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NX-series Safety Control Unit Instructions Reference Manual

1. Type Instruction Name Description Page Boolean operations AND Logical AND Performs a logical AND on 2 52 multiple Boolean variables OR Logical OR Performs a logical OR on 2 52 multiple Boolean variables XOR Exclusive Performs an exclusive logi 2 52 logical OR cal OR on multiple Boolean variables NOT Bit Reversal Reverses the value of a 2 54 Boolean bit Math ADD Addition Adds integers or durations P 2 56 SUB Subtraction Subtracts integers or dura P 2 58 tions MUL Multiplication Multiplies integers or a dura P 2 60 tion DIV Division Divides integers or a dura P 2 62 tion Comparison EQ Equal Determines if the values of P 2 66 two variables are equivalent NE Not Equal Determines if the values of 2 67 two variables are not equiv alent LT Less Than Performs a less than com P 2 68 parison between two values LE Less Than Performs a less than or P 2 68 Or Equal equal comparison between two values GT Greater Performs a greater than P 2 68 Than comparison between two values GE Greater Performs a greater than or P 2 68 Than Or equal comparison between Equal two values Others SEL Bit Selection Selects one of two selec P 2 72 tions MUX Multiplexer Selects one of multiple 2 74 selections 2 4 NX series Safety Control Unit Instructions Reference Manual 2931 Execution Control Instructions Type Instruction Name Description P
2. nnne 4 121 SF TwoHandControlTypelll ceca suite n et rre n rte n etude 4 126 Index NX series Safety Control Unit Instructions Reference Manual Z931 CONTENTS NX series Safety Control Unit Instructions Reference Manual 7931 Relevant Manuals Relevant Manuals Two manuals the NX series Safety Control Unit User s Manual and the NX series Safety Control Unit Instructions Reference Manual provide basic information on the NX series Safety Control Units Most operations are performed from the Sysmac Studio Automation Software Refer to the Sysmac Studio Version 1 Operation Manual Cat No W504 for information on the Sysmac Studio Other manuals are necessary for specific system configurations and applications Read all of the manuals that are relevant to your system configuration and application to make the most of the NX series Safety Control Unit Manuals NX Series NJ Series Basic informa tion cz 5z gt 2 cz cz mz DZ gt x X ox X m e Fe lt Sc Ro Zo amp a 50 50 FH 50 98 58 48 S2 58 gs 9 55 o o o 3 8 5 3 8 3 o 5 gt go o Purpose of use eo o em vO 5 SE 2 5 5 S 0 9 9 S o 5 l0 C 2 lt lt z O 2 9 20 gt o2 a Ct o 5 5 o 5 a I o o 2 Oo
3. 2 68 NX series Safety Control Unit Instructions Reference Manual Z931 2 Standard Functions Function These functions compare the values of two variables 1 and 2 The output value Out is shown below for each instruction LT If n1 is less than n2 the result is TRUE Otherwise the result is FALSE LE If n1 is less than or equal to n2 the result is TRUE Otherwise the result is FALSE GT If n1 is greater than n2 the result is TRUE Otherwise the result is FALSE GE If n1 is greater than or equal to n2 the result is TRUE Otherwise the result is FALSE suomnonajsu Additional Information The relationship between values with data types that are integers or durations are determined as given the following table Data types Relationship e INT SAFEINT DINT or SAFEDINT The sign is included in the comparison 2 TIME SAFETIME The values of the days hours minutes seconds and millisec e onds are compared Precautions for Correct Use You can compare n1 and n2 even if they have different data types such as a safety data type and a standard data type as long as the notations and sizes of the data types are the same You cannot compare data with data types that have different notations or sizes such as WORD and INT You can compare integer data such as INT data with SAFEINT data and DINT data with SAFEDINT data The input condition depends o
4. 2 51 Math Instructions 225 225 2322000 eb Ste be GA aie 2 55 Comparison 2 65 Other Standard Instructions 2 71 NX series Safety Control Unit Instructions Reference Manual 7931 2 1 2 Standard Functions Table of Standard Functions Type Instruction Name Description Page Execution control Jump Jump Moves processing to the P 2 6 jump destination specified by a label Return Return Returns control to the pro 2 8 cess that called the POU without executing any pro cessing after RETURN Data type Boolean to BOOL_TO_INT Convert Converts a BOOL variable P 2 12 conversion integer BOOL to INT to an INT variable BOOL_TO_DINT Convert Converts a BOOL variable P 2 13 BOOL to to a DINT variable DINT Boolean to BOOL_TO_TIME Convert Converts a BOOL variable 2 14 duration BOOL to to a TIME variable TIME Boolean to bit BOOL_TO_WORD Convert Converts a BOOL variable 2 15 string BOOL to to WORD variable WORD Bit string to inte BYTE TO INT Convert Converts a BYTE variable to P 2 16 ger BYTE to INT an INT variable BYTE TO DINT Convert Converts a BYTE variable to P 2 17 BYTE to a DINT variable DINT WORD TO INT Convert Converts a WORD variable P 2 18 WORD to to an INT variable INT WORD TO DINT Convert Converts a WORD variable P 2 20 WORD to t
5. 1 2 1 2 Interpreting Instruction Descriptions 1 3 122 1 MUN Gite Iis 1 3 1 2 2 Safety Data Types and Standard Data 2 1 4 1 2 3 Valid Ranges and Default Values of Variables 1 5 2 NX series Safety Control Unit Instructions Reference Manual Z931 CONTENTS Section 2 Standard Functions Table of Standard F rnclioris 2 titii eerte eie niti ye ge ep Liebe redeas dna 2 2 Execution Control Instructions 2 5 JUMP and wie nt hee beoe e etis 2 6 RETURNS 25 ort nee dn ded ada RR cde do ei m es 2 8 Data Type Conversion 2 9 BOOEBCTQ JINT inti redo ceca i etta 2 12 BOGOLZTO DIISIS dst LM mtu 2 13 BOOL TO TIME det ee ee ee eee 2 14 BOOLE TOCWORD ine niai e Deinen eti ire p 2 15 EE EC ERE 2 16 az eMipe ately ae 2 17 WORD TOWINT d eee opea tee e eiit tei AD itte 2 18 WORD IO tects ret tede tu c Lakers 2 20 DWORD TO DIINT pe eie cet ol doe e audes e ee dede de e Ek a ue ee 2 21 BYTE TO TIME 2 2 tote tds Doederl 2 23 2 24 DWORD CTO TIME
6. 4S 4 Safety Function Blocks The input parameters to the FB include four muting sensor signals MutingSwitch11 to MutingSwitch22 and an OSSD signal from a photoelectric protection device S AOPD Activate the S_StartReset input only when you can ensure that no hazardous state will occur as the result of starting the Safety CPU Unit e SF MutingSeq Instruction Application Example for Forward Entry with Four Sensors Order Diagram Description 1 Muting mode is enabled when the passage of Transmitter a workpiece turns ON MutingSwitch11 2 MS 11 and then MutingSwitch12 MS 12 L1 L1 T 11 a 12 Recover MS 21 MS 22 2 mode is enabled as long as Transmitter MutingSwitch11 MS 11 and Zone MutingSwitch12 5 12 remain ON due to gt the workpiece This allows the workpiece to ee T i OR rope liso pass through the light curtain without stop 2 22 77 T LLLA ping the machine 3 MutingSwitch21 5 21 and Transmiter gem MutingSwitch22 MS 22 must turn ON 2008 before MutingSwitch11 5 11 MutingSwitch12 5 12 turn OFF This LJ L1 ensures that muting mode remains ON 11 ta 12 Receiver MS_21 MS_22 MS_21 MS_22 4 Muting mode is ended if only MutingSwitch22 lcd MS 22 is ON due to the workpiece 5 11 5 12 Receiver 5 21 5 22 4 92 NX series Safety Control Unit Instru
7. 4S 4 Safety Function Blocks DiagCode hexadecimal 8122 Status name Muting Backward Start 1 Status description and output results A backward muting sequence is being started after MutingSwitch21 changed to TRUE Monitoring is active for DiscTime21 22 Monitor ing is active for MaxMutingTime Ready TRUE S_AOPD_Out TRUE S MutingActive FALSE Error FALSE 8422 Muting Backward Start 2 A backward muting sequence is being started after MutingSwitch22 changed to TRUE Monitoring is active for DiscTime21 22 Monitor ing is active for MaxMutingTime Ready TRUE S_AOPD_Out TRUE S MutingActive FALSE Error FALSE 8121 Muting Backward Active 1 A backward muting sequence is in operation for one of the following Achange to TRUE was detected in the second muting switch of MutingSwitch21 and MutingSwitch22 Both MutingSwitch21 and MutingSwitch22 were started in the same cycle Monitoring for DiscTime21 22 was stopped Monitoring for MaxMu tingTime is started after a transition directly from state 8000 Ready TRUE S_AOPD_Out TRUE S MutingActive TRUE Error FALSE 8114 Muting Backward Step 1 A backward muting sequence is in operation MutingSwitch11 oper ates as the first muting stop switch Monitoring for 11 12is started Ready TRUE S_AOPD_Out TRUE S MutingActive TRUE Error FALSE 8414 Muting Backward Step 2 A backwar
8. dail ducta in We al a ee 2 25 BYTE TO WORBD s tie iere lebat ee ete Lege 2 26 WORDBZTO BYTE attritus lest e e de E ec e aati 2 27 WORD TO DWORD iv eden ices ide teg aea eese Ve eade e 2 28 DINT TO BOO E ioi et o ei qe e Pes Obra nie sar 2 29 INI TO utet eite des ere cct es 2 30 BYTE c leita le ee ii dn ond a a de Qe 2 31 DINT TOS DWORD intere De parere dete e ep ete 2 32 DNT TO WORD cecus obse 2 34 BYTE Mev vay hye a a Pee eg ee eee 2 35 INT TO DWORD mirne rt tert aee E eae ed asl ae pt e p ihren 2 36 INE STOSWOEBD AT 2 38 Bin 2 40 INT ite pee Ree e e eret tes baden Debates act 2 41 DINIE TOSTIME uae 2 42 TIME ccc 2 43 TIME TO BOOM n nii o ean eter i n ER ERE rip 2 44 TIMESTIOSBXIEOS rA LE re tee 2 45 TIME eletti eee ee 2 46 TO WORD siian tct etaient e redi n e 2 47 eoe s S tL E EE 2 48 LN A 2 49 WORD TO BOQL iet e pe e aene rire die UE RET e te ate 2 50 Boolean Operation 2
9. ed eea QHOMG OL LNIG NX series Safety Control Unit Instructions Reference Manual Z931 2 33 2 Standard Functions DINT WORD This function converts a DINT variable to a WORD variable Instruction Graphic expression DINT_TO_WORD EN DINT to DINT TO WORD WORD Variables Default Name V6 Description Valid range Data to con Input Data to con DINT 0 to 65535 vert vert Out Conversion Output Conversion WORD 16 0000 to FFFF WORD 16 0000 result result If you omit an input or output parameter a building error will occur DINT 0 Boolean Bit strings Integers Durations o w eo o gt e eo 3 8 5 8 E 5 m m m 2 m m m a m m m 2 9 e 5 3 z 8 g In OK OK Out OK OK Function This function converts DINT data n to WORD data Out Additional Information To convert WORD data to DINT data refer to WORD TO DINT Precautions for Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur f you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well f you set a standard data type variable for the output terminal you can set either a safety data type variable or
10. Convert 2 18 Convert WORD to 2 2 24 D DINT TO BOOL etse dicet 2 29 DINT TO BYTE eR iat 2 31 DINT TO DWORD 5 di tbe cient 2 32 DINTZTO INT eerie 2 40 DINT CTOCTIME auk uh s ee tne 2 42 DINT TO WORD eo 2 34 DIN s oc ih ota ss 2 62 DIVISION iin ERR D p e etes 2 62 Down Hgger ionin tx cien epe et ess 3 10 DOWN COUNTER ceci eere etr e 3 3 DWORD 2 21 DWORD TO TIME 2 25 E Electro Sensitive Protective Equipment ESPE 4 42 Emergency 4 23 Enable SWiteh 5 d Ata 4 30 Gita d EC ae ed 2 66 aaa acai 2 66 Equivalent ink fasted tn 4 36 Exclusive logical 2 52 External Device Monitoring 4 15 G 2 68 Greater Than vesca atn ed ee ee eee etin 2 68 Greater Than Or 2 68 cer 2 68 INT TO BOOL 2 30 adus 2 35 INT TO DINT ss use tueantur et etes 2 41 TO DWORD neret hee teet 2 36 iecit ee m te ett 2 43 INT TO WORD terrier 2 38 J JUMP cioe ee cr don abu us 2 6
11. 5 e o z a m zu 5 Sz 2 5 5 55 2 5 o a 5 3 c D Learning about Safety Control Units Mounting installing and making hardware settings for Safety Control Units Making software settings for Safety Control Units Creating safety programs Verifying and debugging safety pro e grams Troubleshooting Safety Control Units A A A A A Maintaining Safety Control Units Learning the application methods of e e e NJ series Controllers 1 The NJF series Troubleshooting Manual introduces the error management concepts and error items Refer to the manuals that are indicated with triangles for details on errors for the corresponding Units NX series Safety Control Unit Instructions Reference Manual Z931 Manual Structure Manual Structure Page Structure The following page structure is used in this manual Level 2 heading suononnsuy we6eig Joppe1 Level 1 4 section number Level 2 Ladder Diagram Instructions Gives the number heading of the section Instruction LD and LDN Load Load NOT AND and AND AND NOT OR and ORN OR OR NOT and OutNot Output Output NOT Manual name N series Instructions Reference Manual W502 This page is for illustration only It may not literally appear in this manual 8 NX series Safety Control Unit
12. Overview information design ing installation and Part names and functions maintenance Mainly General specifications hardware information Installation and wiring is provided Maintenance and Inspection Use this manual together with the NJ series CPU Unit Soft ware User s Manual Cat No W501 NJ series CPU Unit W501 NJ501 Learning how to pro The following information is provided an NJ series CPU Software User s Man NJ301 gram and set up an Unit ual NJ series CPU Unit CPU Unit operation Mainly software infor GPU Unit features mation is provided Initial settings Programming based on IEC 61131 3 language specifi cations Use this manual together with the NJ series CPU Unit Hardware User s Manual Cat No W500 NJ series CPU Unit W505 NJ501 Using the built in Information on the built in EtherCAT port is provided This Built in EtherCAT NJ301 EtherCAT port on an manual provides an introduction and provides information Port User s Manual NJ series CPU Unit on the configuration features and setup Use this manual together with the NJ series CPU Unit Hardware User s Manual Cat No W500 and NJ series CPU Unit Software User s Manual Cat No W501 NJ series Instructions W502 NJ501 Learning detailed The instructions in the instruction set IEC 61131 3 specifi Reference Manual NJ301 specifications on the cations are described When programming use this man basic instructions of ua
13. 2 P 5 o In1 OK OK OK OK OK OK In2 to OK OK OK OK InN Out OK OK OK OK OK OK Function This function multiplies multiply values n1 to InN and outputs the result to output value Out An overflow occurs if the product of 7 to InN exceeds the valid range of the data type of the multiplica tion result If an overflow occurs the data types of n7 to InN the data type of the multiplication result and the value of the multiplication result will be as shown in the following table I O data types Value of multiplication results Integers Of the product of n7 to InN the multiplication result will be the value that can be expressed by the number of bits in the data type of the addition result 172 Durations Of the product of In1 to InN the multiplication result will be the value that can be expressed with DWORD data 1 For example if the value of n1 is INT 16390 and the value of n2 is INT 2 the multiplication result will be 32780 If an INT variable is set for the output the value of the multiplication result will be the value that can be expressed with lower 16 bits of the product 32 780 i e 32 756 If a DINT variable is set for the output the addition result is DINT 32780 2 If the result exceeds the valid range of DINT data the result will be the value that can be expressed with the lower 32 bits NX series Safety Control Unit Instructions Reference Manual Z931 2 Standard Functions
14. ieu eie 3 3 Hae aae a A ase 3 5 tex 3 7 SE EDM sic gem a 4 15 SF EmergencyStop sese 4 23 SF EnableSwWitch e ee 4 30 SF Equivalent peni eese nnde 4 36 SF ESPE Me ee al gl 4 42 a cie uie erie 3 10 SFE GuardLockitig 4 49 SF 4 55 NX series Safety Control Unit Instructions Reference Manual Z931 Index SF ModeSeleGt r neos 4 61 SF LPI TANO me OREA 4 70 SF MutingPar 2 4 81 5 eeepc eai 4 90 SE OQutControlz ARS Re 4 99 SE SBS AD Ln nm adden eed 3 12 SE RBEZTBRIG usd 3 11 SF _ 4 105 SE SR ud ea vette E 3 13 SF TestableSafetySensor 4 111 SECTOR E 3 14 sath ate 3 16 OF a Preah ete eee EE 3 18 SF TwoHandControlTypell 4 121 SF TwoHandControlTypelll 4 126 SUB c Eesti 2 58 S btraction itas e eee 2 58 T Testable Safety Sensors 4 111 Timer Pulse ette aee 3 18 TIME TOCBOOL os honc he e ee 2
15. NX series Safety Control Unit Instructions Reference Manual Z931 4 7 4 Safety Function Blocks Safety Function Block Instruc tions FEL Instruction Name Function Page SF Antivalent Antivalent Monitors the discrepancy time for two P 4 9 antivalent SAFEBOOL inputs SF EDM External Device Monitor Controls a safety output and monitors P 4 15 ing actuator control SF EmergencyStop Emergency Stop Monitors the input from an emergency P 4 23 stop button SF EnableSwitch Enable Switch Supports stopping a safety protection P 4 30 function that uses an enable switch SF Equivalent Equivalent Monitors the discrepancy time for two P 4 36 equivalent SAFEBOOL inputs SF ESPE Electro Sensitive Protec Monitors electro sensitive protective P 4 42 tive Equipment ESPE equipment ESPE SF GuardLocking Safety Guard Interlocking Controls entry to a hazardous area P 4 49 with Locking with a four state interlock guard with a guard lock SF GuardMonitoring Safety Guard Monitoring Monitors a relevant safety guard and P 4 55 opens closes the safety guard SF ModeSelector Mode Selector Selects the system operation mode P 4 61 automatic manual semi automatic etc SF MutingPar Parallel Muting Performs parallel muting with four P 4 70 muting sensors SF MutingPar 2Sensor Parallel Muting with 2 Performs parallel muting with two P 4 81 Sensors muting sensors SF MutingSeq S
16. Variable Data type Valid range Default Description Ready BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 S TwoHandOut SAFEBOOL TRUE or FALSE FALSE The safety output signal FALSE A button is not being operated or correct two hand operation was not performed TRUE The S 1 and S Button2 inputs are TRUE and there is no error Correct two hand operation is being performed Error BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 DiagCode WORD Depends on state 1620000 Refer to Safety FB Common Output Variables on page code 4 4 NX series Safety Control Unit Instructions Reference Manual Z931 4 121 jed jjonuoopueHoM 4S 4 Safety Function Blocks Function e This FB provides a type II two hand control function as defined in ISO 13851 EN 574 If 5 1 and S Button2 are set to TRUE in the correct order the S TwoHandOut output is also set to TRUE This FB also controls releasing of both buttons before it sets the 5 TwoHandOut output to TRUE again i State Transition Diagram Ready TRUE B1 OR B2 NOT B1 OR B2 Error C001 B1 1 002 B2 C003 B18B2 Buttons Released NOT B1 OR B2 2 Button 2 Actuated 8006 Actuated B1 AND B2 S TwoHandOut FALSE S TwoHandOut TRUE B1 S_Button1 B2 S_Button2 Note Transitions to the Idle state from any other state are not shown for when Activate changes to
17. f you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well f you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal NX series Safety Control Unit Instructions Reference Manual Z931 2 15 suononijsu ed eea OL 1004 2 Standard Functions BYTE TO INT This function converts a BYTE variable to an INT variable Instruction FB FUN Graphic expression BYTE TO INT Tore ES BYTE to BYTE INT Variables Default BYTE 16 00 Name VO Description Valid range Data to con Input Data to con BYTE 16 00 to FF vert vert Out Conversion Output Conversion INT 0 to 255 INT 0 result result If you omit an input or output parameter a building error will occur Boolean Bit strings Integers Durations o w eo o z o o gt lt gt 5 gt gt 2 gt gt T 2 T o T s r m m m m m m m m oo EIE 2 g e 5 3 z 5 g In OK OK Out OK OK Function This function converts BYTE data nto INT data Out Additional Information To convert INT data to BYTE data refer to INT TO BYTE Precautions for Correct Use The input condition depends on whether the output is safety data or sta
18. DiagCode hexadecimal Status name Status description and output results C001 Error 1 An input did not occur within the monitoring time in the Wait for NO state 8004 Ready TRUE S_AntivalentOut FALSE Error TRUE C002 Error 2 An input did not occur within the monitoring time in the Wait for NC state di 8014 Ready TRUE S AntivalentOut FALSE 5 Error TRUE C003 Error 3 The input did not change within the monitoring time while the state changes from the From Active Wait 8005 to the Init 8001 state 5 ChannelNO did not change to TRUE after S ChannelNC changed to FALSE Or S ChannelNC did not change to FALSE after 5 ChannelNO changed to TRUE Ready TRUE S AntivalentOut FALSE Error TRUE FB specific State Codes No Error DiagCode hexadecimal Status name Status description and output results 0000 Idle The FB is disabled default Ready FALSE S AntivalentOut FALSE Error FALSE 8001 Init The FB detected an activate signal and the FB is active Ready TRUE S AntivalentOut FALSE Error FALSE 8000 Safety Output An input changed to TRUE in Antivalent Mode Enabled Ready TRUE S AntivalentOut TRUE Error FALSE NX series Safety Control Unit Instructions Reference Manual 7931 4 13 4 Safety Function Blocks DiagCode hexadecimal 8004 Status name Wait for NO Status description and output results S ChannelNC changed to TRUE the discrepancy time timer star
19. Idle Status name Status description and output results The FB is disabled default Ready FALSE S_GuardLocked FALSE S UnlockGuard FALSE Error FALSE NX series Safety Control Unit Instructions Reference Manual Z931 4 53 4 Safety Function Blocks DiagCode hexadecimal 8000 Status name Guard Closed and Locked Status description and output results The guard is locked Ready TRUE S_GuardLocked TRUE S UnlockGuard FALSE Error FALSE 8001 Init The FB was activated and started Ready TRUE S_GuardLocked FALSE S UnlockGuard FALSE Error FALSE 8003 Wait for Reset The door is closed and locked and the FB is waiting for the operator to reset the function Ready TRUE S_GuardLocked FALSE S UnlockGuard FALSE Error FALSE 8011 Wait for Operator The FB is waiting for the operator to request unlocking the guard or resetting the function Ready TRUE S_GuardLocked FALSE S UnlockGuard FALSE Error FALSE 8012 Guard Open and Unlocked The guard is unlocked and open Ready TRUE S_GuardLocked FALSE S UnlockGuard TRUE Error FALSE 8013 Guard Closed but Unlocked The guard is unlocked but closed Ready TRUE S_GuardLocked FALSE S UnlockGuard TRUE Error FALSE 8014 Safety Return The S_SafetyActive signal was restored and the FB is waiting for a confirmation response Reset from the operator
20. You can change Reset to FALSE to reset error messages for Reset After the FB is started you can change the Reset input to TRUE to reset the optional startup inhibit FB specific Error Codes Diadcode mexa Status name Status description and output results decimal C001 Reset Error 1 When the Init state was entered an undetected change to TRUE in the Heset input was detected Ready TRUE S EDM Out FALSE Error TRUE C011 Reset Error 21 An undetected change to TRUE was detected for EDM1 and Reset or equiva lent signals were detected during EDM Error 11 status Both Reset and EDM1 changed to TRUE at the same time Ready TRUE S_EDM_Out FALSE Error TRUE C021 Reset Error 22 An undetected change to TRUE was detected for EDM2 and Heset or equiva lent signals were detected during EDM Error 12 status Both Heset and EDM 2 changed to TRUE at the same time Ready TRUE S_EDM_Out FALSE Error TRUE C031 Reset Error 23 An undetected change to TRUE was detected for EDM1 EDM2 and Reset or equivalent signals were detected during EDM Error 13 status Reset EDMf1 and EDM2 changed to TRUE at the same time Ready TRUE S_EDM_Out FALSE Error TRUE C041 Reset Error 31 An undetected change to TRUE was detected for EDM1 and Reset or equiva lent signals were detected during EDM Error 21 status Both Reset and EDM1 changed to TRUE at the same time Ready TRUE S_EDM_Out FALSE Error TRUE N
21. FB specific Error Codes DiagCode hexadecimal Status name Siatus description and output results S C002 Acknowledge Lost The acknowledge signal was lost in the Safe state Ready TRUE E n S SafetyActive FALSE S SafetyRequest FALSE Error TRUE C003 MonitoringTime The S OpMode input request was not completed within Monitoring Elapsed Time Ready TRUE S SafetyActive FALSE S SafetyRequest FALSE Error TRUE C004 Reset Error 2 When the Acknowledge Lost state was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S SafetyActive FALSE S SafetyRequest FALSE Error TRUE C005 Reset Error 3 When the Monitoring Time Elapsed state was entered an unde tected change to TRUE in the Reset input was detected Ready TRUE S SafetyActive FALSE S SafetyRequest FALSE Error TRUE NX series Safety Control Unit Instructions Reference Manual Z931 4 109 4 Safety Function Blocks FB specific State Codes No Error DiagCode hexadecimal 0000 Status name Idle Status description and output results The FB is disabled default Ready FALSE S SafetyActive FALSE S SafetyRequest FALSE Error FALSE 8000 Safe Mode The actuator is in safe mode Ready TRUE S SafetyActive TRUE S SafetyRequest FALSE Error FALSE 8001 Init Activate was set to TRUE and then Reset was set to TRUE Ready TRUE S Safe
22. Precautions for Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur f you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well f you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal f the input value is not INT 32768 to INT 32767 a cast error will occur and the program will stop 2 30 NX series Safety Control Unit Instructions Reference Manual Z931 2 Standard Functions DINT TO BYTE This function converts a DINT variable to a BYTE variable Instruction Graphic expression DINT_TO_BYTE EN DINT to DINT TO BYTE BYTE Variables Default Name VO Description Validrange Data to con Input Data to con DINT 0 to 255 vert vert Out Conversion Output Conversion BYTE 16 00 to FF BYTE 16 00 result result If you omit an input or output parameter a building error will occur DINT 0 Boolean Bit strings Integers Durations o eo o z o o gt lt gt 5 gt gt gt gt T 4 T 5 T T T 5 r m m m m m m m m w Uu Cz g 9 z fe 5 2 8 In OK OK Out OK OK Function This
23. eea OL 2 Standard Functions Precautions for Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur If you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well f you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal NX series Safety Control Unit Instructions Reference Manual Z931 2 Standard Functions BYTE TO TIME This function converts a BYTE variable to a TIME variable Instruction FB FUN Graphic expression BYTE_TO_TIME Comer TES BYTE to BYTE TIME Variables Default Name WO Description Valid range In Data to con Input Data to con BYTE 16 00 to FF BYTE 16 00 vert vert Out Conversion Output Duration T 0ms to T 255ms T 0ms result If you omit an input or output parameter a building error will occur Boolean Bit strings Integers Durations 0 eo o z o o gt lt gt 5 gt gt 5 gt gt T 4 T 5 T T T 5 r m m m m m m m m w Uu Cz g 9 z fe 5 2 8 5 In OK OK Out OK OK Function This function converts BYTE data n to TIME data Out Additional Inform
24. Name V6 Description Validrange Default Data to con Input Data to con WORD 16 0000 to FFFF WORD 16 0000 vert vert Out Conversion Output Conversion DWORD 16 00000000 DWORD 16 00000000 result result to 0000FFFF If you omit an input or output parameter a building error will occur Boolean Bit strings Integers Durations o w eo o z o gt lt gt 5 gt gt 2 gt gt 9m m 3 m S 2 g e 5 3 z 5 g In OK OK Out OK OK Function This function converts WORD data n to DWORD data Out Example for the Range of WORD Data WORD 16 0000 to WORD 16 FFFF The value of Out will be DWORD 16 00000000 to DWORD 1 6 0000F FFF Additional Information There is no instruction that converts DWORD data to WORD data Precautions for Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur f you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well f you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal 2 28 NX series Safety Control Unit Instructions Reference Manual Z931 2 Standard Functions DINT TO
25. Use the SEL instruction to select one of two selections NX series Safety Control Unit Instructions Reference Manual Z931 2 Standard Functions Precautions for Correct Use Ind In1 and Out may have different data types but observe the following precautions e Set the valid range of Out to include the valid ranges of nO to INN If the value of K is outside the valid range i e less than 0 or greater than an MUX Error will occur and the program will stop 19410 NX series Safety Control Unit Instructions Reference Manual 2931 2 75 2 Standard Functions NX series Safety Control Unit Instructions Reference Manual 7931 Safety Standard Function Blocks This section gives the specifications of the safety standard function blocks that you use for NX series safety control Safety Standard Function Block Instructions 3 2 SE DT Sce eite todo tat cates sd 3 3 SP exit PC st ete ta ale ett aoe Se ee es 3 5 SEC TUB omo ocu ee bent CD Ry 3 7 SEOF a ae ec ce ee 3 10 SE Gated E a eE 3 11 SEARS Po dedi dg 3 12 qm DES 3 13 SETOR costes nbus he be kos a e acs OR e o rore 3 14 SE TON 2 20 died a gu E RP EVERETT EN
26. BOOL Graphic expression SF_GuardLocking Activate Ready BOOL S GuardMonitoring S GuardLocked SAFEBOOL S SafetyActive S UnlockGuard SAFEBOOL S GuardLock Error BOOL UnlockRequest S StartReset S AutoReset DiagCode WORD Reset 4S Variable Data type Valid range Default Description Activate BOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 S GuardMonitoring SAFEBOOL TRUE or FALSE FALSE A variable It monitors the guard interlock FALSE The guard is open TRUE The guard is closed S SafetyActive SAFEBOOL TRUE or FALSE FALSE A variable It monitors the velocity or the state of the hazardous area EDM based on the safe time OFF delay etc FALSE The mechanical device is in a non safe state TRUE The mechanical device is in a safe state S GuardLock SAFEBOOL TRUE or FALSE FALSE A variable It gives the status of the mechanical guard lock FALSE The guard is not locked TRUE The guard is locked UnlockRequest BOOL TRUE or FALSE FALSE A variable It indicates operator intervention i e a request to unlock the guard FALSE There is no request TRUE There is a request S_StartReset SAFEBOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 S AutoReset SAFEBOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 Reset BOOL TRUE or FALSE FALSE Refer to Safet
27. C070 EDM Error 31 The signal is not valid during the switched status of the actuator The EDM signal changed to TRUE when output was possible and the monitor ing time ended Ready TRUE S_EDM_Out FALSE Error TRUE waa 3S C080 EDM Error 32 The EDM2 signal is not valid during the switched status of the actuator The EDM2 signal changed to TRUE when output was possible and the monitor ing time ended Ready TRUE S_EDM_Out FALSE Error TRUE C090 EDM Error 33 The EDM1 and EDM2 signals not valid during the switched status of the actuator The EDM1 and EDM2 signals changed to TRUE when output was possible and the monitoring time ended Ready TRUE S_EDM_Out FALSE Error TRUE C111 Init Error TRIG was detected in the same cycle as S OutControl and Reset There may be a programming error Ready TRUE S_EDM_Out FALSE Error TRUE NX series Safety Control Unit Instructions Reference Manual 7931 4 21 4 Safety Function Blocks FB specific Status Codes No Error exe Status name Status description and output results decimal 0000 Idle The FB is disabled default Ready FALSE S_EDM_Out FALSE Error FALSE 8001 Init The FB was activated and started Automatic resetting was FALSE at startup so resetting is necessary Ready TRUE S_EDM_Out FALSE Error FALSE 8010 Output Disable EDM control is OFF The timer starts when thi
28. FALSE No request was made by the operator to select mode 5 TRUE A request was made by the operator to select mode 5 S Mode6 SAFEBOOL TRUE or FALSE FALSE A constant or a variable It is input 6 from the mode selection switch FALSE No request was made by the operator to select mode 6 TRUE A request was made by the operator to select mode 6 S_Mode7 SAFEBOOL TRUE or FALSE FALSE A constant or a variable It is input 7 from the mode selection switch FALSE No request was made by the operator to select mode 7 TRUE A request was made by the operator to select mode 7 S Unlock SAFEBOOL TRUE or FALSE FALSE A constant or a variable It locks or unlocks the selected mode FALSE The actual S ModeXSel output is locked so the S ModeXSel output will not change even if the S ModeX input has changed when S SetMode changes to TRUE TRUE The mode can be changed because the selected S ModeXSel output is not locked S SetMode SAFEBOOL TRUE or FALSE FALSE A constant or a variable If AutoSetMode is FALSE this variable executes the selected mode change TRUE The selected mode is set when this variable changes to TRUE FALSE If AutoSetMode is TRUE a constant FALSE is set When the operator changes the mode selection switch S AnyModeSel and S ModeXSel change to FALSE The mode change is executed when 5 ModeXSel changes to TRUE as the result of S SetMode changing to
29. State Transition Diagram NOT Activate Activate Ready FALSE Ready TRUE Basic Operation Mode 8004 d GafltyAclive S SafetyActive NOT S_SafetyActive Enable switch in position 1 Position 1 8006 NOT S_ SafetyActive NOT S_ Saf tyActive a z lt 9 o ina Reset AND NOT R_TRIG at Reset AND NOT S AutoReset Position 1 NOT S EnableSwitchCh1 AND S EnableSwitchCh2 Enable switch in position 1 Position 2 S EnableSwitchCh1 AND 5 EnableSwitchCh2 Enable switch in position 2 Position 3 NOT S EnableSwitchCh1 OR S EnableSwitchCh2 OR S EnableSwitchCh1 AND NOT S EnableSwitchCh2 S EnableSwitchout FALSE S EnableSwitchout TRUE Note Transitions to the Idle state from any other state are not shown for when Activate changes to FALSE How ever the transition to the Idle state has the highest priority 0 NX series Safety Control Unit Instructions Reference Manual Z931 4 Safety Function Blocks I Timing Charts S AutoReset FALSE Activate S SafetyActive S EnableSwitchCh1 S EnableSwitchCh2 Reset S AutoReset Ready S EnableSwitchOut Error DiagCode 0000 8004 8006 8000 8006 8004 C010 C001 C020 8006 8000 8007 S AutoReset TRUE Activate S SafetyActive S EnableSwitchCh1 S EnableSwitchCh2 uouwSe qeu3 45 Reset S AutoReset Ready S EnableSwitchOut Error DiagCode 0000 8004 8006 8000 8006 8004 C010
30. TRUE Enables the connected actuator Error BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 DiagCode WORD Depends on state 1640000 Refer to Safety FB Common Output Variables page code 4 4 Function e Introduction This FB controls a safety output and monitors actuator control This FB monitors the initial status of the actuator through feedback signals S EDM1 and S EDM before the actuator is activated by the FB After the actuator is activated by this FB the FB also monitors the actuator s switched status Monitoring Time Two single feedback signals must be used for an exact diagnosis of the connected actuators A common feedback signal from the two connected actuators must be used for a restricted yet sim ple diagnostic function of the connected actuators To achieve that you must connect the com mon signal to both the 5 EDM1 and S EDM 2 parameters Therefore 5 EDM1 5 EDM2 will be controlled by the same signal The switching device for which the safety function is used must be selected from the category that was determined by risk assessment Activate the 5 StartHeset input only when you can ensure that no hazardous state will occur as the result of starting the Safety CPU Unit NX series Safety Control Unit Instructions Reference Manual Z931 4 Safety Function Blocks State Transition Diagram NOT Activate Ready FALSE Ready TRUE TRIG StartReg NOT Res
31. f you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal If the input value is not DINT 32768 to DINT 32767 a cast error will occur and the program will stop 2 40 NX series Safety Control Unit Instructions Reference Manual Z931 2 Standard Functions INT TO DINT This function converts an INT variable to a DINT variable Instruction FB FUN Graphic expression INT TO DINT INT to INT_TO_DINT Variables Default Name vO Description Valid range suononijsu ed eea In Data to con Input Data to con 32768 to 32767 INT 0 vert vert Out Conversion Output Conversion DINT 32768 to 32767 DINT 0 result result If you omit an input or output parameter a building error will occur Boolean Bit strings Integers Durations 0 o z o o gt lt gt 5 gt gt 5 gt gt T 4 T 5 T T T 5 r m m m m m m m m w Uu Cz g 9 z fe 5 2 8 5 In OK OK Out OK OK Function This function converts INT data n to DINT data Out Example When Value of n Is INT 32768 to INT 32767 The value of Out will be DINT 32768 to DINT 32767 Additional Information To convert DINT data to INT data refer to DINT TO INT Precautions
32. 5 g In OK OK Out OK OK Function This function converts WORD data n to BOOL data Out If the value of n is WORD 16 0000 the value of Outis FALSE If the value of n is WORD 16 0001 to WORD 16 FFFF i e not WORD 16 0000 the value of Out is TRUE Additional Information To convert BOOL data to WORD data refer to BOOL TO WORD Precautions for Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur If you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal If the input value is not WORD 0 or WORD a cast error will occur and the program will stop 2 50 NX series Safety Control Unit Instructions Reference Manual Z931 Boolean Operation Instructions Type Instruction Name Description Page Boolean operations AND Logical AND Performs a logical AND P 2 52 multiple Boolean variables OR Logical OR Performs a logical OR on P 2 52 multiple Boolean variables XOR Exclusive Performs an exclusive logi P 2 52 logical OR cal OR on multiple Boolean variables NOT Bit Reversal Reverses the value of a P 2
33. 8006 8000 8007 NX series Safety Control Unit Instructions Reference Manual Z931 4 33 4 Safety Function Blocks Instruction Execution Errors Error Detected The following conditions force a transition to an error state When an undetected change to TRUE in the Reset input is detected in the Operation Error 2 or Operation Error 4 state When the switch position is not valid Operation for Errors If an error occurs the 5 EnableSwitchOut safety output changes to FALSE and the safe state is maintained As opposed to other FBs the reset error state is maintained when Reset is FALSE including when S SafetyActive is also FALSE After the error is reset the enable switch must be set to the initial position that was defined for the process before the enable switch can set the S EnableSwitchOut output to TRUE If S AutoHeset is FALSE Reset must be changed from FALSE to TRUE FB specific Error Codes DiagCode hexadecimal C001 Status name Reset Error 1 Status description and output results When the Operation Error 2 state was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S EnableSwitchOut FALSE Error TRUE C002 Reset Error 2 When the Operation Error 4 state was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S EnableSwitchOut FALSE Error TRUE C010 Operation Error 1 The enable switch was not
34. DiagCode 8000 8000 8011 8012 8012 8012 8014 8021 8021 8021 8021 8000 8000 Instruction Execution Errors Error Detected The FB detects the following errors DiscTime11_12 DiscTime21_22 is set to less than T 0s or more than T 4s MaxMutingTime is set to less than T 0s or more than T 10min The discrepancy time for a sensor pair MutingSwitch11 and MutingSwitch12 or MutingSwitch21 and MutingSwitch22 exceeded the set value Muting S MutingActive TRUE exceeded MaxMutingTime maximum muting time The muting sensors MutingSwitch 11 MutingSwitch12 MutingSwitch21 and MutingSwitch22 operated in an incorrect order A muting sequence started without being enabled by MutingEnable A muting lamp failure was indicated 5 MutingLamp FALSE An undetected change to TRUE in the Heset input was detected in state 8001 or 8003 e e Operation for Errors When an error occurs the S AOPD Out and S MutingActive outputs set to FALSE The DiagCode output gives the relevant error code and the Error output is set to TRUE Operation is not restarted until the error is reset and the operator acknowledges the safe state with Reset FB specific Error Codes DiagCode hexadecimal Status name Status description and output results C001 Reset Error 1 When the Init state was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S AOPD Out FALSE S Mu
