Reviewing I/O

Epec Programming and Libraries Manual

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Supported platforms: CODESYS 3.5 SAFETY, CODESYS 3.5 SP19 SAFETY

Reviewing I/O

This section describes how to review generated code related to I/O.

A MultiTool Creator project defines variable names for all user defined I/O.

In a safety control unit, user shall also define which I/O is safety related. This is done in MultiTool Creator using I/O > Safety related setting.

Safety related setting affects the context I/O is mapped to.

Mapped I/O variables depend on the used pin type and the used mode. See hardware specific I/O Programming sections.

For example, Programming > Programming SC52 Safety Control Unit > I/O Programming.

I/O Interface

IO_interface is a component generated in CODESYS, directly under the device.

Check each used I/O pin. The IO_interface > IO_interface I/O mapping tab has a folder for each I/O pin.

Verify that all I/O pins which are selected to be used in MultiTool Creator have mapped variables
Verify that the mapped variable name matches with name given in MultiTool Creator (see the example image in step 2)
Verify that all relevant variables are mapped for the selected I/O mode (See hardware specific I/O programming)

Check the pin context. The variable is mapped to a different code template program depending on MultiTool Creator's Safety related setting

Verify that all safety related inputs are mapped to the S_Inputs program
Verify that all safety related outputs are mapped to the S_Outputs program
Verify that all non-safety related inputs are mapped to the Inputs program
Verify that all non-safety related outputs are mapped to the Outputs program

The following image highlights the program name in red and the variable name in green, defined in MultiTool Creator.

Check internal diagnostic mapping. Verify that all I/O variables under the Internal or Diagnostic folder are mapped to the S_Inputs program. These are used by hardware diagnostics.

S_Init_IO (PRG)

All I/O initialization code (safety & non-safety related) is added to the S_Init_IO program.

Verify that the program is executed from S_PLC_PRG.

S_PLC_PRG Code:

IF NOT o_InitDone AND PLC_PRG.o_InitDone THEN

(* Code template safe FB initializations *)

IF NOT S_Init_IO.o_Ready THEN

S_Init_IO();

Verify initialization code generated to S_Init_IO program.

I/O initialization code does not depend on Safety related selection in MultiTool Creator
I/O initialization does depend on the used pin type, mode and configurations (selected in MultiTool Creator)
See hardware specific I/O programming sections for required initializations in each pin type/mode

Pin and connector numbers are added to I/O initialization for diagnostic purposes when using MultiTool 6.4 (SDK3.6) or later, or MultiTool Creator.

The following variable definitions are added to the S_Init_IO program.

S_Init_IO Definitions

PROGRAM S_Init_IO

VAR_INPUT

END_VAR

VAR_OUTPUT

o_Ready: SAFEBOOL := FALSE;

o_Error: BOOL := FALSE;

o_ErrorInConnector: DWORD := DWORD#0;

o_ErrorInPin: DWORD := DWORD#0;

o_FWErrorCode: EPEC_SYSTEM.SYSTEM_ERROR_CODES;

END_VAR

VAR

result: EPEC_SYSTEM.SYSTEM_ERROR_CODES;

pin: DWORD := DWORD#0;

connector: DWORD := DWORD#0;

info1: DWORD := DWORD#0; // MSW connector, LSW pin

info2: DWORD := DWORD#0; // error specific

END_VAR

I/O initialization code always begins by setting the I/O driver to IODRV_STATE_CONFIGURATION:

S_Init_IO Code

IF result = EPEC_SYSTEM.SYSTEM_ERROR_CODES.FW_ERR_OK THEN

result := EPEC_IODRV.IoDrvSetState(EPEC_IODRV.IoDrvStates.IODRV_STATE_CONFIGURATION);

END_IF

After I/O driver is set to configuration mode the following is generated:

All I/O pin related initializations
Internal diagnostic initializations

Firmware error is checked at each initialization function.

When I/O init's output o_Error is TRUE following diagnostic can be used by application:

Variables o_ErrorInConnector and o_ErrorInPin indicate the failed pin
Variable o_FWErrorCode indicates the failure reason
The error is also added to application log (when available)

Error code is added to application log only when device description includes SafeErrorLog library. In SC52 device description 3.5.10.6 or later is required.

I/O initialization code always ends with error checking and setting the I/O driver to IODRV_STATE_RUN:

S_Init_IO Code

IF result = EPEC_SYSTEM.SYSTEM_ERROR_CODES.FW_ERR_OK THEN

result := EPEC_IODRV.IoDrvSetState(EPEC_IODRV.IoDrvStates.IODRV_STATE_RUN);

o_FWErrorCode := result;

END_IF

IF result <> EPEC_SYSTEM.SYSTEM_ERROR_CODES.FW_ERR_OK THEN

o_Error:=TRUE;

o_ErrorInConnector := connector;

o_ErrorInPin := pin;

o_FWErrorCode := result;

info1 := SHL(connector, 16) OR pin;

EPEC_SERRLOG.S_AddError_DWORD(

i_ErrorCode := ApplicationErrors.IO_INIT,

i_LibraryErrorCode := result,

i_Info1 := info1, // MSW connector, LSW pin

i_Info2 := info2 // error specific

);

END_IF

o_Ready:=TRUE;

S_Inputs / Inputs (PRG)

Verify that the S_Inputs program is called from S_PLC_PRG.

Initialization phase:

S_PLC_PRG Code:

ELSIF NOT S_Inputs.o_InitReady THEN

S_Inputs(i_Initialize:=TRUE);

Run phase:

S_PLC_PRG Code:

ELSIF PLC_PRG.o_Initdone THEN

(* Safe actions to execute before safe main program *)

S_Inputs(i_Initialize:=FALSE);

(* ... *)

S_Main();

If the project has non-safety related inputs, verify that the Inputs program is called from PLC_PRG.

Initialization phase:

PLC_PRG Code:

ELSIF NOT Inputs.o_InitReady THEN

Inputs(i_Initialize:=TRUE);

Run phase:

PLC_PRG Code:

ELSIF S_PLC_PRG.o_InitDone THEN

(* ... *)

Inputs(i_Initialize:=FALSE);

(* ... *)

Main();

Verify the generated code for safety related inputs

Same variables are generated regardless of Safety related selection in MultiTool Creator.

