or a channel of a PLC module. Each application expert module possesses its own IODDTs.

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K
Keyword A keyword is a unique combination of characters used as a syntactical programming language element (See annex B definition of the IEC standard 61131-3. All the key words used in Unity Proand of this standard are listed in annex C of the IEC standard 61131-3. These keywords cannot be used as identifiers in your program (names of variables, sections, DFB types, etc.)).

L
LD LD is the abbreviation of Ladder Diagram. LD is a programming language, representing the instructions to be carried out in the form of graphic diagrams very close to a schematic electrical diagram (contacts, coils, etc.).

Located variable A located variable is a variable for which it is possible to know its position in the PLC memory. For example, the variable Water_pressure, is associated with%MW102. Water_pressure is said to be localized.

M
Macro step A macro step is the symbolic representation of a unique set of steps and transitions, beginning with an input step and ending with an output step. A macro step can call another macro step.

Master task Main program task. It is obligatory and is used to carry out sequential processing of the PLC.

Mono Task An application comprising a single task, and so necessarily the Master task.

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Multi task Application comprising several tasks (Mast, Fast, Auxiliary, event processing). The order of priority for the execution of tasks is defined by the operating system of the PLC.

Multiple token Operating mode of an SFC. In multitoken mode, the SFC may possess several active steps at the same time.

N
Naming convention (identifier) An identifier is a sequence of letters, numbers and underlines beginning with a letter or underline (e.g. name of a function block type, an instance, a variable or a section). Letters from national character sets (e.g: ,, , ) can be used except in project and DFB names. Underlines are significant in identifiers; e.g. A_BCD and AB_CD are interpreted as different identifiers. Multiple leading underlines and consecutive underlines are invalid. Identifiers cannot contain spaces. Not case sensitive; e.g. ABCD and abcd are interpreted as the same identifier. According to IEC 61131-3 leading digits are not allowed in identifiers. Nevertheless, you can use them if you activate in dialog Tools Project settings in tab Language extensions the check box Leading digits. Identifiers cannot be keywords.

NAN Used to indicate that a result of an operation is not a number (NAN = Not A Number). Example: calculating the square root of a negative number. NOTE: The IEC 559 standard defines two classes of NAN: quiet NAN (QNAN) and signaling NaN (SNaN) QNAN is a NAN with the most significant fraction bit set and a SNAN is a NAN with the most significant fraction bit clear (Bit number 22). QNANs are allowed to propagate through most arithmetic operations without signaling an exception. SNAN generally signal an invalid-operation exception whenever they appear as operands in arithmetic operations (See %SW17 and %S18).

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Network Mainly used in communication, a network is a group of stations which communicate among one another. The term network is also used to define a group of interconnected graphic elements. This group forms then a part of a program which may be composed of a group of networks.

O
Operator screen This is an editor that is integrated into Unity Pro, which is used to facilitate the operation of an automated process. The user regulates and monitors the operation of the installation, and, in the event of any problems, can act quickly and simply.

P
Periodic execution The master task is executed either cyclically or periodically. In periodic mode, you determine a specific time (period) in which the master task must be executed. If it is executed under this time, a waiting time is generated before the next cycle. If it is executed over this time, a control system indicates the overrun. If the overrun is too high, the PLC is stopped.

Procedure Procedures are functions view technically. The only difference to elementary functions is that procedures can take up more than one output and they support data type VAR_IN_OUT. To the eye, procedures are no different than elementary functions. Procedures are a supplement to IEC 61131-3.

Protection Option preventing the contents of a program element to be read (read protected), or to write or modify the contents of a program element (read/write protected). The protection is confirmed by a password.

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R
REAL Real type is a coded type in 32 bits. The ranges of possible values are illustrated in gray in the following diagram:

When a calculation result is: between -1.175494e-38 and 1.175494e-38 it is considerd as a DEN, less than -3.4028234e+38, the symbol -INF (for - infinite) is displayed, greater than +3.4028234e+38, the symbol INF (for +infinite) is displayed, undefined (square root of a negative number), the symbol NAN or NAN is displayed. NOTE: The IEC 559 standard defines two classes of NAN: quiet NAN (QNAN) and signaling NaN (SNaN) QNAN is a NAN with the most significant fraction bit set and a SNAN is a NAN with the most significant fraction bit clear (Bit number 22). QNANs are allowed to propagate through most arithmetic operations without signaling an exception. SNAN generally signal an invalid-operation exception whenever they appear as operands in arithmetic operations (See %SW17 and %S18). NOTE: when an operand is a DEN (Denormalized number) the result is not significant.