35. Error FALSE NX series Safety Control Unit Instructions Reference Manual Z931 4 35 4 Safety Function Blocks SF Equivalent This safety FB monitors the discrepancy time for two equivalent SAFEBOOL inputs Instruction SF Equivalent Variables Name Equivalent FB FUN FB BOOL SAFEBOOL SAFEBOOL TIME Graphic expression SF Equivalent Activate BOOL S ChannelA SAFEBOOL S ChannelB BOOL DiscrepancyTime WORD Input Variables Variable Data type Valid range Default Description Activate BOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 S_ChannelA SAFEBOOL TRUE or FALSE FALSE A variable It functions as input A for a logic connection FALSE Input A is open TRUE Input A is closed S_ChannelB SAFEBOOL TRUE or FALSE FALSE A variable It functions as input for a logic connection FALSE Input B is open TRUE Input B is closed Discrepancy TIME Depends on data 0 A constant It sets the maximum monitoring time for dis Time type crepancy between two inputs Output Variables Variable Data type Valid range Default Description Ready BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 S EquivalentOut SAFEBOOL TRUE or FALSE FALSE The safety output FALSE At least one of the signals is FALSE or the state did not change within the monitoring time TRUE The two input signals are active and the state
36. FALSE S AOPD Out FALSE S MutingActive FALSE Error FALSE 8000 AOPD Free Muting is disabled but the control input from AOPD is active If the muting timer is operating it stops Ready TRUE S_AOPD_Out TRUE S MutingActive FALSE Error FALSE 8001 Init The FB was started Ready TRUE S AOPD Out FALSE S MutingActive FALSE Error FALSE 8002 Safety Demand AOPD Muting is disabled The control input from AOPD is disabled Ready TRUE S_AOPD_Out FALSE S MutingActive FALSE Error FALSE 8003 Wait for Reset A safety request or error was detected and cleared The operator must respond with Reset Ready TRUE S_AOPD_Out FALSE S MutingActive FALSE Error FALSE 8005 Safe The safety function is operating Ready TRUE S_AOPD_Out FALSE S MutingActive FALSE Error FALSE NX series Safety Control Unit Instructions Reference Manual 2931 DiagCode hexadecimal 8011 Status name Muting Forward Start 1 4 Safety Function Blocks Siatus description and output results A forward muting sequence is being started after MutingSwitch11 changed to TRUE Monitoring is active for DiscTime11_ 12 Monitor ing is active for MaxMutingTime Ready TRUE S_AOPD_Out TRUE S MutingActive FALSE Error FALSE 8311 Muting Forward Start 2 A forward muting sequence is being started after MutingSwitch12 changed to TRUE Monitoring is active for
37. FALSE S TwoHandOut FALSE 8004 Buttons Released Neither of the buttons is being operated Ready TRUE Error FALSE S TwoHandOut FALSE 8005 Button 1 Actuated Only Button is being operated Ready TRUE Error FALSE S TwoHandOut FALSE 8006 Button 2 Actuated Only Button2 is being operated Ready TRUE Error FALSE S TwoHandOut FALSE 8007 Button 2 Released The safety output was enabled and then disabled again After the safety output was disabled S Button and S_Button2 did not both change to FALSE In this state S_ Button is TRUE and S Button2 is FALSE after the safety output is disabled Ready TRUE Error FALSE S TwoHandOut FALSE 8008 Button 1 Released The safety output was enabled and then disabled again After the safety output was disabled S Button and S_Button2 did not both change to FALSE In this state 5 Button is FALSE and S Button2 is TRUE after the safety output is disabled Ready TRUE Error FALSE S TwoHandOut FALSE 8009 4 130 Locked Off The safety output was enabled and then disabled again After the safety output was disabled S Button and S 2 did not both change to FALSE In this state S Button is TRUE and S Button2 is TRUE after the safety output is disabled Ready TRUE Error FALSE S TwoHandOut FALSE NX series Safety Control Unit Instructions Reference Manual Z931 4 Safety Function
38. If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal If the input value is not INT 0 to INT 255 a cast error will occur and the program will stop NX series Safety Control Unit Instructions Reference Manual Z931 2 35 suononijsu ed eea 31A8 OL 1NI 2 Standard Functions INT TO DWORD This function converts an INT variable to a DWORD variable Instruction MEUS Graphic expression INT TO DWORD NE INT to INT TO DWORD DWORD Variables Default Name V6 Description Valid range Data to con Input Data to con 32768 to 32767 vert vert Out Conversion Output Conversion DWORD1H 6200000000 DWORD1 H 6200000000 result result to FFFFFFFFF If you omit an input or output parameter a building error will occur INT 0 Boolean Bit strings Integers Durations o w eo o z o gt lt gt 5 gt gt 2 gt gt T d T X3 T o T s r m m m m m m m m we 2 g e 5 a z z 5 g In OK OK Out OK OK Function This function converts INT data n to DWORD data Out Example When Value of n Is Positive INT 0 to INT 32767 The value of Out is DWORD 16 00000000 to DWORD 16 00007FFF according to the value of In INT 0 to INT 32767 Example When V
39. Mating sequence condition 1 Ming condition 11 condition 3 Muting Forward Start 1 2 8011 8311 Muting condition 5 Muting condition 13 Muting conditioh 2 8014 8314 5 Muting Muting condition 3s Forward Active 1 8012 6 Muting ondition 24 Muting Forward Active 2 Muting 8021 condition 4 Muting Backward Active 1 8121 NOT Reset S AOPD In Error Muting lamp C003 NOT Nor S MutingLamp S AOPD In not in st ates 8012 802 Nor 8112 8121 Muting Backward Start 1 2 8122 8422 Muting condition 12 condition 44 However the transition to the Idle state has the highest priority 0 2 state transition to Error Muting sequence priority 1 Error Timer priority 2 Safety Demand AOPD priority 3 or Error Muting lamp priority 4 in the muting substates has higher priority than a state tran sition to muting substates with priority 5 or 6 3 The muting conditions are described below NX series Safety Control Unit Instructions Reference Manual 7931 MS_11 gt MutingSwitch11 MS_12 gt MutingSwitch12 MS_21 gt MutingSwitch21 MS_22 gt MutingSwitch22 Ready FALSE Ready TRUE Reset Error 2 C002 Reset AND NOT R_TRIG at Reset NOT MS_11 OR MS 12 OR 5 21 OR 5 22 NOT MS_11 OR MS_12ORMS_21 OR 5 22 1 Error Muting sequence CYx4 4S S _AOPD_Out FALSE S _AOPD_Out TRUE Muting sequence Timer expired
40. When an S ModexX input is TRUE only transitions such as from 8005 to 8000 are valid As long as S ModeX is FALSE the FB will retain state 8005 even if a change to TRUE is detected for S SetMode The time is not monitored for a transition from the ModeChanged to the ModeSelected state i e when S SetMode is changed to TRUE by the operator If the FB is in the ModeSelected state when a new S ModeX input high priority and an S Unlock signal low priority change to FALSE at the same time the FB will enter the ModeChanged state You can set constants with the default FALSE state for 5 ModeX inputs that are not used for mode selection to simplify program validation Set the AutoSetMode input to TRUE only when you can ensure that no hazardous state will occur as the result of starting the Safety CPU Unit H Precautions for Correct Use An error will occur for this function if more than S_ModeX input changes to TRUE at the same time Use a non shorting mode selection switch NX series Safety Control Unit Instructions Reference Manual Z931 4 Safety Function Blocks State Transition Diagram NOT Activate Ready FALSE 2 Ready TRUE R_TRIG at Reset Open circuit C002 Error 2 C004 R_TRIG at Reset AutoSetMode OR Error R_TRIGatS SetMode 5 Short circuit AND S Unlock C001 S Modex TR E 218 S ModeXSel FALSE S AnyModeSel FALSE S ModeXSel TRUE S AnyModeSel TRUE Jo e
41. n1 and n2 are equivalent If they are equivalent comparison result Out changes to TRUE Otherwise the value of Out is FALSE Precautions for Correct Use You can compare n1 and n2 even if they have different data types such as a safety data type and a standard data type as long as the notations and sizes of the data types are the same You cannot compare data with data types that have different notations or sizes such as WORD and INT You can compare integer data such as INT data with SAFEINT data and DINT data with SAFEDINT data The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur If you set a safety data type variable for the output terminal set a safety data type variable for the two input terminals as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal 2 66 NX series Safety Control Unit Instructions Reference Manual Z931 2 Standard Functions NE This function determines if the values of two variables are not equivalent Instruction FB FUN Graphic expression u i l Variables Default Name vO Description Valid range Comparison Input Values to com Depends on data type data pare Out Comparison Output Comparison Depends on data type result result If you omit an input
42. 11 OR R TRIG at MS 12 OR F TRIG at MS 22 State 8122 NOT MutingEnable OR MS 11 OR MS 12 OR NOT MS 22 State 8112 TRIG at 5 11 OR R_TRIG at 5 21 OR R TRIG at MS 22 NX series Safety Control Unit Instructions Reference Manual Z931 4 93 4 Safety Function Blocks State Transition Diagram NOT Activate Timeparameter out of range Parameter Error C005 Timeparemeter NOT Reset Reset AND NOT R TRIG at Reset AND NOT S StartReset MS 11 gt MutingSwitch 11 MS 12 gt MutingSwitch 12 MS 21 gt MutingSwitch 21 MS 22 gt MutingSwitch 22 Ready FALSE Ready TRUE within range AND Reset AND NOT R_TRIG at Reset R_TRIG at Reset NOT MS_11 OR MS 12 OR MS 21 R_TRIG at Reset OR 5 22 S AOPD In NOT MS 11 OR MS 120RMS 21 7 ORMS 22 Error ORS Start Reset R TRIG at Reset Safety NOT Demand 9 S_MutingLamp Timer S_AOPD_In AOPD Error MaxMuting 8002 Muting C006 NOT M sequence 2 S AOPD In u ona amp CYx4 NOT S MutingLamp 5 AOPD Out FALS S AOPD Out RUE 3 S MutingLamp NOT Wrong Muting m S MutingLamp sequence Wrong Mutirig Timer expired sequence NOT S AOPD In not in states Muting substates 8012 or 8112 condition1 condition 13 Muting Muting condition 1 Muting condition3 5 Forward Start uting 8011 Muting 5 8112 Muting Tu condition12 condition2 Active 8012 Note 1 Transitions to the Idle state from any other state are n
43. 2 S ModeO SAFEBOOL TRUE or FALSE FALSE A constant or a variable It is input O from the mode selection switch FALSE No request was made by the operator to select mode 0 TRUE A request was made by the operator to select mode 0 S_Mode1 SAFEBOOL TRUE or FALSE FALSE A constant or a variable It is input 1 from the mode selection switch FALSE No request was made by the operator to select mode 1 TRUE A request was made by the operator to select mode 1 S_Mode2 SAFEBOOL TRUE or FALSE FALSE A constant or a variable It is input 2 from the mode selection switch FALSE No request was made by the operator to select mode 2 TRUE A request was made by the operator to select mode 2 S_Mode3 SAFEBOOL TRUE or FALSE FALSE A constant or a variable It is input 3 from the mode selection Switch FALSE No request was made by the operator to select mode 3 TRUE A request was made by the operator to select mode 3 NX series Safety Control Unit Instructions Reference Manual Z931 4 Safety Function Blocks Variable S Mode4 Data type SAFEBOOL Valid range TRUE or FALSE Default FALSE Description A constant or a variable It is input 4 from the mode selection Switch FALSE No request was made by the operator to select mode 4 TRUE A request was made by the operator to select mode 4 S Mode5 SAFEBOOL TRUE or FALSE FALSE A constant or a variable It is input 5 from the mode selection Switch
44. 3 For example if the value of n1 is T 24d20h31m23s649ms and the value of 215 INT 2 the value of the mul tiplication result is T 49d17h2m47s298ms However the maximum value of TIME is the same as for DWORD 4294967295 so the multiplication result will be the value that can be expressed with 32 bits i e T 2ms Additional Information You cannot include more than one duration in the values to multiply To multiply a duration set a duration for n1 and Out and set integers for In2 to InN Precautions for Correct Use When multiplying integers the data types of 7 to INN and Out can be different If they are different calculations are performed with the data type that includes the range of all of the data types For example if n1 is INT data and n2 is DINT data calculations are performed with DINT data There fore multiplication result Out will be DINT data If you use duration data for the data to multiply use duration data for one of n1 to InN and for Out The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur If you set a safety data type variable for the output terminal set safety data type variables for all of the input terminals f you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal f you set a safety data type var
45. 44 TIMETO BYTE t e 2 45 TIME TO DINT nee eI eire 2 48 TIME TO 2 46 TIMESTOCINT ed 2 49 TIME TO WORD ene eed 2 47 Two Hand Control 4 121 Two Hand Control Type Ill 2 4 126 U Up rigger 3 55 et 3 11 Wp COunter xi eet e LRL A 3 5 Up down Counter eese 3 7 WORD BOOL 5 nee eret 2 50 WORD TO BYTE aside dmt ens 2 27 WORD_TO_DINT ls 2 20 WORD_TO_DWORD eee 2 28 WORD TOINT xe dete 2 18 WORD TO TIME zr ct de eerie 2 24 X XOR isthe 2 52 Index Safety Control Unit Instructions Reference Manual 7931 Authorized Distributor
46. 8003 8000 0000 NX series Safety Control Unit Instructions Reference Manual 2931 4 Safety Function Blocks Instruction Execution Errors Error Detected Specific errors are detected for the SAFEBOOL external signal input According to 15013849 1 safety guards that have two switches mechanical settings and open close switch settings are combined According to EN I8013849 1 the offset in the response times of both mechanical switches is monitored as the discrepancy time The offset is treated as detection of an application error i e an error created by the application error is detected when the offset between the first input and second input for 5 GuardSwitch1 or S GuardSwitch2 is larger than the value of the DiscrepancyTime input The Error output is set to TRUE If Resetis already TRUE when the Wait for Reset state is entered this FB detects the undetected change to TRUE as an error e Reset Operation for Errors When an error occurs the 5 GuardMonitoring output is set to FALSE If the two inputs S GuardSwitch1 and S GuardSwitch2 are bridged an error is not detected To reset the Reset Error state you must set the Reset input to FALSE The S GuardSwitch1 and S_GuardSwitch2 inputs must both be set to FALSE to reset a discrep ancy time error FB specific Error Codes DiagCode hexadecimal Status name Status description and output results 5 001 Reset Error When the Wait for
47. AND UnlockRequest NOT S GuardLock Reset AND NOT OR NOT OR NOT S_GuardMonitoring TRIG at Reset Nol S_GuardMonitdring S GuardMonitoring S GuardMonitoring 4S Closed but NOT Unlocked 8013 nlockRequest N J S_SafetyActive AND S_GuardMonitoring OR S_GuardLock S G ardMonitoring Reset AND NOT R TRIG at Reset AND NOT S AutoReset Reset Error 3 C003 lonitoring R_TRIG at Reset OR S StartReset AND S_GuardMonitoring AND S_GuardLock GuardLock G OR NOT S NOT Reset NOT S GuardM S GuardLocked FALSE R TRIG at 5 GuardLocked TRUE UnlockRequest R_TRIG at Reset AND SafetyActive OR 8 AutoReset NOT S GuardLock OR NOT S_GuardMonitoring Note Transitions to the Idle state from any other state are not shown for when Activate changes to FALSE How ever the transition to the Idle state has the highest priority 0 Safety Control Unit Instructions Reference Manual 7931 4 51 4 Safety Function Blocks Timing Charts S_GuardMonitoring S SafetyActive S GuardLock UnlockRequest S StartReset S AutoReset Reset Outputs Ready S GuardLocked S UnlockGuard Error DiagCode 0000 8001 8000 8000 8000 8013 8012 8013 8011 8003 8000 8000 8014 8014 8003 NX series Safety Control Unit Instructions Reference Manual Z931 4 Safety Function Blocks Instruction Execution Errors Error Detected Undete
48. CU changes to TRUE It is not decremented when CD changes to TRUE Between 0 FALSE FALSE Both up and down counter opera and PV tion is performed CVis incremented when CU changes to TRUE and decre mented when CD changes to TRUE PVorhigher TRUE FALSE Only down counter operation is performed CV is decremented when CD changes to TRUE It is not incremented when CU changes to TRUE TRUE FALSE 0 FALSE TRUE The up counter is reset The value of CV is set to 0 FALSE TRUE PV TRUE FALSE The down counter is reset The value of CV is set to PV TRUE TRUE 0 FALSE TRUE The up counter is reset Reset takes priority over Load The value of CV is set to O 3 8 NX series Safety Control Unit Instructions Reference Manual Z931 3 Safety Standard Function Blocks The following figure shows a programming example and timing chart for a PV of INT 8 SF_CTUD_instance SF CTUD TRUE MM EEE TRUE 1 CD B NEN CREE i 1 1 1 1 1 1 2 Reset abc FALSE NEWER 5 d 3 3 _ S TRUE 1 1 1 1 1 Load def FALSE l CV mno QU ghi When CV reaches QU changes to TRUE When RESET changes to TRUE CV changes to 0 QU changes to FALSE and QD changes to TRUE When Reset changes to FALSE the counter inputs are enabled When CU changes to TRUE CV is
49. CV changes to 0 and up counter output QU changes to FALSE When up counter input signal CU changes to TRUE CV is incremented When the value of CV reaches the value of PV or higher the value of QU changes to TRUE After the value of CV reaches the value of PV or higher the value of CV does not change even if the value of CU changes to TRUE Operation as a Down Counter When load signal LOAD changes to TRUE counter value CV changes to the value of preset value PV and down counter output QD changes to FALSE When down counter input signal CD changes to TRUE CV is decremented When the value of CV reaches 0 or less the value of QD changes to TRUE After the value of CV reaches 0 or less CV does not change even if CD changes to TRUE Common Operation for Up and Down Counters CU and CD are ignored while LOAD or RESET is TRUE CV is not incremented or decremented If both CU and CD change to TRUE at the same time CV will not change If RESET and LOAD are both TRUE RESET has priority and the value of CV changes to O If RESET changes to TRUE CV changes to 0 and so QD changes to TRUE If LOAD changes to TRUE the value of CV changes to PV and so QU changes to TRUE The following table shows the relationship between RESET LOAD CV QU and QD This assumes that the value of PV is larger than 0 RESET Load CV QU QD Operation FALSE FALSE 0 or lower FALSE TRUE Only an up counter operation is performed CVis incremented when
50. Control Unit Instructions Reference Manual 2931 4 Safety Function Blocks In FB descriptions the startup state is the Idle state This state changes to an operating state only after entering the Init state You can change Activate to FALSE to enter the Idle state from any other state If Activate is FALSE operation 0 has the highest priority These transitions are not shown on the state transition diagrams They are described in the footnotes for individual state transition diagrams The output results are not given in the state transition diagrams The status description and output results of a FB are given in FB specific Error Codes and FB specific State Codes No Error on page 4 T FB specific Error Codes DiagCode hexadecimal Status description and output results Ready TRUE Safety output variables FALSE Error TRUE FB specific State Codes No Error DiagCode hexadecimal Status name Sams andompur results 0000 Idle Ready FALSE Safety output variables FALSE Error FALSE 8001 Init Ready TRUE Safety output variables FALSE Error FALSE 8xxx All states of operation mode where safety output vari Ready TRUE able is FALSE Safety output variable FALSE Error FALSE 8000 All states of operation mode where safety output vari Ready TRUE able is TRUE Safety output variables TRUE Syoo g 4 jejeg 10J eeuec Error FALSE
51. Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur f you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well f you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal 2 48 NX series Safety Control Unit Instructions Reference Manual Z931 2 Standard Functions TIME TO INT This function converts a TIME variable to an INT variable Instruction FB FUN Graphic expression TIME TO INT dd TIME to TIME INT Variables Default Name VO Description Valid range Data to con Input Duration T 0ms to T 32s767ms vert Out Conversion Output Conversion INT 0 to 32767 INT 0 result result If you omit an input or output parameter a building error will occur T Oms Boolean Bit strings Integers Durations o eo o z o o gt lt gt 5 gt gt gt gt T 4 T 5 T T T 5 r m m m m m m m m w Uu Cz g 9 z fe 5 2 8 In OK OK Out OK OK Function This function converts TIME data n to INT data Out Example When Value of Is 10 s 500 ms T 10s500ms The value of Out will be INT 10500 Addi
52. DiscTime11_ 12 Monitor ing is active for MaxMutingTime Ready TRUE S_AOPD_Out TRUE S MutingActive FALSE Error FALSE 8012 Muting Forward Active 1 A forward muting sequence is operation for one of the following Achange to TRUE was detected in the second muting switch of MutingSwitch11 and MutingSwitch 12 Both MutingSwitch11 and MutingSwitch12 were started in the same cycle Monitoring for 11 12 was stopped Monitoring for MaxMu tingTime is started after a transition directly from state 8000 Ready TRUE S_AOPD_Out TRUE S MutingActive TRUE Error FALSE 8014 Muting Forward Step 1 A forward muting sequence is in operation MutingSwitch21 oper ates as the first muting stop switch Monitoring for DiscTime21_22 is started Ready TRUE S_AOPD_Out TRUE S MutingActive TRUE Error FALSE 8314 Muting Forward Step 2 A forward muting sequence is in operation MutingSwitch22 oper ates as the first muting stop switch Monitoring for DiscTime21_22 is started Ready TRUE S_AOPD_Out TRUE S MutingActive TRUE Error FALSE 8021 NX series Safety Control Unit Instructions Reference Manual 7931 Muting Forward Active 2 A forward muting sequence is still in operation Both MutingSwitch21 and MutingSwitch22 are active so monitoring for DiscTime21_22 was stopped Ready TRUE S_AOPD_Out TRUE S MutingActive TRUE Error FALSE
53. EnableSwitchCh2 WORD 5 AutoReset Reset Input Variables Variable Data type Valid range Default Description Activate BOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 S_SafetyActive SAFEBOOL TRUE or FALSE FALSE constant or a variable It confirms safe mode motion speed limit power limit or motion range limit FALSE Turns OFF safe mode TRUE Turns ON safe mode S EnableSwitch SAFEBOOL TRUE or FALSE FALSE A variable The input signal from connected enable Ch1 switches E1 and E2 FALSE The connected switches are open TRUE The connected switches are closed S EnableSwitch SAFEBOOL TRUE or FALSE FALSE A variable The input signal from connected enable Ch2 switches E3 and E4 FALSE The connected switches are open TRUE The connected switches are closed S AutoReset SAFEBOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 Reset BOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 Output Variables Variable Data type Valid range Default Description Ready BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 S EnableSwitch SAFEBOOL TRUE or FALSE FALSE A safety related output that indicates that the safety pro Out tection function is stopped FALSE Disables stopping the safety protection function TRUE Enables stopping the safety prote
54. Error occurred in backward direction in state 8114 CBx4 Error occurred in backward direction in state 8414 4 Error occurred in backward direction in state 8112 CFx4 MutingEnable was not detected X Sensor status when the error occurred 4 bits LSB MS 11 MS 12 5 21 MSB MS 22 C005 Parameter Error The value of DiscTime11 12 DiscTime21_22 MaxMutingTime is outside of the valid range Ready TRUE S_AOPD_Out FALSE S_MutingActive FALSE Error TRUE C006 Error Timer MaxMuting Timing error The muting operation time while S_MutingActive TRUE exceeded MaxMuting Time Ready TRUE S_AOPD_Out FALSE S_MutingActive FALSE Error TRUE Safety Control Unit Instructions Reference Manual 7931 4 77 4 Safety Function Blocks DiagCode hexadecimal C007 Status name Error Timer MS11 12 Status description and output results Timing error Discrepancy time between MutingSwitch11 and MutingSwitch12 exceeded DiscTime11 12 Ready TRUE S AOPD Out FALSE S MutingActive FALSE Error TRUE C008 Error Timer MS21_ 22 Timing error Discrepancy time between MutingSwitch21 and MutingSwitch22 exceeded DiscTime21_22 Ready TRUE S AOPD Out FALSE S MutingActive FALSE Error TRUE FB specific State Codes No Error DiagCode hexadecimal 0000 Status name Idle Status description and output results The FB is disabled default Ready
55. FALSE FALSE A variable It is the button 2 input category 3 or 4 for two antivalent contacts FALSE Button 2 is OFF TRUE Button 2 is ON i Output Variables Variable Data type Valid range Default Description Ready BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 S TwoHandOut SAFEBOOL TRUE or FALSE FALSE The safety output signal FALSE A button is not being operated or correct two hand operation was not performed TRUE The S Button and 5 Button2 inputs changed to TRUE within 500 ms and there is no error Correct two hand operation was performed Error BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 DiagCode WORD Depends on state 1640000 Refer to Safety FB Common Output Variables on page code 4 4 4 126 NX series Safety Control Unit Instructions Reference Manual Z931 4 Safety Function Blocks Function This FB provides a type Ill two hand control function as defined in ISO 13851 EN 574 If 5 Button1 and 5 Button2 are set to TRUE in the correct order within 500 ms the 5 TwoHandOut output is also set to TRUE This FB also controls releasing of both buttons before it sets the 5 TwoHandOut output to TRUE again State Transition Diagram NOT Activate Activate Ready FALSE Ready TRUE B1 OR B2 Error 1 C001 B1 Buttons NOT B1 OR B2 Released 2 4S NO
56. FB FUN SF_CTUD Up down Counter FB Variables I Input Variables Graphic expression SF CTUD anlo 3s Variable Name Data type Valid range Default Description CU Up counter input BOOL TRUE or FALSE FALSE Up counter input CD Down counter input BOOL TRUE or FALSE FALSE Down counter input RESET Reset signal BOOL TRUE or FALSE FALSE TRUE Reset CV to 0 LOAD Load signal BOOL TRUE or FALSE FALSE TRUE Set CV to PV PV Preset value SAFEINT 0 to 32767 0 This is the count up value for an up counter or the initial value for a down counter Output Variables Variable Name Data type Valid range Default Description QU Up counter output SAFEBOOL TRUE or FALSE FALSE TRUE CV is greater than or equal to PV FALSE CVis less than PV QD Down counter out SAFEBOOL TRUE or FALSE FALSE TRUE CVis 0 or lower put FALSE CVis 1 or higher CV Counter value SAFEINT 0 to 32767 0 Counter present value Function This FB creates an up down counter that operates according to an up counter input signal and down counter input signal The counter has the functions of both an up counter and a down counter The preset value and counter value must a SAFEINT data type NX series Safety Control Unit Instructions Reference Manual Z931 3 Safety Standard Function Blocks Operation as an Up Counter When reset signal RESET changes to TRUE counter value
57. JUImp 3 5 etl DR rr Ree eS 2 6 L LABEL ntes 2 6 Label tA ed 2 6 NX series Safety Control Unit Instructions Reference Manual 7931 EE tid Spei oett er oS 2 68 Less Than ore REED Ee 2 68 Less Than Or Equal seen 2 68 Logical AND 5 2 52 Logical OR 5 vei id ha caine 2 52 ug 2 68 Mode Selector 2 22 4 61 MULA tct edente p s 2 60 Multiplexer e ee ee 2 74 Multiplication 2 cde et 2 60 MUX eiii ee eun t e detta dede 2 74 N nieht eta ma oue 2 67 NOT tete teet ea 2 54 NOt Equal sai Aveta tat dat atti Aue ah aed 2 67 Off Delay 3 14 On Del y Timer etie tici teet 3 16 ORA ee ERE CU 2 52 Out Control tise cee aei c ee ten 4 99 Parallel eee 4 70 Parallel Muting with 2 Sensors 4 81 R Reset Priority Keep eese 3 12 RETURN sn eine a i egere 2 8 Heute etai IB NIU te 2 8 S Safety Guard Interlocking with Locking 4 49 Safety Guard Monitoring 4 55 Safety Request 2 4 105 is eae itera ae enu 2 72 Sequential Muting 2 4 90 Set Priority 0 8 3 13 SEAntivalent E 4 9 SE
58. NES 3 16 SEP au ns aset oput Nos abs vta dex uie Sut aed ster iad 3 18 NX series Safety Control Unit Instructions Reference Manual Z931 3 1 3 Safety Standard Function Blocks Safety Standard Function Block Instructions Instruction Variable Function Page SF_CTD Down counter Decrements the counter value when the counter input signal is P 3 3 received SF_CTU Up counter Increments the counter value when the counter input signal is P 3 5 received SF_CTUD Up down Counter Creates an up down counter that operates according to an P 3 7 up counter input and a down counter input SF_F_TRIG Down Trigger Outputs TRUE for one task period only when the input signal P 3 10 changes to FALSE SF_R_TRIG Up Trigger Outputs TRUE for one task period only when the input signal P 3 11 changes to TRUE SF_RS Reset Priority Keep Retains the value of a SAFEBOOL variable P 3 12 SF_SR Set Priority Keep Retains the value of a SAFEBOOL variable P 3 13 SF_TOF Off Delay Timer Outputs FALSE when the set time elapses after the timer starts P 3 14 SF_TON On Delay Timer Outputs TRUE when the set time elapses after the timer starts P 3 16 SF_TP Timer Pulse Outputs TRUE during the set time after the timer starts P 3 18 NX series Safety Control Unit Instructions Reference Manual 7931 3 Safety Standard Function Blocks SF_CTD This FB decrements the counter value when the counter input signal
59. Ready TRUE S_GuardLocked FALSE S UnlockGuard FALSE Error FALSE NX series Safety Control Unit Instructions Reference Manual 2931 4 Safety Function Blocks SF_GuardMonitoring This safety FB monitors a relevant safety guard and opens or closes the safety guard Instruction SF_GuardMonitori ng Variables i Input Variables Name FB FUN Safety Guard FB Monitoring BOOL SAFEBOOL SAFEBOOL TIME SAFEBOOL SAFEBOOL BOOL Graphic expression SF GuardMonitoring Activate Ready BOOL 5 GuardSwitch1 S GuardMonitoring SAFEBOOL S GuardSwitch2 BOOL DiscrepancyTime WORD S StartReset 5 AutoReset Reset 4S Variable Data type Valid range Default Description Activate BOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 S GuardSwitch1 SAFEBOOL TRUE or FALSE FALSE A variable The input from guard switch 1 FALSE The guard is open TRUE The guard is closed S GuardSwitch2 SAFEBOOL TRUE or FALSE FALSE A variable The input from guard switch 2 FALSE The guard is open TRUE The guard is closed Discrepancy TIME Depends on data 0 A constant It sets the synchronization time to monitor Time type between S_GuardSwitch1 and 5 GuardSwitch2 S StartReset SAFEBOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 S AutoReset SAFEBOOL TRUE or FALSE FALSE Refer to Safety FB
60. S_AutoReset inputs only when you can ensure that no hazardous state will occur as the result of starting the Safety CPU Unit Operating Sequence 1 External A request is made to place the hazardous area in the safe state This is not included in this FB 2 Input Feedback is given from the relevant hazardous area that it is in the safe state Use S SafetyActive 3 Input Operator requests unlocking the guard Use UnlockRequest 4 Output Opening the guard is enabled Use S_UnlockGuard 5 Input The guard is unlocked Use S_GuardLock Opening the guard is enabled S_GuardLocked FALSE The operator opens the guard 6 Input Monitoring the status of the guard through S GuardMonitoring signal for closing the guard again starts 7 Input The operator provides feedback Reset to start the hazardous area again 8 Output The guard is locked S UnlockGuard 9 Input The locking of the guard is confirmed S GuaraLock 10 Output The hazardous area is made operational again S_GuardLocked TRUE 11 External Operation the hazardous area is restarted 4 50 NX series Safety Control Unit Instructions Reference Manual Z931 4 Safety Function Blocks State Transition Diagram NOT Activate Activate Ready FALSE Ready TRUE Reset AND NOT R_TRIG at Reset AND S StartReset Init NOT Reset NOT S SafetyActive AND 3 2 Qu S_GuardMonitoring Guard Open pen 2 and Unlocked 8012 S SafetyActive 1
61. S_GuardSwitch1 NOT S_GuardSwitch1 NOT S GuardSwitch2 OR NOT S GuardSwitch2 5 Gu rdSwitch2 NOT 5 GuardSwitcht AND NOT S GuardSwitch2 Wait for GuardSwitch1 8014 3 DiscrepancyTime Discrepancytime DiscrepancyTirhe elapsed Error 1 C011 elapsed 4S 6012 GuardSwitfh 5 GuardSwitch2 NOT S AutoReset OT a ou Res t AND NOT NOT S_GuardSwitch2 R TRIG at Reset NOT Reset S AuteReset R_TRIG at Reset NOT NOT S_GuardSwitch S_GuardMonitoring FALSE S_GuardMonitoring TRUE Note Transitions to the Idle state from any other state are not shown for when Activate changes to FALSE How ever the transition to the Idle state has the highest priority 0 Safety Control Unit Instructions Reference Manual 7931 4 57 4 Safety Function Blocks Timing Charts Inputs Activate S_GuardSwitch1 S GuardSwitch2 S StartReset S AutoReset Reset Discrepancy Timer Outputs Ready S GuardMonitoring Error DiagCode Inputs Activate S GuardSwitch1 S GuardSwitch2 S StartReset S AutoReset Reset Discrepancy Timer Outputs Ready S GuardMonitoring Error DiagCode in hex 22 SS 72 727 27 _ 4 a LL 77 0000 8003 8003 8000 8002 8012 8014 8003 8000 8002 8012 8012 8003 001 8012 p Eu Er LL oe 7 5 8012 8004 8004 011 011 8012 8014 8003 8002 8002 8012
62. TRUE AutoSet Mode BOOL TRUE or FALSE FALSE A constant It sets mode confirmation FALSE To change the mode the operator must confirm the change with the 5 SetMode input TRUE Even if the operator does not confirm the change with the 5 SetMode the S ModeXSel output will change automati cally when the 5 ModeX input changes However the opera tion is the same as for FALSE if the mode is locked with S Unlock ModeMoni torTime TIME Depends on data type 0 A constant It is the maximum allowable time to change the selection input Reset BOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 Note X in S ModeX and S_ModeXSel indicates a number between 0 and 7 NX series Safety Control Unit Instructions Reference Manual 2931 Output Variables Variable Ready Data type BOOL Valid range TRUE or FALSE Default FALSE 4 Safety Function Blocks Description Refer to Safety FB Common Output Variables on page 4 4 S ModeOSel SAFEBOOL TRUE or FALSE FALSE Indicates that mode 0 was selected and acknowledged FALSE Mode 0 was not selected or the selection was not confirmed TRUE Mode 0 was selected and confirmed S Mode1Sel SAFEBOOL TRUE or FALSE FALSE Indicates that mode 1 was selected and acknowledged FALSE Mode 1 was not selected or the selection was not confirmed TRU
63. VO Description Valid range Data to con Input Duration T 0ms to T 255ms vert Out Conversion Output Conversion BYTE 16 00 to FF BYTE 16 00 result result If you omit an input or output parameter a building error will occur T Oms Boolean Bit strings Integers Durations o eo o z o o gt lt gt 5 gt gt gt gt T 4 T 5 T T T 5 r m m m m m m m m w Uu Cz g 9 z fe 5 2 8 In OK OK Out OK OK Function This function converts TIME data n to BYTE data Out Additional Information To convert BYTE data to TIME data refer to BYTE_TO_TIME Precautions for Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur f you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well f you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal If the input value is not TIMEZOms to TIME 255ms a cast error will occur and the program will stop NX series Safety Control Unit Instructions Reference Manual Z931 2 45 suononijsu ed eea 31A8 OL AWIL 2 Standard Functions TIME_TO DWORD This function co
64. changed within the monitoring time Error BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 DiagCode WORD Depends on state 16 0000 Refer to Safety FB Common Output Variables on page code 4 4 NX series Safety Control Unit Instructions Reference Manual 2931 4 Safety Function Blocks Function This FB monitors the time that two equivalent SAFEBOOL inputs are not the same and converts the inputs to one SAFEBOOL output S ChannelA and S ChannelB are dependent on each other The evaluation result for both channels is output When the input for one channel changes so that the two channel inputs are no longer the same the FB starts monitoring the discrepancy time An error occurs if a change does not occur that makes them the same again within the monitoring time S EquivalentOut is TRUE if the conditions for both changes are met and FALSE if the conditions are not met If an error occurs make the inputs for both channels inactive make 5 ChannelA and 5 ChannelA FALSE to reset the FB l Precautions for Correct Use This FB does not have a restart interlock You must connect it to a FB that has a restart inter lock juejeunb3 Js NX series Safety Control Unit Instructions Reference Manual Z931 4 37 4 Safety Function Blocks State Transition Diagram NOT Activate Activate Ready FALSE NOT S S_ChannelA AND NOT S ChannelB S_ChanhelB
65. esepoy 4s Error conditions Error 1 More than one S ModeX TRUE at the same time Error 2 All S ModeX FALSE for longer S Unlock than ModeMonitorTime Mode Locked 8004 Note Transitions to the Idle state from any other state are not shown for when Activate changes to FALSE How ever the transition to the Idle state has the highest priority 0 NX series Safety Control Unit Instructions Reference Manual Z931 4 Safety Function Blocks Timing Charts S_Mode2 S_Mode3 S SetMode S Mode2Sel 5 Mode3Sel DiagCode S Mode2 Other S ModeX Error 5 ModeXSel S AnyModeSel ModeMonitorTime DiagCode C002 4 66 NX series Safety Control Unit Instructions Reference Manual Z931 4 Safety Function Blocks S_Mode2 Error Reset S SetMode S Mode2Sel _ 2 S AnyModeSel DiagCode 4S NX series Safety Control Unit Instructions Reference Manual 7931 4 Safety Function Blocks Instruction Execution Errors Error Detected The FB detects the absence of a mode selection as an error This invalid state is detected after ModeMonitorTime elapses The invalid state restarts with each change to FALSE of an S ModeX switched mode input and the state changes to ModeChanged 8005 after the FB is activated If more than one mode input is selected at the same time an error is detected immediately Resetis already TRUE when error state C001 or C0
66. for Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur f you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well f you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal NX series Safety Control Unit Instructions Reference Manual Z931 2 41 OL LNI 2 Standard Functions DINT TO TIME This function converts a DINT variable to a TIME variable Instruction FB FUN Graphic expression DINT TO TIME m DINT to and NN DINT TO TIME Variables Default Name V6 Description Valid range Data to con Input Integer DINT 0 to 2147483647 vert Out Conversion Output Duration T 0ms to T 0ms result T 24d20h31m23s647ms If you omit an input or output parameter a building error will occur DINT 0 Boolean Bit strings Integers Durations o w eo o z o o gt lt gt 5 gt gt 2 gt gt T 2 T o T s r m m m m m m m m we 2 g e 5 3 z 5 g In OK OK Out OK OK Function This function converts DINT data n to TIME data Out Example When Value of n Is DINT 90090090 The value of Outis 1 day 1 h