AI / DI measurement variables in S_Inputs are generated using SAFEDINT / SAFEBOOL type instead of DINT and BOOL.

There are no function blocks generated for pulse inputs. For PI mode, the code template only assigns io-interface mapped variable values to the S_Inputs / Inputs PRG interface.

SafeConversion library version 1.0.1.2

S_VoltageToDI includes also DI debounce filtering

SafeConversion library version 1.1.0.0 or later

S_VoltageToDI does not include debounce filtering
S_DebounceDI is used for debounce filtering

The following table lists the function blocks and functions which are generated for inputs depending on the mode:

Name	Input mode	Description
S_ADCToVoltageOrCurrent	AI V AI mA Cat. 2 DI TI	Raw ADC to SI value conversion - With Cat. 2 mode there is two AD conversions for main and redundant channel. - With AI V mode there is also pull-up voltage measurement on pins that have pull-up measurement available and pull-up is enabled - With TI mode there is always main AI and pull-up voltage measurement - In DI mode only for AI/DI pin types which have voltage measurement
S_VoltageToDI	DI	Voltage to DI conversion (with debounce filtering, SafeConversion 1.0.1.2)
S_DebounceDI (SafeConversion 1.1.0.0 or later)	DI	DI debounce filtering
S_AIOverCurrentProtection	AI mA Cat. 2	Over current monitoring for mA measurements
S_VoltageToResistance	TI	Voltage to resistance conversion
S_AddError_BYTE	AI V AI mA Cat. 2 DI TI	Adds input errors to application log. Generated only when using device description with SafeErrorLog available.

MultiTool 6.6 or older code template uses constant limits for AI measurements.

S_ADCToVoltageOrCurrentS_ADCToVoltageOrCurrent

Verify that the function block instance is generated for each relevant pin

Cat. 2 mode has a second instance for redundant measurement
Type 096 pin (or other type with pull-up) has an instance for pull-up measurement

Verify that the Init method is executed for each instance

Output maximum: According to hardware specific enumeration for each pin type
Output high limit (AI V or AI mA mode): Hardware specific constants according to measurement range (e.g. 5V high voltage, 10V high voltage or high current)
Output high limit (DI mode): Same as output maximum
Cat2MonitoringCh input is FALSE in all other cases except in Cat. 2 redundant channel's AD conversion
Diagnostic delay: Hardware specific constant

Verify that the function block is executed for each instance

ADC raw value mapped to I/O interface is set in i_ADCValue
Corresponding output variable is updated with S_o_Output

The following is an initialization example of type 091 pin Joystick_Y_B in AI V mode using 10V range

Initialization:

o_InitReady := o_InitReady AND FBScaleToSIUnits_Joystick_Y_B.Init(

S_i_OutputMaximum := EPEC_HW.VALUE_AT_AD_MAXIMUM.U_TYPE091_10V,

S_i_OutputHighLimit := EPEC_HW.Constants.G_AI_10V_HIGH_VOLTAGE ,

S_i_OutputLowLimit := EPEC_HW.Constants.G_AI_LOW_VOLTAGE,

S_i_Cat2MonitoringCh := FALSE,

S_i_DiagnosticDelay := EPEC_HW.Constants.G_VOLTAGE_INPUT_DIAGNOSTIC_DELAY,

i_pEventCode := ADR(o_EventCode_Joystick_Y_B));

The following is an initialization example of type 093 pin Joystick_X_PosSwitch in DI mode

Initialization:

o_InitReady := o_InitReady AND FBScaleToSIUnits_Joystick_X_PosSwitch.Init(

S_i_OutputMaximum := EPEC_HW.VALUE_AT_AD_MAXIMUM.U_TYPE093_10V,

S_i_OutputHighLimit := EPEC_HW.VALUE_AT_AD_MAXIMUM.U_TYPE093_10V ,

S_i_OutputLowLimit := DINT#0,

S_i_Cat2MonitoringCh := FALSE,

S_i_DiagnosticDelay := EPEC_HW.Constants.G_VOLTAGE_INPUT_DIAGNOSTIC_DELAY,

i_pEventCode := ADR(o_EventCode_Joystick_X_PosSwitch));

The following is an initialization example of type 093 pin Position in Cat. 2 mode. If AI mA mode is used, then redundant channel is not used.

Initialization:

o_InitReady := o_InitReady AND FBScaleToSIUnits_Position.Init(

S_i_OutputMaximum := EPEC_HW.VALUE_AT_AD_MAXIMUM.I_TYPE093_20mA,

S_i_OutputHighLimit := EPEC_HW.Constants.G_AI_HIGH_CURRENT ,

S_i_OutputLowLimit := EPEC_HW.Constants.G_AI_LOW_CURRENT,

S_i_Cat2MonitoringCh := FALSE,

S_i_DiagnosticDelay := EPEC_HW.Constants.G_CURRENT_INPUT_DIAGNOSTIC_DELAY,

i_pEventCode := ADR(o_EventCode_Position));

o_InitReady := o_InitReady AND FBScaleToSIUnitsCat2Redundant_Position.Init(

S_i_OutputMaximum := EPEC_HW.VALUE_AT_AD_MAXIMUM.I_TYPE093_20mA,

S_i_OutputHighLimit := EPEC_HW.Constants.G_AI_HIGH_CURRENT ,

S_i_OutputLowLimit := EPEC_HW.Constants.G_AI_LOW_CURRENT,

S_i_Cat2MonitoringCh := TRUE,

S_i_DiagnosticDelay := EPEC_HW.Constants.G_CURRENT_INPUT_DIAGNOSTIC_DELAY,

i_pEventCode := ADR(o_EventCode_Position));

The following is a run phase code example of AD conversion. The same principle applies to AI V, AI mA, Cat. 2 and DI. Variable prefixes may differ depending on measurement.