Real literals An literal real value is a number expressed in one or more decimals. Example: -12.0, 0.0, +0.456, 3.14159_26 Real literals with exponent An Literal decimal value can be expressed using standard scientific notation. The representation is as follows: mantissa + exponential. Example: -1.34E-12 or -1.34e-12 1.0E+6 or 1.0e+6 1.234E6 or 1.234e6

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RS 232C Serial communication standard which defines the voltage of the following service: a signal of +12 V indicates a logical 0, a signal of -12 V indicates a logical 1. There is, however, in the case of any attenuation of the signal, detection provided up to the limits -3 V and +3 V. Between these two limits, the signal will be considered as invalid. RS 232 connections are quite sensitive to interferance. The standard specifies not to exceed a distance of 15 m or a maximum of 9600 bauds (bits/s).

RS 485 Serial connection standard that operates in 10 V/+5 V differential. It uses two wires for send/receive. Their "3 states" outputs enable them to switch to listen mode when the transmission is terminated.

RUN Function enabling the startup of the application program of the PLC.

RUN Auto Function enabling the execution of the PLC application program to be started automatically in the case of a cold start.

Rung A rung is the equivalent of a sequence in LD; other related terms are "Ladder network" or, more generally, "Network". A rung is inscribed between two potential bars of an LD editor and is composed of a group of graphic elements interconnected by means of horizontal or vertical connections. The dimensions of a rung are 17 to 256 lines and 11 to 64 columns maximum.

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S
Section Program module belonging to a task which can be written in the language chosen by the programmer (FBD, LD, ST, IL, or SFC). A task can be composed of several sections, the order of execution of the sections corresponding to the order in which they are created, and being modifiable.

SFC SFC is the abbreviation of Sequential Function Chart. SFC enables the operation of a sequential automation device to be represented graphically and in a structured manner. This graphic description of the sequential behavior of an automation device, and the various situations which result from it, is performed using simple graphic symbols.

SFC objects An SFC object is a data structure representing the status properties of an action or transition of a sequential chart.

Single token Operating mode of an SFC chart for which only a single step can be active at any one time.

ST ST is the abbreviation of Structured Text language. Structured Text language is an elaborated language close to computer programming languages. It enables you to structure series of instructions.

STRING A variable of the type STRING is an ASCII standard character string. A character string has a maximum length of 65534 characters.

Structure View in the project navigator with represents the project structure.

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Subroutine Program module belonging to a task (Mast, Fast, Aux) which can be written in the language chosen by the programmer (FBD, LD, ST, or IL). A subroutine may only be called by a section or by another subroutine belonging to the task in which it is declared.

T
Task A group of sections and subroutines, executed cyclically or periodically for the MAST task, or periodically for the FAST task. A task possesses a level of priority and is linked to inputs and outputs of the PLC. These I/O are refreshed in consequence.

TIME The type TIME expresses a duration in milliseconds. Coded in 32 bits, this type makes it possible to obtain periods from 0 to (2 to the power of 32)-1 milliseconds.

Time literals The units of type TIME are the following: the days (d), the hours (h), the minutes (m), the seconds (s) and the milliseconds (ms). A literal value of the type TIME is represented by a combination of previous types preceded by T#, t#, TIME# or time#. Examples: T#25h15m, t#14.7S, TIME#5d10h23m45s3ms Time Out In communication projects, The Time out is a delay after which the communication is stopped if there is no answer of the target device.

TIME_OF_DAY see TOD

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TOD TOD is the abbreviation of Time of Day. The TOD type coded in BCD in 32 bit format contains the following information: the hour coded in a 8-bit field, the minutes coded in an 8-bit field, the seconds coded in an 8-bit field. NOTE: The 8 least significant bits are unused. The Time of Day type is entered as follows: TOD#<Hour>:<Minutes>:<Seconds> This table shows the lower/upper limits in each field:
Field Hour Minute Second Limits [00,23] [00,59] [00,59] Comment The left 0 is always displayed, but can be omitted at the time of entry The left 0 is always displayed, but can be omitted at the time of entry The left 0 is always displayed, but can be omitted at the time of entry

Example: TOD#23:59:45. Token An active step of an SFC is known as a token.

U
UDINT UDINT is the abbreviation of Unsigned Double Integer format (coded on 32 bits) unsigned. The lower and upper limits are as follows: 0 to (2 to the power of 32) - 1. Example: 0, 4294967295, 2#11111111111111111111111111111111, 8#37777777777, 16#FFFFFFFF. UINT UINT is the abbreviation of Unsigned integer format (coded on 16 bits). The lower and upper limits are as follows: 0 to (2 to the power of 16) - 1. Example: 0, 65535, 2#1111111111111111, 8#177777, 16#FFFF.