67. forward direction in state 8012 C3x4 Error occurred in backward direction in state 8122 C4x4 Error occurred in backward direction in state 8112 CFx4 MutingEnable was not detected x Sensor status when the error occurred 4 bits LSB 5 11 MS 12 MS 21 MSB MS 22 C005 Parameter Error The value of MaxMutingTime is outside of the valid range Ready TRUE S AOPD Out FALSE S MutingActive FALSE Error TRUE C006 Error Timer MaxMuting Timing error The effective muting time while S_MutingActive TRUE exceeded MaxMuting Time Ready TRUE S_AOPD_Out FALSE S_MutingActive FALSE Error TRUE 4s FB specific State Codes No Error DiagCode hexadecimal Status name Status description and output results 0000 Idle The FB is disabled default Ready FALSE S_AOPD_Out FALSE S MutingActive FALSE Error FALSE 8000 AOPD Free Muting is disabled The control input from AOPD is active Ready TRUE S_AOPD_Out TRUE S MutingActive FALSE Error FALSE 8001 Init The FB was started Ready TRUE S_AOPD_Out FALSE S MutingActive FALSE Error FALSE NX series Safety Control Unit Instructions Reference Manual 7931 4 97 4 Safety Function Blocks DiagCode hexadecimal Status name Status description and output results 8002 Safety Demand AOPD Muting is disabled The control input from AOPD is disabled Ready TRUE
68. function converts DINT data n to BYTE data Out Additional Information To convert BYTE data to DINT data refer to BYTE_TO_DINT Precautions for Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur f you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well f you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal If the input value is not DINT 0 to DINT 255 a cast error will occur and the program will stop NX series Safety Control Unit Instructions Reference Manual Z931 2 31 suononijsu ed eea 31A8 OL LNIG 2 Standard Functions DINT TO DWORD This function converts a DINT variable to a DWORD variable Instruction Graphic expression DINT_TO_DWORD EN DINT to DINT TO DWORD DWORD Variables Default Name WO Description Valid range Data to con Input Data to con DINT 2147483648 to vert vert 2147483647 Out Conversion Output Conversion DWORD 16 00000000 DWORD 16 00000000 result result to FFFFFFFF If you omit an input or output parameter a building error will occur DINT 0 Boolean Bit strings Integers Du
69. incremented This causes QD to change to FALSE When CD changes to TRUE CV is decremented When CV reaches 0 QD changes to TRUE When Load changes to TRUE CV changes to PV This causes QU to change to TRUE and QD to change to FALSE Additional Information Use the SF instruction or SF CTU instruction to create a counter that only decrements or only increments NX series Safety Control Unit Instructions Reference Manual Z931 3 9 3 Safety Standard Function Blocks SF_F_TRIG This FB outputs TRUE for one task period only when the input signal changes to FALSE Instruction Name FB FUN Graphic expression SF_F_TRIG Down Trigger FB SF F TRIG CLK Q Variables i Input Variables Variable Name Datatype Validrange Defaut Description CLK Input signal SAFEBOOL TRUE or FALSE FALSE Input signal i Output Variables Variable Datatype Validrange Default Description Q Output signal SAFEBOOL TRUE or FALSE FALSE Output signal Function F_TRIG assigns TRUE to output signal Q for one task period only when input signal CLK changes to FALSE Otherwise the value of Qis FALSE If the value of CLK is FALSE when the power supply is turned ON the value of Q changes to TRUE The following figure shows a programming example and timing chart TRUE CLK A SF TRIG instance FALSE Q abc FALSE gt Task period Additional Information The SF_F_TRIG instruction assigns TRU
70. m w Uu Cz g 9 z fe 5 2 8 5 In OK OK Out OK OK Function This function converts INT data n to TIME data Out Example When Value of n Is INT 10500 The value of Outis 10 s 500 ms T 10s500ms Additional Information To convert TIME data to INT data refer to TIME TO INT Precautions for Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur f you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well f you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal If the input value is not INT 0 to INT 32767 a cast error will occur and the program will stop NX series Safety Control Unit Instructions Reference Manual Z931 2 43 suononijsu ed eea AWIL OL LNI 2 Standard Functions TIME BOOL This function converts a TIME variable to a BOOL variable Instruction eee Graphic expression TIME_TO_BOOL NEL TIME to TIME BOOL BOOL Variables Default Name VO Description Valid range Data to con Input Duration T 0ms to vert T 49d17h2m47s295ms Out Conversion Output Conversion TRUE or FALSE FALSE result result If you omit an input or output parameter a bui
71. or output parameter a building error will occur An error will not occur if the output terminal is not used or if it is connected to an input terminal on the next instruction In1 or In2 Boolean Bit strings Integers Durations o o o g o z gt 3 gt 5 ee ee Se gt T EI T 2 s T m m m m m m m m m wo 00 a 9g d o z 2 8 5 gt In1 or In2 OK OK OK OK OK OK OK OK OK OK OK OK OK OK Out OK OK Function This function determines if the values of two variables n and n2 are not equivalent If they are not equivalent the comparison result Out is TRUE If they are equivalent Out is FALSE Precautions for Correct Use You can compare n1 and n2 even if they have different data types such as a safety data type and a standard data type as long as the notations and sizes of the data types are the same You cannot compare data with data types that have different notations or sizes such as WORD and INT You can compare integer data such as INT data with SAFEINT data and DINT data with SAFEDINT data The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur f you seta safety data type variable for the output terminal set a safety data type variable for the two input terminals as well f you set a standard data ty
72. p gt Variable Data type Valid range Default Description Activate BOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 2 S ChannelNC SAFEBOOL TRUE or FALSE FALSE It functions as the input for a N C connection 7 FALSE The N C contacts are open TRUE The N C contacts are closed N C Normally closed S_ChannelNO SAFEBOOL TRUE or FALSE TRUE It functions as the input for a N O connection FALSE The N O contacts are open TRUE The N O contacts are closed N O Normally open Discrepancy TIME Depends on data 0 It sets the maximum monitoring time for discrepancy Time type between two inputs I Output Variables Variable Data type Valid range Default Description Ready BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 S AntivalentOut SAFEBOOL TRUE or FALSE FALSE The safety output FALSE At least one of the signals is FALSE or the state changed outside the monitoring time TRUE The two input signals are active and the state changed within the monitoring time Error BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 DiagCode WORD Depends on 1640000 Refer to Safety FB Common Output Variables on page 4 4 state code NX series Safety Control Unit Instructions Reference Manual Z931 4 Safety Function Blocks Function This FB monitors the time that two SAFEBOOL inputs are
73. sensors photoelectric barriers limit switches and other devices that do not have failsafe mechanisms are used for muting sensors Muting operation must be indicated by indicator lights There are two types of muting parallel and sequential This FB performs parallel muting with four muting sensors Passing into a hazardous area in the forward direction is described below Refer to SF MutingPar Instruction Application Example for Forward Entry with Four Sensors on page 4 72 The FB can be used for either forward or backward passage To prevent manual operation muting must also be enabled by process control with the MutingEnable signal to perform muting The input parameters to the FB include four muting sensor signals MutingSwitch11 to MutingSwitch22 an OSSD signal from a photoelectric protection device S AOPD and three time parameters DiscTime11_12 DiscTime21_22 and MaxMutingTime Activate the S_StartReset input only when you can ensure that no hazardous state will occur as the result of starting the Safety CPU Unit AFB error will occur if the same variable is assigned to the input and the discrepancy time is set to 0 e SF MutingPar Instruction Application Example for Forward Entry with Four Sensors Order Diagram Description 1 Muting mode is enabled MS 11 Transmitter 5 21 Danger c _ P EI Du S MutingActive TRUE when the pas gt i sage of a workpiece turns ON P cc ri MutingSwitch11 M
74. sequence An error was detected during muting sequence state 8000 8011 or 8311 Ready TRUE S AOPD Out FALSE S MutingActive FALSE Error TRUE Y Sequence status 0 4 Error occurred in state 8000 C1x4 Error occurred in state 8011 C2x4 Error occurred in state 8311 CFx4 MutingEnable was not detected x Muting sensor status when the error occurred 4 bits LSB MS 11 Next bit after LSB MS 12 CY04 Both switches are FALSE CY14 S MutingSwitch11 TRUE CY24 5 MutingSwitch12 TRUE CY34 Both switches are TRUE C005 Parameter Error The value of DiscTimeEntry or MaxMutingTime is out of range Ready TRUE S AOPD Out FALSE S MutingActive FALSE Error TRUE C006 Error Timer MaxMuting Timing error The muting operation time while S MutingActive TRUE exceeded MaxMuting Time Ready TRUE S AOPD Out FALSE S MutingActive FALSE Error TRUE C007 NX series Safety Control Unit Instructions Reference Manual 7931 Error Timer Entry Timing error Discrepancy time in MutingSwitch11 and MutingSwitch12 changing to TRUE exceeded DiscTimeEntry Ready TRUE S AOPD Out FALSE S MutingActive FALSE Error TRUE dS Bunny Josuegz Jed 4 Safety Function Blocks FB specific State Codes No Error DiagCode hexadecimal 0000 Status name Idle Status description and output results The FB is disabled default Ready FALSE S AOPD Ou
75. series Safety Control Unit Instructions Reference Manual 2931 4 Safety Function Blocks DiagCode hexadecimal Status name Status description and output results 8004 Wait for Channel B S_ChannelA changed to TRUE the discrepancy time timer started operation and the FB is waiting for S_ChannelB to change to TRUE Ready TRUE S EquivalentOut FALSE Error FALSE 8014 Wait for Channel A S ChannelB changed to TRUE the discrepancy time timer started operation and the FB is waiting for S_ChannelA to change to TRUE Ready TRUE S EquivalentOut FALSE Error FALSE 8005 From Active Wait One of the channels changed to FALSE the discrepancy time timer started operation and the FB is waiting for the other channel to change to FALSE Ready TRUE S EquivalentOut FALSE Error FALSE juejeunb3 46 NX series Safety Control Unit Instructions Reference Manual 7931 4 41 4 Safety Function Blocks SF_ESPE This safety FB monitors electro sensitive protective equipment ESPE ESPE includes light curtains laser scanners etc Instruction Name FB FUN Graphic expression SF_ESPE Electro Sensitive FB SF ESPE Protective Equip BOOL Activate BOOL ment ESPE SAFEBOOL S_ESPE_In SAFEBOOL SAFEBOOL S_StartReset BOOL SAFEBOOL S_AutoReset WORD BOOL Reset Variables Input Variables Variable Data type Valid range Default Description Activate BOOL TRUE or FALSE FALSE Refer to Safet
76. the Init state The FB detected Activate but the safety output is set to FALSE Normally the I O have the following status Activate TRUE Safety input variables TRUE or FALSE Ready TRUE Error FALSE Safety output variables FALSE 1000 0000 0000 0010 binary 8002 hex 32 770 decimal The FB is operating and a safety request input was detected For example a safety input variable is FALSE The safety output variable is FALSE After this state a safety input request is received and the safety output is disabled Normally the I O have the following status Activate TRUE Safety input variables FALSE Ready TRUE Error FALSE Safety output variables FALSE 1000 0000 0000 0011 binary 8003 hex 32 771 decimal NX series Safety Control Unit Instructions Reference Manual Z931 The safety output from an operating FB was disabled by a safety request and the safety output is FALSE The safety request has been canceled but the safety output remains FALSE until the reset input is detected Normally the I O have the following status Activate TRUE Safety input variables Change from FALSE to TRUE and remain TRUE Ready TRUE Error FALSE Safety output variables FALSE Syoo g 4 jejeg 10J eeuec 4 Safety Function Blocks Safety FB Common State Transition Diagram The following type of transition diagram shows changes in the state of the saf
77. the instruction is a function block FB instruction or a function FUN instruction is given Graphic expression The figure that represents the instruction in a function block diagram is given Example for a FUN Example for a FB Instruction Instruction Instruction word Instance specification SF CTU instance Output variable Input variable ADD name name Instance specification An instance of an instruction is indicated by instance above a FB instruction You must assign an instance name to any instance of an instruction that you specify NX series Safety Control Unit Instructions Reference Manual Z931 1 3 1 Introduction to Instructions for Safety Control Units and Interpreting Instruction Descriptions Item Description Variables Variable The input variable or output variable is given Name The name of the variable is given Example Up counter e I O Whether the variable is an input variable or output variable is given Description The meaning of the variable and any restrictions are given Valid range The range that the variable can take is given Depends on data type indicates that the valid range of the variable depends on the data type that you use The valid ranges of the data types are given later in this section Unit The unit of the value that is specified with the variable is given indicates that there is no unit Example Bytes Default The specified default v
78. you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal If the input value is not TIMEZOms to TIME 65s535ms a cast error will occur and the program will stop NX series Safety Control Unit Instructions Reference Manual Z931 2 47 suononijsu ed eea QHOM OL 2 Standard Functions TIME TO DINT This function converts a TIME variable to a DINT variable Instruction FB FUN Graphic expression TIME TO DINT TIME to a TIME TO DINT Variables Default Name V6 Description Valid range Data to con Input Duration T 0ms to vert T 49d17h2m47s295ms Out Conversion Output Integer DINT 0 to 2147483647 DINT 0 result If you omit an input or output parameter a building error will occur T Oms Boolean Bit strings Integers Durations o w eo o z o o gt lt gt 5 gt gt 2 gt gt T 2 T o T s r m m m m m m m m we 2 g e 5 3 z 5 g In OK OK Out OK OK Function This function converts TIME data n to DINT data Out Example When Value of n Is 1 day 1 h 1 min 30 s 90 ms T 1d1h1m30s090ms The value of Out will be DINT 90090090 Additional Information To convert DINT data to TIME data refer to DINT TO TIME Precautions for
79. 0 Idle The FB is disabled default Ready FALSE Error FALSE S TwoHandOut FALSE 8000 Buttons Actuated Both buttons were operated correctly The safety related output is active Ready TRUE Error FALSE S TwoHandOut TRUE 8001 Init The FB is active but it is in the Init state Ready TRUE Error FALSE S TwoHandOut FALSE 8004 Buttons Released Neither of the buttons is being operated Ready TRUE Error FALSE S TwoHandOut FALSE 4 124 NX series Safety Control Unit Instructions Reference Manual 2931 4 Safety Function Blocks DiagCode hexadecimal Status name Status description and output results 8005 Button 1 Actuated Only Button is being operated Ready TRUE Error FALSE S TwoHandOut FALSE 8006 Button 2 Actuated Only Button2 is being operated Ready TRUE Error FALSE S TwoHandOut FALSE 8007 Button 2 Released The safety output was enabled and then disabled again After the safety output was disabled 5 1 and S_Button2 did not both change to FALSE In this state S_Button is TRUE and S Button2 is FALSE after the safety output is disabled Ready TRUE Error FALSE S TwoHandOut FALSE 8008 Button 1 Released The safety output was enabled and then disabled again After the safety output was disabled S Button S_Button2 did not both change to FALSE In this state S_ Button is FALSE and S 2 is TRUE after the safety output is disabled R
80. 012 Muting Active A muting sequence is in operation for one of the following Achange to TRUE was detected in the second muting switch of S MutingSwitch11 and S MutingSwitch12 Both S MutingSwitch11 and S MutingSwitch12 were started in the same cycle Monitoring for DiscTimeEntry was stopped Monitoring for MaxMu tingTime was started Ready TRUE S_AOPD_Out TRUE S_MutingActive TRUE Error FALSE dS Bunny Josuegz Jed NX series Safety Control Unit Instructions Reference Manual 7931 4 89 4 Safety Function Blocks SF_MutingSeq Muting is used to intentionally disable a safety function This safety FB performs sequential muting with four muting sensors Instruction SF_MutingSeq Variables Name ing Sequential Mut FB FUN FB BOOL SAFEBOOL BOOL BOOL BOOL BOOL SAFEBOOL TIME BOOL SAFEBOOL BOOL Graphic expression SF_MutingSeq Activate BOOL S AOPD In SAFEBOOL MutingSwitch1 1 SAFEBOOL MutingSwitch12 BOOL MutingSwitch21 WORD MutingSwitch22 S MutingLamp MaxMutingTime MutingEnable S StratReset Reset Input Variables Variable Activate Data type BOOL Valid range TRUE or FALSE Default FALSE Description Refer to Safety FB Common Input Variables on page 4 2 S AOPD In SAFEBOOL TRUE or FALSE FALSE This is the OSSD safety output signal from the AOPD active optoelectronic protective device FALSE Something entered the
81. 02 is entered the FB detects the unde tected change to TRUE as an error Operation for Errors When an error occurs the S ModeXSel and S AnyModeSel outputs change to their safe states FALSE The DiagCode output gives the relevant error code and the Error output changes to TRUE Errors are recognized when the Reset input changes to TRUE and the FB changes from an error state to the ModeChanged state FB specific Error Codes DiagCode hexadecimal Status name C001 Error Short circuit Status description and output results The FB detected that more than one 5 ModeX input is TRUE For example the cable may be short circuited Ready TRUE Error TRUE S AnyModeSel FALSE All S ModeXSel FALSE C002 Error Open circuit The FB detected that all 5 ModeX inputs are FALSE The time after an S ModeX input changed exceeded ModeMonitorTime For exam ple the cable may be broken Ready TRUE Error TRUE S AnyModeSel FALSE All S ModeXSel FALSE C003 Reset Error 1 When the Error Short circuit state was entered an undetected change to TRUE in the Reset input was detected Ready TRUE Error TRUE S AnyModeSel FALSE All S ModeXSel FALSE C004 Reset Error 2 When the Error Open circuit state was entered an undetected change to TRUE in the Reset input was detected Ready TRUE Error TRUE S AnyModeSel FALSE All S ModeXSel FALSE NX series Safety Control Unit Instruc
82. 1 i gum umm Tum micum mi cm 1 v 3 Programming C 31 1 Programming 5 E i 4 Step1 4 Step1 5 Programming D 5 Programming Vv 2 6 Safety Control Unit Instructions Reference Manual 2931 2 Standard Functions Additional Information You cannot jump upward in the networks You can use the same label as the jump destination for more than one JUMP instruction You set only a label in a network or you can set both programming and a label a network Precautions for Correct Use suononuisu jo41u02 You must use either a BOOL or SAFEBOOL execution condition for the JUMP instruction If you connect an execution condition with any other data type a building error will occur You cannot omit labels If you omit a label a building error will occur Place the JUMP instruction and label in the same POU Programming between the JUMP instruction and the label is not executed when the JUMP instruction is executed The outputs retain the values that they had just before the JUMP instruction was exe cuted 38v 1 pue NX series Safety Control Unit Instructions Reference Manual Z931 2 7 2 Standard Functions RETURN This function returns control to the process that called the POU without executing any processing after RETURN Instruction FB FUN Graphic expression ETRY V
83. 1 min 30 s 90 ms T 1d1h1m30s090ms Additional Information To convert TIME data to DINT data refer to TIME TO DINT Precautions for Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur f you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well f you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal f the input value is not DINT 0 to DINT 2147483647 a cast error will occur and the program will stop 2 42 NX series Safety Control Unit Instructions Reference Manual Z931 2 Standard Functions INT TO TIME This function converts an INT variable to a TIME variable Instruction ees Se Graphic expression INT_TO_TIME INT to INT_TO_TIME TIME Variables Default Name VO Description Valid range In Data to con Input Data to con INT 0 to 32767 INT 0 vert vert Out Conversion Output Duration T 0ms to T 32s767ms T 0ms result If you omit an input or output parameter a building error will occur Boolean Bit strings Integers Durations 0 eo o z gt lt gt 5 gt gt gt gt T 4 T 5 T T T 5 r m m m m m m m
84. 1131 3 or Japanese standard JIS B3503 Applicable Products This manual covers the following products NX series Safety Control Unit Instructions Reference Manual 7931 NX series Safety Control Units NX SLOOOO0 CONTENTS CONTENTS SSE Introduction EYE ETE TETTE es DEM 1 Intended A dience 2 ete ere er ee edt to Se oput ciem etr e Re ened eee tie 1 Applicable Producisis er tttm e aie di det er toe e RIDE 1 Relevant Manuals cte 7 bien tende mor ese redi fols facte 8 Page Structure 3 e NEIN ed a hs ME SU oe tete 8 Special Information A EEEE dede TE eater RUE E 9 Terms and Conditions nennen 10 Read and understand this Manual nennen nne hnnnene rsen nnne ren entren 10 Warranty Limitations of Liability 10 Application Considerations 3 de hm E dee De Petre rte Beca ut eade ones 11 ie e eR 11 Safely PRECAUTIONS f H 13 Precautions for Safe cec eo eoo y 3E raa aandaa anaana 14 Precautions for Correct Use iei in inni nera o cnius Eua x cu cu iniaa 15 Reg
85. 13 sie dL 3 14 SFE TON X M O 3 16 deitate ete a tp eto eet ee tea 3 18 Section 4 Safety Function Blocks General Rules for Safety Function Blocks sssssssssssseeeeee enne 4 2 Safety Function Block Instructions 0 nnne nnne 4 8 SEvAntivalenb E neue e eid dau UT 4 9 SECEDM nos eee 4 15 SE EmergencyStop eie C enh Sati retained 4 23 SESEnableSWILC 222 oS OE edic TCU dst 4 30 SE Edguivalenbs te MeL tx etes a Do 4 36 de tpa tuta detis tns 4 42 SE G ardLockirig iiu rod ei tea ttp deus ede a de 4 49 SE GuardMonitoririg eet resi Eae HERE REED SERE a SES Tues 4 55 SE ModeSelecl tL et ee ER etie teh eei te 4 61 SE MultingPar 453 oa a dft ae e and aad 4 70 SF M ltirigPar 2SENSOF si si ito eee oo aere RR EIER NH EC ERA TNNT 4 81 SE M lifigSeq etatem ato reiecit teintes 4 90 SE OUIGODLLTOILS tar RE Re uae ee aes de 4 99 SF SafetyRedquest a een eda entem di dede Ede eve den rag d dpa uiae dida 4 105 4 NX series Safety Control Unit Instructions Reference Manual Z931 CONTENTS SF_TestableSafetySensor ETE 4 111 SF
86. 51 AND ORs and XO Ried oett aite te ed ea bet Pee dae 2 52 MOM 2 54 NX series Safety Control Unit Instructions Reference Manual 7931 3 CONTENTS Math Instructions eeii dee Soe ene bd ee rai 2 55 AID uten ILI nesta stan sates nate 2 56 SUB tatam st e 2 58 e e eise er de mE e 2 60 DIM astute oisi iet ide detected ihn 2 62 Comparison 2 65 EQ oes N Esker ees 2 66 NE 4e ect eed Se es 2 67 GT and GE ette ud t e te ER 2 68 Other Standard Instructions 2 71 2 72 MIUX ami ek ute M E os y 2 74 Section 3 Safety Standard Function Blocks Safety Standard Function Block Instructions 3 2 SEQTDGz iege eec ett beet den idend 3 3 ep AM detent thee 3 5 SE GQTUBD Pena ud te aries ees 3 7 SE E TRIQL nee e aem t eda 3 10 Gan D teet datas Leste 3 11 NIME 3 12 3
87. 54 Boolean variable NX series Safety Control Unit Instructions Reference Manual Z931 2 51 2 Standard Functions AND OR and XOR These instructions perform Boolean operations AND Logical AND OR Logical OR XOR Exclusive logical OR Instruction Name FB FUN Graphic expression AND Logical AND FUN AND OR Logical OR FUN XOR Exclusive logical FUN XOR OR Variables Default Name WO Description Valid range Data to pro Input Data to pro TRUE or FALSE cess cess Out Processing Output Processing TRUE or FALSE result result If you omit an input or output parameter a building error will occur An error will not occur if the output terminal is not used or if it is connected to an input terminal on the next instruction In1 to InN Boolean Bit strings Integers Durations w o o g o z o g gt lt gt 5 gt gt gt gt T 4 T 2 T T T r m m m m m m m m 00 02 gt 3 o 2 E 9 In1 to INN OK OK Out OK OK 2 52 Safety Control Unit Instructions Reference Manual 7931 2 Standard Functions Function These instructions perform operations for two or more Boolean variables n1 to InN The relationships between input and output variables are given in the following tables AND If all inputs are TRUE then the processing result is TRUE O
88. AND NOT S ChannelAl NOT S ChanrnelA AND NOT S ChanhelB Wait for Channel B 8004 Wait for Channel A Discrepancy Time Elapsed Discrepancy 65 Chg Time Elapsed S ChannelB Ready TRUE NOT S_ChannelA AND NOT S ChannelB A Nor 5 ChannelA AND NOT S ChannelB Discrepancy Time Elapsed S Ch nnelA AND S ChhnnelB From Active Wait 8005 NOT S ChannelA AND NOT S Ch nnelB S EquivalentOut FALSE S Chanr fA XOR S EquivalentOut TRUE S_CHannelB Note Transitions to the Idle state from any other state are not shown for when Activate changes to FALSE How ever the transition to the Idle state has the highest priority 0 NX series Safety Control Unit Instructions Reference Manual 2931 4 Safety Function Blocks Timing Charts Stati Normal operation Inputs Activate S_ChannelA S_ChannelB Discrepancy Timer Outputs Ready S EquivalentOut Error DiagCode juepeunb3 4S Inputs Activate S ChannelA S ChannelB Discrepancy Timer Outputs Ready S EquivalentOut Error DiagCode 8001 8004 8004 C001 C001 C001 C001 C001 C001 8001 8001 8000 8005 8001 NX series Safety Control Unit Instructions Reference Manual 7931 4 39 4 Safety Function Blocks Instruction Execution Errors Error Detected The discrepancy time between S_ChannelA S ChannelB is monitored when either of them changes to TRUE or FALSE Operation for Errors If an error is detect
89. At Buyer s request Omron will provide applicable third party certification documents identifying ratings and limitations of use which apply to the Product This information by itself is not sufficient for a com plete determination of the suitability of the Product in combination with the end product machine sys tem or other application or use Buyer shall be solely responsible for determining appropriateness of the particular Product with respect to Buyer s application product or system Buyer shall take applica tion responsibility in all cases NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS AND THAT THE OMRON PRODUCT S IS PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM Programmable Products Omron Companies shall not be responsible for the user s programming of a programmable Product or any consequence thereof Disclaimers i Performance Data Data presented in Omron Company websites catalogs and other materials is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the result of Omron s test conditions and the user must correlate it to actual application requirements Actual perfor mance is subject to the Omron s Warranty and Limitations of Liability Change in Specifications Product specifica
90. AutoReset BOOL Reset Variables n Input Variables o 3 Variable Data type Valid range Default Description 8 Activate BOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 S_SafeControl SAFEBOOL TRUE or FALSE FALSE A variable It is the control signal from the previous safety FB Use the signal from a typical FB from the library SF EmergencyStop SF GuardMonitoring SF TwoHandControlTypell etc FALSE The signal from the previous safety FB is inactive TRUE The signal from the previous safety FB is active ProcessControl BOOL TRUE or FALSE FALSE A constant or a variable It is a control signal from the function application FALSE Request to set S OutControl to FALSE TRUE Request to set S OutControl to TRUE StaticControl BOOL TRUE or FALSE FALSE A constant It is the process control option status FALSE A change to TRUE in ProcessControl is required after the FB is started or after the safety function is trig gered TRUE A change to TRUE in ProcessControl is not required after the FB is started or after the safety function is triggered S StartReset SAFEBOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 S AutoReset SAFEBOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 Reset BOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 NX series Safety Control Unit I
91. B2 S Button2 was TRUE when the FB was activated Ready TRUE Error TRUE S TwoHandOut FALSE C003 Error 1 B1 amp B2 S Button and S Button2 were TRUE when the FB was activated Ready TRUE Error TRUE S TwoHandOut FALSE C004 Error 2 B1 After 500 ms in state 8005 5 1 was FALSE and S_Button2 was TRUE Ready TRUE Error TRUE S TwoHandOut FALSE C005 Error 2 B2 After 500 ms in state 8005 S Button was TRUE and 5 2 was FALSE Ready TRUE Error TRUE S TwoHandOut FALSE C006 Error 2 B1 amp B2 After 500 ms in state 8005 or 8006 S Button was TRUE and S Button2 was TRUE This state is possible only when the S 1 and S Button2 input status change from different status to the same status both TRUE when the timer expires 500 ms in the same cycle Ready TRUE Error TRUE S TwoHandOut FALSE JS NX series Safety Control Unit Instructions Reference Manual 7931 4 129 4 Safety Function Blocks FB specific State Codes No Error DiagCode hexadecimal 0000 Status name Idle Status description and output results The FB is disabled default Ready FALSE Error FALSE S TwoHandOut FALSE 8000 Buttons Actuated Both buttons were operated correctly The safety output is active Ready TRUE Error FALSE S TwoHandOut TRUE 8001 Init The FB is active but it is in the Init state Ready TRUE Error
92. BOOL This function converts a DINT variable to a BOOL variable Instruction Se Graphic expression DINT_TO_BOOL NEM DINT to DINT TO BOOL BOOL Variables Default vO Description Validrange Data to con Input Data to con DINT 2147483648 to vert vert 2147483647 Out Conversion Output Conversion TRUE or FALSE FALSE result result If you omit an input or output parameter a building error will occur DINT 0 Boolean Bit strings Integers Durations o eo o g o z o o gt lt gt 5 gt gt gt gt T 4 T 5 T T T 5 r m m m m m m m m w w Ss ee te gt o fe 5 2 8 In OK OK Out OK OK Function This function converts DINT data n to BOOL data Out If the value of is DINT 0 the value of Outis FALSE If the value of In is 2147483648 to DINT 1 or DINT 1 to DINT 2147483647 i e not DINT 0 the value of Out is TRUE Additional Information To convert BOOL data to DINT data refer to BOOL_TO_DINT Precautions for Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur If you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well If you set a standard data type variabl
93. BOOL TRUE or FALSE FALSE This safety related output gives the status of the protec tion devices that is being muted FALSE Something has entered the AOPD protected area and muting is disabled TRUE Nothing has entered the AOPD protected area and muting is enabled 5 SAFEBOOL TRUE or FALSE FALSE Gives the muting status FALSE Muting is disabled TRUE Muting is enabled Error BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 DiagCode WORD Depends on state 1640000 Refer to Safety FB Common Output Variables on page code 4 4 14 Precautions for Correct Use NX series Safety Control Unit Instructions Reference Manual 7931 This FB does not detect short circuits in muting sensor signals or errors in the function applica tions that supply those signals It interprets them as illegal muting sequences Unintentional muting must not be allowed under these conditions Give attention to this during risk assess ment 4 Safety Function Blocks Function Muting is used to intentionally disable a safety function Muting is used for example to pass a work piece through a hazardous area without stopping the machine Muting is activated by muting sen sors Four muting sensors are used To correctly incorporate the safety function into a manufacturing process you must ensure that people will not enter the hazardous area while the light curtain is being muted Proximity
94. Blocks DiagCode hexadecimal Status name Status description and output results 8019 Locked On The button operation was not correct The FB is waiting for both buttons to be released Ready TRUE Error FALSE S TwoHandOut FALSE 4S Safety Control Unit Instructions Reference Manual 7931 4 131 4 Safety Function Blocks 4 132 NX series Safety Control Unit Instructions Reference Manual 7931 Index NX series Safety Control Unit Instructions Reference Manual 7931 1 1 Index A ADD ED ee ee ERE 2 56 AGGItlOn a etre ete pe neis 2 56 xd e idee 2 52 Antivalent iuuat eme dee deeds 4 9 B Bit Reversal ieget ees 2 54 Bit Selection tete itecto ducta 2 72 BOOL TO DINT Ces 2 13 BOOL TO INT iii e t ett eet tees 2 12 BOOL TO TIME hie 2 14 BOOL TO 0 2 15 BYTE DINT inier inserere 2 17 BYTE TO ANT 2 dei e rU etie 2 16 BYTE TO TIME ie Rennen 2 23 BYTE TO WORDJ 4 aic irn ftetit 2 26 C Convert BOOL to 2 13 Convert 2 2 12 Convert BOOL to _ 2 14 Convert BOOL to 2 15 Convert BYTE to 2 17 Convert 2 16 Convert BYTE to 2 23 Convert BYTE t
95. Codei 0000 S StartReset FALSE and S AutoReset TRUE Start normal operation safety request and restart 4 46 NX series Safety Control Unit Instructions Reference Manual 2931 4 Safety Function Blocks Instruction Execution Errors Error Detected This FB detects an undetected change to TRUE in the Reset input as an error Operation for Errors e S ESPE Outis set to FALSE If there is an undetected change to TRUE in the Reset input the DiagCode output gives the relevant error code and the Error output is set to TRUE To reset the error you must set Hesetto FALSE FB specific Error Codes DiagCode hexadecimal Status name Status description and output results C001 Reset Error 1 When the Wait for Reset 1 state was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S_ESPE_Out FALSE Error TRUE C002 Reset Error 2 When the Wait for Reset 2 state was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S ESPE Out FALSE Error TRUE 3999 4s FB specific State Codes No Error DiagCode hexadecimal Status name Status description and output results 0000 Idle The FB is disabled default Ready FALSE S_ESPE_Out FALSE Error FALSE 8001 Init The FB is active The FB is already started See if S_StartReset is required Ready TRUE S ESPE Out FALSE Error FALSE 8002 Wait for S ESPE In 1 The FB is active Make sure th
96. Common Input Variables on page 4 2 Reset BOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 I Output Variables Variable Data type Valid range Default Description Ready BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 S GuardMonitori SAFEBOOL TRUE or FALSE FALSE Gives the guard status ng FALSE Opens the guard TRUE Closes the guard Error BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 DiagCode WORD Depends on state 1620000 Refer to Safety FB Common Output Variables on page code 4 4 NX series Safety Control Unit Instructions Reference Manual Z931 4 Safety Function Blocks Function This FB requires two inputs Discrepancy Time input and Reset input that indicate the guard position of a safety guard with two switches as defined in ISO 14119 EN 1088 You can bridge the S_GuardSwitch1 and S_GuardSwitch2 inputs when there is only one safety guard switch The moni toring time is the maximum time that is required for both switches to respond when the safety guard is closed The Reset S_StartReset and S_AutoReset inputs determine how the FB is reset after the safety guard is opened The S_GuardSwitch1 and S_GuardSwitch2 inputs must both be changed to FALSE to open the safety guard The S_GuardMonitoring output immediately changes to FALSE when either of the switches is set to FALSE The S_GuardSwitch1 and S_GuardSwitch2 inputs
97. E Mode 1 was selected and confirmed S Mode2Sel SAFEBOOL TRUE or FALSE FALSE Indicates that mode 2 was selected and acknowledged FALSE Mode 2 was not selected or the selection was not confirmed TRUE Mode 2 was selected and confirmed S ModeS3Sel SAFEBOOL TRUE or FALSE FALSE Indicates that mode 3 was selected and acknowledged FALSE Mode 3 was not selected or the selection was not confirmed TRUE Mode 3 was selected and confirmed S Mode4Sel SAFEBOOL TRUE or FALSE FALSE Indicates that mode 4 was selected and acknowledged FALSE Mode 4 was not selected or the selection was not confirmed TRUE Mode 4 was selected and confirmed S Mode5Sel SAFEBOOL TRUE or FALSE FALSE Indicates that mode 5 was selected and acknowledged FALSE Mode 5 was not selected or the selection was not confirmed TRUE Mode 5 was selected and confirmed S Mode6Sel SAFEBOOL TRUE or FALSE FALSE Indicates that mode 6 was selected and acknowledged FALSE Mode 6 was not selected or the selection was not confirmed TRUE Mode 6 was selected and confirmed S Mode7Sel SAFEBOOL TRUE or FALSE FALSE Indicates that mode 7 was selected and acknowledged FALSE Mode 7 was not selected or the selection was not confirmed TRUE Mode 7 was selected and confirmed 5 AnyModeSel SAFEBOOL TRUE or FALSE FALSE Indicates that one of the modes was selected
98. E to output signal Q for only one task period when the power supply is turned ON RUN 3 10 NX series Safety Control Unit Instructions Reference Manual Z931 3 Safety Standard Function Blocks SF_R_TRIG This FB outputs TRUE for one task period only when the input signal changes to TRUE Instruction Name FB FUN Graphic expression SF_R_TRIG Up Trigger FB SF_R_TRIG Variables Input Variables Variable Datatype Validrange Default Description CLK Input signal SAFEBOOL TRUE or FALSE FALSE Input signal Output Variables OlHl H JS Variable Datatype Valid range Default Description Q Output signal SAFEBOOL TRUE or FALSE FALSE Output signal Function This FB assigns TRUE to output signal Q for one task period only when input signal CLK changes to TRUE Otherwise the value of Q is FALSE If the value of CLK is TRUE when the power supply is turned ON the value of Q changes to TRUE The following figure shows a programming example and timing chart CLK A TRUE SF R TRIG instance FALSE _ SF_R_TRIG Q abc m FALSE Task period Additional Information The SF_R_TRIG instruction assigns TRUE to output signal Q for only one task period when the power supply is turned ON RUN NX series Safety Control Unit Instructions Reference Manual 7931 3 11 3 Safety Standard Function Blocks SF_RS T This FB retains the value of a SAFEBOOL variable I
99. Error TRUE C010 Control Error When output was disabled an undetected change to TRUE in the Reset input was detected Ready TRUE S OutControl FALSE Error TRUE C111 Init Error Reset and ProcessControl simultaneously changed to TRUE in state 8001 Ready TRUE S OutControl FALSE Error TRUE C211 Lock Error Reset and ProcessControl simultaneously changed to TRUE in state 8003 Ready TRUE S OutControl FALSE Error TRUE ONUDDINO JS NX series Safety Control Unit Instructions Reference Manual 7931 4 103 4 Safety Function Blocks 0000 FB specific State Codes No Error DiagCode hexadecimal Status name Idle Status description and output results The FB is disabled default Ready FALSE S OutControl FALSE Error FALSE 8001 Init Activate is set to TRUE and the FB is activated S StartResetis ON Resetting is required Ready TRUE S OutControl FALSE Error FALSE 8002 Safe S_SafeControl changed to OFF so S OutControl changed to OFF Ready TRUE S OutControl FALSE Error FALSE 8003 Lock S_SafeControl changed to ON and 5 AutoReset changed to OFF so the FB is waiting for a Reset input Ready TRUE S OutControl FALSE Error FALSE 8010 Output Disable ProcessControl is OFF Ready TRUE S OutControl FALSE Error FALSE 8000 4 104 Output Enable ProcessControl is ON Ready TRUE S OutContr