Code:

FBScaleToSIUnits_Joystick_Y_B (

i_Enable := i_Enable,

i_ADCValue := AI_RAW_MAIN_Joystick_Y_B, (*Variable mapped to I/O interface*)

o_Status => o_AiScaleStatus_Joystick_Y_B,

S_o_Output => o_AI_MAIN_Joystick_Y_B); (*Variable used by application*)

MultiTool 6.7 or newer code template uses user defined limits for AI measurements.

S_ADCToVoltageOrCurrentS_ADCToVoltageOrCurrent

Verify that the function block instance is generated for each relevant pin

Cat. 2 mode has a second instance for redundant measurement
Instance for pull-up measurement is generated for
- AI V pins with pull-up measurement available (e.g. type 096) when configurable pull-up is enabled
- In TI mode pull-up measurement is always generated

Verify that the Init method is executed for each instance

Output maximum: According to hardware specific enumeration for each pin type
Output low and high limit (AI V, AI mA or TI mode): User defined limit from MultiTool is used for main AI channel
Output high limit (DI mode): Same as output maximum
Cat2MonitoringCh input is FALSE in all other cases except in Cat. 2 redundant channel's AD conversion
Diagnostic delay: Hardware specific constant

Verify that the function block is executed for each instance

Check that i_ADCValue input is assigned

AI V, TI and DI modes: ADC raw value mapped to I/O interface is set in i_ADCValue
AI mA and Cat. 2 modes:

SafeSSeriesHardware up to version 1.3.2.7:

ADC raw value mapped to I/O interface is set in i_ADCValue

SafeSSeriesHardware version 1.4.0.0 and newer:

ADC value from overcurrent protection block's output is used for AI main channel
ADC raw value mapped to I/O interface is used for Cat. 2 redundant channel

Corresponding output variable is updated with S_o_Output

The following is an initialization example of type 091 pin Joystick_Y_B in AI V mode using 10V range

Initialization:

o_InitReady := o_InitReady AND FBScaleToSIUnits_Joystick_Y_B.Init(

S_i_OutputMaximum := EPEC_HW.VALUE_AT_AD_MAXIMUM.U_TYPE091_10V,

S_i_OutputHighLimit := 10000,

S_i_OutputLowLimit := 0,

S_i_Cat2MonitoringCh := FALSE,

S_i_DiagnosticDelay := EPEC_HW.Constants.G_VOLTAGE_INPUT_DIAGNOSTIC_DELAY,

i_pEventCode := ADR(o_EventCode_Joystick_Y_B));

The following is an initialization example of type 093 pin Joystick_X_PosSwitch in DI mode

Initialization:

o_InitReady := o_InitReady AND FBScaleToSIUnits_Joystick_X_PosSwitch.Init(

S_i_OutputMaximum := EPEC_HW.VALUE_AT_AD_MAXIMUM.U_TYPE093_10V,

S_i_OutputHighLimit := EPEC_HW.VALUE_AT_AD_MAXIMUM.U_TYPE093_10V ,

S_i_OutputLowLimit := DINT#0,

S_i_Cat2MonitoringCh := FALSE,

S_i_DiagnosticDelay := EPEC_HW.Constants.G_VOLTAGE_INPUT_DIAGNOSTIC_DELAY,

i_pEventCode := ADR(o_EventCode_Joystick_X_PosSwitch));

The following is an initialization example of type 093 pin Position in Cat. 2 mode.

If AI mA mode is used, then redundant channel is not generated.

Initialization:

o_InitReady := o_InitReady AND FBScaleToSIUnits_Position.Init(

S_i_OutputMaximum := EPEC_HW.VALUE_AT_AD_MAXIMUM.I_TYPE093_20mA,

S_i_OutputHighLimit := 21900 ,

S_i_OutputLowLimit := 0,

S_i_Cat2MonitoringCh := FALSE,

S_i_DiagnosticDelay := EPEC_HW.Constants.G_CURRENT_INPUT_DIAGNOSTIC_DELAY,

i_pEventCode := ADR(o_EventCode_Position));

o_InitReady := o_InitReady AND FBScaleToSIUnitsCat2Redundant_Position.Init(

S_i_OutputMaximum := EPEC_HW.VALUE_AT_AD_MAXIMUM.I_TYPE093_20mA,

S_i_OutputHighLimit := 21900 ,

S_i_OutputLowLimit := 0,

S_i_Cat2MonitoringCh := TRUE,

S_i_DiagnosticDelay := EPEC_HW.Constants.G_CURRENT_INPUT_DIAGNOSTIC_DELAY,

i_pEventCode := ADR(o_EventCode_Position));

The following is an initialization example of TemperatureSensor in TI mode

The output maximum for pull-up measurement depends on used resistance range. The resistance range defines if GAIN is set OFF/ON which affects the output maximum scaling.
See control unit specific I/O programming topic for I/O init examples

Initialization:

   o_InitReady := o_InitReady AND FBScaleToSIUnitsMain_TemperatureSensor.Init(
                                                       S_i_OutputMaximum := EPEC_HW.VALUE_AT_AD_MAXIMUM.U_5V,
                                                       S_i_OutputHighLimit := 4823 ,
                                                       S_i_OutputLowLimit := 0,
                                                       S_i_Cat2MonitoringCh := FALSE,
                                                       S_i_DiagnosticDelay := EPEC_HW.Constants.G_VOLTAGE_INPUT_DIAGNOSTIC_DELAY,
                                                       i_pEventCode := ADR(o_EventCodeMain_TemperatureSensor));

(*...*)

   o_InitReady := o_InitReady AND FBScaleToSIUnitsPullup_TemperatureSensor.Init(
                                                       S_i_OutputMaximum := EPEC_HW.VALUE_AT_AD_MAXIMUM.U_42V727,
                                                       S_i_OutputHighLimit := 41214,
                                                       S_i_OutputLowLimit := 0,
                                                       S_i_Cat2MonitoringCh := FALSE,
                                                       S_i_DiagnosticDelay := EPEC_HW.Constants.G_VOLTAGE_INPUT_DIAGNOSTIC_DELAY,
                                                       i_pEventCode := ADR(o_EventCodePullUp_TemperatureSensor));

The following is a run phase code example of AD conversion.

Variable prefixes may differ depending on measurement.