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Unlocated variable An unlocated variable is a variable for which it is impossible to know its position in the PLC memory. A variable which have no address assigned is said to be unlocated.

V
Variable Memory entity of the type BOOL, WORD, DWORD, etc., whose contents can be modified by the program during execution.

Visualization window This window, also called a watch window, displays the variables that cannot be animated in the language editors. Only those variables that are visible at a given time in the editor are displayed.

W
Watch point Used in the "debug" mode of the application. It enables the display of animated variables to be synchronized with the execution of a program element (containing the watch point) in order to ascertain their values at this precise point of the program.

WORD The WORD type is coded in 16 bit format and is used to carry out processing on bit strings. This table shows the lower/upper limits of the bases which can be used:
Base Hexadecimal Octal Binary Lower limit 16#0 8#0 2#0 Upper limit 16#FFFF 8#177777 2#1111111111111111

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Representation examples
Data content 0000000011010011 1010101010101010 0000000011010011 Representation in one of the bases 16#D3 8#125252 2#11010011

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Unity Pro Index 35006144 07/2011

Index

B C A
CASE...OF...END_CASE ST, 516 channel data structure, 275 cold start, 121, 132 comparison IL, 459 LD, 365 ST, 504 compatibility data types, 289

Symbols
%S, 148 %SW generic, 170 Modicon M340, 222 Premium, 196 Quantum, 208

A
ADD IL, 462 addressing data instances, 300 input/output, 300 Alignment constraint, 272 AND IL, 461 ST, 507 ANY_ARRAY, 285 ARRAY, 266 automatic start in RUN, 121

D
D SFC, 408 data instances, 293 data types, 235 DATE, 250 DDT, 265 derived data types (DDT), 265, 269 derived function block (DFB), 551 representation, 278, 556 DFB representation, 556 diagnostics DFB, 599 DINT, 244 DIV IL, 463 DS SFC, 408 DT, 252 DWORD, 263
695

B
BOOL, 239 BYTE, 263

C
CAL, 466

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E
EBOOL, 239 EDT, 235 EFB, 277 elementary data types (EDT), 235 elementary function block (EFB), 277, 278 ELSE, 514 ELSIF...THEN, 515 EN/ENO FBD, 331 IL, 477, 486, 494 LD, 361 ST, 533, 542, 548 EQ IL, 464 error codes, 603 event processing, 89 EXIT, 522

IF...THEN...END_IF ST, 513 IN_OUT FBD, 333 IL, 487, 494 LD, 363 ST, 542, 548 input/output addressing, 300 instruction list (IL) language, 449, 473, 478, 489 operators, 459 structure, 451 INT, 244

J
JMP FBD, 335 IL, 467, 469 LD, 364 SFC, 415 ST, 526

F
FBD language, 321, 324 structure, 322 floating point, 253 FOR...TO...BY...DO...END_FOR ST, 517 forced bits, 239

L
L SFC, 408 labels FBD, 335 IL, 469 LD, 364 ST, 526 LD language, 347, 354 structure, 348 LD operators IL, 347 LE IL, 465 LT, 465

G
GE IL, 464 GT IL, 464

H
HALT, 145

I
IEC Compliance, 639

696

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Index

M
memory structures, 107, 109 MOD IL, 463 ST, 505 MUL IL, 463

R
R IL, 461 LD, 352 SFC, 408 REAL, 253 REPEAT...UNTIL...END_REPEAT, 521 RETURN FBD, 335 IL, 467 LD, 364 ST, 524

N
NE IL, 465 NOT IL, 462

S
S IL, 460 LD, 352 SFC, 408 sections, 76, 77 SFC language, 389, 405 structure, 391 SFCCHART_STATE, 393 SFCSTEP_STATE, 399 SFCSTEP_TIMES, 398 STRING, 258 structure, 265 structured text (ST) instructions, 508 language, 497, 529, 535, 544 operators, 504 structure, 499 SUB IL, 463 subroutines, 76, 80 system bits, 148 system words, 170 Modicon M340, 222 Premium, 196, 200 Quantum, 208, 213

O
operate, 365 OR IL, 461 ST, 507

P
P SFC, 408 P0 SFC, 408 P1 SFC, 408 private variables DFB, 566 FBD, 330, 360, 480, 537 public variables DFB, 566 FBD, 329 IL, 479 LD, 359 ST, 537

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Index

T
tasks, 69, 73 cyclic, 84 periodic, 85 TIME, 246 TOD, 251

U
UDINT, 244 UINT, 244

W
warm start, 121 watchdogs mono-task, 86 multi-task, 94 WHILE...DO...END_WHILE ST, 520 WORD, 263

X
XOR IL, 462 ST, 507

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