100. FALSE How ever the transition to the Idle state has the highest priority 0 4 122 NX series Safety Control Unit Instructions Reference Manual 2931 4 Safety Function Blocks Timing Charts Activate S Button1 S Button2 Ready S TwoHandOut Error DiagCode 1 0000 C003 8004 8004 8006 8000 8008 8009 8007 8004 8006 8000 jed jjonuoopueHoM 4S NX series Safety Control Unit Instructions Reference Manual Z931 4 123 4 Safety Function Blocks Instruction Execution Errors Error Detected After the FB is activated it detects buttons that are already set to TRUE as illegal input settings that result in errors Operation for Errors When an error occurs the 5 TwoHandOut output is set to FALSE and the safe state is main tained When both buttons are released i e set to FALSE the error status is reset FB specific Error Codes DiagCode hexadecimal Status name Status description and output results C001 Error B1 S Button was TRUE when the FB was activated Ready TRUE Error TRUE S TwoHandOut FALSE C002 Error B2 S Button2 was TRUE when the FB was activated Ready TRUE Error TRUE S TwoHandOut FALSE C003 Error B1 amp B2 S Button and S Button2 were TRUE when the FB was acti vated Ready TRUE Error TRUE S TwoHandOut FALSE FB specific State Codes No Error DiagCode hexadecimal Status name Status description and output results 000
101. FB Common Input Variables The common input variables for safety FBs are listed in the following table Input param eter name Activate Datatype Valid range Default Description BOOL TRUE or FALSE Enables and disables the FB FALSE You can input a variable or a constant The default is FALSE You can input a variable that gives the status of the input device to evaluate for this parameter in order to disable the FB and to prevent unrelated diagnostic data from being output If this parameter is FALSE all output variables take their default values Normally input a TRUE constant to enable the FB NX series Safety Control Unit Instructions Reference Manual Z931 4 Safety Function Blocks Datatype Validrange Default Description eter name S_StartReset SAFE TRUE or FALSE Controls automatic and manual resetting at startup BOOL FALSE i e when program execution is started You can input a variable or a constant FALSE default Perform resetting manually when the Safety CPU Unit is started TRUE Resetting is performed automatically when the Safety CPU Unit is started Use automatic resetting only when you can verify that no hazard of any sort will result from automatically resetting the Safety CPU Unit S_AutoReset SAFE TRUE or FALSE Controls automatic and manual resetting for the oper BOOL FALSE ation of an emergency stop button You can input a variable or a constant FAL
102. FB FUN FB Valid range TRUE or FALSE BOOL SAFEBOOL BOOL TIME BOOL SAFEBOOL SAFEBOOL BOOL Default FALSE Graphic expression SF_TestableSafetySensor Activate BOOL S OSSD In SAFEBOOL StartTest SAFEBOOL TestTime TestPossible BOOL NoExternalTest TestExecuted BOOL S StartReset BOOL S AutoReset WORD Reset Josues Aejese qeise 4S Description Refer to Safety FB Common Input Variables on page 4 2 S OSSD In SAFEBOOL TRUE or FALSE FALSE A variable It is the status of the sensor output Example Light curtain FALSE The safety sensor is in test status or there is a request for a safety related response TRUE The sensor is in normal operating condition StartTest BOOL TRUE or FALSE FALSE A variable It is the sensor test start input 5 TestOutis set and the internal time monitor in the FB is started FALSE There is no test request TRUE There is a test request TestTime TIME 0 to 150 ms T 10ms A constant It inputs the test monitoring time for the safety sensor NoExternalTest BOOL TRUE or FALSE FALSE A constant It indicates if a manual external test is sup ported for the sensor FALSE A manual external test is supported If an error occurs in the automatic sensor test an external manual sensor test is required An automatic test will be possible again only after a manual sensor test sequence is com pleted TRUE A manual external
103. FF WORD 16 0000 result result If you omit an input or output parameter a building error will occur INT 0 Boolean Bit strings Integers Durations o w eo o z o o gt lt gt 5 gt gt 2 gt gt T d T X3 T o T s r m m m m m m m m we 2 g e 5 a z z 5 g In OK OK Out OK OK Function This function converts INT data n to WORD data Out Example When Value of In Is Positive INT 0 to INT 32767 The value of Out is WORD 630000 to WORD 16 7FFF according to the value of n INT 0 to INT 32767 Example When Value of n Is Negative INT 32768 to INT 1 If the value of In is INT 32768 1000 0000 0000 0000 binary the value of Out is WORD 16 8000 e If the value of n is INTZ 1 1111 1111 1111 1111 binary the value of Out is WORD 16 FFFF Additional Information To convert WORD data to INT data refer to WORD TO INT 2 38 NX series Safety Control Unit Instructions Reference Manual Z931 2 Standard Functions Precautions for Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur If you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well f you set a standard data type variable for the output terminal you can set eithe
104. INT Variables Default Name V6 Description Valid range Data to con Input Data to con TRUE or FALSE vert vert Out Conversion Output Conversion INTZO or INT 1 INT O result result If you omit an input or output parameter a building error will occur FALSE Boolean Bit strings Integers Durations o w eo o z o o gt lt gt 5 gt gt 2 gt gt T 2 T o T s r m m m m m m m m we 2 g e 5 3 z gt 5 g In OK OK Out OK OK Function This function converts BOOL data n to INT data Out If the value of is FALSE the value of Out is INT O If the value of In is TRUE the value of Out is INT 1 Additional Information To check for INT data refer to INT TO BOOL Precautions for Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur f you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well f you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal 2 12 NX series Safety Control Unit Instructions Reference Manual Z931 2 Standard Functions BOOL TO DINT This function converts a BOOL variab
105. In 1 Wait for 8002 S ESPE In2 NOT Reset NOT Reset Reset AND NOT NOTS_ESPE_In R at Reset S In NOT S ESPE In S ESPE In AND Reset AND NOT NOT S AltoReset R RIG at Reset Wait for Reset 1 Wait for Reset 2 8003 8005 R_TRIG at Reset OR 7 S_AutoR eset S ESPE Out FALSE S ESPE Out TRUE Safety Output Enabled 8000 Note Transitions to the Idle state from any other state are not shown for when Activate changes to FALSE How ever the transition to the Idle state has the highest priority 0 4 44 NX series Safety Control Unit Instructions Reference Manual Z931 4 Safety Function Blocks Timing Charts Inputs Start sequence Normal operation with Reset i i Activate i S ESPE In Outputsi i Ready 5 ESPE S_StartReset FALSE S_AutoReset FALSE Start reset normal operation safety request and restart 3999 dS Inputs Start sequence with S_StartReset Activate i S ESPE In i Reset Outputs i Ready i 5 ESPE Out DiagCode 0000 8000 8000 S StartReset TRUE and 5 AutoReset FALSE Start normal operation safety request and restart NX series Safety Control Unit Instructions Reference Manual Z931 4 45 4 Safety Function Blocks Inputs Start sequence Normal operation with S_AutoReset Activate S ESPE In Outputs i i i Ready i S ESPE Out Diag
106. Instructions Reference Manual 7931 Manual Structure 2 Instruction Descriptions Level 1 heading Level 2 heading Level 3 OR and ORN Level 3 heading heading OR Takes the logical OR of the value of a BOOL variable and the execution condition ORN Takes the logical OR of the inverse of the value of a BOOL variable and the execution condi tion instruction Name FB FUN Graphic expression ST expression OR 1 iom Cedo m result vBool1 OR vBool2 Level 1 Gives the number of the section Give the current headings suononasuj 1 result vBool1 OR NOT bpp Variable Variable vBool2 eJ qe T Ypwara Downward ferentiation differentiation NYO pue Variables None Function OR The OR instruction takes the logical OR of the value of a specified BOOL variable and the execution condition and outputs it to the next instruction Use the OR instruction for a NO bit connected in parallel with the previous instruction Use the OR instruction to configure a logical OR between an NO bit and one of the following a LD or LDN instruction connected directly to the bus bar or the logic block starting with a LD or LDN instruction and ending with the instruction immediately before the OR instruction ORN The ORN instruction takes the logical OR of the inverse of the value of a specified BOOL variable and the execution condition and outputs it t
107. L TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 Reset BOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 Output Variables Variable Data type Valid range Default Description Ready BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 S AOPD Out SAFEBOOL TRUE or FALSE FALSE This safety output gives the status of the protection devices that is being muted FALSE Something has entered the AOPD protected area and muting is disabled TRUE Nothing has entered the AOPD protected area and muting is enabled S MutingActive SAFEBOOL TRUE or FALSE FALSE Gives the muting status FALSE Muting is disabled TRUE Muting is enabled Error BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 DiagCode WORD Depends on state 1640000 Refer to Safety FB Common Output Variables on page code 4 4 Function Muting is used to intentionally disable a safety function Muting is used for example to pass a work piece through a hazardous area without stopping the machine Muting is activated by muting sen sors Two muting sensors are used To correctly incorporate the safety function into a manufacturing process you must ensure that people will not enter the hazardous area while the light curtain is being muted Pushbuttons proximity sensors photoelectric barriers limit swit
108. LSE Refer to Safety FB Common Input Variables on page 4 2 i Output Variables Variable Data type Valid range Default Description Ready BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 S_SafetyActive SAFEBOOL TRUE or FALSE FALSE The actuator operation mode FALSE Non safe state TRUE Safe mode S_SafetyRequest SAFEBOOL TRUE or FALSE FALSE The operation mode request to the actuator FALSE Requests safe mode TRUE Requests an operation mode i e non safe state Error BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page NX series Safety Control Unit Instructions Reference Manual Z931 4 4 4 105 4 Safety Function Blocks Variable Data type Valid range Default Description DiagCode WORD Depends on state 16 0000 Refer to Safety FB Common Output Variables on page code 4 4 Function This FB sends a request to change to safe mode to an actuator that has a safe mode and monitors the status e 5 SafetyHequest is used to send a request to change to safe mode to the actuator according to the mode given by S OpMode The actuator returns the results of attempting to change to safe mode to S Acknowledge The FB outputs S SafetyActive if the actuator changes to safe mode within the monitoring time MonitoringTime from when the safe mode request was made This FB is used as an interface between the safety rela
109. Muting Backward Active 2 8112 condition 45 condition 14 Transitions to the Idle state from any other state are not shown for when Activate changes to FALSE 4 Safety Function Blocks Forward Direction Muting Condition 1 8000 to 8011 when MS 11 is the first switch to start muting Timers for MaxMuting Time and DiscTime11_12 started MutingEnable AND R_TRIG at MS_11 AND 5 12 AND 5 21 AND 5 22 Muting Condition 1 8000 to 8311 when MS 12 is the first switch to start muting Timers for MaxMutingTime and DiscTime11_12 started MutingEnable AND NOT MS 11 AND R_TRIG at MS_12 AND NOT 5 21 AND 5 22 Muting Condition 2 8011 to 8012 when MS 12 is the second switch to start muting Timer for DiscTime11_12 stopped MutingEnable AND MS_11 AND R_TRIG at MS_12 AND NOT MS_21 AND NOT MS 22 Muting Condition 2 8311 to 8012 when MS 11 is the second switch to start muting Timer for DiscTime11 12 stopped MutingEnable AND TRIG at MS 11 AND MS 12 AND NOT 5 21 AND MS 22 Muting Condition 3 8000 to 8012 when both switches simultaneously start muting Timer for MaxMutingTime started MutingEnable AND R_TRIG at MS_11 AND R_TRIG at MS_12 AND 5 21 AND 5 22 Muting Condition 4 8012 to 8021 when all switches are active MS 11 AND MS 12 AND MS 21 AND MS 22 Muting Condition 24 8012 to 8014 when MS 21 is the first switch to stop muting Timer for DiscTime21 22 starte
110. OMRON Machine Automation Controller NX series Safety Control Unit Instructions Reference Manual always in contro OMRON 2013 All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of OMRON No patent liability is assumed with respect to the use of the information contained herein Moreover because OMRON is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Neverthe less OMRON assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication Trademarks Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other countries for OMRON factory automation products Windows Windows 98 Windows XP Windows Vista and Windows 7 are registered trademarks of Microsoft Corporation in the USA and other countries EtherCATe is registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany Safety over EtherCATe is registered trademark and patented technology licensed by Beckhoff Automation GmbH G
111. R MS 12 AND MS 21 OR MS 22 OR R_TRIG at MS 11 AND MS 12 AND NOT R_TRIG at MS 12 R_TRIG at 5 12 AND MS 11 AND NOT R_TRIG at MS 11 at 5 21 AND MS 22 AND NOT R TRIG at MS 22 OR at 5 22 AND MS 21 AND NOT R TRIG at MS 21 OR MS 11 AND NOT R TRIG at MS 11 AND MS 12 AND NOT R TRIG at MS 12 OR MS 21 AND NOT R TRIG at MS 21 AND MS 22 AND NOT R TRIG at MS 22 State 8011 NOT MutingEnable OR NOT MS 11 OR MS 21 OR MS 22 State 8311 NOT MutingEnable OR NOT MS 12 OR MS 21 OR MS 22 State 8012 NOT MS 11 OR NOT MS 12 State 8021 TRIG at M8 11 OR TRIG at MS 12 OR R TRIG at 5 21 OR R_TRIG at MS 22 State 8014 NOT MS 11 OR NOT MS 12 MS 21 State 8314 NOT MS 11 OR MS 12 OR MS 22 State 8122 NOT MutingEnable OR MS 11 OR MS 12 OR NOT MS 21 State 8422 NOT MutingEnable OR MS 11 OR MS 12 OR NOT MS 22 State 8121 NOT MS 21 OR NOT MS 22 State 8112 R TRIG at 5 11 OR R_TRIG at MS 12 OR R_TRIG at 5 21 OR R_TRIG at MS 22 State 8114 NOT MS 21 OR NOT MS 22 OR NOT MS 11 State 8414 NOT MS 21 OR NOT MS 22 OR NOT MS 12 OR OR Jeq6unnw 4s NX series Safety Control Unit Instructions Reference Manual Z931 4 75 4 Safety Function Blocks fl Timing Charts Activate SAOPDIn OES MutingSwitcht1 MutingSwitcht2 ______ o MutingSwitch2t ff Doo MutingSwitch22 S AOPD Ot S M ngAcive D o Error
112. Reset BOOL TRUE or FALSE FALSE Reset input Output Variables Variable Datatype Validrange Default Description Q1 Keep SAFEBOOL TRUE or FALSE FALSE Keep output HS dS Function This instruction forms a self holding output that gives priority to setting The following table shows the relationship between the inputs and outputs Value of SET1 Value of RESET Value of Q1 TRUE TRUE TRUE TRUE FALSE TRUE FALSE TRUE FALSE FALSE FALSE Not changed The following figure shows a programming example and timing chart TRUE Set1 A SF SR instance FALSE SF SR TRUE i Reset B a8 FALSE 1 1 1 rot TRUE Q1 abc FALSE NX series Safety Control Unit Instructions Reference Manual 7931 3 13 3 Safety Standard Function Blocks SF_TOF This FB outputs FALSE when the set time elapses after the timer starts Instruction Name FB FUN Graphic expression SF_TOF Off Delay Timer FB SF_TOF IN Q PT ET Variables i Input Variables Name Datatype Vaidrange Defaut Timer input BOOL TRUE or FALSE Variable Description TRUE Timer reset specification FALSE Timer start specification PT Set time TIME Depends data 0 Time from when timer starts until Q type changes to FALSE i Output Variables Variable Name Data type Valid range Default Description Q Timer output SAFEBOOL TRUE or FALSE FALSE TRUE N is TRUE and ET is lower tha
113. Reset state was entered an undetected change 5 to TRUE in the Reset input was detected 8 Ready TRUE S_GuardMonitoring FALSE Error TRUE 011 Discrepancytime Error discrepancy time expired state 8004 1 Ready TRUE S_GuardMonitoring FALSE Error TRUE C012 Discrepancytime Error The discrepancy time expired in state 8014 2 Ready TRUE S_GuardMonitoring FALSE Error TRUE FB specific State Codes No Error DiagCode hexadecimal Status name Status description and output results 0000 Idle The FB is disabled default Ready FALSE S_GuardMonitoring FALSE Error FALSE 8000 Normal The safety guard is closed and a confirmation response for a safe state was received Ready TRUE S_GuardMonitoring TRUE Error FALSE NX series Safety Control Unit Instructions Reference Manual 7931 4 59 4 Safety Function Blocks DiagCode hexadecimal Status name Status description and output results 8001 Init The FB was activated Ready TRUE S_GuardMonitoring FALSE Error FALSE 8002 Open Guard Request The FB is waiting for S_GuardSwitch1 and S_GuardSwitch2 to change to FALSE Ready TRUE S_GuardMonitoring FALSE Error FALSE 8003 Wait for Reset The FB is waiting for Reset to change to TRUE Ready TRUE S GuardMonitoring FALSE Error FALSE 8012 Guard Opened The guard is completely open Ready TRUE S_GuardMonitoring FALSE Error FALSE 8004 Wai
114. S 11 and MS 12 Receiver 5 22 MutingSwitch12 MS 12 within the time 1 by DiscTime11_ 12 2 Muting mode is enabled as long as m MS 11 and i gt oon MutingSwitch12 MS_12 remain ON oO due to the workpiece This allows the MS 12 Receiver MS 22 workpiece to pass through the light cur tain without stopping the machine 3 wae T Tte Msor MutingSwitch21 MS_21 and El n1 MutingSwitch22 MS 22 must turn before MutingSwitch11 5 11 and El El MutingSwitch12 MS 12 turn OFF This MS 12 Receiver MS 22 I ensures that muting mode remains ON I The discrepancy time between MutingSwitch21 and MutingSwitch22 is monitored for the time that is set in DiscTime21_ 22 4 Muting mode is ended if only M mE MutingSwitch22 MS 22 is ON Muting i gt mode is ended if MutingSwitch21 oO co oO MS 21 or MutingSwitchz2 MS 22 MS 12 Receiver MS 22 turns OFF due to the workpiece The gt maximum time that the muting mode is enabled is set by MaxMutingTime NX series Safety Control Unit Instructions Reference Manual 2931 State Transition Diagram 4 Safety Function Blocks NOT Activate 7 Activate Time parameters out of range NOT Reset Parameter Error C005 Reset AND NOT R_TRIG at Reset Time parameters AND NOT S StartReset within range AND R TRIG at Reset R TRIG at Reset TRIG at Reset OR S StartReset
115. S AOPD Out FALSE S MutingActive FALSE Error FALSE 8003 Wait for Reset A safety request or error was detected and cleared The operator must respond with Reset Ready TRUE S AOPD Out FALSE S MutingActive FALSE Error FALSE 8005 Safe The safety function is operating Ready TRUE S AOPD Out FALSE S MutingActive TRUE Error FALSE 8011 Muting Forward Start A forward muting sequence is being started and there is no safety request Ready TRUE S AOPD Out TRUE S MutingActive FALSE Error FALSE 8012 Muting Forward Active A forward muting sequence is in operation Ready TRUE S AOPD Out TRUE S MutingActive TRUE Error FALSE 8112 Muting Backward A backward muting sequence is in operation Active Ready TRUE S AOPD Out TRUE S MutingActive TRUE Error FALSE 8122 Muting Backward Start A backward muting sequence is being started and there is no safety request Ready TRUE S AOPD Out TRUE S MutingActive FALSE Error FALSE 4 98 NX series Safety Control Unit Instructions Reference Manual Z931 4 Safety Function Blocks SF OutControl This safety FB controls a safety output with a control signal and safety signal from a function applica tion Instruction Name FB FUN Graphic expression SF OutControl Out Control FB SF OutControl BOOL Activate Ready BOOL SAFEBOOL S SafeControl S OutControl SAFEBOOL BOOL ProcessControl BOOL BOOL StaticControl i WORD SAFEBOOL S StartReset SAFEBOOL 5
116. SAFEINT data type When reset signal RESET changes to TRUE counter value CV changes to 0 and counter output Q changes to FALSE When counter input signal CU changes to TRUE CV is incremented When the value of CV reaches the value of PV or higher the value of Q changes to TRUE Even after the value of CV exceeds the value of PV CV is incremented to up to 32 767 when CU changes to TRUE CUis ignored while RESET is TRUE CV is not incremented NX series Safety Control Unit Instructions Reference Manual Z931 3 5 3 Safety Standard Function Blocks The following figure shows a programming example and timing chart for a PV of INT 5 SF_CTU_instance cu RESET TRUE CU A FALSE Reset abc TRUE FALSE PV INT 5 CV ghi 0 TRUE i Q def FALSE When Reset changes to TRUE When CV reaches PV CVis set to 0 and Qchanges to Q changes to TRUE FALSE CV is incremented as soon as Reset changes to FALSE Additional Information Use the SF_CTD instruction to create a counter that decrements the counter value each time the counter input signal is received Use the SF_CTUD instruction to create a counter that is both incremented and decremented 3 6 NX series Safety Control Unit Instructions Reference Manual Z931 SF_CTUD 3 Safety Standard Function Blocks This FB creates an up down counter that operates according to an up counter input and a down coun ter input Instruction Name
117. SE Disables the safety output S EDM Out TRUE Enables the safety output S EDM S EDM1 SAFEBOOL TRUE or FALSE FALSE A variable The feedback signal from the first connected actuator FALSE The first connected actuator is in switched status TRUE The first connected actuator is in its default status S EDM2 SAFEBOOL TRUE or FALSE FALSE A variable The feedback signal from the second connected actuator If there is only one feedback signal used in the applica tion connect it to both 5 EDM1 and S EDM2 FALSE The second connected actuator is in switched status TRUE The second connected actuator is in its default status MonitoringTime TIME Depends on data 0 type A constant It gives the maximum response time for the connected monitored actuator S_StartReset SAFEBOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 Reset BOOL TRUE or FALSE FALSE NX series Safety Control Unit Instructions Reference Manual 7931 Refer to Safety FB Common Input Variables on page 4 2 4 Safety Function Blocks Output Variables Variable Data type Valid range Default Description Ready BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 S EDM SAFEBOOL TRUE or FALSE FALSE Controls the actuator It monitors the result with the feed back signal 5 EDMx FALSE Disables the connected actuator
118. SE default Perform resetting manually when the emergency stop button is released TRUE Resetting is performed automatically when the emergency stop button is released Use automatic resetting only when you can verify that no hazard of any sort will result from automatically resetting the Safety CPU Unit Reset BOOL TRUE or FALSE The reset input FALSE Input a variable NX series Safety Control Unit Instructions Reference Manual 7931 This parameter is used for different purposes for dif ferent FBs You can use it to reset the function block status and release the relationship between the error and code that is returned in DiagCode after the cause of the error is removed You can use it for a manual reset with an operator restart interlock The reset processing must be designed to reset the FB You can use it for other FB specific resets Resetting is effective only when the signal changes from FALSE to TRUE Resetting is not performed unless the change from FALSE to TRUE is detected Some FBs detect this as an instruction execution error This is described in nstruction Execution Errors under Function for the relevant FB You must connect a SAFEBOOL variable not a BOOL variable depending on safety requirements Syoo g 4 jejeg 10J eeuec 4 Safety Function Blocks fl Safety FB Common Output Variables The common output variables for safety FBs are listed in the following tab
119. T T T 5 r m m m m m m m m w Uu Cz g 9 z fe 5 2 8 In OK OK Out OK OK Function This function converts DWORD data n to TIME data Out Example When Value of n 15 DWORD 16 FFFFFFFF The value of Outis 49 days 17 h 2 min 47 s 295 ms T 49d17h2m47s295ms Additional Information To convert TIME data to DWORD data refer to TIME TO DWORD Precautions for Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur f you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well f you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal NX series Safety Control Unit Instructions Reference Manual Z931 2 25 suononijsu ed eea AWIL OL 2 Standard Functions BYTE WORD This function converts a BYTE variable to a WORD variable Instruction FB FUN Graphic expression BYTE TO WORD EN BYTE to EL CM BYTE TO WORD WORD Variables Default BYTE 16 00 Name V6 Description Valid range Data to con Input Data to con BYTE 16 00 to FF vert vert Out Conversion Output Conversion WORD 16 0000 to OOFF WORD 16 0000 result result If you omit an input or out
120. TIB1 _ ANDIB2 Tinmlerelapsed NOT B2 B1 AND B2 S_TwoHandOut TRUE B1 S_Button1 B2 S_Button2 Note Transitions to the Idle state from any other state are not shown for when Activate changes to FALSE How ever the transition to the Idle state has the highest priority 0 Safety Control Unit Instructions Reference Manual Z931 4 127 4 Safety Function Blocks Timing Charts Activate S Button1 S Button2 Ready S TwoHandOut Error DiagCode 0000 C003 8004 8005 C005 8004 8000 8007 8008 8004 8005 8008 099 ene ener 045 none 800 8007 8008 804 nno Internal Timer 500ms gt 500ms lt 4 128 NX series Safety Control Unit Instructions Reference Manual 2931 4 Safety Function Blocks Instruction Execution Errors Error Detected After the FB is activated it detects buttons that are already set to TRUE illegal input settings that result in errors This FB detects if the input signal time difference exceeds 500 ms Operation for Errors When error occurs the S_TwoHandOut output is set to FALSE and the safe state is main tained When both buttons are released i e set to FALSE the error status is reset FB specific Error Codes DiagCode hexadecimal Status name Status description and output results C001 Error 1 B1 S Button was TRUE when the FB was activated Ready TRUE Error TRUE S TwoHandOut FALSE C002 Error 1
121. TRUE or FALSE FALSE Boolean type Safety datatype SAFEBOOL Standard data BYTE byte 16 00 to byte 16 FF byte 16 00 type Safety datatype SAFEBYTE Standard data WORD word 16 0000 to word 16 0000 Bit strings type word 1 6 FFFF Safety datatype SAFEWORD Standard data DWORD dword 16 00000000 to dword 16 00000000 type dword 16 FFFFFFFF Safety datatype SAFEDWORD Standard data INT int 32768 to int 32767 int 0 type meger Safety data type SAFEINT Standard data DINT dint 2147483648 to dint 0 type dint 2147483647 Safety data type SAFEDINT Standard data TIME to t 2147483647ms t 0s Durations type and t 0d0hOm0sOms to Safety datatype SAFETIME t 24d20h31m23s647ms NX series Safety Control Unit Instructions Reference Manual 7931 uononuaisu Z suonduoseg Jo sen eA nezog pue sebuey pen z L 1 Introduction to Instructions for Safety Control Units and Interpreting Instruction Descriptions NX series Safety Control Unit Instructions Reference Manual 7931 Standard Functions This section gives the specifications of the standard functions that you can use for NX series Safety Control Units Table of Standard Functions 2 2 Execution Control 2 5 Data Type Conversion Instructions 2 9 Boolean Operation Instructions
122. The FB is waiting for S_EStopin to change to TRUE Make sure that Reset is FALSE Ready TRUE S EStopOut FALSE Error FALSE 8003 Wait for Reset 1 S_EStopin is TRUE The FB is waiting for Reset to change to TRUE Ready TRUE S EStopOut FALSE Error FALSE NX series Safety Control Unit Instructions Reference Manual 7931 DiagCode hexadecimal 8004 Status name Wait for S EStopln 2 4 Safety Function Blocks Status description and output results A safety request was detected Make sure that Reset is FALSE The FB is waiting for 5 EStopln to change to TRUE Ready TRUE S_EStopOut FALSE Error FALSE 8005 Wait for Reset 2 S EStopln is TRUE Check S AutoReset Or the FB is waiting for Reset to change to TRUE Ready TRUE S_EStopOut FALSE Error FALSE 8000 Safety Output Enabled S EStopln is TRUE and S_EStopOut is TRUE function mode Ready TRUE S_EStopOut TRUE Error FALSE NX series Safety Control Unit Instructions Reference Manual 7931 4 29 doig oueDueu3 4S 4 Safety Function Blocks SF_EnableSwitch This safety FB supports stopping a safety protection function that uses an enable switch Instruction SF_EnableSwitch Variables Name Enable Switch FB FUN FB BOOL SAFEBOOL SAFEBOOL SAFEBOOL SAFEBOOL BOOL Graphic expression SF_EnableSwitch Activate BOOL S_SafetyActive SAFEBOOL S EnableSwitchCh1 BOOL S
123. The sensor was tested automat ically Ready TRUE S_OSSD_Out FALSE S TestOut TRUE TestPossible FALSE TestExecuted TRUE Error FALSE 8013 4 120 Wait for Reset 2 The FB is waiting for Reset to change to TRUE after the EPSE Interrupted 2 state Ready TRUE S_OSSD_Out FALSE S TestOut TRUE TestPossible FALSE TestExecuted TRUE Error FALSE NX series Safety Control Unit Instructions Reference Manual 2931 4 Safety Function Blocks SF_TwoHandControlTypell This safety FB provides a type II two hand control function as defined in ISO 13851 EN 574 Instruction SF TwoHandContr olTypell Variables Name trol Type Il Two Hand Con FB FUN FB BOOL SAFEBOOL SAFEBOOL Graphic expression SF_TwoHandControlTypell Activate BOOL S Button1 SAFEBOOL S Button2 BOOL WORD i Input Variables Variable Activate Data type BOOL Valid range TRUE or FALSE Default FALSE Description Refer to Safety FB Common Input Variables on page 4 2 S_Button1 SAFEBOOL TRUE or FALSE FALSE A variable It is the button 1 input category 3 or 4 for two antivalent contacts FALSE Button 1 is OFF TRUE Button 1 is ON S Button2 SAFEBOOL TRUE or FALSE FALSE A variable It is the button 2 input category 3 or 4 for two antivalent contacts FALSE Button 2 is OFF TRUE Button 2 is ON Output Variables
124. Timer for DiscTime21 22 stopped MutingEnable AND R_TRIG at 5 21 AND 5 22 AND NOT MS 11 AND NOT MS 12 Muting Condition 13 8000 to 8121 when both switches simultaneously start muting Timer for MaxMutingTime started MutingEnable AND R_TRIG at MS 21 AND R TRIG at MS 22 AND NOT MS 11 AND NOT MS 12 Muting Condition 14 8121 to 8112 when all switches are active MS 11 AND MS 12 AND MS 21 AND MS 22 Muting Condition 44 8121 to 8114 when MS 11 is the first switch to stop muting Timer for DiscTime11_ 12 started 5 21 AND MS 22 ANDR TRIG at 5 11 AND NOT MS 12 NX series Safety Control Unit Instructions Reference Manual Z931 4 Safety Function Blocks Muting Condition 44 8121 to 8414 when MS 12 is the first switch to stop muting Timer for DiscTime11_ 12 started 5 21 AND MS 22 AND NOT MS 11 AND R_TRIG at MS 12 Muting Condition 45 8114 to 8112 when MS 12 is the second switch to stop muting Timer for DiscTime11 12 stopped 5 21 AND 5 22 AND MS 11 AND TRIG at MS 12 Muting Condition 45 8414 to 8112 when MS 11 is the second switch to stop muting Timer for DiscTime11 12 stopped 5 21 AND MS 22 AND TRIG at MS 11 AND MS 12 Muting Condition 15 8112 to 8000 when one of the muting stop switches is reset Timer for MaxMuting Time stopped NOT MS 21 AND MS 22 AND TRIG at MS 11 OR F TRIG at MS 12 Illegal Muting Sequences State 8000 MutingEnable FALSE at start of muting sequence OR MS 11 O
125. UB This function subtracts integers or durations Instruction FB FUN Graphic expression SUB Subtraction SUB Variables Name yo Description Valid range Default Int Minuend Input Minuend Depends on data type In2 Subtrahend Input Subtrahend Depends on data type E Out Output value Output Output value Depends on data type If you omit input or output parameter a building error will occur An error will not occur if the output terminal is not used or if it is connected to an input terminal on the next instruction Boolean Bit strings Integers Durations o gt o o E 5 m m m 2 m o m m m m m z w w d o d E z 8 Int OK OK OK OK OK OK In2 OK OK OK OK OK OK Out OK OK OK OK OK OK Function This function subtracts subtrahend n2 from minuend 1 and outputs the result to output value Out An overflow occurs if the difference between n1 and n2 exceeds the valid range of the data type of the subtraction result If an overflow occurs the data types of 1 and n2 the data type of the subtraction result and the value of the subtraction result will be as shown in the following table I O data types Value of subtraction results Integers Of the difference between n1 and n2 the subtraction result will be the value that can be expressed by the number of bits in
126. X series Safety Control Unit Instructions Reference Manual 7931 4 19 was 3S 4 Safety Function Blocks DiagCode hexa decimal C051 Status name Reset Error 32 Status description and output results An undetected change to TRUE was detected for EDM2 and Reset or equiva lent signals were detected during EDM Error 22 status Both Reset and EDM2 changed to TRUE at the same time Ready TRUE S_EDM_Out FALSE Error TRUE C061 Reset Error 33 An undetected change to TRUE was detected for EDM1 EDM2 and Reset or equivalent signals were detected during EDM Error 23 status Reset EDMf1 and EDM2 changed to TRUE at the same time Ready TRUE S_EDM_Out FALSE Error TRUE C071 Reset Error 41 When EDM Error 31 status was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S_EDM_Out FALSE Error TRUE C081 Reset Error 42 When EDM Error 32 status was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S EDM Out FALSE Error TRUE C091 Reset Error 43 When EDM Error 33 status was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S_EDM_Out FALSE Error TRUE C010 EDM Error 11 The signal is not valid during the initial status of the actuator If S OutControl is enabled when output is not possible the EDM1 signal changes to FALSE Ready TRUE S EDM Ou
127. _OSSD_Out FALSE S TestOut TRUE TestPossible FALSE TestExecuted TRUE Error TRUE C010 Test Error 1 The test time was exceeded in state 8020 Test Request Ready TRUE S_OSSD_Out FALSE S TestOut TRUE TestPossible FALSE TestExecuted FALSE Error TRUE Josuashjayeseiqeisel 4S Safety Control Unit Instructions Reference Manual 7931 4 117 4 Safety Function Blocks DiagCode hexadecimal Status name Status description and output results C020 Test Error 2 The test time was exceeded in state 8030 Test Active FB specific DiagCode hexadecimal State Codes No E Status name Ready TRUE S_OSSD_Out FALSE S TestOut TRUE TestPossible FALSE TestExecuted FALSE Error TRUE rror Status description and output results 0000 Idle The FB is disabled default Ready FALSE S_OSSD_Out FALSE S TestOut TRUE TestPossible FALSE TestExecuted FALSE Error FALSE 8001 Init The FB detected an activate signal and the FB is active Ready TRUE S_OSSD_Out FALSE S TestOut TRUE TestPossible FALSE TestExecuted FALSE Error FALSE 8002 ESPE Interrupted 1 The FB detected a safety request The switch has not been auto matically tested Ready TRUE S_OSSD_Out FALSE S TestOut TRUE TestPossible FALSE TestExecuted FALSE Error FALSE 8003 Wait for Reset 1 The FB is wa
128. _TRIG at R set 2 Error 6 AND NOT C006 S StartReset and TestTime lt 150ms NOT S OSSD In R TRIG at Reset 7 ESPE AND NOTS OSSP 7ln Res tAND NOT Interrupted 1 R_TRIG t Reset Reset Error 7 S OSSD In and R_TRIG t Reset OR 5 StdrtReset ESPE Interrupted 2 F_TRIG at OSSD_In External R_TRIG at Reset Function Test AND 57 OSSD In 8004 v a 8 5 lt o 12 z Ed 59 2 Ou lt 0 BE gc Y x S OSSD In and R_TRIGat Reset R TRIG ht Reset OR AND External Test S AutoReset Reset AND NOT R TRIG at Reset Reset Error 3 C003 Reset Error 4 SLOSSD_In AND S OSSD In AND R_TRIG at Reset OR R_TRIG sat Reset AND No External Test Test Active 8030 Note Transitions to the Idle state from any other state are not shown for when Activate changes to FALSE How ever the transition to the Idle state has the highest priority 0 4 114 NX series Safety Control Unit Instructions Reference Manual 2931 4 Safety Function Blocks Timing Charts Activate S_OSSD_In StartTest TestTimer1 TestTimer2 NoExternalTest S StartReset S AutoReset Reset Ready S OSSD Out TestPossible S TestOut TestExecuted Error DiagCode 0000 8001 8010 8020 8030 8000 8012 8013 8012 8013 8000 0000 Josuashlayeseiqeisel 4S Safety Control Unit Instructions Reference Manual Z931 4 115 4 Safety Function Blocks Instruction Execution Er
129. a standard data type variable for the input terminal f the input value is not DINT 0 to DINT 65535 a cast error will occur and the program will stop 2 34 Safety Control Unit Instructions Reference Manual 7931 2 Standard Functions INT BYTE This function converts an INT variable to a BYTE variable Instruction ee Se Graphic expression INT_TO_BYTE NN INT to INT TO BYTE BYTE Variables Default Name VO Description Validrange In Data to con Input Data to con INT 0 to 255 INT 0 vert vert Out Conversion Output Conversion BYTE 16 00 to FF BYTE 16 00 result result If you omit an input or output parameter a building error will occur Boolean Bit strings Integers Durations 0 o z N o gt lt gt 5 gt gt 5 gt gt T 4 T 5 T T T 5 r m m m m m m m m w Uu Cz g 9 z fe 5 2 8 5 In OK OK Out OK OK Function This function converts INT data n to BYTE data Out Additional Information To convert BYTE data to INT data refer to BYTE_TO_INT Precautions for Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur If you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well
130. a type variable for at least one of the input terminals OR XOR Set safety data type variables for all of the input terminals Setting a Standard Data Type Variable for the Output Terminal AND OR XOR Use either safety data type variable or standard data type variable for the input ter minals NX series Safety Control Unit Instructions Reference Manual Z931 2 53 uonejedo ueajoog pue CNV 2 Standard Functions NOT This function reverses the value of a Boolean bit Instruction FB FUN Graphic expression B Variables Default Name VO Description Validrange Data to pro Input Data to pro TRUE or FALSE cess cess Out Processing Output Processing TRUE or FALSE FALSE result result If you omit an input or output parameter a building error will occur An error will not occur if the output terminal is not used or if it is connected to an input terminal on the next instruction Boolean Bit strings Integers Durations o eo z o g o z eo eo 3 m m m 2 o m m a m m m w w o a g z d 8 E 5 g In OK OK Out OK OK Function This function reverses the TRUE FALSE value of the Boolean variable n The relationships between input and output variables are given in the following table In bit Out bit FALSE TRUE TRUE FALSE Preca