Example applies to:

AI V mode

DI mode

AI mA with SafeSSeriesHardware up to version 1.3.2.7

Cat. 2 mode with SafeSSeriesHardware up to version 1.3.2.7 (note that Cat. 2 mode has main and redundant measurements)

AI mA & Cat. 2 modes: Runtime code is executed before S_AIOverCurrentProtection.

Code:

FBScaleToSIUnits_Joystick_Y_B (

i_Enable := i_Enable,

i_ADCValue := AI_RAW_MAIN_Joystick_Y_B, (*Variable mapped to I/O interface*)

o_Status => o_AiScaleStatus_Joystick_Y_B,

S_o_Output => o_AI_MAIN_Joystick_Y_B); (*Variable used by application*)

The i_Enable line is generated in following way if product supports pin specific enable variables:

Code:

i_Enable := i_Enable AND i_Enable_Joystick_Y_B,

The following is a run phase code example of AD conversion for AI mA mode with SafeSSeriesHardware version 1.4.0.0 or newer.

Runtime code is executed after S_AIOverCurrentProtection.

Code:

FBScaleToSIUnits_Position (

i_Enable := o_AiOverCurrentStatus_Position.OutputValid,

i_ADCValue := FbOvercurrent_Position.o_ADCValue,

o_Status => o_AiScaleStatus_Position,

S_o_Output => o_AI_MAIN_Position);

The following is a run phase code example of AD conversion for Cat. 2 mode with SafeSSeriesHardware version 1.4.0.0 or newer.

Runtime code is executed after S_AIOverCurrentProtection.

Code:

FBScaleToSIUnits_Position (

i_Enable := o_AiOverCurrentStatus_Position.OutputValid,

i_ADCValue := FbOvercurrent_Position.o_ADCValue,

o_Status => o_AiScaleStatus_Position,

S_o_Output => o_AI_MAIN_Position);

FBScaleToSIUnitsCat2Redundant_Position (

i_Enable := o_AiOverCurrentStatus_Position.OutputValid,

i_ADCValue := AI_RAW_MAIN_REDUNANT_Position,

o_Status => o_AiScaleStatusRedundant_Position,

S_o_Output => o_AI_REDUNDANT_Position);

The following is a run phase code example of AD conversion for TI mode

Code:

(* Scale raw value and set it to output variable *)
FBScaleToSIUnitsMain_TemperatureSensor (i_Enable := i_Enable AND i_Enable_TemperatureSensor,
i_ADCValue := AI_RAW_MAIN_TemperatureSensor,
o_Status => o_AiScaleStatusMain_TemperatureSensor,
S_o_Output => o_AI_MAIN_TemperatureSensor);

(* Scale raw value and set it to output variable *)
FBScaleToSIUnitsPullup_TemperatureSensor (i_Enable := i_Enable AND i_Enable_TemperatureSensor,
i_ADCValue := AI_RAW_PULLUP_TemperatureSensor,
o_Status => o_AiScaleStatusPullUp_TemperatureSensor,
S_o_Output => o_Ai_PullUp_TemperatureSensor);

The following example applies to products which support TI mode (e.g. SL8X1-01).

S_VoltageToResistanceS_VoltageToResistance

Verify that the function block instance is generated for each relevant pin
Verify that the Init method is executed for each instance
- Internal pullup resistance: Depends on used resistance range
  - The selected resistance range affects the selected pullup mode
  - See control unit specific I/O programming topic for I/O init examples
- Output resistance low and high limit: User defined limit from MultiTool
- Diagnostic delay: Hardware specific constant
Verify that the function block is executed for each instance
- Check that S_i_Voltage input is assigned: Measured voltage from AD conversion
- Check that S_i_RefVoltage input is assigned: Measured pullup voltage from pullup AD conversion
- Corresponding output variable is updated with S_o_Resistance

The following is an initialization example

Initialization:

o_InitReady := o_InitReady AND FBScaleToResistance_TemperatureSensor.Init(
S_i_InternalPullUpResistance := EPEC_HW.PULL_UP_RESISTANCE.R_15K,
S_i_InternalPullDownResistance := EPEC_HW.PULL_DOWN_RESISTANCE.NONE,
S_i_OutputResistanceHigh := 100000,
S_i_OutputResistanceLow := 0,
S_i_DiagnosticDelay := EPEC_HW.Constants.G_VOLTAGE_INPUT_DIAGNOSTIC_DELAY,
i_pEventCode := ADR(o_EventCodeMain_TemperatureSensor));

The following is a run phase code example

Code:

FBScaleToResistance_TemperatureSensor (i_Enable := i_Enable AND i_Enable_TemperatureSensor,
S_i_Voltage:= o_AI_MAIN_TemperatureSensor,
S_i_RefVoltage := o_Ai_PullUp_TemperatureSensor,
o_Status => o_ScaleStatusResistance_TemperatureSensor,
S_o_Resistance => o_Resistance_TemperatureSensor);

The following example applies with SafeConversion version 1.0.1.2:

S_VoltageToDIS_VoltageToDI

Verify that function block instance is generated for each DI
Verify that Init method is executed for each instance

Threshold high & low are set according to values set in MultiTool
Debounce delay is set according to value set in MultiTool

Verify that function block is executed for each instance

AD conversion's output valid flag is used as enable condition
S_i_Voltage input to DI filtering is set according to AD conversion's S_o_Output.
Corresponding DI state is updated with S_o_DigitalState

The following is an initialization example of DI filtering for Joystick_X_PosSwitch

Initialization:

o_InitReady := o_InitReady AND FBVoltagetoDi_Joystick_X_PosSwitch.Init(

S_i_ThresholdHigh := 4500, (*Value from MultiTool*)

S_i_ThresholdLow := 3500, (*Value from MultiTool*)

S_i_DebounceDelay := 30, (*Value from MultiTool*)

i_pEventCode := ADR(o_EventCode_Joystick_X_PosSwitch));

The following is a run phase code example of DI filtering for Joystick_X_PosSwitch

Code:

FBVoltagetoDi_Joystick_X_PosSwitch(

i_Enable := FBScaleToSIUnits_Joystick_X_PosSwitch.o_Status.OutputValid,

S_i_Voltage := FBScaleToSIUnits_Joystick_X_PosSwitch.S_o_Output,

o_Status => o_DiConversionStatus_Joystick_X_PosSwitch,

S_o_DigitalState => o_DI_Joystick_X_PosSwitch);

The following examples apply with SafeConversion version 1.1.0.0 or later:

DI filtering for AI/DI pin types

S_VoltageToDI & S_DebounceDIS_VoltageToDI & S_DebounceDI

Verify that function block instances are generated for each DI
Verify that Init method is executed for each S_VoltageToDI instance

Threshold high & low are set according to values set in MultiTool

Verify that Init method is executed for each S_DebounceDI instance

Debounce delay is set according to value set in MultiTool
Debounce type is set according to type set in MultiTool

Verify that function block is executed for each instance

AD conversion's output valid flag is used as enable condition
S_i_Voltage input to S_VoltageToDI is set according to AD conversion's S_o_Output.
S_i_DigitalState input to S_DebounceDI is set according to S_VoltageToDI's S_o_DigitalState
Corresponding DI state is updated with DI debounce's S_o_DigitalState

The following is an initialization example of DI filtering for Joystick_X_PosSwitch

Initialization:

o_InitReady := o_InitReady AND FBVoltagetoDi_Joystick_X_PosSwitch.Init(

S_i_ThresholdHigh := 4500, (*Value from MultiTool*)

S_i_ThresholdLow := 3500, (*Value from MultiTool*)

i_pEventCode := ADR(o_EventCode_Joystick_X_PosSwitch));

o_InitReady := o_InitReady AND FBDebounceDi_Joystick_X_PosSwitch.Init(

S_i_DebounceDelay := 30, (*Value from MultiTool*)

i_FilterType := EPEC_SC.DebounceFilterType.Debounce_Fast, (*Debounce type from MultiTool*)

i_pEventCode := ADR(o_EventCode_Joystick_X_PosSwitch));

The following is a run phase code example of DI filtering for Joystick_X_PosSwitch

Code:

FBVoltagetoDi_Joystick_X_PosSwitch(

i_Enable := FBScaleToSIUnits_Joystick_X_PosSwitch.o_Status.OutputValid,

S_i_Voltage := FBScaleToSIUnits_Joystick_X_PosSwitch.S_o_Output,

o_Status => o_DiConversionStatus_Joystick_X_PosSwitch,

S_o_DigitalState => );

FBDebounceDi_Joystick_X_PosSwitch(

i_Enable := FBVoltagetoDi_Joystick_X_PosSwitch.o_Status.OutputValid,

S_i_DigitalState := FBVoltagetoDi_Joystick_X_PosSwitch.S_o_DigitalState,

o_Status => o_DiDebounceStatus_Joystick_X_PosSwitch,

S_o_DigitalState => o_DI_Joystick_X_PosSwitch);

DI filtering for pin type without AI voltage measurement

S_DebounceDIS_DebounceDI

Verify that function block instances are generated for each DI
Verify that Init method is executed for each S_DebounceDI instance

Debounce delay is set according to value set in MultiTool
Debounce type is set according to type set in MultiTool

Verify that function block is executed for each instance

S_i_DigitalState input is set according to pin's digital status
Corresponding DI state is updated with DI debounce's S_o_DigitalState

The following is an initialization example of DI filtering for Joystick_X_PosSwitch

Initialization:

o_InitReady := o_InitReady AND FBDebounceDi_Joystick_X_PosSwitch.Init(

S_i_DebounceDelay := 30, (*Value from MultiTool*)

i_FilterType := EPEC_SC.DebounceFilterType.Debounce_Fast, (*Debounce type from MultiTool*)

i_pEventCode := ADR(o_EventCode_Joystick_X_PosSwitch));

The following is a run phase code example of DI filtering for Joystick_X_PosSwitch

Code:

FBDebounceDi_Joystick_X_PosSwitch(

i_Enable := i_Enable,

S_i_DigitalState := ST_Joystick_X_PosSwitch,

o_Status => o_DiDebounceStatus_Joystick_X_PosSwitch,

S_o_DigitalState => o_DI_Joystick_X_PosSwitch);

The i_Enable line is generated in following way if product supports pin specific enable variables:

Code:

i_Enable := i_Enable AND i_Enable_Joystick_X_PosSwitch,

The following examples apply for SafeSSeriesHardware 1.3.2.7 or older

S_AIOverCurrentProtectionS_AIOverCurrentProtection

Verify that the Init method is executed for each relevant pin
Verify that the function block is executed for each relevant pin
- Measured current is set from AD conversion instance to S_i_Current input
- In Cat. 2 mode, overcurrent protection is generated only for the main channel

The following is an initialization example of AI over current protection for Position

Initialization:

o_InitReady := o_InitReady AND FbOvercurrent_Position.init(i_pEventCode := ADR(o_EventCode_Position));

The following is a run phase code example of AI overcurrent protection for Position

Runtime code is executed after S_ADCToVoltageOrCurrent.

SC52 Safety Control Unit

Code:

FbOvercurrent_Position(

i_Enable := o_AiScaleStatus_Position.OutputValid AND o_AiScaleStatusRedundant_Position.OutputValid,

S_i_Current:=o_AI_MAIN_Position,

o_Status => o_AiOverCurrentStatus_Position);

IF NOT o_AiOverCurrentStatus_Position.OutputValid AND i_Enable = TRUE THEN

(* Over current error set pin to voltage mode *)

EPEC_IODRV.IoDrvDOSetConfig (EPEC_HW.IO_Channels.PIN_1_02_DO_TYPE_V_mA, FALSE);

END_IF

SL84 Safety Control Unit

Code:

FbOvercurrent_Position(

i_Enable := o_AiScaleStatus_Position.OutputValid,

S_i_Current:=o_AI_MAIN_Position,

o_Status => o_AiOverCurrentStatus_Position);

IF ((NOT o_AiOverCurrentStatus_Position.OutputValid) OR FBScaleToSIUnits_Position.o_Status.OutputHigh) AND i_Enable = TRUE THEN

(* Over current error set pin to voltage mode *)

EPEC_IODRV.IoDrvDOSetConfig (EPEC_HW.IO_Channels.PIN_1_1_DO_TYPE_V_mA, FALSE);

END_IF

The following examples apply for SafeSSeriesHardware 1.4.0.0 and newer

S_AIOverCurrentProtectionS_AIOverCurrentProtection

Verify that the Init method is executed for each relevant pin
Verify that the function block is executed for each relevant pin
- ADC raw value mapped to I/O interface is set in i_ADCValue
- In Cat. 2 mode, overcurrent protection is generated only for the main channel

The following is an initialization example of AI overcurrent protection for Position

Initialization:

o_InitReady := o_InitReady AND FbOvercurrent_Position.init(i_pEventCode := ADR(o_EventCode_Position));

The following is a run phase code example of AI overcurrent protection for Position

Runtime code is executed before S_ADCToVoltageOrCurrent.