131. a types These data types represent signals related to standard control The safety data type variables are prefixed with the SAFE before the name of the standard data type as in SAFEBOOL and SAFEBYTE You can input a signal for a safety data type variable to a standard data type variable You cannot input a signal for a standard data type variable to a safety data type variable A building error will occur NX series Safety Control Unit Instructions Reference Manual Z931 1 Introduction to Instructions for Safety Control Units and Interpreting Instruction Descriptions 1 2 3 Valid Ranges and Default Values of Variables The valid range of a variable indicates the range of values that variable can take The default value of a variable indicates the value that is assigned to an input variable when the instruction is executed with out a parameter assigned to the input variable These values are defined for each data type If specific values are not given for an instruction then the valid ranges and default values of the data types are applied These variables are indicated by depends on data type in the valid range column of the table that describes the variables and by in the input variable default column The valid ranges and default values of the data types are given in the following tables Safety standard Classification Data type Range of values Default data type Standard data BOOL
132. ad abc FALSE PV INT 5 CV ghi 0 1 TRUE oe FALSE When Load changes to TRUE CV When CV reaches 0 Q is set to the value of PVand Q changes to TRUE changes to FALSE CV is decremented as soon as Load changes to FALSE Additional Information Use the SF_CTU instruction P 3 5 to create a counter that increments the counter value each time the counter input signal is received Use the SF_CTUD instruction P 3 7 to create a counter that is both incremented and decremented NX series Safety Control Unit Instructions Reference Manual 2931 3 Safety Standard Function Blocks SF_CTU This FB increments the counter value when the counter input signal is received Instruction Name FB FUN Graphic expression SF_CTU Up counter FB Variables i Input Variables o c Variable Name Data type Valid range Default Description CU Counter input BOOL TRUE or FALSE FALSE Counter input RESET Reset signal BOOL TRUE or FALSE FALSE TRUE Reset CV to 0 PV Preset value SAFEINT 0 to 32767 0 Counter preset value Output Variables Name Datatype Validrange Defaut Variable Description Q Counter output SAFEBOOL TRUE or FALSE TRUE CV is greater than or equal to PV FALSE CVis less than PV CV Counter value SAFEINT 0 to 32767 0 Counter present value Function This FB creates an up counter The preset value and counter value must have a
133. age Execution control Jump Jump Moves processing to the P 2 6 jump destination specified by a label Return Return Returns control to the pro P 2 8 NX series Safety Control Unit Instructions Reference Manual 2931 cess that called the POU without executing any pro cessing after RETURN 2 Standard Functions JUMP and LABEL This function moves processing to the jump destination specified by a label Instruction FB FUN Graphic expression FUN JUMP Jump LABEL Label FUN Label Variables There are no variables for these instructions Function When the execution condition is TRUE the JUMP instruction moves processing to the jump destination specified by a label in the program The label can be any text string The following figure shows a programming example This example uses the text string Step7 as the label When the JUMP instruction is executed processing moves to the location marked 1 In this exam ple programming C between the JUMP instruction and the label is not executed The outputs in pro gramming C retain the values that they had just before the JUMP instruction was executed FALSE Output from Programming B TRUE Output from Programming B Network Execution Network Execution 1 Programming A 1 Programming A Programming B Programming 2 BOOL output gt Step1 2 BOOL output gt Step
134. al you can set either a safety data type variable or a standard data type variable for the input terminal suononaisu piepuels 19410 145 NX series Safety Control Unit Instructions Reference Manual 7931 2 73 2 Standard Functions MUX This function selects one of multiple selections Instruction Name FB FUN Graphic expression MUX Multiplexer FUN MUX K Variables Name Description Valid range Default K Selector Input 0 Selects 0 Depends on data type se 1 Selects Int 2 Selects n2 N Selects nN InO to InN Selections Selections Out Selection Output Selection Depends on data type result result If you omit an input or output parameter a building error will occur An error will not occur if the output terminal is not used or if it is connected to an input terminal on the next instruction Boolean Bit strings Integers Durations s s ez ej a ele el zi 222 zis e m m m m m m m m w o 9 5 5 8 5 2 K OK OK OK OK InO to InN OK OK OK OK OK OK OK OK OK OK OK OK OK OK Out OK OK OK OK OK OK OK OK OK OK OK OK OK OK Function This function selects one of two to selections nO to INN Selector K specifies which of n0 to InN to select The value of one of the input variables is assigned to Out according to the value of nO is assigned if Kis 0 InN is assigned if Kis N Additional Information
135. alue is automatically used for the variable if you do not assign a parameter to the instruction before it is executed indicates the following Input variables The default value of the data type of the input variable is assigned The default values of the data types are given later in this section Output variables Default values are not set Data type The data type of the variable is given Broadly speaking there are two classifications of data types safety signals and non safety signals These two classifications of data types are described later Function The function of the instruction is described Related Any device variables that are related to the instruction are described Semi user defined Variables Additional Informa Additional information on the function of the instruction is provided This includes related tion instructions and helpful information for application of the instruction Precautions for Cor Precautions for application of the instruction are given The conditions under which errors rect Use occur for the instruction are also given here Sample Program Short samples of how to use the instruction in an application program are provided ming 1 2 2 Safety Data Types and Standard Data Types The Safety Control Unit classifies the following two data types to distinguish between safety signals and standard signals Safety data types These data types represent signals related to safety control Standard dat
136. alue of n Is Negative 32768 to INT 1 If the value of n is INTZ 32768 1111 1111 1111 1111 1000 0000 0000 0000 binary the value of Out is DWORD 16 FFFF8000 If the value of In is INTZ 1 1111 1111 1111 1111 1111 1111 1111 1111 binary the value of Out is DWORD 16 FFFFFFFF Additional Information There is no instruction that converts DWORD data to INT data 2 36 NX series Safety Control Unit Instructions Reference Manual 7931 2 Standard Functions Precautions for Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur If you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well f you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal suononijsu ed eea QHOMG OL LNI NX series Safety Control Unit Instructions Reference Manual Z931 2 37 2 Standard Functions INT WORD This function converts an INT variable to a WORD variable Instruction E Graphic expression INT TO WORD EE INT to dico INT TO WORD Variables Default Name V6 Description Valid range Data to con Input Data to con INT 32768 to 32767 vert vert Out Conversion Output Conversion WORD 16 0000 to FF
137. and acknowledged FALSE None of the modes is selected TRUE One of the eight modes was selected and con firmed Error BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 DiagCode WORD Depends on state code 1650000 Refer to Safety FB Common Output Variables on page 4 4 Note X S ModeX and S ModeXSel indicates a number between 0 and 7 NX series Safety Control Unit Instructions Reference Manual Z931 Jojoejesepow 4S 4 Safety Function Blocks Function 4 64 The FB handles a mode selection switch with up to eight positions You can change the mode to change the operation mode of the machine automatic mode manual mode semi automatic mode etc It is assumed that the machine is in safe mode when the Controller is started The inputs to the FB e g a machine start button change the mode to the mode that is set on the mode selection switch when the machine is started The default state after the FB is activated is the ModeChanged state This is the safe state for the FB in which all S ModeXSel outputs and the S AnyModeSel output are FALSE When the mode selection switch is changed and the FB is in the ModeChanged state If AutoSetMode is FALSE A new S ModeX input is acknowledged by 5 SetMode changing to TRUE to produce a new S ModeXSel output If AutoSetMode is TRUE A new S ModeX automatically produces a new S ModeXSel output
138. and functions of the trol Unit Users Manual NX SI NX series Safety NX series Safety Control Unit are described NX SO Control Units NX series Safety Con Z931 NX SL Learning about the The instructions for the Safety CPU Unit are described trol Unit Instructions specifications of When programming use this manual together with the Reference Manual instructions for the NX series Safety Control Unit User s Manual Cat No Safety CPU Unit Z930 NX series EtherCAT W519 NX ECC Leaning how to use The following items are described the overall system and Coupler Unit User s Ether configuration methods of an EtherCAT Slave Terminal Manual CAT Coupler Unit and which consists of an NX series EtherCAT Coupler Unit EtherCAT Slave Ter and NX Units and information on hardware setup and minals functions to set up control and monitor NX Units through EtherCAT NX series Data Refer W525 NX Referencing lists of Lists of the power consumptions weights and other NX ence Manual the data that is Unit data that is required to configure systems with required to configure NX series Units are provided Systems with NX series Units NJ series CPU Unit W500 NJ501 Learning the basic An introduction to the entire NJ series system is provided Hardware User s Man NJ301 specifications of the along with the following information on the CPU Unit ual NJ series CPU Units Features and system configuration including introductory
139. and it is intended to be used in places other than homes Sellers and or users need to take note of this Software Licenses and Copyrights This product incorporates certain third party software The license and copyright information associated with this software is available at http www fa omron co jp nj info e 18 NX series Safety Control Unit Instructions Reference Manual Z931 Unit Versions Unit Versions This section describes the notation that is used for unit versions the confirmation method for unit ver sions and the relationship between unit versions and Sysmac Studio versions Unit Versions A unit version has been introduced to manage the Units in the NX Series according to differences in functionality accompanying Unit upgrades Notation of Unit Versions on Products The unit version is given with the Unit specifications on the side of the Unit or in the notched area Notched area Unit specifications ar 4 q LOT g 4 Ver 1 C4 J Lot number Unit version The following information is provided in the Unit specifications on the Unit Name Function Unit model number Gives the model of the Unit Unit version Gives the unit version of the Unit Lot number Gi
140. ariables There are no variables for these instructions Function When the execution condition is TRUE control is returned to the location that called the POU without executing any processing after RETURN The following figure shows a programming example When the RETURN instruction is executed in the example programming C and D that follow it are not executed The outputs in programming C and D retain the values that they had just before the RETURN instruction was executed FALSE Output from Programming B TRUE Output from Programming B Network Execution Network Execution 1 Programming A 1 Programming Programming B BOOL output Programming B 4 2 BOOL output Not executed due to RETURN instruction 4 3 Programming C 3 I 4 Not executed due to 4 Programming D 4 I Programming D RETURN instruction eee 4 Precautions for Correct Use You must use either a BOOL or SAFEBOOL execution condition for the RETURN instruction If you connect an execution condition with any other data type a building error will occur f you use this instruction too often the flow of processing will be difficult to understand Use it with caution Programming after the RETURN instruction is not executed when the RETURN instruction is exe cu
141. at Heset is FALSE The FB is wait ing for S ESPE Into change to TRUE Ready TRUE S_ESPE_Out FALSE Error FALSE 8003 Wait for Reset 1 The FB is active S ESPE_Inis TRUE The FB is waiting for Reset to change to TRUE Ready TRUE S ESPE Out FALSE Error FALSE NX series Safety Control Unit Instructions Reference Manual 7931 4 47 4 Safety Function Blocks DiagCode hexadecimal 8004 Status name Wait for S_ESPE_In 2 Status description and output results The FB is active A safety request was detected Make sure that Reset is FALSE The FB is waiting for 5 ESPE change to TRUE Ready TRUE S ESPE Out FALSE Error FALSE 8005 Wait for Reset 2 The FB is active 5 ESPE is TRUE Check S AutoHReset Or the FB is waiting for Heset to change to TRUE Ready TRUE S ESPE Out FALSE Error FALSE 8000 Safety Output Enabled is active S ESPE_Inis TRUE and S ESPE Outis TRUE function mode Ready TRUE S ESPE Out TRUE Error FALSE NX series Safety Control Unit Instructions Reference Manual 7931 SF_GuardLocking 4 Safety Function Blocks This safety FB controls entry to a hazardous area with a four state interlock guard with a guard lock Instruction SF_GuardLocking Variables Input Variables Name Safety Guard Interlocking with Locking FB FUN FB BOOL SAFEBOOL SAFEBOOL SAFEBOOL BOOL SAFEBOOL SAFEBOOL
142. ation To convert TIME data to BYTE data refer to TIME_TO BYTE Precautions for Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur f you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well f you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal NX series Safety Control Unit Instructions Reference Manual Z931 2 23 suononijsu ed eea AWIL OL 31A8 2 Standard Functions WORD TO TIME This function converts a WORD variable to a TIME variable Instruction Graphic expression WORD_TO_TIME te WORD WORD_TO_TIME to TIME Variables Name V6 Description Valid range Default Data to con Input Data to con WORD 16 0000 to FFFF WORD 16 0000 vert vert Out Conversion Output Duration 0 to T 1m5s535ms_ T 0ms result If you omit an input or output parameter a building error will occur Boolean Bit strings Integers Durations o w eo o gt e eo 3 8 5 8 E 5 m m m 2 m m m a m m m 83 9 2 9 e 5 3 z 8 g In OK OK Out OK OK Function This function conve
143. ational standards EN ISO 13849 1 and EN 62061 demand that process controls be in place for the creation of safety related software when building a safety control system that uses Safety Control Units The process control must ensure that the software is easy to read understand test and maintain to avoid system failures during each phase i e general software design safety circuit system design and software upgrades of the software design lifecycle This means that process controls must also be in place for the design and development of safety soft ware such as for equipment and machinery that use function blocks that are provided by the Safety Control Units It is the customer s responsibility to conform with all standards Conformance to UL and CSA Standards The NX series Safety Control Units comply with the following UL and CSA standards The application conditions for standard compliance are defined Refer to the nstruction Sheet that is provided with each Unit before application NX series Safety Control Unit Instructions Reference Manual 7931 17 Regulations and Standards Conformance to KC Standards Observe the following precaution if you use NX series Units in Korea A 7171 AEB AE AFRA H BABA EZ 7 A EE BS FIBA 7 84 AANA 88 AS 3402 uu Class A Device Broadcasting Communications Device for Office Use This device obtained EMC registration for office use Class A
144. ave any questions or comments Warranty Limitations of Liability 10 Warranties Exclusive Warranty Omron s exclusive warranty is that the Products will be free from defects in materials and workman ship for a period of twelve months from the date of sale by Omron or such other period expressed in writing by Omron Omron disclaims all other warranties express or implied Limitations OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED ABOUT NON INFRINGEMENT MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF THE PRODUCTS BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE Omron further disclaims all warranties and responsibility of any type for claims or expenses based on infringement by the Products or otherwise of any intellectual property right Buyer Remedy Omron s sole obligation hereunder shall be at Omron s election to i replace in the form originally shipped with Buyer responsible for labor charges for removal or replacement thereof the non com plying Product ii repair the non complying Product or iii repay or credit Buyer an amount equal to the purchase price of the non complying Product provided that in no event shall Omron be responsible for warranty repair indemnity or any other claims or expenses regarding the Products unless Omron s analysis confirms that the Products were properly handled stored insta
145. broken status FALSE Muting lamp failure TRUE Muting lamp is normal NX series Safety Control Unit Instructions Reference Manual Z931 4 Safety Function Blocks Variable Data type Valid range Default Description DiscTime11_12 TIME T 0s to 45 T 0s A constant It sets the maximum discrepancy time between MutingSwitch11 and MutingSwitch12 DiscTime21_22 TIME T 0s to T 4s T 0s A constant It sets the maximum discrepancy time between MutingSwitch21 and MutingSwitch22 MaxMutingTime TIME T 0s to T 10min T 0s A constant It sets the maximum time until completion of the muting sequence The timer starts when the muting sensor first operates MutingEnable BOOL TRUE or FALSE FALSE A constant or a variable It is a command from the control system to enable starting muting as required in the machine cycle You can change this signal to OFF after muting starts FALSE Disables muting TRUE Enables starting muting S StartReset SAFEBOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 Reset BOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 1 You must connect a SAFEBOOL variable not a BOOL variable depending on safety requirements Output Variables 4S Variable Data type Valid range Default Description Ready BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 S_AOPD_Out SAFE
146. ches and other devices that do not have failsafe mechanisms are used for muting sensors Muting operation must be indicated by indicator lights There are two types of muting parallel and sequential This FB performs parallel muting with two muting sensors An application example is provided below Refer to SF MutingPar 2Sensor Instruc tion Application Example with Two Reflective Light Barriers on page 4 83 The sensors must be located as described in Annex F 7 in CD2005 of IEC 62046 as shown in the application example The FB can be used for either forward or backward passage However the actual direction cannot be identified To prevent manual operation muting must also be enabled by process control with the MutingEnable signal to perform muting The input parameters to the FB include two muting sensor signals S MutingSwitch11 and S MutingSwitch12 an OSSD signal from a photoelectric protection device S AOPD and two time parameters DiscTimeEntry and MaxMuting Time Activate the 5 StartHeset input only when you can ensure that no hazardous state will occur as the result of starting the Safety CPU Unit NX series Safety Control Unit Instructions Reference Manual Z931 4 Safety Function Blocks SF_MutingPar_2Sensor Instruction Application Example with Two Reflective Light Barriers Order Diagram Description 1 If reflection light barriers used as muting MS 11 Transmitter sensors they are generally arranged diag
147. cted changes to TRUE in the Reset input are detected Errors are detected with the guard switch error is detected when safety is compromised Either the guard was opened or unlocked Operation for Errors When an error occurs the S_GuardLocked and S_UnlockGuard outputs are set to FALSE the DiagCode output gives the relevant error code and the Error output is set to TRUE error must be acknowledged by changing the Reset input to TRUE FB specific Error Codes DiagCode hexadecimal C001 Status name Reset Error 1 Status description and output results When the Init state was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S GuardLocked FALSE S UnlockGuard FALSE Error TRUE C002 Reset Error 2 When the Safety Lost state C004 was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S_GuardLocked FALSE S UnlockGuard FALSE Error TRUE 4S C003 Reset Error 3 When the Wait for Reset state was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S_GuardLocked FALSE S UnlockGuard FALSE Error TRUE C004 Safety Lost Safety was compromised Either the guard was opened or unlocked Ready TRUE S_GuardLocked FALSE S UnlockGuard FALSE Error TRUE FB specific State Codes No Error DiagCode hexadecimal 0000
148. ction function Error BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 DiagCode WORD Depends on state 1640000 Refer to Safety FB Common Output Variables on page code 4 4 4 30 NX series Safety Control Unit Instructions Reference Manual Z931 Function 4 Safety Function Blocks This FB supports stopping a safety protection function that uses an enable switch when a suitable operation mode is started However handle the related operation mode motion speed limit power limit or motion range limit outside of the SF_EnableSwitch instruction This FB evaluates enable switch signals for three positions IEC 60204 section 10 9 The S_EnableSwitchCh1 and S EnableSwitchCh2 input parameters are processed as shown below for the E1 to E4 input signal levels Enable Switch Positions Transitions 1 to 2 2 to 1 2 to 3 Contacts E1 E2 Contacts 4 Transition only 3 to 1 Contacts E1 2 Contacts 4 D Point of pressure Contact open closed You must connect the signals from E1 and E2 to the 5 EnableSwitchCh1 parameter You must also connect the signals from and E4 to the 5 EnableSwitchCh2 parameter The FB detects the posi tion of the enable switch with this signal sequence However the transition from position 2 to position 3 is sometimes different from the one that is shown in the figure The FB can detect th
149. ctions Reference Manual 2931 4 Safety Function Blocks i Muting Conditions Forward Direction Muting Condition 1 8000 to 8011 when MS 11 is the first switch to enable muting Timer for MaxMutingTime started MutingEnable AND R TRIG at MS 11 AND NOT MS 12 AND NOT MS 21 AND NOT MS 22 Muting Condition 2 8011 to 8012 when MS 12 is the second switch to enable muting MutingEnable AND MS 11 AND R_TRIG at MS 12 AND NOT MS 21 AND NOT MS 22 Muting Condition 3 8012 to 8000 when MS 21 is the first switch to disable muting Timer for MaxMuting Time stopped NOT MS 11 AND NOT MS 12 AND F TRIG at MS 21 AND MS 22 Backward Direction Muting Condition 11 8000 to 8122 when MS 22 is the first switch to enable muting Timer for MaxMutingTime started MutingEnable AND NOT MS 11 AND NOT MS 12 AND NOT MS 21 AND R TRIG at 5 22 Muting Condition 12 8122 to 8112 when MS 21 is the second switch to enable muting MutingEnable AND NOT MS 11 AND NOT MS 12 ANDR TRIG at 5 21 AND MS 22 Muting Condition 13 8112 to 8000 when MS 12 is the first switch to disable muting Timer for MaxMuting Time stopped MS 11 AND F_TRIG at MS 12 AND NOT MS 21 AND NOT MS 22 besBunni 4S Illegal Muting Sequences State 8000 NOT MutingEnable AND R_TRIG at MS 11 OR NOT MutingEnable AND TRIG at MS 22 OR MS 12 OR MS 21 OR MS 11 AND MS 22 State 8011 NOT MutingEnable OR NOT MS 11 OR MS 21 OR MS 22 State 8012 R_TRIG at M8
150. ctions Reference Manual 7931 Safety Function Blocks SSS This section gives the specifications of the safety function blocks that you can use for NX series Safety Control Units General Rules for Safety Function Blocks 4 2 Safety Function Block Instructions 4 8 SEsAntivaletites2 ns encore es DR ELLAS NA Rd ein aedis 4 9 SEDM Lir UE NR e e Ee e e t Aa 4 15 SE EmergencySItop c eed eoe E DE er ER 4 23 SF EnableSwitch lt a ese ein ee a I Ad 4 30 SFHEquivalent Ro ere t pere pes d 4 36 SF ESPE ees bg ey E V AE Ee 4 42 SE Guardbockihg iere Da eee 4 49 SF GuardMonitoring 2 4 55 SF ModeSeleclot e RRBPLRIMOPDRIAD IRI V Sed 4 61 SE M tingP ar zu cies cent teet en need ee AERE RU Res 4 70 SF MutingPar 2Sensor 4 81 SE ue iR ae Ao ete Ae 4 90 SF OutControl wd a eR ERE ETE Yi EY 4 99 SF SafetyRequest 4 105 SF TestableSafetySensor 4 111 SF 1 4 121 SF TwoHandControlTypelll 4 126 NX series Saf
151. ctive Machinery Directive Concepts EMC Directives 16 OMRON devices that comply with EC Directives also conform to the related EMC standards so that they can be more easily built into other devices or the overall machine The actual products have been checked for conformity to EMC standards 1 Whether the products conform to the standards in the system used by the customer however must be checked by the customer EMC related performance of the OMRON devices that comply with EC Directives will vary depending on the configuration wiring and other conditions of the equipment or control panel on which the OMRON devices are installed The customer must therefore perform the final check to confirm that devices and the overall machine conform to EMC standards Applicable EMC Electromagnetic Compatibility standards are as follows EMS Electromagnetic Susceptibility EN 61131 2 EMI Electromagnetic Interference EN 61131 2 Radiated emission 10 m regulations Machinery Directive The Machinery Directive demands that the safety components that are used to provide safety for the relevant machinery are used according to the required levels of safety The applicable directives are EN ISO 13849 1 2008 and EN 62061 SIL CL3 NX series Safety Control Unit Instructions Reference Manual Z931 Regulations and Standards Conformance to EC Directives The Units comply with EC Directives To ensu
152. ctronic protective device FALSE Something entered the protected area TRUE Nothing entered the protected area S MutingSwitch SAFEBOOL TRUE or FALSE FALSE A variable It is the status of muting sensor 11 n FALSE Muting sensor 11 is not operating TRUE A workpiece activated muting sensor 11 S MutingSwitch SAFEBOOL TRUE or FALSE FALSE A variable It is the status of muting sensor 12 12 FALSE Muting sensor 12 is not operating TRUE A workpiece activated muting sensor 12 S_MutingLamp SAFEBOOL TRUE or FALSE FALSE A constant or a variable It is the muting lamp status input e g filament broken status FALSE Muting lamp failure TRUE Muting lamp is normal DiscTimeEntry TIME T 0s to T 4s T 0s A constant It inputs the maximum discrepancy time between MutingSwitch11 and MutingSwitch12 MaxMutingTime TIME T 0s to T 10min 05 A constant It inputs the maximum time until completion of the muting sequence The timer starts when the muting sensor first operates NX series Safety Control Unit Instructions Reference Manual 7931 4 Safety Function Blocks Variable Data type Valid range Default Description MutingEnable BOOL TRUE or FALSE FALSE A constant or a variable It is a command from the control system to enable starting muting as required in the machine cycle You can change this signal to OFF after muting starts FALSE Disables muting TRUE Enables starting muting S StartReset SAFEBOO
153. d 5 11 AND MS 12 ANDR TRIG at 5 21 AND NOT MS 22 Muting Condition 24 8012 to 8314 when MS 22 is the first switch to stop muting Timer for DiscTime21 22 started 5 11 AND MS 12 AND NOT MS 21 AND TRIG at MS 22 Muting Condition 25 8014 to 8021 when MS 22 is the second switch to stop muting Timer for DiscTime21 22 stopped MS 11 AND MS 12 AND MS 21 AND R TRIG at MS 22 Muting Condition 25 8314 to 8021 when MS 21 is the second switch to stop muting Timer for DiscTime21 22 stopped 5 11 AND MS 12 AND R_TRIG at 5 21 AND MS 22 Muting Condition 5 8021 to 8000 when one of the muting stop switches is reset Timer for MaxMuting Time stopped NOT MS 11 AND NOT MS 12 AND F TRIG at MS 21 OR F TRIG at MS 22 Backward Direction Muting Condition 11 8000 to 8122 when MS 21 is the first switch to start muting Timers for MaxMuting Time and DiscTime21 22 started MutingEnable AND NOT MS 22 AND TRIG at MS 21 AND MS 11 AND NOT MS 12 Muting Condition 11 8000 to 8422 when MS 22 is the first switch to start muting Timers for MaxMutingTime and DiscTime21 22 started MutingEnable AND R_TRIG at 5 22 AND NOT MS 21 AND NOT MS 11 AND NOT MS 12 Muting Condition 12 8122 to 8121 when MS 22 is the second switch to start muting Timer for DiscTime21 22 stopped MutingEnable AND MS 21 AND R_TRIG at MS 22 AND NOT MS 11 AND NOT 5 12 Muting Condition 12 8422 to 8121 when MS 21 is the second switch to start muting
154. d data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal 2 14 NX series Safety Control Unit Instructions Reference Manual Z931 2 Standard Functions BOOL TO WORD This function converts a BOOL variable to a WORD variable Instruction FB FUN Graphic expression BOOL_TO_WORD EN BOOL to a BOOL TO WORD WORD Variables Default Name vO Description Validrange Data to con Input Data to con TRUE or FALSE vert vert Out Conversion Output Conversion WORD1 620000 or WORD 16 0000 result result WORD 16 0001 If you omit an input or output parameter a building error will occur FALSE Boolean Bit strings Integers Durations o eo o z o o gt lt gt 5 gt gt gt gt T 4 T 5 T T T 5 r m m m m m m m m w Uu Cz g 9 z fe 5 2 8 In OK OK Out OK OK Function This function converts BOOL data n to WORD data Out If the value of n is FALSE the value of Out is WORD 16 0000 If the value of n is TRUE the value of Outis WORD 16 0001 Additional Information To check for WORD data refer to WORD TO BOOL Precautions for Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur
155. d external errors for FBs from DiagCode More than one reset input may be required to reset a FB fi Range of Values for Safety FB Common Diagnostic Codes DiagCode Meaning 0000_0000_0000_0000 binary The FB is not operating or the Safety CPU Unit is stopped 10 binary The FB is operating and an error does not exist x is a FB specific code 11 xxxx binary The FB is operating and an error exists x is FB specific code 4 4 NX series Safety Control Unit Instructions Reference Manual 7931 i Safety FB Common Diagnostic Codes DiagCode 0000_0000_0000_0000 binary 0000 hex 0 decimal 4 Safety Function Blocks Meaning Indicates the Idle state In this state the FB is not operating Normally the I O have the following status Activate FALSE Safety input variables TRUE or FALSE Ready FALSE Error FALSE Safety output variables FALSE 1000 0000 0000 0000 binary 8000 hex 32 768 decimal Indicates the default operating status for normal operation that makes the safety output variable TRUE The FB is operating and no error has occurred or the operation is in a different state that makes the safety output FALSE Normally the I O have the following status Activate TRUE Safety input variables TRUE Ready TRUE Error FALSE Safety output variables TRUE 1000 0000 0000 0001 binary 8001 hex 32 769 decimal Indicates
156. d muting sequence is in operation MutingSwitch12 oper ates as the first muting stop switch Monitoring for DiscTimet11 12is started Ready TRUE S_AOPD_Out TRUE S MutingActive TRUE Error FALSE 8112 Muting Backward Active 2 A backward muting sequence is still in operation Both MutingSwitch11 and MutingSwitch12 are active so monitoring for DiscTime11_12 was stopped Ready TRUE S_AOPD_Out TRUE S MutingActive TRUE Error FALSE NX series Safety Control Unit Instructions Reference Manual Z931 SF_MutingPar_2Sensor 4 Safety Function Blocks Muting is used to intentionally disable a safety function This safety FB performs parallel muting with two muting sensors Instruction SF_MutingPar_2S ensor Name Parallel Muting with 2 Sensors FB FUN FB BOOL SAFEBOOL SAFEBOOL SAFEBOOL SAFEBOOL TIME TIME BOOL SAFEBOOL BOOL Graphic expression SF_MutingPar_2Sensor Activate BOOL S AOPD In SAFEBOOL S MutingSwitch11 SAFEBOOL S MutingSwitch12 BOOL S MutingLamp WORD DiscTimeEntry MaxMutingTime MutingEnable S StratReset Reset n Variables z S Input Variables R 2 Variable Data type Valid range Default Description 3 Activate BOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 S AOPD In SAFEBOOL TRUE or FALSE FALSE A variable This is the OSSD safety output signal from the AOPD active optoele
157. duration in the values to divide To divide a duration set a duration for In and Out and set an integer for n2 Do not allow the divisor to equal 0 If the divisor is 0 a Division by Zero error will occur and the program will stop NX series Safety Control Unit Instructions Reference Manual Z931 2 Standard Functions Precautions for Correct Use The data types of n1 In2 and Out can be different If they are different calculations are performed with the data type that includes the range of all of the data types For example if n is INT data and In2 is DINT data calculations are performed with DINT data Therefore division result Out will be DINT data The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur f you seta safety data type variable for the output terminal set a safety data type variable for the two input terminals as well f you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal suononaisu yen AIG NX series Safety Control Unit Instructions Reference Manual Z931 2 63 2 Standard Functions NX series Safety Control Unit Instructions Reference Manual 7931 Comparison Instructions Type Instruction Name Description Page Comparison EQ Equal Determines if the values of 2 66
158. e changes to FALSE How ever the transition to the Idle state has the highest priority 0 Safety Control Unit Instructions Reference Manual Z931 4 107 4 Safety Function Blocks Timing Charts Activate S_OpMode Inputs S_Acknowledge i Reset Ready 1 Pood oY Outputs S SafetyRequest Error l DiagCode 80 01100 Monitoring Timer eee eT LL t lt Monitoring Time t gt Monitoring Time 4 108 NX series Safety Control Unit Instructions Reference Manual 2931 4 Safety Function Blocks Instruction Execution Errors Error Detected The FB detects the following errors When the actuator does not enter the safe state within the monitoring time When the acknowledge signal is not sent before the request becomes invalid Foran always TRUE Reset signal When an undetected change to TRUE in the Reset input is detected when the acknowledge sig nal is lost or the monitoring time is exceeded FB External Errors There are no external errors because error bits and error information are not provided by a normal actuator Operation for Errors When an error occurs the 5 SafetyActive output is set to FALSE Acknowledgment by changing the Reset input to TRUE is required for an error After this reset the 5 OpMode request must be set to TRUE to enable the FB to continue functioning
159. e direction in which the switch changed from position 1 to position 2 or from position 3 to position 2 by using the signal sequences that are defined for the enable switch inputs The FB enables stopping the safety protection function only when the switch changes from position 1 to position 2 You cannot use any other direction or switch position to enable stopping the safety pro tection function This function is based on section 10 9 of IEC 60204 The type of brackets that is specified in EN 60204 is different Because it is based on section 10 9 of IEC 60204 it is necessary to use a suitable switching device You must also confirm that a suitable operation mode is selected in the relevant application In this operation mode you must disable automatic operation with a suitable means An operation mode selection switch is normally used to select the operation mode to move the machine to the safe state with the SF ModeSelector SF SafeRequest instructions The SF EnableSwitch instruction confirms safe mode with the value of S SafetyActive If implemen tation does not require confirmation of safe mode in the application connect a constant TRUE signal to S SafetyActive Activate the 5 StartHeset input only when you can ensure that no hazardous state will occur as the result of starting the Safety CPU Unit NX series Safety Control Unit Instructions Reference Manual Z931 4 31 uouwSe qeu3 45 4 Safety Function Blocks
160. e for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal If the input value is not DINT 2147483648 to DINT 2147483647 a cast error will occur and the pro gram will stop NX series Safety Control Unit Instructions Reference Manual 7931 2 29 suononijsu ed eea 1009 OL LNIG 2 Standard Functions INT TO BOOL This function converts an INT variable to a BOOL variable Instruction Es Graphic expression INT_TO_BOOL NE INT to INT BOOL BOOL Variables Default Name VO Description Valid range Data to con Input Data to con INT 32768 to 32767 vert vert Out Conversion Output Conversion TRUE or FALSE FALSE result result If you omit an input or output parameter a building error will occur INT 0 Boolean Bit strings Integers Durations o eo o o z o eo gt lt gt 5 gt gt 2 gt gt T 2 T o T s r m m m m m m m m m S we z g e 5 a z z 5 g In OK OK Out OK OK Function This function converts INT data n to BOOL data Out If the value of n is INT 0 the value of Outis FALSE If the value of n is INTZ 32768 to INTZ 1 or INT 1 to INT 32767 i e not INT 0 the value of Out is TRUE Additional Information To convert BOOL data to INT data refer to BOOL TO INT
161. e function applica tions that supply those signals It interprets them as illegal muting sequences Unintentional muting must not be allowed under these conditions Give attention to this during risk assess ment Function Muting is used to intentionally disable a safety function Muting is used for example to pass a work piece through a hazardous area without stopping the machine Muting is activated by muting sen sors Two or four muting sensors are used To correctly incorporate the safety function into a manufacturing process you must ensure that people will not enter the hazardous area while the light curtain is being muted Proximity sensors photoelectric barriers limit switches and other devices that do not have failsafe mechanisms are used for muting sensors Muting operation must be indi cated by indicator lights There are two types of muting parallel and sequential This FB performs sequential muting with four muting sensors Passing into a hazardous area in the forward direction is described below Refer to SF MutingSeq Instruction Application Example for Forward Entry with Four Sensors on 4 92 The FB can be used for either forward or backward passage To prevent manual operation muting must also be enabled by process control with the MutingEnable signal to perform muting If the MutingEnable signal is inactive it must be set to TRUE NX series Safety Control Unit Instructions Reference Manual 7931 4 91
162. e performed with DINT data Therefore subtraction result Out will be DINT data The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur If you seta safety data type variable for the output terminal set a safety data type variable for the two input terminals as well f you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal suononaisu yen NX series Safety Control Unit Instructions Reference Manual Z931 2 59 2 Standard Functions MUL MUL This function multiplies integers or a duration Instruction Le Graphic expression Multiplication MUL Variables In1 to InN Default Name VO Description Valid range Values to mul Input Values to mul Depends on data type tiply tiply Out Output value Output Output value Depends on data type If you omit an input or output parameter building error will occur An error will not occur if the output terminal is not used or if it is connected to an input terminal on the next instruction Boolean Bit strings Integers Durations w o o o g gt o o lt gt 2 gt gt gt EI T 5 T m m m m m m m 0 UJ S g d