Code:

FbOvercurrent_Position(

i_Enable := i_Enable,

i_ADCValue := AI_RAW_MAIN_Position,

o_Status => o_AiOverCurrentStatus_Position

o_ADCValue => );

IF NOT o_AiOverCurrentStatus_Position.OutputValid AND i_Enable = TRUE THEN

(* Over current error set pin to voltage mode *)

EPEC_IODRV.IoDrvDOSetConfig (EPEC_HW.IO_Channels.PIN_1_02_DO_TYPE_V_mA, FALSE);

END_IF

The i_Enable line is generated in following way if product supports pin specific enable variables:

Code:

i_Enable := i_Enable AND i_Enable_Position,

The IF condition is generated in following way if product supports pin specific enable variables:

Code:

IF NOT o_AiOverCurrentStatus_Position.OutputValid AND i_Enable AND i_Enable_Position THEN

The following are examples of error log

S_AddError_BYTES_AddError_BYTE

Verify that the function is executed for each relevant input pin

Error code is added to application log only when device description includes SafeErrorLog library. In SC52 device description 3.5.10.6 or later is required.

The following is a run phase code example of adding pin X1_02 input error to application log

Code:

EPEC_SERRLOG.S_AddError_BYTE(

i_ErrorCode := ApplicationErrors.INPUTS,

i_LibraryErrorCode := o_EventCode_X1_02.EventID,

i_Info1 := o_EventCode_X1_02.FunctionID,

i_Info2 := o_EventCode_X1_02.DeviceID,

i_Info3 := o_EventCode_X1_02.ChannelID,

i_Info4 := 1, // connector

i_Info5 := 2, // pin

i_Info6 := 0,

i_Info7 := 0,

i_Info8 := 0);

S_Outputs / Outputs (PRG)

If the project has safety related outputs, verify that the S_Outputs program is called from S_PLC_PRG.

Initialization phase:

S_PLC_PRG Code:

ELSIF NOT S_Outputs.o_InitReady THEN

S_Outputs(i_Initialize:=TRUE);

Run phase:

MultiTool Creator 8.1 or olderMultiTool Creator 8.1 or older

S_PLC_PRG Code:

(* User safe main program *)

S_Main();

(* Safe actions to execute after safe main program *)

S_Outputs(i_Initialize:=FALSE);

MultiTool Creator 8.2 or newerMultiTool Creator 8.2 or newer

S_PLC_PRG Code:

S_Outputs(i_Initialize:=FALSE, i_UpdateMeasurements:=TRUE);

(* User safe main program *)

S_Main();

(* Safe actions to execute after safe main program *)

S_Outputs(i_Initialize:=FALSE, i_UpdateMeasurements:=FALSE);

If the project has non-safety related outputs, verify that the Outputs program is called from PLC_PRG.

Initialization phase:

PLC_PRG Code:

ELSIF NOT Outputs.o_InitReady THEN

Outputs(i_Initialize:=TRUE);

Run phase:

MultiTool Creator 8.1 or olderMultiTool Creator 8.1 or older

PLC_PRG Code:

(* User non-safe main program *)

Main();

(* Non-safe actions to execute after non-safe main program *)

Outputs(i_Initialize:=FALSE);

MultiTool Creator 8.2 or newerMultiTool Creator 8.2 or newer

PLC_PRG Code:

Outputs(i_Initialize:=FALSE, i_UpdateMeasurements:=TRUE);

(* User non-safe main program *)

Main();

(* Non-safe actions to execute after non-safe main program *)

Outputs(i_Initialize:=FALSE, i_UpdateMeasurements:=FALSE);

Verify generated code for safety related outputs

The following table lists the function blocks and functions which are generated for outputs depending on the mode:

Name	Output mode	Description
S_ADCToVoltageOrCurrent	DO PWFM DO ECO DO HS/LS PWFM HS/LS DO ECO HS/LS AUXOUT	Raw ADC to voltage conversion. Function block is generated only for products which support output voltage measurement (e.g. SL8X1-01).
S_VoltageToDI	DO PWFM DO ECO DO HS/LS PWFM HS/LS DO ECO HS/LS AUXOUT	Voltage to DI conversion. Function block is generated only for products which convert DOS status from output voltage (e.g. SL8X1-01).
S_AddError_BYTE	DO PWFM DO ECO DO HS/LS PWFM HS/LS DO ECO HS/LS AUXOUT	Adds input errors to application log. Generated only when using device description with SafeErrorLog available.
S_DOControlAndDiagnostic	AUXOUT	AUXOUT: DO diagnostic is automatically generated to protect M12 connector from overcurrent

The generated code for S_Outputs / Outputs PRG depends if the product support output voltage measurement. Output pin's voltage measurement is not supported by SC52 or SL84.

Output code examples for products without voltage measurementOutput code examples for products without voltage measurement

I/O interface mapped variables are controlled by program interface.