163. e shows a programming example and timing chart when PT is T 10ms Variable abc will change to TRUE 10 ms after variable A changes to TRUE SF TOF instance SF TOF IN PI ETF def NOL 3S PT T 10ms Q abc ET def I Additional Information Use the SF TP instruction for a timer that changes the timer output to TRUE when timing starts and then changes the timer output to FALSE when the set time is reached Use the SF_TOF instruction for a timer that starts when N changes to FALSE and then changes the timer output to FALSE when the elapsed time reaches the set time NX series Safety Control Unit Instructions Reference Manual Z931 3 17 3 Safety Standard Function Blocks SF_TP This FB outputs TRUE during the set time after the timer starts Instruction Name FB FUN Graphic expression SF_TP Timer Pulse FB SF_TP IN Q PT ET Variables i Input Variables Name Datatype Vaidrange Defaut Timer input BOOL TRUE or FALSE Variable Description TRUE Timer start specification FALSE Timer reset specification PT Set time TIME Depends on data 0 Time that Q remains at TRUE type i Output Variables Variable Name Data type Valid range Default Description Q Timer output SAFEBOOL TRUE or FALSE FALSE TRUE N is TRUE and ET is lower than PT after the timer starts FALSE ET reached PT ET Elapsed time TIME Depends on data 0 Elapsed time since timer started ty
164. e variable for the input terminal 2 46 NX series Safety Control Unit Instructions Reference Manual Z931 2 Standard Functions WORD This function converts a TIME variable to WORD variable Instruction Graphic expression TIME_TO_WORD EN M TIME to TIME TO WORD WORD Variables Default Name vO Description Valid range Data to con Input Duration 0 to T 65s535ms vert Out Conversion Output Conversion WORD 16 0000 to FFFF WORD 16 0000 result result If you omit an input or output parameter a building error will occur T Oms Boolean Bit strings Integers Durations o eo o z o o gt lt gt 5 gt gt gt gt T 4 T 5 T T T 5 r m m m m m m m m w Uu Cz g 9 z fe 5 2 8 In OK OK Out OK OK Function This function converts TIME data n to WORD data Out Example When Value of Is 50 s 505 ms T 50s505ms The value of Out will be WORD 16 C549 Additional Information To convert WORD data to TIME data refer to WORD TO TIME Precautions for Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur f you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well f
165. eady TRUE Error FALSE S TwoHandOut FALSE 8009 Locked Off The safety output was enabled and then disabled again After the safety output was disabled 5 Button S_Button2 did not both change to FALSE In this state 5 Button1 is TRUE and S 2 is TRUE after the safety output is disabled Ready TRUE Error FALSE S TwoHandOut FALSE 8019 Locked On The button operation was not correct The FB is waiting for both buttons to be released Ready TRUE Error FALSE S TwoHandOut FALSE jed jjonuoopueHoM 4S NX series Safety Control Unit Instructions Reference Manual Z931 4 125 4 Safety Function Blocks SF_TwoHandControlTypelll This safety FB provides a type III two hand control function as defined in ISO 13851 EN 574 Instruction SF_TwoHandContr olTypelll Variables Name Two Hand trol Type III FB FUN on FB BOOL SAFEBOOL SAFEBOOL Graphic expression SF TwoHandControlTypelll Activate BOOL S Button1 SAFEBOOL S Button2 BOOL WORD Input Variables Variable Activate Data type BOOL Valid range TRUE or FALSE Default FALSE Description Refer to Safety FB Common Input Variables on page 4 2 S Button1 SAFEBOOL TRUE or FALSE FALSE A variable It is the button 1 input category 3 or 4 for two antivalent contacts FALSE Button 1 is OFF TRUE Button 1 is ON S Button2 SAFEBOOL TRUE or
166. ed 5 EquivalentOut changes to FALSE and Error changes to TRUE Diag Code shows the error state e If an error occurs in an input make the inputs for both channels inactive make 5 ChannelA and S ChannelA FALSE to reset the FB FB specific Error Codes DiagCode hexadecimal Status name Status description and output results C001 Error 1 S ChannelB did not change to TRUE within MonitoringTime in the Wait for Channel B state 8004 Ready TRUE S EquivalentOut FALSE Error TRUE C002 Error 2 S ChannelA did not change to TRUE within MonitoringTime in the Wait for Channel A state 8014 Ready TRUE S EquivalentOut FALSE Error TRUE C003 Error 3 The input did not change within the monitoring time while changing from the From Active Wait 8005 to the Init 8001 state S ChannelA S ChannelB did not change to FALSE within the monitoring time after the other input changed to FALSE Ready TRUE S EquivalentOut FALSE Error TRUE FB specific State Codes No Error DiagCode hexadecimal Status name Status description and output results 0000 Idle The FB is disabled default Ready FALSE S EquivalentOut FALSE Error FALSE 8001 Init The FB detected an activate signal and the FB is active Ready TRUE S EquivalentOut FALSE Error FALSE 8000 Safety Output Enabled An input changed to TRUE in Equivalent Mode Ready TRUE S EquivalentOut TRUE Error FALSE 4 40 NX
167. ed depend on the unit version of the Unit The version of Sysmac Studio that supports the functions that were added for an upgrade is also required to use those functions Refer to the NX series Safety Control Unit User s Manual Cat No Z930 for the relationship between the unit versions of the CPU Units and the Sysmac Studio versions and for the functions that are sup ported by each unit version Unit Version Notation In this User s Manual unit versions are specified as shown in the following table Unit version in Unit specifications Notation in this manual Remarks on the product Ver 1 0 or later Unit version 1 0 or later Unless unit versions are specified the infor mation in this manual applies to all unit ver sions NX series Safety Control Unit Instructions Reference Manual Z931 21 Related Manuals Related Manuals The following manuals are related Use these manuals for reference Manual name Cat No Model numbers Application Description Safety Con 7930 NX SL Learning how to use The hardware setup methods
168. equential Muting Performs sequential muting with four P 4 90 muting sensors SF OutControl Out Control Controls a safety output with a control P 4 99 signal and safety signal from a func tion application SF SafetyRequest Safety Request Makes requests for the safe state and P 4 105 monitors the safe state for an actuator e g a drive or valve that has a safety function SF TestableSafetySensor Testable Safety Sensors Tests functionality with the external P 4 111 test function of electro sensitive pro tective equipment ESPE SF TwoHandControlTypell Two Hand Control Type Il Provides a type 11 two hand control P 4 121 function as defined in ISO 13851 EN 574 SF TwoHandControlTypelll Two Hand Control Type III Provides a type 111 two hand control P 4 126 function as defined in ISO 13851 EN 574 4 8 NX series Safety Control Unit Instructions Reference Manual Z931 SF Antivalent 4 Safety Function Blocks This safety FB monitors the discrepancy time for two antivalent SAFEBOOL inputs Note Antivalent refers to the state where two inputs are simultaneously in the opposite status during normal operation This kind of inputs is also called complementary or non equivalent Instruction Name FB FUN Graphic expression SF Antivalent Antivalent FB SF Antivalent BOOL Activate BOOL SAFEBOOL S ChannelNC SAFEBOOL SAFEBOOL S ChannelNO BOOL TIME DiscrepancyTime WORD Variables Input Variables
169. eriodic test An ESPE must be connected to an applicable input device e g safety input terminal You must select the ESPE according to the required category in product specifications IEC 61496 1 IEC 61496 2 IEC 61496 3 and IEC 13849 You must monitor testing with a separate mechanism to ensure that the test is started at a suitable interval Activate the 5 StartHeset and 5 AutoReset inputs only when you can ensure that no hazardous state will occur as the result of starting the Safety CPU Unit Test Mode 1 When the StartTest input changes to TRUE the 5 TestOut output is set to FALSE and the inter nal monitor is started 2 The S TestOut signal stops light emission Monitoring for the first TestTime starts 3 S OSSD changes to FALSE Monitoring for the second TestTime starts 4 5 TestOut changes to TRUE 5 Light emission from the emitter starts 6 7 8 Josues Aejese qeise 4S The S OSSD sensor input changes to TRUE The monitoring time is stopped S OSSD Outis set to TRUE during the test e Startup Control Options Control starts after the FB is activated Control starts after a protective device interrupt NX series Safety Control Unit Instructions Reference Manual Z931 4 113 4 Safety Function Blocks State Transition Diagram Idle 0000 NOT Activate Activate Ready FALSE Ready TRUE Reset AND NOT TestTime gt 150ms R_TRIG at Reset Reset AND NOT Reset R
170. ermany The SD and SDHC logos are trademarks of SD 3C LLC Pu 22 Other company names and product names in this document are the trademarks or registered trademarks of their respective companies Introduction Introduction Thank you for purchasing Machine Automation Controller NX series Safety Control Units This manual contains information that is necessary to use the NX series Safety Control Units Please read this manual and make sure you understand the functionality and performance of the NX series Safety Control Units before you attempt to use them in a control system Keep this manual in a safe place where it will be available for reference during operation Intended Audience This manual is intended for the following personnel who must also have knowledge of electrical sys tems an electrical engineer or the equivalent Personnel in charge of introducing FA systems Personnel in charge of designing FA systems Personnel in charge of installing and maintaining FA systems Personnel in charge of managing FA systems and facilities Personnel with the qualifications authority and responsibility for providing safety at each phase of the lifecycle of the machine design installation operation maintenance and disposal Personnel with a knowledge of functional safety For programming this manual is intended for personnel who understand the programming language specifications in international standard IEC 6
171. et waa 3S 5 9 5 N S_EDM_Out TRUE Enable 8000 Note Transitions to the Idle state from any other state are not shown for when Activate changes to FALSE How ever the transition to the Idle state has the highest priority 0 NX series Safety Control Unit Instructions Reference Manual Z931 4 Safety Function Blocks Timing Charts S StartReset FALSE Activate S_OutControl S_EDM1 S_EDM2 MonitoringTimer S StartReset Reset Ready S EDM Out Error DiagCode 0000 8001 8010 8010 8000 8000 8010 8010 8000 C091 C090 8010 S StartReset TRUE Activate S OutControl EDM1 EDM2 MonitoringTimer S StartReset Reset Ready S EDM Out Error DiagCode 0000 8010 8010 8000 8000 8010 8010 8000 C090 8010 C060 8010 0000 4 18 NX series Safety Control Unit Instructions Reference Manual Z931 Instruction Execution Errors Error Detected The following conditions force a transition to an error state An invalid process always TRUE Reset signal An invalid process EDM signal Programming error that results in incorrect interconnections between S OutControl and Reset Operation for Errors 4 Safety Function Blocks If an error occurs 5 EDM Out changes to FALSE and the safe state is maintained Error changes to TRUE and DiagCode shows the error state You must change Reset to TRUE to reset EDM error messages
172. ety Control Unit Instructions Reference Manual Z931 4 1 4 Safety Function Blocks General Rules for Safety Func tion Blocks This section gives the general rules for safety function blocks Safety function block is abbreviated as safety FB and function block is abbreviated as FB Rules That Are Specific to Safety FBs Item Rule Default signal The default for all SAFEBOOL signals is FALSE i e the safe state Signal levels The values of SAFEBOOL variables have the following meanings FALSE Indicates the safe state for a system output TRUE Indicates that operation is correct in terms of system safety e g that correct opera tion is possible These definitions reflect the functionality in an IEC 61131 standard For example if an error occurs all outputs change to FALSE as defined in the default signal rule Outputs All outputs are refreshed each safety task period Omitting I O parameters You can omit parameters Defaults are applied for any omitted parameters However these defaults will not lead to a non safe state for the system under any circum stances Defaults are defined for attributes i e for variables or constants and for FBs Start processing Outputs are initially set to the default values Outputs are enabled after the first FB call Error handling and diagno sis All safety FBs have two error related outputs Error and DiagCode Safety
173. ety FB This section describes how to interpret state transition diagrams 0 NOT Activate NOT Activate NOT Activate Activate Ready FALSE Ready TRUE R_TRIG at Reset On all errors On all efrors ALL states NOT Activate 0 of Operational On all rrors Mode with S Out FALSE 8xxx S Out FALSE 5 Out TRUE ALL states 0 of Operational Mode with S_Out TRUE 8000 The above diagram outlines the state transitions that apply to all safety FBs Transitions that have specific meanings for some FBs are not given here They are described individually for the applicable FBs This diagram is separated into three parts In the top part the FB is not operating and is in the safe state i e safety outputs are FALSE In the middle part the FB is operating and is in the safe state i e safety outputs are FALSE In the bottom part the FB is operating normally i e safety outputs are TRUE The dotted line at the top of the state transition diagram indicates transitions from not active to active The dotted line at the bottom of the diagram indicates transitions from the safe state to the normal state of the FB The priority of parallel transitions are shown with numbers The highest priority is 0 The circles that indicate the states give the status name and the hexadecimal value of DiagCode OR AND and XOR are used as logical operators and NOT is used as the logical negator to indicate status NX series Safety
174. for Correct Use Precautions for Correct Use Refer to the following manual for precautions for the correct use of the Safety Control Unit NX series Safety Control Unit User s Manual Cat 7930 NX series Safety Control Unit Instructions Reference Manual 7931 15 Regulations and Standards Regulations and Standards The NX series Safety Control Units are certified for the following standards Certification body Standards T V Rheinland EN 62061 2005 EN 61000 6 2 2005 EN 61000 6 4 2007 NFPA 79 2012 ANSI RIA 15 06 1999 ANSI B11 19 2010 EN ISO 13849 1 2008 AC 2009 EN ISO 13849 2 2012 EC 61508 parts 1 7 2010 EN 61131 2 2007 EN ISO 13850 2008 UL1998 EN 60204 1 2006 1 2009 AC 2010 IEC 61326 3 1 2008 UL 1 cULus Listed 01508 and ANSI ISA 12 12 01 Certification was received for applications in which OMRON FSoE devices are connected to each other The NX series Safety Control Units allow you to build a safety control system that meets the following standards Requirements for SIL 3 Safety Integrity Level 3 in IEC 61508 EN 62061 Functional Safety of Electrical Electronic Programmable Electronic Safety related Systems Requirements for PLe Performance Level e and for safety category 4 in EN ISO13849 1 The NX series Safety Control Units are also registered for C Tick and KC compliance Conformance to EC Directives Applicable Directives EMC Dire
175. iable for the output terminal set safety data type variables for all of the input terminals f you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal NX series Safety Control Unit Instructions Reference Manual Z931 2 61 suononuisu yen IAN 2 Standard Functions DIV This function divides integers or a duration Instruction FB FUN Graphic expression _ Variables Name yo Description Valid range Default Int Dividend Input Dividend Depends on data type In2 Divisor Input Divisor Depends on data type Out Output value Output Output value Depends on data type If you omit an input or output parameter a building error will occur An error will not occur if the output terminal is not used or if it is connected to an input terminal on the next instruction Boolean Bit strings Integers Durations o o o z o o o 5 gt gt 5 gt gt 5 gt gt o T T D T T T T m T m m m m m m m m D Solo 2 2 4 2 3 5 lt j 2 P 5 o Int OK OK OK OK OK OK In2 OK OK OK OK Out OK OK OK OK OK OK Function This function divides dividend 1 by divisor n2 and outputs the result to output value Out Any remainder is truncated Additional Information You cannot include more than one
176. if it is connected to an input terminal on the next instruction Boolean Bit strings Integers Durations w o gt eo o e gt lt gt 5 gt gt gt gt Zla Slm Omm m w 00 2 9g e E o z 2 8 In1 to InN OK OK OK OK OK OK Out OK OK OK OK OK OK Function This function adds integers or durations and outputs the result to output value Out An overflow occurs if the sum of n7 to InN exceeds the valid range of the data type of the addition result If an overflow occurs the data types of n7 to InN the data type of the addition result and the value of the addition result will be as shown in the following table I O data types Value of addition results Integers Of the sum of n1 to InN the addition result will be the value that be expressed by the number of bits in the data type of the addition result 172 Durations Of the sum of n1 to InN the addition result will be the value that can be expressed with DWORD data 3 1 For example if the value of n7 is INT 32767 and the value of n2 is INT 3 the addition result will be 32770 If an INT variable is set for the output the value of the addition result will be the value that can be expressed with lower 16 bits of the sum 32 770 i e 32 766 If a DINT variable is set for the output the addition result is DINT 32770 2 If the re
177. imultaneously reset muting or when MS 11 and MS 12 are consecutively reset Timer for MaxMuting Time stopped NOT MS 11 OR NOT MS 12 Illegal Muting Sequences State 8000 TRIG at MS 11 AND MS 12 AND NOT TRIG at MS 12 OR TRIG at MS 12 AND MS 11 AND NOT R TRIG at MS 11 OR MS 11 AND NOT R TRIG at MS 11 AND MS 12 AND NOT R_TRIG at MS 12 OR NOT MutingEnable AND R_TRIG at MS 11 OR NOT MutingEn z able AND R_TRIG at MS_12 S State 8011 NOT MutingEnable OR NOT MS 11 E State 8311 NOT MutingEnable OR NOT MS 12 State 8012 All possible transitions allowed 2 NX series Safety Control Unit Instructions Reference Manual 7931 4 85 4 Safety Function Blocks fl Timing Charts Activate S AOPD In 5 MutingSwitch11 S MutingSwitch12 S AOPD Out S MutingActive Error DiagCode 10000 800018000 8011 8012 8012 8000 8000 8000 8000 8000 8000 8000 8000 S StartReset TRUE Reset FALSE and S MutingLamp TRUE Instruction Execution Errors Error Detected The FB detects the following errors DiscTimeEntry is set to less than T 0s or more than T 4s MaxMutingTime is set to less than 05 or more than T 10min The discrepancy time for the sensor pair S_MutingSwitch11 and S MutingSwitch12 exceeded the set value e Muting S MutingActive TRUE exceeded MaxMuting Time maximum muting time The muting sensors S_MutingSwitch11 and S MutingSwitch12 operated in an incorrect orde
178. is received Instruction Name FB FUN Graphic expression SF_CTD Down counter FB Variables i Input Variables o g Variable Name Data type Valid range Default Description CD Counter input BOOL TRUE or FALSE FALSE Counter input LOAD Load signal BOOL TRUE or FALSE FALSE TRUE Set CV to PV PV Preset value SAFEINT 0 to 32767 0 Counter preset value Output Variables C Name Datatype Validrange Defau Variable Description Q Counter output SAFEBOOL TRUE or FALSE TRUE CVis 0 or lower FALSE CVis 1 or higher CV Counter value SAFEINT 0 to 32767 0 Counter present value Function The SF_CTD instruction creates a down counter The preset value and counter value must have a SAFEINT data type When load signal Load changes to TRUE counter value CV is set to the value of preset value PV and counter output Q changes to FALSE When counter input signal CD changes to TRUE CV is decremented When the value of CV reaches 0 or less the value of Q changes to TRUE After the value of CV reaches 0 or less CV does not change even if CD changes to TRUE CDis ignored while Load is TRUE CV is not decremented NX series Safety Control Unit Instructions Reference Manual Z931 3 3 3 Safety Standard Function Blocks The following figure shows a programming example and timing chart for a PV of INT 5 SF CID instance SF CTD CD LOAD TRUE CDSA FALSE TRUE Lo
179. is safety data or standard data If the condition is not met a building error will occur f you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well f you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal NX series Safety Control Unit Instructions Reference Manual Z931 2 17 suononijsu ed eea OL SLAG 2 Standard Functions WORD TO INT This function converts a WORD variable to an INT variable Instruction FB FUN Graphic expression WORD TO INT ed WORD m WORD TO INT Variables Name V6 Description Validrange Default Data to con Input Data to con WORD 16 0000 to FFFF WORD 16 0000 vert vert Out Conversion Output Conversion INT 32768 to 32767 INT 0 result result If you omit an input or output parameter a building error will occur Boolean Bit strings Integers Durations o w eo o z o o gt lt gt 5 gt gt 2 gt gt T d T X3 T o T s r m m m m m m m m S 2 g e 5 3 z 5 g In OK OK Out OK OK Function This function converts WORD data n to INT data Out Example When Value of Out Is Positive INT 0 to INT 32767 The value of Outis INT 0
180. it for Reset 1 was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S_OSSD_Out FALSE S TestOut TRUE TestPossible FALSE TestExecuted FALSE Error TRUE NX series Safety Control Unit Instructions Reference Manual 2931 4 Safety Function Blocks DiagCode hexadecimal Status name Status description and output results C003 Reset Error 3 When state C010 Test Error 1 was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S_OSSD_Out FALSE S TestOut TRUE TestPossible FALSE TestExecuted FALSE Error TRUE C004 Reset Error 4 When state C020 Test Error 2 was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S_OSSD_Out FALSE S TestOut TRUE TestPossible FALSE TestExecuted FALSE Error TRUE C005 Reset Error 5 When state 8006 End External Test was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S_OSSD_Out FALSE S TestOut TRUE TestPossible FALSE TestExecuted FALSE Error TRUE C006 Reset Error 6 When state 000 Parameter Error was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S_OSSD_Out FALSE S TestOut TRUE TestPossible FALSE TestExecuted FALSE Error TRUE C007 Reset Error 7 When state 8013 Wait for Reset 2 was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S
181. iting for Reset to change to TRUE after state 8002 Ready TRUE S_OSSD_Out FALSE S TestOut TRUE TestPossible FALSE TestExecuted FALSE Error FALSE 4 118 NX series Safety Control Unit Instructions Reference Manual 2931 4 Safety Function Blocks DiagCode hexadecimal Status name Status description and output results 8004 External Function Test The automatic sensor test failed An external manual sensor test is required The FB started support for the required external manual sensor test NoExternalTest FALSE The sensor signal must be made FALSE Ready TRUE S_OSSD_Out FALSE S TestOut TRUE TestPossible FALSE TestExecuted FALSE Error FALSE 8005 ESPE Interrupted The automatic sensor test failed An external manual sensor test is External Test required The FB started support for the required external manual sensor test NoExternalTest FALSE The sensor signal must be TRUE Ready TRUE S_OSSD_Out FALSE S TestOut TRUE TestPossible FALSE TestExecuted FALSE Error FALSE 8006 End External Test The automatic sensor test failed An external manual sensor test is required The FB started support for the required external manual sensor test NoExternalTest FALSE The external manual test was completed The FB detected the completion of the sensor switching cycle external control Ready TRUE S_OSSD_Out FALSE S TestOut TRUE TestPossible FALSE TestExecuted FALSE Er
182. l together with the NJ series CPU Unit Hardware User s an NJ series CPU Manual Cat No W500 and NJ series CPU Unit Software Unit User s Manual Cat No W501 NJ series Trouble W503 NJ501 Learning about the Concepts on managing errors that may be detected in an shooting Manual NJ301 errors that may be NJ series Controller and information on individual errors detected in an are described Use this manual together with the NJ series NJ series Controller CPU Unit Hardware User s Manual Cat No W500 and NJ series CPU Unit Software User s Manual Cat No W501 Sysmac Studio Ver W504 SYSMAC Learning about the Describes the operating procedures of the Sysmac Studio sion 1 Operation Man SE2 operating procedures ual and functions of the Sysmac Studio 22 NX series Safety Control Unit Instructions Reference Manual Z931 Terminology Terminology Refer to the NX series Safety Control Unit User s Manual Cat No 7930 for the definitions of terms that are used in this manual NX series Safety Control Unit Instructions Reference Manual 7931 23 Revision History Revision History A manual revision code appears as a suffix to the catalog number at the bottom left of the front and back covers of the manual Cat 2931 61 02 LI Revision code Revision code Date Revised content 01 June 2013 Original production 02 September 2013 Corrected mistakes 24 NX series Safety Con
183. lding error will occur T Oms Boolean Bit strings Integers Durations o eo o o z o eo gt lt gt 5 gt gt 2 gt gt T 2 T o T s r m m m m m m m m m S we z g e 5 3 z 5 E In OK OK Out OK OK Function This function converts TIME data n to BOOL data Out If the value of n is 0 ms T 0ms the value of Out is FALSE If the value of n is 1 ms T 1ms to 49 days 17 h 2 min 47 295 ms T 49d17h2m47s295ms i e not T 0ms the value of Outis TRUE Additional Information To convert BOOL data to TIME data refer to BOOL TO TIME Precautions for Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur f you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well f you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal 2 44 NX series Safety Control Unit Instructions Reference Manual Z931 2 Standard Functions BYTE This function converts a TIME variable to a BYTE variable Instruction Graphic expression TIME TO BYTE NEM TIME to TIME TO BYTE BYTE Variables Default Name
184. le Output vari able Ready BOOL TRUE or FALSE The ready flag FALSE FALSE Indicates that the FB is not active and the pro gram is not executed This is useful in DEBUG Mode or to activate deactivate additional FBs as well as for further processing in the functional program TRUE Indicates that the FB is operating and that the output results have been stored Data type Valid range Default Description This variable is used for debugging or for further pro cessing in the user program Error BOOL TRUE or FALSE The error flag FALSE FALSE Indicates that no error has occurred The state is given by DiagCode TRUE Indicates that an error has occurred The error state is given by DiagCode DiagCode WORD Depends on 16 0000 Diagnostic information FB state code All status active non active and error for the FB is stored in this variable The information is given as a hexadecimal number Only one code is given each time If more than one error has occurred the information for the first error that is detected is output to DiagCode Refer to Diagnostic Codes on page 4 4 below for details This variable is used for debugging or for fur ther processing in the user program Diagnostic Codes All FBs output unique diagnostic information to DiagCode If an error does not occur DiagCode gives the internal state of the FB Errors are given in hexadecimal You can get detailed information on internal an
185. le to a DINT variable Instruction FB FUN Graphic expression BOOL_TO_DINT BOOL to BOOL DINT Variables Default Name VO Description Validrange Data to con Input Data to con TRUE or FALSE vert vert Out Conversion Output Conversion DINT 0 or DINT 1 DINT 0 result result If you omit an input or output parameter a building error will occur FALSE Boolean Bit strings Integers Durations o eo o z o o gt lt gt 5 gt gt gt gt T 4 T 5 T T T 5 r m m m m m m m m w Uu Cz g 9 z fe 5 2 8 In OK OK Out OK OK Function This function converts BOOL data n to DINT data Out If the value of In is FALSE the value of Out is DINT O If the value of n is TRUE the value of Outis DINT 1 Additional Information To check for DINT data refer to DINT TO BOOL Precautions for Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur If you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal NX series Safety Control U
186. lid range Default Data to con Input Data to con WORD 16 0000 to FFFF WORD 16 0000 vert vert Out Conversion Output Conversion DINT 0 to 65535 DINT 0 result result If you omit an input or output parameter a building error will occur Boolean Bit strings Integers Durations o w eo o gt e eo 3 8 5 8 E 5 m m m 2 m m m a m m m 83 9 2 9 e 5 3 z 8 g In OK OK Out OK OK Function This function converts WORD data n to DINT data Out Example for the Range of WORD Data WORD 16 0000 to WORD 16 FFFF The value of Outis DINT 0 to DINT 65535 Additional Information To convert DINT data to WORD data refer to DINT TO WORD Precautions for Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur f you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well f you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal 2 20 NX series Safety Control Unit Instructions Reference Manual Z931 2 Standard Functions DWORD TO DINT This function converts a DWORD variable to a DINT variable Instruction FB FUN Graphic e
187. lled and maintained and not subject to contamination abuse misuse or inappropriate modification Return of any Products by Buyer must be approved in writing by Omron before shipment Omron Companies shall not be liable for the suitability or unsuitability or the results from the use of Products in combi nation with any electrical or electronic components circuits system assemblies or any other materi als or substances or environments Any advice recommendations or information given orally or in writing are not to be construed as an amendment or addition to the above warranty See http www omron com global or contact your Omron representative for published information Limitation on Liability Etc OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CON SEQUENTIAL DAMAGES LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED IN CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY Further in no event shall liability of Omron Companies exceed the individual price of the Product on which liability is asserted NX series Safety Control Unit Instructions Reference Manual 7931 Terms and Conditions Agreement Application Considerations i Suitability of Use Omron Companies shall not be responsible for conformity with any standards codes or regulations which apply to the combination of the Product in the Buyer s application or use of the Product
188. must both be changed to TRUE to close the safety guard This FB monitors the symmetry of the switching operation of both switches The S_GuardMonitoring output remains FALSE if only one of the inputs completes the open or close process The operation of the S_GuardMonitoring output depends on the time difference between the switch inputs If the input values from S GuardSwitch1 and S_GuardSwitch2 are different monitoring the discrepancy time is started immediately If the inputs are still different after the discrepancy time expires the 5 GuardMonitoring output remains FALSE If both of the corresponding inputs S GuardSwitch1 and 5 GuardSwitch2 change to TRUE within the time specified by the Discrep ancy Time input the 5 GuardMonitoring output is set to TRUE after the confirmation response Activate the S StartHeset and S_AutoReset inputs only when you can ensure that no hazardous state will occur as the result of starting the Safety CPU Unit A FB error will occur if the same variable is assigned to the input and the discrepancy time is set to 0 NX series Safety Control Unit Instructions Reference Manual Z931 4 Safety Function Blocks State Transition Diagram NOT Activate Idle a 0000 9 Activate Ready FALSE Ready TRUE S GuardSwitch1 AND Ego A AND NOT S_GuafdSwitch1 OR 22 E N NOT S_GuardSwitch2 GuardSwitcl NOT S StartReset by Hut Open Guard Request 8002 NOT S Gua idSwitch1 AND NOT S_GuardSwitch2 NOT
189. n Ready BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 S EStopOut SAFEBOOL TRUE or FALSE FALSE The safety function enable signal FALSE Disables the safety output The safety function is operating Example An emergency stop button was pressed there was a reset request or a valid internal error occurred TRUE Enables the safety output The safety function is not operating Example An emergency stop button was not pressed or no valid internal error occurred Error BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 DiagCode WORD Depends on 1640000 Refer to Safety FB Common Output Variables on page 4 4 state code NX series Safety Control Unit Instructions Reference Manual Z931 doisKoueBjeur3 4S 4 Safety Function Blocks H Precautions for Correct Use You must satisfy the following requirements which are defined in ISO 13850 EN 418 After activation of an actuator an emergency stop device must operate to avoid or reduce any hazard by the best possible means The emergency stop command must disable all other commands Areset operation for any control device must be possible as the result of a manual operation on the control device itself The machine must not restart until all activated control devices are reset manually individually and intentionally Function When the 5 EStopln input is set to FALSE 5 EStopOut immedia
190. n INT variable to P 2 41 to DINT a DINT variable NX series Safety Control Unit Instructions Reference Manual Z931 Data type conversion Type 2 Standard Functions Instruction Name Description Page Integer to DINT_TO_TIME Convert Converts a DINT variable to P 2 42 duration DINT to a TIME variable TIME INT_TO_TIME Convert INT Converts an INT variable to 2 43 to TIME a TIME variable Duration to TIME TO BOOL Convert Converts a TIME variable to P 2 44 Boolean TIME to a BOOL variable BOOL Duration to bit TIME TO BYTE Convert Converts a TIME variable to P 2 45 string TIME to a BYTE variable BYTE TIME TO DWORD Convert Converts a TIME variable to P 2 46 TIME to a DWORD variable DWORD TIME TO WORD Convert Converts a TIME variable to P 2 47 TIME to a WORD variable WORD Duration to TIME_TO_DINT Convert Converts a TIME variable to P 2 48 integer TIME to a DINT variable DINT TIME_TO_INT Convert Converts a TIME variable to P 2 49 TIME to INT an INT variable Bit string to WORD_TO_BOOL Convert Converts WORD variable P 2 50 Boolean WORD to to a BOOL variable BOOL NX series Safety Control Unit Instructions Reference Manual 7931 2 11 suononijsu ed eea 2 Standard Functions BOOL TO INT This function converts a BOOL variable to an INT variable Instruction FB FUN Graphic expression BOOL TO INT BOOL to BOOL TO
191. n PT after the timer starts FALSE ET reached PT ET Elapsed time TIME Depends on data 0 Elapsed time since timer started type 3 14 NX series Safety Control Unit Instructions Reference Manual Z931 3 Safety Standard Function Blocks Function This FB outputs FALSE when the set time elapses after the timer starts The time is set in millisec onds The timer starts when timer input N changes to FALSE Elapsed time ET is incremented as time elapses When ET reaches set time P7 timer output Q changes to FALSE ET is not incremented after that The timer is reset when N changes to TRUE ET changes to 0 and Q changes to TRUE If the timer is started and then N changes to FALSE before ET reaches PT the timer is reset The following figure shows a programming example and timing chart for a PT of T 10ms Variable abc will change to FALSE 10 ms after variable A changes to FALSE SF TOF instance SF TOF PT ETF def JOL As PT T 10ms In A Q abc Additional Information Use the SF TP instruction for a timer that changes the timer output to TRUE when timing starts and then changes the timer output to FALSE when the set time is reached e Use the SF TON instruction for a timer that starts when JN changes to TRUE and then changes the timer output to TRUE when the elapsed time reaches the set time NX series Safety Control Unit Instructions Reference Manual Z931 3 15 3 Safety Standard F
192. n whether the output is safety data or standard data If the condition is not met a building error will occur If you set a safety data type variable for the output terminal set a safety data type variable for the two input terminals as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal NX series Safety Control Unit Instructions Reference Manual Z931 2 69 2 Standard Functions NX series Safety Control Unit Instructions Reference Manual 7931 Other Standard Instructions Name Description Bit Selection Selects one of two selec tions MUX Multiplexer Selects one of multiple P 2 74 selections Others P 2 72 NX series Safety Control Unit Instructions Reference Manual Z931 2 71 2 Standard Functions SEL This function selects one of two selections Instruction Name FB FUN Graphic expression SEL Bit Selection FUN SEL G INO 1 Variables Name yo Description Valid range Default G Gate Input FALSE Depends on data type FALSE Selects 0 TRUE Selects n1 InO or In1 Selections Selections IR Out Selection Output Selection Depends on data type result result If you omit an input or output parameter a building error will occur An error will not occur if the output terminal is not u
193. ndard data If the condition is not met a building error will occur If you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well If you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal 2 16 NX series Safety Control Unit Instructions Reference Manual Z931 2 Standard Functions BYTE TO DINT This function converts a BYTE variable to a DINT variable Instruction FB FUN Graphic expression BYTE_TO_DINT Caner TES BYTE to BYTE TO DINT Variables Default Name vO Description Valid range In Data to con Input Data to con BYTE 16 00 to FF BYTE 16 00 vert vert Out Conversion Output Conversion DINT 0 to 255 DINT 0 result result If you omit an input or output parameter a building error will occur Boolean Bit strings Integers Durations 0 gt o o gt lt gt 5 gt gt 5 gt gt T 4 T 5 T T T 5 r m m m m m m m m w Uu Cz g 9 z fe 5 2 8 5 In OK OK Out OK OK Function This function converts BYTE data n to DINT data Out Additional Information To convert DINT data to BYTE data refer to DINT TO BYTE Precautions for Correct Use The input condition depends on whether the output
194. nit Instructions Reference Manual 7931 2 13 suononijsu ed eea OL 1008 2 Standard Functions BOOL TO TIME This function converts a BOOL variable to a TIME variable Instruction FB FUN Graphic expression BOOL TO TIME BOOL to BOOL TO TIME Variables Default Name V6 Description Valid range Data to con Input Data to con TRUE or FALSE vert vert Out Conversion Output Duration T 0ms or T 1ms T 0ms result If you omit an input or output parameter a building error will occur FALSE Boolean Bit strings Integers Durations o eo o o z o eo gt lt gt 5 gt gt 2 gt gt T 2 T o T s r m m m m m m m m m S we z g e 5 3 z gt 5 g In OK OK Out OK OK Function This function converts BOOL data n to TIME data Out If the value of n is FALSE the value of Out is 0 ms T 0ms If the value of In is TRUE the value of Out is 1 ms T 1ms Additional Information To check for TIME data refer to TIME TO BOOL Precautions for Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur f you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well f you set a standar