Example of DO output control

Code:

DO_Boom_Y_ONOFF := i_DO_Boom_Y_ONOFF;

o_CM_Boom_Y_ONOFF := CM_Boom_Y_ONOFF;

o_DOS_Boom_Y_ONOFF := DOS_Boom_Y_ONOFF;

(* Resolve status bits *)

o_ST_Boom_Y_ONOFF.InitOk := DWORD_TO_BOOL(ST_Boom_Y_ONOFF AND 1);

o_ST_Boom_Y_ONOFF.ParameterError := DWORD_TO_BOOL(ST_Boom_Y_ONOFF AND 2);

o_ST_Boom_Y_ONOFF.OverCurrent := DWORD_TO_BOOL(ST_Boom_Y_ONOFF AND 4);

Example of PWM output control

Code:

o_CM_BoomCurUpRatio := CM_BoomCurUpRatio;

PWFM_RATIO_BoomCurUpRatio := i_PWFM_RATIO_BoomCurUpRatio;

PWFM_FREQ_BoomCurUpRatio := i_PWFM_FREQ_BoomCurUpRatio;

o_PI_PULSE_WIDTH_BoomCurUpRatio := PI_PULSE_WIDTH_BoomCurUpRatio;

o_DOS_BoomCurUpRatio := DOS_BoomCurUpRatio;

(* Resolve status bits *)

o_ST_BoomCurUpRatio.InitOk := DWORD_TO_BOOL(ST_BoomCurUpRatio AND 1);

o_ST_BoomCurUpRatio.ParameterError := DWORD_TO_BOOL(ST_BoomCurUpRatio AND 2);

o_ST_BoomCurUpRatio.OverCurrent := DWORD_TO_BOOL(ST_BoomCurUpRatio AND 4);

Error code is added to application log only when device description includes SafeErrorLog library. In SC52 device description 3.5.10.6 or later is required.

Example of adding output's firmware error to application log.

Code:

connector := 1;

pin := 25;

info1 := SHL(connector, 16) OR pin; // MSW connector, LSW pin

info2 := DWORD#0; // reserved

errorCode := DWORD_TO_DINT(ST_BoomCurUpRatio AND 16#FFFFFFE); // filter out InitOk bit

EPEC_SERRLOG.S_AddError_DWORD(i_ErrorCode := ApplicationErrors.OUTPUTS_FW, i_LibraryErrorCode := errorCode, i_Info1:=info1, i_Info2:=info2);

Following is example of output voltage measurement

S_ADCToVoltageOrCurrentS_ADCToVoltageOrCurrent

Verify that the function block instance is generated for each relevant pin
Verify that the Init method is executed for each instance
- Output maximum: According to hardware specific enumeration for each pin type
- Output high limit: Same as output maximum
- Cat2MonitoringCh input is FALSE
- Diagnostic delay: Hardware specific constant
Verify that the function block is executed for each instance
- Check that i_ADCValue input is assigned
  - ADC raw value mapped to I/O interface is set in i_ADCValue
- Corresponding output variable is updated with S_o_Output

The following is an initialization example of SL8X1-01 DO/PWM output voltage

Initialization:

o_InitReady := o_InitReady AND FBScaleToSIUnits_X1_15.Init(
S_i_OutputMaximum := EPEC_HW.VALUE_AT_AD_MAXIMUM.U_39V167,
S_i_OutputHighLimit := EPEC_HW.VALUE_AT_AD_MAXIMUM.U_39V167,
S_i_OutputLowLimit := DINT#0,
S_i_Cat2MonitoringCh := FALSE,
S_i_DiagnosticDelay := EPEC_HW.Constants.G_VOLTAGE_INPUT_DIAGNOSTIC_DELAY,
i_pEventCode := ADR(o_EventCode_X1_15));

The following is a run phase code example of SL8X1-01 DO/PWM output voltage

Code is executed inside the S_Outputs / Outputs PRG's ELSIF i_UpdateMeasurements condition.

Code:

ELSIF i_UpdateMeasurements THEN
FBScaleToSIUnits_X1_15(
                       i_Enable := i_Enable AND i_Enable_X1_15,
                       i_ADCValue := VOLT_X1_15,
                       o_Status => o_AiScaleStatus_X1_15,
                       S_o_Output => o_VOLT_X1_15);

Following is example of output DOS status conversion from voltage

S_VoltageToDIS_VoltageToDI

Verify that function block instances are generated for each output
Verify that Init method is executed for each S_VoltageToDI instance
- Threshold high & low are set according to values set in MultiTool
Verify that function block is executed for each instance
- AD conversion's output valid flag is used as enable condition
- S_i_Voltage input to S_VoltageToDI is set according to AD conversion's S_o_Output.
- Corresponding DOS state is updated with DI conversion's S_o_DigitalState

The following is an initialization example of DOS status conversion

Initialization:

o_InitReady := o_InitReady AND FBVoltagetoDi_X1_15.Init(
S_i_ThresholdHigh := 4500,
S_i_ThresholdLow := 3500,
i_pEventCode := ADR(o_EventCode_X1_15));

The following is a run phase code example of DOS status conversion

Code is executed inside the S_Outputs / Outputs PRG's ELSIF i_UpdateMeasurements condition.

Code:

ELSIF i_UpdateMeasurements THEN

   FBVoltagetoDi_X1_15(
                       i_Enable := FBScaleToSIUnits_X1_15.o_Status.OutputValid,
                       S_i_Voltage := FBScaleToSIUnits_X1_15.S_o_Output,
                       o_Status => o_DOSConversionStatus_X1_15,
                       S_o_DigitalState => o_DOS_X1_15);

Following is error log example for products which support voltage measurement

S_AddError_BYTES_AddError_BYTE

Code is executed inside the S_Outputs / Outputs PRG's ELSIF i_UpdateMeasurements condition.