195. nstructions Reference Manual Z931 4 99 4 Safety Function Blocks Output Variables Variable Data type Valid range Default Description Ready BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 S OutControl SAFEBOOL TRUE or FALSE FALSE Controls the connected actuator FALSE Disables the connected actuator TRUE Enables the connected actuator Error BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 DiagCode WORD Depends on state 1640000 Refer to Safety FB Common Output Variables on page code 4 4 Function e Introduction This FB is an output drive device for a safety output The safety output is controlled through 5 OutControl using a signal from the function application ProcessControl BOOL to control the process and a signal from the safety application 5 SafeControl SAFEBOOL to control the safety function Process Control Option Status StaticControl Activate the StaticControl S StartHeset and 5 AutoReset inputs only when you can ensure that no If StaticControl is FALSE the function must be started again by changing ProcessControl to TRUE after the FB starts or after the safety signal S SafeControl feedback An always TRUE signal for ProcessControl will not set 5 OutControl to TRUE If StaticControl is TRUE itis not necessary to start the function again by changing ProcessControl to TRUE after the FB starts or af
196. ntrol Error DiagCode 10000 1 010 8010 8000 8002 8003 010 18010 8002 8003 8010 8000 4 102 NX series Safety Control Unit Instructions Reference Manual Z931 4 Safety Function Blocks Instruction Execution Errors Error Detected The following conditions force a transition to an error state An invalid process always TRUE Reset signal An invalid always TRUE ProcessControl signal Programming error that results in incorrect interconnections between ProcessControl and Reset Operation for Errors If an error occurs the 5 OutControl output changes to FALSE and the safe state is maintained To leave the Reset Init or Lock error states you must set the Reset input to FALSE To leave the Control Error state you must set the ProcessControl input to FALSE After S SafeControl changes to TRUE you can change the Reset input to TRUE to reset the optional startup inhibit Or after the FB is started you can change the Heset input to TRUE to reset the optional startup inhibit FB specific Error Codes DiagCode hexadecimal Status name Status description and output results C001 Reset Error 1 When the Init state was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S OutControl FALSE Error TRUE C002 Reset Error 2 When the Lock state was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S OutControl FALSE
197. nverts a TIME variable to a DWORD variable Instruction eee Graphic expression TIME TO DWORD E TIME to TIME TO DWORD DWORD Variables Default Name VO Description Valid range Data to con Input Duration T 0ms to vert T 49d17h2m47s295ms Out Conversion Output Conversion DWORD 16 00000000 DWORD 16 00000000 result result to FFFFFFFF If you omit an input or output parameter a building error will occur T Oms Boolean Bit strings Integers Durations o w eo o z o gt lt gt 5 gt gt 2 gt gt T 2 T o T s r m m m m m m m m we 2 g e 5 3 z 5 g In OK OK Out OK OK Function This function converts TIME data n to DWORD data Out Example When Value of n Is 49 days 17 h 2 min 47 s 295 ms T 49d17h2m47s295ms The value of Out will be DWORD 1 6 FFFFFFFF Additional Information To convert DWORD data to TIME data refer to DWORD TO TIME Precautions for Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur f you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well f you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data typ
198. o O Tn nally In general this arrangement of reflec gt tion light barriers as muting sensors requires L1 E only two light barriers and only Madla Receiver S MutingSwitch11 MS_11 and S MutingSwitch12 5 12 are allocated dS Bunny 205 52 Jed NX series Safety Control Unit Instructions Reference Manual 7931 4 83 4 Safety Function Blocks State Transition Diagram Idle NOT Activate 0000 0 9 Activate Time parameters out of range NOT Reset Reset AND NOT R_TRIG at Reset AND NOT S StartReset Parameter Error C005 3 Time parameters within range AND R TRIG at Reset NOT Reset R TRIG at Reset S AOPD In OR S StartReset R TRIG at Reset Safety NOT Demand 9 S AOPD In AOPD 1 NOT 8002 2 S OPD_In S_MutingLamp Error Muting lamp C003 S MutirgLamp NOT S Mutingllamp S In not in state Wrong M ting Sequence Mu 7 condition 1 condition 2 Muting condition 5 Muting condition 6 5 condition 4 Muting condition 3 Muting Active 8012 S Mutingtfamp MS 11 gt MutingSwitch11 MS 12 gt MutingSwitch12 Ready FALSE Ready TRUE Reset Error 2 C002 Reset AND NOT R TRIG at Reset NOT MS 11 OR MS 12 NOT MS 11 OR 1 MS 12 Error Muting sequence Out TRUE Wro g Muting sequence Timerjexpired Note 1 Transitions to the Idle state from any other sta
199. o WORD 2 26 Convert DINT to _ 2 29 Convert DINT to BYTE 2 31 Convert DINT to DWORD 2 32 Convert DINT to INT u ceccccccessecceeessseeeeeeessseeeeeeeeees 2 40 Convert DINT to 2 42 Convert DINT to WORD 2 2 34 Convert DWORD to 2 21 Convert DWORD to TIME 2 25 Convert INT to 2 30 Convert INT to 2 35 Convert INT to 2 41 Convert INT to DWORD seen 2 36 Convert INT to TIME 2 43 Convert INT to 2 38 Convert TIME to BOOL 2 44 Convert TIME to 2 45 Convert TIME to 2 48 Convert TIME to 2 46 Convert 0 2 49 Convert TIME to WORD essen 2 47 Convert WORD to 2 50 Convert WORD to BYTE 2 27 Convert WORD to 2 20 Convert WORD to DWORD 2 28 1 2
200. o a DINT variable DINT DWORD TO DINT Convert Converts a DWORD vari P 2 21 DWORD to able to a DINT variable DINT Bit string to BYTE TO TIME Convert Converts a BYTE variable to P 2 23 duration BYTE to a TIME variable TIME WORD TO TIME Convert Converts a WORD variable P 2 24 WORD to to a TIME variable TIME DWORD TO TIME Convert Converts a DWORD vari P 2 25 DWORD to able to a TIME variable TIME Bit string to bit BYTE WORD Convert Converts a BYTE variable to P 2 26 string BYTE to a WORD variable WORD WORD TO BYTE Convert Converts a WORD variable P 2 27 WORD to to a BYTE variable BYTE WORD TO DWORD Convert Converts a WORD variable P 2 28 WORD to to a DWORD variable DWORD 2 2 NX series Safety Control Unit Instructions Reference Manual Z931 Data type conversion 2 Standard Functions Type Instruction Name Description Page Integer to DINT_TO_BOOL Convert Converts a DINT variable to 2 29 Boolean DINT to a BOOL variable BOOL INT_TO_BOOL Convert INT Converts an INT variable to P 2 30 to BOOL a BOOL variable Integer to bit DINT_TO_BYTE Convert Converts a DINT variable to 2 31 string DINT to a BYTE variable BYTE DINT_TO_DWORD Convert Converts a DINT variable to 2 32 DINT to a DWORD variable DWORD DINT_TO_WORD Convert Converts a DINT variable to 2 34 DINT to a WORD variable WORD INT_TO_BYTE Convert INT Conver
201. o the next instruction Use the ORN instruction for a NC bit con nected in parallel with the previous instruction Use the ORN instruction to configure a logical OR between an NC bit and one of the following a LD or LDN instruction connected directly to the bus bar or the logic block starting with a LD or LDN instruction and ending with the instruction immediately before the ORN instruction The following figure shows a programming example of the OR instruction It takes the logical OR of vari able A and variable B and outputs it to variable C LD instruction A instruction OR instruction M anua name NJ series Instructions Reference Manual W502 This page is for illustration only It may not literally appear in this manual Special Information Special information in this manual is classified as follows EN Additional Information References are provided to more detailed or related information L Version Information Information on differences in specifications and functionality for CPU Units and EtherCAT Cou pler Units with different unit versions and for different versions of the Sysmac Studio is given NX series Safety Control Unit Instructions Reference Manual Z931 Terms and Conditions Agreement Terms and Conditions Agreement Read and understand this Manual Please read and understand this catalog before purchasing the products Please consult your OMRON representative if you h
202. ol TRUE Error FALSE NX series Safety Control Unit Instructions Reference Manual 2931 4 Safety Function Blocks SF_SafetyRequest This safety FB makes requests for the safe state and monitors the safety state for an actuator e g a drive or valve that has a safety function Instruction SF_SafetyRequest Variables i Input Variables Name Safety Request FB FUN Graphic expression SF_SafetyRequest BOOL Activate Ready BOOL SAFEBOOL S_OpMode S_SafetyActive SAFEBOOL SAFEBOOL S_Acknowledge S SafetyRequest SAFEBOOL TIME MonitoringTime BOOL BOOL Reset WORD senbeu Alejes 4S Variable Data type Valid range Default Description Activate BOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 5 OpMode SAFEBOOL TRUE or FALSE FALSE A variable It is a request for the operation mode of the connected actuator FALSE Requests safe mode TRUE Requests an operation mode i e non safe state S Acknowledge SAFEBOOL TRUE or FALSE FALSE A variable It is the response from the connected actuator to confirm whether the actuator is in safe mode FALSE Operation mode i e non safe state TRUE Safe mode MonitoringTime TIME Depends on data 05 A constant It inputs the monitoring time from the safe type mode request i e from when S OpMode changed to FALSE until the actuator response i e when S Acknowledge changes to TRUE Reset BOOL TRUE or FALSE FA
203. operation safety request and restart doisKoueBjeur3 4S NX series Safety Control Unit Instructions Reference Manual Z931 4 27 4 Safety Function Blocks Instruction Execution Errors Error Detected This FB detects an undetected change to TRUE in the Reset input as an error Operation for Errors S EStopOut is set to FALSE If there is an undetected change to TRUE in the Reset input the DiagCode output gives the relevant error code and the Error output is set to TRUE To reset the error you must set Reset to FALSE FB specific Error Codes DiagCode hexadecimal Status name Status description and output results C001 Reset Error 1 When the Wait for Reset 1 state was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S EStopOut FALSE Error TRUE 002 Reset Error 2 When the Wait for Reset 2 state was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S EStopOut FALSE Error TRUE FB specific State Codes No Error DiagCode hexadecimal Status name Status description and output results 0000 Idle The FB is disabled default Ready FALSE S EStopOut FALSE Error FALSE 8001 Init The FB detected an activate signal and the FB is active See if the S_StartReset input is required Ready TRUE S EStopOut FALSE Error FALSE 8002 Wait for S EStopln 1
204. opln 2 8004 NOT S EStopln 5 EStopln AND NOT S AutoReset Wait for Reset 2 8005 Ready FALSE Ready TRUE Reset Error 2 C002 NOT Reset Reset AND NOT TRIG at Reset NOT S EStopln S E StopOut FALSE S E StopOut TRUE Note Transitions to the Idle state from any other state are not shown for when Activate changes to FALSE How ever the transition to the Idle state has the highest priority 0 NX series Safety Control Unit Instructions Reference Manual Z931 doisKoueBueur3 4S 4 Safety Function Blocks Timing Charts Inputs Start sequence i Normal operation with Reset Activate S EStopln Outputs i i Ready 5 EStopOut i DiagCodei 0000 S_StartReset FALSE and S_AutoReset FALSE Start reset normal operation safety request and restart Inputs Start sequence with S_StartReset Normal operation with Reset Activate S EStopln Reset Outputs i Ready i 5 EStopOut DiagCode 0000 8000 8000 S StartReset TRUE and 6 AutoReset FALSE Start normal operation safety request and restart 4 26 NX series Safety Control Unit Instructions Reference Manual 2931 4 Safety Function Blocks Inputs Start sequence Normal operation with S_AutoReset Activate i l S EStopln Outputsi Ready i S_EStopOut DiagCodei 0000 S StartReset FALSE and 5 AutoReset TRUE Start normal
205. ot shown for when Activate changes to FALSE However the transition to the Idle state has the highest priority 0 2 Astate transition to Error Muting sequence priority 1 Error Timer priority 2 Safety Demand AOPD priority 3 or Error Muting lamp priority 4 in the muting substates has higher priority than a state tran sition to muting substates with priority 5 NX series Safety Control Unit Instructions Reference Manual Z931 4 Safety Function Blocks Timing Charts SF_MutingSeg Instruction Timing Chart When S_StartReset TRUE Activate wem YT S AOPD In MutingSwitch1 1 MutingSwitch12 MutingSwitch21 MutingSwitch22 S MutingActive i S AOPD Out besDBunniN 4S DiagCode 0000 8000 8011 8012 8000 NX series Safety Control Unit Instructions Reference Manual 7931 4 95 4 Safety Function Blocks Instruction Execution Errors Error Detected The FB detects the following errors e MutingSwitch11 MutingSwitch12 MutingSwitch21 and MutingSwitch22 operated in an incorrect order A muting sequence started without being enabled by MutingEnable A muting lamp failure was indicated S_MutingLamp FALSE An undetected change to TRUE in the Reset input was detected in state 8001 or 8003 MaxMutingTime is set to less than T 0s or more than T 10min e Muting S MutingActive TRUE exceeded MaxMuting Time maximum muting time Operation for Errors When an error occ
206. pe 3 18 NX series Safety Control Unit Instructions Reference Manual Z931 3 Safety Standard Function Blocks Function This FB outputs TRUE during the set time after the timer starts The time is set in milliseconds The timer starts when timer input N changes to TRUE and timer output Q changes to TRUE Elapsed time ET is incremented as time elapses When ET reaches set time timer output Q changes to FALSE ET is not incremented after that The timer is reset when N changes to FALSE ET changes to 0 The timer is not reset even if N changes to FALSE after the timer starts but before ET reaches PT The following figure shows a programming example and timing chart for a PT of T 10ms Variable abc changes to TRUE as soon as variable A changes to TRUE Variable abc changes to FALSE 10 ms later SF TP instance SF TP IN PT ETF def di dS PT T 10ms Q abc ET def 4 4 Additional Information e Use the SF TON instruction for a timer that starts when N changes to TRUE and then changes the timer output to TRUE when the elapsed time reaches the set time Use the SF TOF instruction for a timer that starts when N changes to FALSE and then changes the timer output to FALSE when the elapsed time reaches the set time NX series Safety Control Unit Instructions Reference Manual Z931 3 19 3 Safety Standard Function Blocks NX series Safety Control Unit Instru
207. pe variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal NX series Safety Control Unit Instructions Reference Manual Z931 2 07 suomnonajsu uospedwog 2 Standard Functions LT LE GT and GE These instructions compare the sizes of two values LT Performs a less than comparison between two values LE Performs a less than or equal comparison between two values GT Performs a greater than comparison between two values GE Performs a greater than or equal comparison between two values Instruction Name FB FUN Graphic expression LT Less Than FUN i LE Less Than Or FUN LE GT Greater Than FUN 1 l GE Greater Than FUN GE Variables Default Name vO Description Valid range Ini or In2 Comparison Input Value to com Depends on data type data pare Out Comparison Output Comparison Depends on data type result result If you omit an input or output parameter a building error will occur An error will not occur if the output terminal is not used or if it is connected to an input terminal on the next instruction Boolean Bit strings Integers Durations 0 o eo z o o gt lt gt 5 gt gt 2 gt gt 4 m E a m m m m m m m m m m Sperre z 3 A z z 8 In1 or In2 OK OK OK OK OK OK Out OK OK
208. protected area TRUE Nothing entered the protected area MutingSwitch11 BOOL TRUE or FALSE FALSE A variable It is the status of muting sensor 11 FALSE Muting sensor 11 is not operating TRUE A workpiece activated muting sensor 11 MutingSwitch12 BOOL TRUE or FALSE FALSE A variable It is the status of muting sensor 12 FALSE Muting sensor 12 is not operating TRUE A workpiece activated muting sensor 12 MutingSwitch21 BOOL TRUE or FALSE FALSE A variable It is the status of muting sensor 21 FALSE Muting sensor 21 is not operating TRUE A workpiece activated muting sensor 21 MutingSwitch22 BOOL TRUE or FALSE FALSE A variable It is the status of muting sensor 22 FALSE Muting sensor 22 is not operating TRUE A workpiece activated muting sensor 22 S_MutingLamp SAFEBOOL TRUE or FALSE FALSE A constant or a variable It is the muting lamp status input e g filament broken status FALSE Muting lamp failure TRUE Muting lamp is normal MaxMutingTime TIME 05 to T 10min 05 constant It sets the maximum time until completion of the muting sequence The timer starts when the muting sensor first operates NX series Safety Control Unit Instructions Reference Manual 2931 4 Safety Function Blocks Variable Data type Valid range Default Description MutingEnable BOOL TRUE or FALSE FALSE A constant or a
209. put or output parameter a building error will occur Boolean Bit strings Integers Durations o eo o z o o gt lt gt 5 gt gt gt gt T 4 T 5 T T T 5 r m m m m m m m m w 9 8 9 gt fe 5 2 8 In OK OK Out OK OK Function This function converts WORD data n to BYTE data Out Additional Information To convert BYTE data to WORD data refer to BYTE TO WORD Precautions for Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur f you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well f you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal If the input value is not between WORD 16 0000 and WORD 16 00FF a cast error will occur and the program will stop NX series Safety Control Unit Instructions Reference Manual Z931 2 27 suononijsu ed eea 3l1A8 OL 2 Standard Functions WORD_TO DWORD This function converts a WORD variable to a DWORD variable Instruction Graphic expression WORD_TO_DWORD EE WORD WORD TO DWORD to DWORD Variables
210. put parameter a building error will occur Boolean Bit strings Integers Durations o w eo o z o o gt lt gt 5 gt gt 2 gt gt T 2 T o T s r m m m m m m m m oo EIE 2 g e 5 3 z 5 g In OK OK Out OK OK Function This function converts BYTE data n to WORD data Out Additional Information To convert WORD data to BYTE data refer to WORD TO BYTE Precautions for Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur f you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well f you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal 2 26 NX series Safety Control Unit Instructions Reference Manual Z931 2 Standard Functions WORD TO BYTE This function converts a WORD variable to a BYTE variable Instruction eR Graphic expression WORD_TO_BYTE NN ME WORD WORD TO BYTE to BYTE Variables Name vO Description Valid range Default Data to con Input Data to con WORD 16 0000 to OOFF WORD 16 0000 vert vert Out Conversion Output Conversion BYTE 16 00 to FF BYTE 16 00 result result If you omit an in
211. r A muting sequence started without being enabled by MutingEnable A muting sensor signal that is always TRUE was detected A muting lamp failure was indicated 5 MutingLamp FALSE An undetected change to TRUE in the Reset input was detected in the Init state or the Wait for Reset state Operation for Errors When an error occurs the S AOPD Out and S MutingActive outputs are set to FALSE The DiagCode output gives the relevant error code and the Error output is set to TRUE Operation is not restarted until the error is reset and the operator acknowledges the safe state with Reset FB specific Error Codes DiagCode hexadecimal Status name Status description and output results 001 Reset Error 1 When the Init state was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S_AOPD_Out FALSE S_MutingActive FALSE Error TRUE 4 86 NX series Safety Control Unit Instructions Reference Manual 7931 DiagCode hexadecimal C002 Status name Reset Error 2 4 Safety Function Blocks Status description and output results When the Wait for Reset state was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S AOPD Out FALSE S MutingActive FALSE Error TRUE C003 Error Muting lamp An error was detected in the muting lamp Ready TRUE S AOPD Out FALSE S MutingActive FALSE Error TRUE CYx4 Error Muting
212. r a safety data type variable or a standard data type variable for the input terminal suononijsu ed eea OL 1NI NX series Safety Control Unit Instructions Reference Manual Z931 2 39 2 Standard Functions DINT TO INT This function converts a DINT variable to an INT variable Instruction FB FUN Graphic expression DINT TO INT a DINT to al DINT Variables Default Name VO Description Validrange Data to con Input Data to con DINT 32768 to 32767 vert vert Out Conversion Output Conversion INT4 32768 to 32767 INT 0 result result If you omit an input or output parameter a building error will occur DINT 0 Boolean Bit strings Integers Durations o w eo o z o o gt lt gt 5 gt gt 2 gt gt T 2 T o T s r m m m m m m m m we 2 g e 5 3 z 5 g In OK OK Out OK OK Function This function converts DINT data n to INT data Out Additional Information To convert INT data to DINT data refer to INT TO DINT Precautions for Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur f you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well
213. rations o w eo o z o gt lt gt 5 gt gt 2 gt gt T d T X3 T o T s r m m m m m m m m we 2 g e 5 3 z 5 g In OK OK Out OK OK Function This function converts DINT data n to DWORD data Out Example When Value of n Is Positive DINT 0 to DINT 2147483647 The value of Outis DWORD 16 00000000 to DWORD 16 7FFFFFFF according to the value of In DINT 0 to DINT 2147483647 Example When Value of n Is Negative DINT 2147483648 to DINT 1 If the value of n is DINT 2147483648 1000 0000 0000 0000 0000 0000 0000 0000 binary the value of Out is DWORD 16 80000000 If the value of In is 1 1111 1111 1111 1111 1111 1111 1111 1111 binary the value of Out is DWORD 16 FFFFFFFF Additional Information To convert DWORD data to DINT data refer to DWORD_TO_DINT 2 32 NX series Safety Control Unit Instructions Reference Manual Z931 2 Standard Functions Precautions for Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur If you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well f you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal suononijsu
214. re that the machine or device in which the NX series Units are used complies with EC Directives the following precautions must be observed NX series Units must be installed within a metallic control cabinet You must meet the following conditions for the DC power supplies that are connected as the Unit power supplies and I O power supplies for the NX series Units a Use reinforced insulation or double insulation b Ensure an output hold time of 20 ms min c Use an SELV power supply that meets the requirements of IEC EN 60950 1 and EN 50178 Do not allow the power supply cable length to exceed 3 m We recommend that you use the OMRON S8JX series Power Supplies EMC standard compli ance was confirmed for the recommended Power Supplies NX series Units that comply with EC Directives also conform to the Common Emission Standard EN 61131 2 Radiated emission characteristics 10 m regulations may vary depending on the configuration of the control panel used other devices connected to the control panel wiring and other conditions You must therefore confirm that the overall machine or equipment in which the NX series Units are used complies with EC Directives This is a Class A product for industrial environments In a residential environment it may cause radio interference If radio interference occurs the user may be required to take appropriate mea sures Conformance to EN ISO 13849 1 and EN 62061 Intern
215. ror FALSE 8010 ESPE Free No Test S_OSSD_Inis set to TRUE the AOPD is receiving light A sensor test has not been performed Ready TRUE S_OSSD_Out TRUE S TestOut TRUE TestPossible TRUE TestExecuted FALSE Error FALSE 8020 Test Request An automatic sensor test is in progress The FB is waiting for the signal from the sensor to change to FALSE The time from when a test was requested from the sensor until the sensor signal changes to FALSE is being monitored Ready TRUE S_OSSD_Out TRUE S TestOut FALSE TestPossible FALSE TestExecuted FALSE Error FALSE Josuashljayeseiqeisel 4S Safety Control Unit Instructions Reference Manual Z931 4 119 4 Safety Function Blocks DiagCode hexadecimal 8030 Status name Test Active Status description and output results An automatic sensor test is in progress The FB is waiting for the signal from the sensor to change to FALSE The time from when a test was requested from the sensor until the sensor signal changes to TRUE is being monitored Ready TRUE S_OSSD_Out TRUE S TestOut TRUE TestPossible FALSE TestExecuted FALSE Error FALSE 8000 ESPE Free Test ok The FB did not detect a safety request The sensor was tested automatically Ready TRUE S_OSSD_Out TRUE S TestOut TRUE TestPossible TRUE TestExecuted TRUE Error FALSE 8012 ESPE Interrupted 2 The FB detected a safety request
216. rors Error Detected The following conditions force a transition to an error state The test time was exceeded without sensor feedback extension A test without sensor signal feedback Invalid always TRUE Reset signal during processing Plausibility check of the monitoring time setting Operation for Errors When an error occurs the S OSSD Out output is set to FALSE and the safe state is maintained When the error is removed the sensor turns ON S OSSD TRUE When the Reset input changes to TRUE FB error status is reset and the 5 OSSD Out output is set to TRUE If S AutoReset is FALSE a request to make it TRUE is made when the FB is reset After S OSSD In changes to TRUE you can reset the FB by making the Reset input TRUE After the FB starts you can reset the FB by making the Reset input TRUE FB specific Error Codes DiagCode hexadecimal Status name C000 Parameter Error Status description and output results The TestTime parameter is set to an invalid value The setting range is from 0 to 150 ms Ready TRUE S OSSD Out FALSE S TestOut TRUE TestPossible FALSE TestExecuted FALSE Error TRUE C001 Reset Error 1 When the FB is activated an undetected change to TRUE in the Reset input was detected Ready TRUE S_OSSD_Out FALSE S TestOut TRUE TestPossible FALSE TestExecuted FALSE Error FALSE C002 4 116 Reset Error 2 When state 8003 Wa
217. rs electro sensitive protective equipment ESPE The function is the same as that of the SF_EmergensyStop instruction As soon as the S ESPE ninput is set to FALSE the S ESPE Out output is set to FALSE If the 5 ESPE n input is set to TRUE and the function is reset the 5 ESPE Outoutput signal is set to TRUE Enabling the reset is determined by the defined S StartHeset S_AutoReset and Reset inputs If S AutoResetis TRUE the confirmation operation is performed automatically If S AutoReset is FALSE a change to TRUE in the Reset input must be made for enable confirma tion If S StartResetis TRUE the confirmation operation is performed automatically when the Safety CPU Unit first starts If S StartResetis FALSE a change to TRUE in the Reset input must be made for enable confirma tion Activate the 5 StartHeset and S_AutoReset inputs only when you can ensure that no hazardous state will occur as the result of starting the Safety CPU Unit ESPE must be selected for the category that is required according to product standards IEC EN 61496 1 IEC EN 61496 2 IEC EN 61496 3 and EN ISO13849 1 3999 JS NX series Safety Control Unit Instructions Reference Manual Z931 4 43 4 Safety Function Blocks State Transition Diagram NOT Activate Activate Ready FALSE Ready TRUE S ESPE In AND S StartReset S StartReset AND NOW S ESPE In NOT S StartReset Reset Error 1 Reset Error 2 C001 C002 Wait for S ESPE
218. rts WORD data n to TIME data Out Example When Value of 15 WORD 16 C549 The value of Outis 50 s 505 ms T 50s505ms Additional Information To convert TIME data to WORD data refer to TIME TO WORD Precautions for Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur f you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well f you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal 2 24 NX series Safety Control Unit Instructions Reference Manual Z931 2 Standard Functions DWORD TO TIME This function converts a DWORD variable to a TIME variable Instruction FB FUN Graphic expression DWORD TO TIME vet MORD DWORD DWORD TO TIME Variables Default DWORD 16 00000000 Name VO Description Validrange Data to con Input Data to con DWORD 16 00000000 vert vert to FFFFFFFF Out Conversion Output Duration T 0ms to T 0ms result T 49d17h2m47s295ms If you omit an input or output parameter a building error will occur Boolean Bit strings Integers Durations o eo o z o o gt lt gt 5 gt gt gt gt gt T 4 T 5
219. s Boolean operation instructions math instructions comparison instructions etc Safety standard function blocks These function block instructions use safety data They include counter instructions up down trigger instructions timer instructions etc Safety function blocks These function block instructions use safety data and are based on the safety standards defined by PLCopen They include an antivalent instruction emer gency stop instruction etc Instruction specifications are provided starting from section 2 14 Precautions for Correct Use Some of the instructions have the same names as the instructions that are supported by the NJ series CPU Units Operating specifications however are different 1 2 NX series Safety Control Unit Instructions Reference Manual Z931 1 Introduction to Instructions for Safety Control Units and Interpreting Instruction Descriptions 1 2 Interpreting Instruction Descriptions The notation that is used to describe instructions is explained in this section lt Z suonduoseg 1 2 1 Items The following items are provided The order of the items is not the same for all instructions If there are items that are specific to one type of instruction they are explained in the section for each instruction type Description Instruction The instruction word is given E o Name The name of the instruction is given FB FUN Whether
220. s state is entered Ready TRUE S EDM Out FALSE Error FALSE 8000 Output Enable EDM control is ON The timer starts when this state is entered Ready TRUE S_EDM_Out TRUE Error FALSE NX series Safety Control Unit Instructions Reference Manual 7931 4 Safety Function Blocks SF_EmergencyStop This safety FB monitors the input from an emergency stop button Instruction Name FB FUN Graphic expression SF_EmergencyStop Emergency FB SF_EmergencyStop Stop BOOL Activate BOOL SAFEBOOL S_EStopln SAFEBOOL SAFEBOOL S_StartReset BOOL SAFEBOOL S_AutoReset WORD BOOL Reset Variables Input Variables Variable Data type Valid range Default Description Activate BOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 S_EStopIn SAFEBOOL TRUE or FALSE FALSE A variable This is a safety request input FALSE There is a request for a safety function Exam ple An emergency stop button was pressed TRUE There is no request for a safety function Exam ple An emergency stop button was not pressed S_StartReset SAFEBOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 S_AutoReset SAFEBOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 Reset BOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 Output Variables Variable Data type Valid range Default Descriptio
221. sed or if it is connected to an input terminal on the next instruction Boolean Bit strings Integers Durations eo w g gt o e eo 3 5 5 E amp m m m m w Si 2 2 8 5 G OK OK 0 OK OK OK OK OK OK OK OK OK OK OK OK OK OK Out OK OK OK OK OK OK OK OK OK OK OK OK OK OK Function This function specifies one of two selections 0 and n7 Use gate G to specify which of 0 and n7 to select If Gis FALSE n0 is assigned to Out If G is TRUE 1 is assigned to Out Additional Information Use the MUX instruction to select one of two or more selections NX series Safety Control Unit Instructions Reference Manual 2931 2 Standard Functions Precautions for Correct Use The data types of 0 Inf and Out can be different If they are different calculations are performed with the data type that includes the range of all of the data types For example if n0 is INT data and In1 is DINT data calculations are performed with DINT data Therefore selection result Out will be DINT data The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur f you seta safety data type variable for the output terminal set a safety data type variable for the two input terminals as well f you set a standard data type variable for the output termin
222. sensor test cannot be performed TRUE An automatic sensor test can be performed TestExecuted BOOL TRUE or FALSE FALSE When the signal changes to TRUE the automatic sensor test was executed normally FALSE An automatic sensor test was not performed An automatic sensor test is active The automatic sensor test failed TRUE The sensor test was executed normally Error BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 DiagCode 4 112 WORD Depends on state code 16580000 Refer to Safety FB Common Output Variables on page 4 4 NX series Safety Control Unit Instructions Reference Manual Z931 4 Safety Function Blocks Function You can use this FB to execute a test for a type 2 ESPE sensor that has an external test function The test simulates the operation of the sensing device and detects potentially hazardous problems e g loss of sensing unit detection ability and response times that exceed specified values During the test the FB holds the safety output S OSSD Onul so the test be performed without stopping the safety output to the actuator The FB simulates an entry into the hazardous area of a safety sensor that has an external test func tion e g type 2 ESPE and monitors the operation and the maximum response time It is assumed that an external safety related control system e g machine starts a p
223. set in position 1 when S SafetyActive was started Ready TRUE S EnableSwitchOut FALSE Error TRUE C020 Operation Error 2 The enable switch was set in position 1 after C010 Ready TRUE S EnableSwitchOut FALSE Error TRUE C030 Operation Error 3 The enable switch was set in position 2 from position 3 Ready TRUE S EnableSwitchOut FALSE Error TRUE C040 Operation Error 4 The enable switch was not set in position 2 after Ready TRUE S EnableSwitchOut FALSE Error TRUE 4 34 NX series Safety Control Unit Instructions Reference Manual 2931 4 Safety Function Blocks FB specific State Codes No Error DiagCode hexadecimal Status name Status description and output results 0000 Idle The FB is disabled default Ready FALSE S EnableSwitchOut FALSE Error FALSE 8004 Basic Operation Safe operation mode is OFF Ready TRUE S EnableSwitchOut FALSE Error FALSE 8005 Safe Operation Mode Safe operation mode is ON Ready TRUE S EnableSwitchOut FALSE Error FALSE 8006 Position 1 Safe operation mode is ON and the enable switch is in position 1 Ready TRUE S EnableSwitchOut FALSE Error FALSE 8007 Position 3 Safe operation mode is ON and the enable switch is in position 3 Ready TRUE S EnableSwitchOut FALSE E Error FALSE e 8000 Position 2 Safe operation mode is ON and the enable switch is in position 2 a Ready TRUE P S EnableSwitchOut TRUE
224. sult exceeds the valid range of DINT data the result will be the value that can be expressed with the lower 32 bits 3 For example if the value of n7 is TIME 49d17h2m47s295ms and the value of n2 is TIME 5ms the value of the addition result is TIME 49d17h2m47s30ms However the maximum value of TIME is the same as for DWORD 4294967295 so the addition result will be the value that can be expressed with 32 bits i e TIME 4ms 2 56 Safety Control Unit Instructions Reference Manual 7931 2 Standard Functions Precautions for Correct Use The data types of n1 to InN and Out can be different If they are different calculations are performed with the data type that includes the range of all of the data types For example if n0 is INT data and In1 is DINT data calculations are performed with DINT data Therefore addition result Out will be DINT data The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur f you set a safety data type variable for the output terminal set safety data type variables for all of the input terminals f you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal suononuisu yen aav NX series Safety Control Unit Instructions Reference Manual Z931 2 57 2 Standard Functions S
225. t FALSE Error TRUE C020 EDM Error 12 The EDM2 signal is not valid during the initial status of the actuator If S OutControl is enabled when output is not possible the EDM2 signal changes to FALSE Ready TRUE S_EDM_Out FALSE Error TRUE C030 EDM Error 13 EDM 1 and EDM2 signals are not valid during the initial status of the actu ator If S_OutControl is enabled when output is not possible the EDM1 and EDM2 signals change to FALSE Ready TRUE S_EDM_Out FALSE Error TRUE NX series Safety Control Unit Instructions Reference Manual 7931 DiagCode hexa decimal C040 Status name EDM Error 21 4 Safety Function Blocks Status description and output results The EDM signal is not valid during the initial status of the actuator The EDM1 signal changed to FALSE when output was not possible and the mon itoring time ended Ready TRUE S EDM Out FALSE Error TRUE C050 EDM Error 22 The EDM2 signal is not valid during the initial status of the actuator The EDM signal changed to FALSE when output was not possible and the mon itoring time ended Ready TRUE S EDM Out FALSE Error TRUE C060 EDM Error 23 The EDM1 and EDM2 signals are not valid during the initial status of the actu ator The EDM1 EDM2 signals changed to FALSE when output was possible and the monitoring time ended Ready TRUE S_EDM_Out FALSE Error TRUE
226. t FALSE S MutingActive FALSE Error FALSE 8000 AOPD Free Muting is disabled but the control input from AOPD is active If the muting timer is operating it stops Ready TRUE S_AOPD_Out TRUE S MutingActive FALSE Error FALSE 8001 Init The FB was started Ready TRUE S AOPD Out FALSE S MutingActive FALSE Error FALSE 8002 Safety Demand AOPD Muting is disabled The control input from AOPD is disabled Ready TRUE S AOPD Out FALSE S MutingActive FALSE Error FALSE 8003 Wait for Reset A safety request or error was detected and cleared The operator must respond with Reset Ready TRUE S AOPD Out FALSE S MutingActive FALSE Error FALSE 8005 Safe The safety function is operating Ready TRUE S AOPD Out FALSE S MutingActive FALSE Error FALSE 8011 Muting Start 1 A muting sequence is being started after MutingSwitch11 changed to TRUE Monitoring is active for DiscTimeEntry Ready TRUE S AOPD Out TRUE S MutingActive FALSE Error FALSE 8311 Muting Start 2 A muting sequence is being started after MutingSwitch12 changed to TRUE Monitoring is active for DiscTimeEntry Ready TRUE S_AOPD_Out TRUE S MutingActive TRUE Error FALSE NX series Safety Control Unit Instructions Reference Manual 2931 4 Safety Function Blocks DiagCode hexadecimal Status name Status description and output results 8