Code:

ELSIF i_UpdateMeasurements THEN

   (* Add errors (originating from 'FBScaleToSIUnits' or 'FBVoltagetoDi') to application log *)
   EPEC_SERRLOG.S_AddError_BYTE(
       i_ErrorCode := ApplicationErrors.OUTPUTS,
       i_LibraryErrorCode := o_EventCode_X1_15.EventID,
       i_Info1 := o_EventCode_X1_15.FunctionID,
       i_Info2 := o_EventCode_X1_15.DeviceID,
       i_Info3 := o_EventCode_X1_15.ChannelID,
       i_Info4 := 1, // connector
       i_Info5 := 15, // pin
       i_Info6 := BYTE#0,
       i_Info7 := BYTE#0,
       i_Info8 := BYTE#0);

   (* Add errors (originating from the status bits from FW) to application log *)
   EPEC_SERRLOG.S_AddError_BYTE(
       i_ErrorCode := ApplicationErrors.OUTPUTS_FW,
       i_LibraryErrorCode := DWORD_TO_DINT(ST_X1_15 AND 2#110), // Filter out everything except errors
       i_Info1 := BYTE#0,
       i_Info2 := 1, // connector
       i_Info3 := BYTE#0,
       i_Info4 := 15, // pin
       i_Info5 := WORD_TO_BYTE(EPEC_HW.IO_Channels.PIN_1_15_PWM),
       i_Info6 := BYTE#0,
       i_Info7 := BYTE#0,
       i_Info8 := BYTE#0);

Following is example of AUXOUT output protection

S_DOControlAndDiagnosticS_DOControlAndDiagnostic

Verify that the function block instance is generated
Verify that the Init method is executed for each instance
- Broken circuit current limit: 0, not monitored
- Overcurrent limit: Limit is defined in MultiTool Creator
- Diagnostic delay: 500ms
Verify that the function block is executed for each instance
- Check that S_i_DOControl input is assigned with application reques
- Check that i_OutputCurrent is assigned with corresponding CM measurement
- Check that i_DOStatus is assigned with correspondering DOS status
- Check that diagnostic block's output o_DOState is assigned to the DO mapped to io interface

The following is an initialization example of AUXOUT output protection

Initialization:

o_InitReady := o_InitReady AND DoCntrlDiag_X8_2.Init(
S_i_BrokenCircuitCurrentLimit := 0,
S_i_OverCurrentLimit := 3000,
S_i_DiagnosticDelay := 500,
i_pEventCode := ADR(o_EventCode_X8_2));

The following is a run phase code example of AUXOUT protection

Code is executed inside the S_Outputs / Outputs PRG's ELSE branch

Code:

ELSE

   (* Monitor over current *)
   DoCntrlDiag_X8_2(
               i_Enable := i_Enable AND i_Enable_X8_2,
               S_i_DOControl := i_DO_X8_2,
               i_OutputCurrent := o_CM_X8_2,
               i_OverCurrentProtectionStatus := o_ST_X8_2.OverCurrent,
               i_DOStatus := o_DOS_X8_2,
               o_DOState => ,
               o_Status => o_DoCtnrlDiagStatus_X8_2);

DO_X8_2 := TO_BYTE(DoCntrlDiag_X8_2.o_DOState);

Following examples define the output code which are not function block related

Output code examples for products with voltage measurementOutput code examples for products with voltage measurement

Following is example of reading current measurement and fw status for DO, PWFM or DO ECO mode

Code:

ELSIF i_UpdateMeasurements THEN

(* Current (CM) *)
o_CM_X1_15 := CM_X1_15;

   (* Status bits from FW (ST) *)
   o_ST_X1_15.InitOk := DWORD_TO_BOOL(ST_X1_15 AND 1);
o_ST_X1_15.ParameterError := DWORD_TO_BOOL(ST_X1_15 AND 2);
o_ST_X1_15.OverCurrent := DWORD_TO_BOOL(ST_X1_15 AND 4);
   o_ST_X1_15.NoSupplyVoltage := DWORD_TO_BOOL(ST_X1_15 AND 8);
   o_ST_X1_15.DitherEnabled := DWORD_TO_BOOL(ST_X1_15 AND 16);

Following is example of reading current measurement and fw status for HS/LS modes

Code:

ELSIF i_UpdateMeasurements THEN

(* Current (CM) (HS only) *)
o_CM_X1_44 := CM_X1_44;

(* Status bits from FW (ST) *)
   (* HS *)
o_ST_HS_X1_44.InitOk := DWORD_TO_BOOL(ST_HS_X1_44 AND 1);
o_ST_HS_X1_44.ParameterError := DWORD_TO_BOOL(ST_HS_X1_44 AND 2);
o_ST_HS_X1_44.OverCurrent := DWORD_TO_BOOL(ST_HS_X1_44 AND 4);
   o_ST_HS_X1_44.NoSupplyVoltage := DWORD_TO_BOOL(ST_HS_X1_44 AND 8);
   o_ST_HS_X1_44.DitherEnabled := DWORD_TO_BOOL(ST_HS_X1_44 AND 16);
   (* LS *)
o_ST_LS_X1_44.InitOk := DWORD_TO_BOOL(ST_LS_X1_44 AND 1);
o_ST_LS_X1_44.ParameterError := DWORD_TO_BOOL(ST_LS_X1_44 AND 2);
o_ST_LS_X1_44.OverCurrent := DWORD_TO_BOOL(ST_LS_X1_44 AND 4);
   o_ST_LS_X1_44.NoSupplyVoltage := DWORD_TO_BOOL(ST_LS_X1_44 AND 8);
   o_ST_LS_X1_44.DitherEnabled := DWORD_TO_BOOL(ST_LS_X1_44 AND 16);

Following is example of DO control

Code:

ELSE
DO_X1_15 := BOOL_TO_BYTE(i_DO_X1_15);

Following is example of PWFM control

Code:

ELSE
PWFM_RATIO_X1_19 := i_PWFM_RATIO_X1_19;
PWFM_FREQ_X1_19 := i_PWFM_FREQ_X1_19;

Following is example of DO HS/LS control

Code:

ELSE
DO_HS_X1_44 := BOOL_TO_BYTE(i_DO_HS_X1_44);
DO_LS_X1_44 := BOOL_TO_BYTE(i_DO_LS_X1_44);

Following is example of PWFM HS/LS control

Code:

ELSE
PWFM_RATIO_HS_X1_45 := i_PWFM_RATIO_HS_X1_45;
PWFM_FREQ_HS_X1_45 := i_PWFM_FREQ_HS_X1_45;
PWFM_RATIO_LS_X1_45 := i_PWFM_RATIO_LS_X1_45;
PWFM_FREQ_LS_X1_45 := i_PWFM_FREQ_LS_X1_45;

Reviewing I/O

I/O Interface

S_Init_IO (PRG)

S_Inputs / Inputs (PRG)

S_Outputs / Outputs (PRG)

See also