227. t for GuardSwitch2 S GuardSwitch1 changed to TRUE waiting for S_GuardSwitch2 The discrepancy timer started Ready TRUE S_GuardMonitoring FALSE Error FALSE 8014 Wait for GuardSwitch1 S GuardSwitch2 changed to TRUE waiting for S_GuardSwitch1 The discrepancy timer started Ready TRUE S_GuardMonitoring FALSE Error FALSE 8005 Guard Closed The guard was closed If S_AutoReset is FALSE the FB is waiting for Reset Ready TRUE S_GuardMonitoring FALSE Error FALSE 4 60 NX series Safety Control Unit Instructions Reference Manual Z931 SF_ModeSelector 4 Safety Function Blocks This safety FB selects the system operation mode automatic manual semi automatic etc Instruction Name FB FUN Graphic expression SF_ModeSelector Mode Selector FB SF_ModeSelector BOOL Activate Ready BOOL SAFEBOOL S ModeO 5 ModeOSel SAFEBOOL SAFEBOOL S Mode1 S_Mode1Sel SAFEBOOL SAFEBOOL S Mode2 5 Mode2Sel SAFEBOOL SAFEBOOL S Mode3 5 Mode3Sel SAFEBOOL SAFEBOOL S Mode4 5 Mode4Sel SAFEBOOL SAFEBOOL S Mode5 5 Mode5Sel SAFEBOOL SAFEBOOL S Mode6 5 Mode6Sel SAFEBOOL SAFEBOOL S Mode 5 Mode7Sel SAFEBOOL SAFEBOOL S Unlock S AnyModeSel SAFEBOOL SAFEBOOL S SetMode BOOL BOOL AutoSetMode WORD TIME ModeMonitorTime BOOL Reset m z o Variables 8 Input Variables Variable Data type Valid range Default Description Activate BOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4
228. t gives priority to the Reset input if both the Set input and Reset input are TRUE Instruction Name FB FUN Graphic expression SF_RS Reset Priority Keep FB Variables Input Variables Vere Mame bate pe merum Description SET SAFEBOOL TRUE or FALSE FALSE Set input RESET1 Ress BOOL TRUE or FALSE FALSE Reset input Given priority i Output Variables Variable Name Datatype Valid range Description 01 Keep output Function This instruction forms a self holding output that gives priority to resetting The following table shows the relationship between the inputs and outputs Value of SET Value of RESET1 Value of Q1 TRUE TRUE FALSE TRUE FALSE TRUE FALSE TRUE FALSE FALSE FALSE Not changed The following figure shows a programming example and timing chart TRUE Set A SF RS instance FALSE SF RS TRUE i Reset1 B e L RESET1 TRUE Q1 abc FALSE 3 12 NX series Safety Control Unit Instructions Reference Manual Z931 Safety Standard Function Blocks SF_SR E This FB retains the value of a SAFEBOOL variable It gives priority to the Set input if both the Set input and Reset input are TRUE Instruction Name FB FUN Graphic expression SF_SR Set Priority Keep FB Variables Input Variables Variable Datatype Validrange Default Description SET1 Set SAFEBOOL TRUE or FALSE FALSE Set input Given priority RESET
229. tOut TRUE NOTS GhannelNO 5 QR S_ChannelNO Note Transitions to the Idle state from any other state are not shown for when Activate changes to FALSE How ever the transition to the Idle state has the highest priority 0 NX series Safety Control Unit Instructions Reference Manual 7931 4 Safety Function Blocks Timing Charts PY Start Normal operation Inputs Activate p S_ChannelNC S ChannelNO Discrepancy Timer Outputs Ready E S ActivalentOut m mE Error DiagCode 0000 8001 8004 8000 8000 8005 8001 8001 8014 8000 8000 8005 8001 8001 2 01 Discrepancy time elapsing Normal operation Inputs Activate S ChannelNC S ChannelNO Discrepancy Timer Star mE Discrepancy i Sta 20 a Ready S_AntivalentOut Error DiagCode 8001 8004 8004 C001 C001 C001 C001 C001 C001 8001 8001 8000 8005 8001 4 12 NX series Safety Control Unit Instructions Reference Manual 2931 4 Safety Function Blocks Instruction Execution Errors Error Detected The FB monitors the discrepancy time between S ChannelNC and S ChannelNO Operation for Errors If an error is detected 5 AntivalentOut changes to FALSE and Error changes to TRUE Diag Code shows the error state e If an error occurs in an input make the inputs for both channels inactive make 5 ChannelNC FALSE and make S ChannelNO TRUE to reset the FB FB specific Error Codes
230. te are not shown for when Activate changes to FALSE However the transition to the Idle state has the highest priority 0 2 Astate transition to Error Muting sequence priority 1 Error Timer priority 2 Safety Demand AOPD priority 3 or Error Muting lamp priority 4 in the muting substates has higher priority than a state tran sition to muting substates with priority 5 3 The muting conditions are described below NX series Safety Control Unit Instructions Reference Manual 2931 4 Safety Function Blocks Muting Conditions Muting Condition 1 8000 to 8011 when MS 11 is the first switch to start muting Timers for DiscTimeEntry and MaxMuting Time started MutingEnable AND R_TRIG at MS 11 AND NOT MS 12 Muting Condition 2 8000 to 8311 when MS 12 is the first switch to start muting Timers for DiscTimeEntry and MaxMuting Time started MutingEnable AND NOT MS 11 AND R TRIG at MS 12 Muting Condition 3 8011 to 8012 when MS 12 is the second switch to start muting Timer for DiscTimeEntry stopped MutingEnable AND MS 11 AND R_TRIG at MS 12 Muting Condition 4 8311 to 8012 when MS 11 is the second switch to start muting Timer for DiscTimeEntry stopped MutingEnable AND R_TRIG at MS 11 AND MS 12 Muting Condition 5 8000 to 8012 when both switches simultaneously enable muting Timer for MaxMutingTime started MutingEnable AND R_TRIG at MS 11 AND R_TRIG at MS 12 Muting Condition 6 8012 to 8000 when both switches s
231. ted The outputs retain the values that they had just before the RETURN instruction was executed 2 8 NX series Safety Control Unit Instructions Reference Manual Z931 Data type conversion Type Data Type Conversion Instructions Instruction Name Description Page Boolean to BOOL_TO_INT Convert Converts a BOOL variable 2 12 integer BOOL to INT to an INT variable BOOL_TO_DINT Convert Converts a BOOL variable 2 13 BOOL to to a DINT variable DINT Boolean to BOOL_TO_TIME Convert Converts a BOOL variable 2 14 duration BOOL to to a TIME variable TIME Boolean to bit BOOL_TO_WORD Convert Converts a BOOL variable P 2 15 string BOOL to to a WORD variable WORD NX series Safety Control Unit Instructions Reference Manual Z931 2 9 2 Standard Functions Data type conversion Type Instruction Name Description Page Bit string to inte BYTE_TO_INT Convert Converts a BYTE variable to P 2 16 ger BYTE to INT an INT variable BYTE_TO_DINT Convert Converts a BYTE variable to P 2 17 BYTE to a DINT variable DINT WORD_TO_INT Convert Converts a WORD variable 2 18 WORD to to an INT variable INT WORD_TO_DINT Convert Converts a WORD variable 2 20 WORD to to a DINT variable DINT DWORD_TO_DINT Convert Converts a DWORD vari P 2 21 DWORD to able to a DINT variable DINT Bit string to BYTE_TO_TIME Convert Con
232. ted opera tion and the FB is waiting for 5 ChannelNO to change to FALSE Ready TRUE S AntivalentOut FALSE Error FALSE 8014 Wait for NC S ChannelNO changed to FALSE the discrepancy time timer started oper ation and the FB is waiting for S_Channe NC to change to TRUE Ready TRUE S AntivalentOut FALSE Error FALSE 8005 From Active Wait One of the channels changed to FALSE the discrepancy time timer started operation and the FB is waiting for the other channel to change to FALSE Ready TRUE S AntivalentOut FALSE Error FALSE NX series Safety Control Unit Instructions Reference Manual 7931 SF_EDM 4 Safety Function Blocks This safety FB controls a safety output and monitors actuator control Instruction Name FB FUN SF_EDM External Device FB Monitoring BOOL SAFEBOOL SAFEBOOL SAFEBOOL TIME Variables Input Variables Default FALSE Variable Activate Data type BOOL Valid range TRUE or FALSE SAFEBOOL S_StartReset BOOL Reset Graphic expression Activate BOOL S OutControl SAFEBOOL S EDM1 BOOL S EDM2 WORD MonitoringTime waa 3S Description Refer to Safety FB Common Input Variables on page 4 2 S OutControl SAFEBOOL TRUE or FALSE FALSE A variable The control signal from the previous safety FB The sig nal from a typical FB from the library SF OutControl SF TwoHandControlTypell etc is used FAL
233. ted system and an actuator This means that the actuator s safety related functions can be used in the application program However there are only two binary signals the request signal and acknowledge signal that are used to control the safe state of the actuator SF SafetyRequest Valve block Activate Ready S OpMode S SafetyActive 5 Acknowledge MonitoringTime Reset System level Acknowledgment This safety function is provided by the actuator Therefore the FB only starts a request monitors the request and sets an output after confirming the safe state of the actuator This output is given by the S_SafetyActive output This FB does not define actuator specific parameters The parameters must be defined in the actua tor The FB changes the actuator from operation mode to the safe state 4 106 NX series Safety Control Unit Instructions Reference Manual Z931 4 Safety Function Blocks State Transition Diagram NOT Activate Ready FALSE Ready TRUE Wait fi R_TRIG at Reset OpMode R_TRIG at Reset 2 8005 AND 5 Acknowledge S OpMode R TRIG at Reset NOT 5 Acknowledge 2 Reset AND NOT NOT S OpMode R_TRIG at Reset 5 OpMode RO onitoring Time or Reset Error 2 2 Wait elapsed NOT SxQpMode for Confirmation 8003 S_Acknowledge S_SafetyAcvive TRUE S_OpMode jsenbayAjayes 4S NOT S_Acknowledge Note Transitions to the Idle state from any other state are not shown for when Activat
234. tely changes to FALSE S EStopOutis reset to TRUE or waits to be reset only when the 5 EStopln input is set to TRUE The conditions for waiting to be reset are determined by the defined S StartHeset S AutoHeset and Reset inputs If S AutoReset is TRUE the confirmation operation is performed automatically If S AutoReset is FALSE a change to TRUE in the Reset input must be made for enable confirma tion If S StartResetis TRUE the confirmation operation is performed automatically when the Safety CPU Unit first starts If S StartReset is FALSE a change to TRUE in the Reset input must be made for enable confirma tion Activate the 5 StartHeset and S_AutoReset inputs only when you can ensure that no hazardous state will occur as the result of starting the Safety CPU Unit You can use the SF EmergencyStop instruction to monitor a single channel or two channel emer gency stop button The SF EmergencyStop instruction automatically detects undetected changes to TRUE in the Reset input 4 24 NX series Safety Control Unit Instructions Reference Manual 2931 State Transition Diagram 4 Safety Function Blocks NOT Activate Activate S EStopln AND S StartReset S StartReset AND S EStopln NOT S StartReset Reset Error 1 C001 Wait for S EStopln 1 8002 NOT Reset NOT S EStopln S EStopln Reset AND NOT at Reset S_EStopInAND S AutoReset Safety Output Enabled 8000 Wait for S ESt
235. ter the safety signal S SafeControl feedback As long as the other conditions are met an always TRUE signal for ProcessControl will set S OutControl to TRUE hazardous state will occur as the result of starting the Safety CPU Unit 4 100 NX series Safety Control Unit Instructions Reference Manual Z931 4 Safety Function Blocks i State Transition Diagram NOT Activate Activate Ready FALSE Ready TRUE R_TRIG at Reset Reset AND R_TRIG at R_TRI Process Control 2j 1 Sta Init 8001 7 Reset JO4UODINO dS 9 o t g c E o o c 9 Y c Control Disable 8010 S Safe Control AND StaticControl AND ProcessControl NOT Process Control S OutControI FALSE S OutControl TRUE Output Enable Note Transitions to the Idle state from any other state are not shown for when Activate changes to FALSE How ever the transition to the Idle state has the highest priority 0 NX series Safety Control Unit Instructions Reference Manual Z931 4 101 4 Safety Function Blocks Timing Charts S StartReset FALSE Activate S SafeControl ProcessControl S StartReset S AutoReset Reset StaticControl Ready S OutControl Error DiagCode 0000 80011 8010 8000 801018000 8002 8003 8000 8002 C0021 8003 S StartReset TRUE Activate S SafeControl ProcessControl S StartReset S AutoReset Reset StaticControl Ready S OutCo
236. test is not supported If an error occurs in the automatic sensor test an automatic test is possible again without a manual sensor test S StartReset SAFEBOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 S AutoReset SAFEBOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 Reset NX series Safety Control Unit Instructions Reference Manual Z931 BOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 4 111 4 Safety Function Blocks Output Variables Variable Ready Data type BOOL Valid range TRUE or FALSE Default FALSE Description Refer to Safety FB Common Output Variables on page 4 4 S OSSD SAFEBOOL TRUE or FALSE FALSE The safety related output that gives the ESPE status FALSE There is a safety related operation request for the sensor or a test error occurred TRUE There is no safety related operation request for the sensor and no test error occurred Note OSSD is an output signal switching device S TestOut SAFEBOOL TRUE or FALSE FALSE Forms a pair with the sensor test input Although SAFE BOOL is specified this signal is commonly connected to a BOOL output FALSE There is a test request TRUE There is no test request TestPossible BOOL TRUE or FALSE FALSE The feedback signal to the process FALSE An automatic
237. the EtherCAT Coupler Unit on the EtherCAT Configuration Edit Tab Page click the Edit Slave Terminal Configuration Button Go online Right click the EtherCAT Coupler Unit and select Display Production Information from the menu The Production Information Dialog Box is displayed r Serial No 00000001 Model Information Slot 000 NX ECC201 LOT No Hardware Version Software Version V0 A2 Slot 001 NX ID3417 Ver 1 0 LOT No 37053 Hardware Version Slot 002 NX ID3417 Ver 1 0 LOT No 37053 Hardware Version Slot 003 NX OD3153 Ver 1 0 LOT No 37053 Hardware Version Model Information Serial No Slot 001 NX ID3417 Slot 002 NX ID3417 Slot 003 NX OD3153 Slot 004 NX OD3153 Ver 1 0 Ver 1 0 Ver 1 0 Ver 1 0 00000000 00000000 00000000 00000000 00000000 00000000 Show Detail Output file Close 00000000 Slot 004 NX OD3153 LOT No Hardware Version Output file Ver 1 0 37053 00000000 Simple Display Show Outline Close Detailed Display In this example Ver 1 0 is displayed next to the Unit model The following items are displayed Slot number Unit model number Unit version Serial number Lot number NX series Safety Control Unit Instructions Reference Manual Z931 Unit Versions Hardware version Software version The software version is displayed only for Units that contain software Unit Versions and Sysmac Studio Versions The functions that are support
238. the data type of the subtraction result 772 Durations Of the difference between n1 and n2 the subtraction result will be the value that can be expressed by DWORD data 3 1 For example if the value of n7 is INTZ 5 and the value of In2 is INT 32767 the subtraction result will be 92772 If an INT variable is set for the output the value of the subtraction result will be the value that can be expressed with lower 16 bits of the difference 32772 i e 32764 If a DINT variable is set for the output the subtraction results is DINT 32772 2 If the result exceeds the valid range of DINT data the result will be the value that can be expressed with the lower 32 bits 2 58 NX series Safety Control Unit Instructions Reference Manual Z931 2 Standard Functions 3 For example if the value of n7 is TIME 10ms and the value of n2is TIME 14ms the value of the subtraction result is TIME 4ms However the maximum value of TIME is the same as for DWORD 4294967295 so the subtraction result will be the value that can be expressed with 32 bits i e T 49d17h2m47s292ms Although negative time does not actually exist the value is expressed as a negative value Precautions for Correct Use The data types of n1 In2 and Out can be different If they are different calculations are performed with the data type that includes the range of all of the data types For example if n0 is INT data and In1 is DINT data calculations ar
239. the same and outputs the result on the SAFEBOOL output when they are different S ChannelNC and S ChannelNO are dependent on each other The evaluation result for both chan nels is output When the input for one channel changes so that the two channel inputs are no longer different the FB starts monitoring the discrepancy time An error occurs if a change does not occur that makes them different again within the monitoring time If S AntivalentOutis TRUE and the signal for one channel changes the output immediately changes to FALSE If an error occurs make the inputs for both channels inactive make 5 ChannelNC FALSE and make S ChannelNO TRUE to reset the FB 14 Precautions for Correct Use This FB does not have a restart interlock You must connect it to a FB that has a restart inter lock NX series Safety Control Unit Instructions Reference Manual 2931 4 Safety Function Blocks State Transition Diagram NOT Activate Ready FALSE Ready TRUE NOTS ChannelNC AND S ChannelNO NOTS_GhannelNC NOTS ChannelNC S Chann lNC AND S ChannelNO AND NOTS S ChannelINO AND NOT S ChannelNC NOTS Ch nnelNC AND S CliannelNO 5 ChannelNO DiscrepancyTime Elapsed Error 1 S ChannelNC AND Wait for NO C004 Wait for NC NOTS ChannelNO 8004 Error 2 C002 46 Discrepancy Discrepanc Time Elapsed Time Elapsed ChannelNe Channel S AntivalentOut FALSE S Antivalen
240. therwise the processing result is FALSE In1 bit In2 bit InN bit Out bit FALSE FALSE ier FALSE FALSE FALSE FALSE Mer TRUE FALSE FALSE TRUE ens TRUE FALSE TRUE FALSE A FALSE FALSE TRUE FALSE 2 TRUE FALSE TRUE TRUE Zn TRUE TRUE OR If all inputs are FALSE then the processing result is FALSE Otherwise the processing result is TRUE Ini bit In2 bit InN bit Out bit FALSE FALSE A FALSE FALSE FALSE FALSE es TRUE TRUE FALSE TRUE m TRUE TRUE TRUE FALSE Sess FALSE TRUE TRUE FALSE ms TRUE TRUE TRUE TRUE sese TRUE TRUE XOR If both inputs have the same value then the processing result is FALSE If one bit is TRUE and the other is FALSE then the processing result is TRUE Ini bit In2 bit Out bit FALSE FALSE FALSE FALSE TRUE TRUE TRUE FALSE TRUE TRUE TRUE FALSE Additional Information With AND and OR you can perform an operation for two or more variables 7 to InN at the same time With XOR however you can perform an operation for only two variables n and 2 at the same time A building error will occur if there are three or more input terminals for XOR Precautions for Correct Use You must use Boolean variables for n1 to InN and for Out The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur Setting a Safety Data Type Variable for the Output Terminal AND Set a safety dat
241. tingActive FALSE Error TRUE 4 76 NX series Safety Control Unit Instructions Reference Manual 2931 4 Safety Function Blocks DiagCode hexadecimal Status name Status description and output results C002 Reset Error 2 When the Wait for Reset state was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S_AOPD_Out FALSE S_MutingActive FALSE Error TRUE C003 Error Muting lamp An error was detected in the muting lamp Ready TRUE S AOPD Out FALSE S MutingActive FALSE Error TRUE CYx4 Error Muting sequence A muting sequence error was detected in state 8000 8011 8311 8012 8021 8014 8314 8122 8422 8121 8112 8114 or 8414 Ready TRUE S_AOPD_Out FALSE S_MutingActive FALSE Error TRUE Y Sequence state forward direction 6 states backward direc tion 6 states 0 4 Error occurred in state 8000 C1x4 Error occurred in forward direction in state 8011 4S C2x4 Error occurred in forward direction in state 8311 C3x4 Error occurred in forward direction in state 8012 C4x4 Error occurred in forward direction in state 8014 C5x4 Error occurred in forward direction in state 8314 C6x4 Error occurred in forward direction in state 8021 C7x4 Error occurred in backward direction in state 8122 C8x4 Error occurred in backward direction in state 8422 C9x4 Error occurred in backward direction in state 8121 CAx4
242. tingSwitch22 S MutingLamp DiscTime11 12 DiscTime21 22 MaxMutingTime MutingEnable S StratReset Reset Input Variables Variable Activate Data type BOOL Valid range TRUE or FALSE Default FALSE Description Refer to Safety FB Common Input Variables on page 4 2 S AOPD In SAFEBOOL TRUE or FALSE FALSE This is the OSSD safety output signal from the AOPD active optoelectronic protective device FALSE Something entered the protected area TRUE Nothing entered the protected area MutingSwitch11 BOOL TRUE or FALSE FALSE A variable It is the status of muting sensor 11 FALSE Muting sensor 11 is not operating TRUE A workpiece activated muting sensor 11 MutingSwitch12 BOOL TRUE or FALSE FALSE A variable It is the status of muting sensor 12 FALSE Muting sensor 12 is not operating TRUE A workpiece activated muting sensor 12 MutingSwitch21 BOOL TRUE or FALSE FALSE A variable It is the status of muting sensor 21 FALSE Muting sensor 21 is not operating TRUE A workpiece activated muting sensor 21 MutingSwitch22 BOOL TRUE or FALSE FALSE A variable It is the status of muting sensor 22 FALSE Muting sensor 22 is not operating TRUE A workpiece activated muting sensor 22 S_MutingLamp SAFEBOOL TRUE or FALSE FALSE A constant or a variable It is the muting lamp status input e g filament
243. tional Information To convert INT data to TIME data refer to INT TO TIME Precautions for Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur f you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well f you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal If the input value is not TIMEZOms to TIME 32s767ms a cast error will occur and the program will stop NX series Safety Control Unit Instructions Reference Manual Z931 2 49 suononijsu ed eea ANI OL 2 Standard Functions WORD TO BOOL This function converts a WORD variable to a BOOL variable Instruction Graphic expression WORD_TO_BOOL as WORD WORD TO BOOL to BOOL Variables Name V6 Description Validrange Default Data to con Input Data to con WORD 16 0000 to FFFF WORD 16 0000 vert vert Out Conversion Output Conversion TRUE or FALSE FALSE result result If you omit an input or output parameter a building error will occur Boolean Bit strings Integers Durations o o o z eo m m m 2 m m m a m m m S 2 g e 5 3 z
244. tions Reference Manual 2931 4 Safety Function Blocks FB specific State Codes No Error DiagCode hexadecimal Status name Siatus description and output results 0000 Idle The FB is disabled default Ready FALSE Error FALSE S AnyModeSel FALSE All S ModeXSel FALSE 8005 ModeChanged The state after the FB is activated after the S ModeX inputs changed but the mode is not locked or after an error state was reset Ready TRUE Error FALSE S AnyModeSel FALSE All S ModeXSel FALSE 8000 ModeSelected A valid mode is selected but not yet locked Ready TRUE Error FALSE S AnyModeSel TRUE All S ModeXSel Selected X is TRUE and others FALSE 8004 ModeLocked A valid mode is selected and locked Ready TRUE Error FALSE S_AnyModeSel TRUE All S ModeXSel Selected X is TRUE and others FALSE 4s NX series Safety Control Unit Instructions Reference Manual 7931 4 69 4 Safety Function Blocks SF_MutingPar Muting is used to intentionally disable a safety function This safety FB performs parallel muting with four muting sensors Instruction SF_MutingPar Variables Name Parallel Muting FB FUN FB BOOL SAFEBOOL BOOL BOOL BOOL BOOL SAFEBOOL TIME TIME TIME BOOL SAFEBOOL BOOL Graphic expression SF_MutingPar Activate BOOL S_AOPD_In SAFEBOOL MutingSwitch11 SAFEBOOL MutingSwitch12 BOOL MutingSwitch21 WORD Mu
245. tions and accessories may be changed at any time based on improvements and other reasons It is our practice to change part numbers when published ratings or features are changed or when significant construction changes are made However some specifications of the Product may be changed without any notice When in doubt special part numbers may be assigned to fix or establish key specifications for your application Please consult with your Omron s representative at any time to confirm actual specifications of purchased Product i Errors and Omissions Information presented by Omron Companies has been checked and is believed to be accurate how ever no responsibility is assumed for clerical typographical or proofreading errors or omissions NX series Safety Control Unit Instructions Reference Manual Z931 11 Terms and Conditions Agreement 12 NX series Safety Control Unit Instructions Reference Manual 7931 Safety Precautions Refer to the following manual for safety precautions NX series Safety Control Unit User s Manual Cat 7930 NX series Safety Control Unit Instructions Reference Manual 7931 Safety Precautions 13 Precautions for Safe Use Precautions for Safe Use Refer to the following manual for precautions for the safe use of the Safety Control Unit NX series Safety Control Unit User s Manual Cat No 7930 14 NX series Safety Control Unit Instructions Reference Manual Z931 Precautions
246. to INT 32767 according to the value of In WORD 16 0000 to WORD 16 7FFF Example When Value of Out Is Negative INT 32768 to 1 If the value of n is WORD 16 8000 1000 0000 0000 0000 binary the value of Out is INT 32768 which is 32768 as a 2 byte expression If the value of In is WORD 16 FFFF 1111 1111 1111 1111 binary the value of Out is INT 65535 which is 1 as a 2 byte expression Additional Information To convert INT data to WORD data refer to INT TO WORD 2 18 Safety Control Unit Instructions Reference Manual 7931 2 Standard Functions Precautions for Correct Use The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur If you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well f you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal suononijsu ed eea INI OL NX series Safety Control Unit Instructions Reference Manual Z931 2 19 2 Standard Functions WORD DINT This function converts a WORD variable to a DINT variable Instruction ee Graphic expression WORD_TO_DINT te WORD WORD_TO_DINT to DINT Variables Name 0 Description Va
247. trol Unit Instructions Reference Manual Z931 Sections in this Manual Sections in this Manual Introduction to Instructions for Safety Control Units and Interpreting Instruction Descriptions Standard Functions Safety Standard Function Blocks Safety Function Blocks NX series Safety Control Unit Instructions Reference Manual 7931 25 26 Sections in this Manual NX series Safety Control Unit Instructions Reference Manual 7931 Introduction to Instructions for Safety Control Units and Interpreting Instruction p This section provides an introduction to the instructions for Safety Control Units and tells how to interpret the instruction descriptions 1 1 Types of Instructions 1 2 1 2 Interpreting Instruction Descriptions 12251 Sok pce eS ROME Reime 1 3 1 2 2 Safety Data Types and Standard Data Types 1 2 3 Valid Ranges and Default Values of Variables NX series Safety Control Unit Instructions Reference Manual 7931 1 1 1 Introduction to Instructions for Safety Control Units and Interpreting Instruction Descriptions 1 1 Types of Instructions The following three types of instructions can be used with the Safety Control Units Type Description Standard functions These function instructions do not use safety data They include program execution control instructions data type conversion instruction
248. ts an INT variable to 2 35 to BYTE a BYTE variable INT_TO_DWORD Convert INT Converts an INT variable to 2 36 to DWORD a DWORD variable INT TO WORD Convert INT Converts an INT variable to P 2 38 to WORD a WORD variable Integer to integer DINT TO INT Convert Converts a DINT variable to P 2 40 DINT to INT an INT variable INT TO DINT Convert INT Converts an INT variable to P 2 41 to DINT a DINT variable Integer to DINT TO TIME Convert Converts a DINT variable to P 2 42 duration DINT to a TIME variable TIME INT TO TIME Convert INT Converts an INT variable to P 2 43 to TIME a TIME variable Duration to TIME TO BOOL Convert Converts a TIME variable to P 2 44 Boolean TIME to a BOOL variable BOOL Duration to bit TIME TO BYTE Convert Converts a TIME variable to P 2 45 string TIME to a BYTE variable BYTE TIME TO DWORD Convert Converts a TIME variable to P 2 46 TIME to a DWORD variable DWORD TIME TO WORD Convert Converts a TIME variable to P 2 47 TIME to a WORD variable WORD Duration to TIME TO DINT Convert Converts a TIME variable to P 2 48 integer TIME to a DINT variable DINT TIME TO INT Convert Converts a TIME variable to P 2 49 TIME to INT an INT variable Bit string to WORD TO BOOL Convert Converts a WORD variable P 2 50 Boolean WORD to to a BOOL variable BOOL NX series Safety Control Unit Instructions Reference Manual Z931 2 3 puepuelg Jo 2 Standard Functions
249. two variables are equivalent NE Not Equal Determines if the values of 2 67 two variables are not equiv alent LT Less Than Performs a less than com P 2 68 parison between two values LE Less Than Performs a less than or P 2 68 Or Equal equal comparison between two values GT Greater Performs a greater than P 2 68 Than comparison between two values GE Greater Performs a greater than or P 2 68 Than Or equal comparison between Equal two values NX series Safety Control Unit Instructions Reference Manual Z931 2 65 2 Standard Functions EQ This function determines if the values of two variables are equivalent Instruction FB FUN Graphic expression Variables Default Int or In2 Comparison data pare Out Comparison Output Comparison Depends on data type result result If you omit an input or output parameter a building error will occur An error will not occur if the output terminal is not used or if it is connected to an input terminal on the next instruction Input Boolean Bit strings Integers Durations 0 I o g o gt o eo E lt gt 5 2 gt gt 4 T 3 T T T s T m T r m m m m m m m m E Sp el ea e 2 2 2 3 5 Int orin2 OK OK OK OK OK OK OK OK OK OK OK OK OK OK Out OK OK Function This function determines if the values of two variables
250. tyActive FALSE S SafetyRequest FALSE Error TRUE 8002 Operation Mode An operation mode exists for which safe mode cannot be confirmed Ready TRUE S SafetyActive FALSE S SafetyRequest TRUE Error FALSE 8012 Wait for Confirmation An operation mode exists for which safe mode was confirmed OpMode Ready TRUE S SafetyActive FALSE S SafetyRequest TRUE Error FALSE 8003 Wait for Confirmation The FB is waiting for acknowledgment from the drive device i e the system interface Ready TRUE S SafetyActive FALSE S SafetyRequest FALSE Error TRUE 8005 Wait for OpMode An error was reset but 5 OpMode must be set to TRUE before the FB is initialized Ready TRUE S SafetyActive FALSE S SafetyRequest FALSE Error TRUE 4 110 NX series Safety Control Unit Instructions Reference Manual 2931 4 Safety Function Blocks SF_TestableSafetySensor This safety FB tests functionality with the external test function of electro sensitive protective equipment ESPE For example it detects the loss of sensing unit detection ability response times that exceed specified values and always ON signals from a single channel sensor system It can be used with a safety sensor that supports external testing ESPE electro sensitive protective equipment such as a light beam Instruction SF_TestableSafety Sensor Variables i Input Variables Variable Activate Name Sensors Data type BOOL Testable Safety
251. ulations and Standards ree ti c canna andan sa coe aa aoa cu 16 Conformance to EC Directives 55 dtes ye ed erede rv ei nein 16 Conformance to EN ISO 13849 1 EN 62061 nennen nennen nenne 17 Conformance to UL and CSA Standards esssssssssssssseeeeee eene nennen neret nennen 17 Conformance to KC Standards ce eed enar 18 Software Licenses and Copyrights 24 0 daa 18 Unit VeESIOTIS E E EE 19 Unit Versions tee eie e ERR IUE hele ha ta 19 Unit Versions and Sysmac Studio Versions ssssssssssseeeeeeenenen eene nnne nenne 21 Unit Version Notation 3 tenuis Qi ein reb e a oe Feu ed estie ee eh dee 21 Related Manuals T 22 Terminology weil ursi s Cv 23 Revisi n 24 Sectors inthis MANUAl tco yeu Ue noU S CE Y E ck 25 Section 1 Introduction to Instructions for Safety Control Units and Interpreting Instruction Descriptions 1 1 Types of
252. unction Blocks SF_TON This FB outputs TRUE when the set time elapses after the timer starts Instruction Name FB FUN Graphic expression SF_TON On Delay Timer FB SF_TON IN Q PT ET Variables i Input Variables Name Datatype Vaidrange Defaut Timer input BOOL TRUE or FALSE Variable Description TRUE Timer start specification FALSE Timer reset specification PT Set time TIME Depends data 0 Time from when timer starts until Q type changes to TRUE i Output Variables Variable Name Data type Valid range Default Description Q Timer output SAFEBOOL TRUE or FALSE FALSE TRUE ET reached PT FALSE N is TRUE and ET is lower than PT after the timer starts ET Elapsed time TIME Depends on data 0 Elapsed time since timer started type 3 16 Safety Control Unit Instructions Reference Manual 7931 3 Safety Standard Function Blocks Function This FB outputs TRUE when the set time elapses after the timer starts The time is set in millisec onds The timer starts when timer input N changes to TRUE Elapsed time ET is incremented as time elapses When ET reaches set time timer output Q changes to TRUE ET is not incremented after that The timer is reset when N changes to FALSE ET changes to 0 and Q changes to FALSE If the timer is started and then N changes to FALSE before ET reaches PT the timer is reset The following figur
253. urs the S AOPD Out and S MutingActive outputs are set to FALSE The DiagCode output gives the relevant error code and the Error output is set to TRUE Operation is not restarted until the error is reset and the operator acknowledges the safe state with Reset FB specific Error Codes DiagCode hexadecimal Status name Status description and output results C001 Reset Error 1 When the Init state was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S AOPD Out FALSE S MutingActive FALSE Error TRUE C002 Reset Error 2 When the Wait for Reset state was entered an undetected change to TRUE in the Reset input was detected Ready TRUE S AOPD Out FALSE S MutingActive FALSE Error TRUE C003 Error Muting lamp An error was detected in the muting lamp Ready TRUE S AOPD Out FALSE S MutingActive FALSE Error TRUE 4 96 NX series Safety Control Unit Instructions Reference Manual Z931 4 Safety Function Blocks DiagCode hexadecimal Status name Status description and output results CYx4 Error Muting sequence A muting sequence error was detected in state 8000 8011 8012 8112 or 8122 Ready TRUE S_AOPD_Out FALSE S_MutingActive FALSE Error TRUE Y Sequence state forward direction 2 states backward direc tion 2 states 0 4 Error occurred in state 8000 C1x4 Error occurred in forward direction in state 8011 C2x4 Error occurred in
254. utions for Correct Use You must use Boolean variables for n and Out The input condition depends on whether the output is safety data or standard data If the condition is not met a building error will occur f you set a safety data type variable for the output terminal set a safety data type variable for the input terminal as well f you set a standard data type variable for the output terminal you can set either a safety data type variable or a standard data type variable for the input terminal 2 54 NX series Safety Control Unit Instructions Reference Manual Z931 Math Instructions Type Instruction Name Description Page Math ADD Addition Adds integers or durations 2 56 SUB Subtraction Subtracts integers or dura 2 58 tions MUL Multiplication Multiplies integers or a dura P 2 60 tion DIV Division Divides integers or a dura P 2 62 tion NX series Safety Control Unit Instructions Reference Manual 2931 2 Standard Functions ADD This function adds integers or durations Instruction FB FUN Graphic expression Variables Default Name 10 Description Vala range In1 to InN Values to Input Values to add Depends on data type Out Output value Output Output value Depends on data type If you omit an input or output parameter a building error will occur An error will not occur if the output terminal is not used or
255. variable It is a command from the control System to enable starting muting as required in the machine cycle You can change this signal to OFF after muting starts FALSE Disables muting TRUE Enables starting muting S StartReset SAFEBOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 Reset BOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 1 You must connect a SAFEBOOL variable not a BOOL variable depending on safety requirements I Output Variables Variable Data type Valid range Default Description Ready BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 S AOPD Out SAFEBOOL TRUE or FALSE FALSE This safety related output gives the status of the protec tion devices that is being muted FALSE Something has entered the AOPD protected area and muting is disabled TRUE Nothing has entered the AOPD protected area and muting is enabled S MutingActive SAFEBOOL TRUE or FALSE FALSE Gives the muting status FALSE Muting is disabled TRUE Muting is enabled Error BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 DiagCode WORD Depends on state 1620000 Refer to Safety FB Common Output Variables on page code 4 4 Vi Precautions for Correct Use This FB does not detect short circuits in muting sensor signals or errors in th
256. verts a BYTE variable to P 2 23 duration BYTE to a TIME variable TIME WORD_TO_TIME Convert Converts a WORD variable 2 24 WORD to to a TIME variable TIME DWORD_TO_TIME Convert Converts a DWORD vari P 2 25 DWORD to able to a TIME variable TIME Bit string to bit BYTE WORD Convert Converts a BYTE variable to P 2 26 string BYTE to a WORD variable WORD WORD TO BYTE Convert Converts a WORD variable P 2 27 WORD to to a BYTE variable BYTE WORD TO DWORD Convert Converts a WORD variable P 2 28 WORD to to a DWORD variable DWORD Integer to DINT TO BOOL Convert Converts a DINT variable to P 2 29 Boolean DINT to a BOOL variable BOOL INT TO BOOL Convert INT Converts an INT variable to P 2 30 to BOOL a BOOL variable Integer to bit DINT TO BYTE Convert Converts a DINT variable to P 2 31 string DINT to a BYTE variable BYTE DINT TO DWORD Convert Converts a DINT variable to P 2 32 DINT to a DWORD variable DWORD DINT TO WORD Convert Converts a DINT variable to P 2 34 DINT to a WORD variable WORD INT TO BYTE Convert INT Converts an INT variable to P 2 35 to BYTE a BYTE variable INT TO DWORD Convert INT Converts an INT variable to P 2 36 to DWORD a DWORD variable INT TO WORD Convert INT Converts an INT variable to P 2 38 to WORD a WORD variable Integer to integer DINT TO INT Convert Converts a DINT variable to P 2 40 DINT to INT an INT variable INT TO DINT Convert INT Converts a
257. ves the lot number of the Unit DDMYYLI Lot number O Used by OMRON M gives the month 1 to 9 January to September X October Y November Z December NX series Safety Control Unit Instructions Reference Manual Z931 19 20 Unit Versions The following information is provided in the notched area on the Unit Name Lot number and unit version Function Gives the lot number and unit version of the Unit DDMYYT Lot number O Used by OMRON gives the month 1 to 9 January to September X October Y November Z December 10 Unit version The decimal portion of the unit version is omitted It is provided in the Unit specifications Confirming Unit Versions with the Sysmac Studio You can use the Unit Production Information on the Sysmac Studio to check the unit versions EtherCAT Coupler Unit and NX Units 1 Double click EtherCAT under Configurations and Setup in the Multiview Explorer and then double click the EtherCAT Coupler Unit Or right click the EtherCAT Coupler Unit and select Edit from the menu The Edit Slave Terminal Configuration Tab Page is displayed You can also display the Edit Slave Terminal Configuration Tab Page with any of the following operations Double click EtherCAT under Configurations and Setup in the Multiview Explorer right click the EtherCAT Coupler Unit in the EtherCAT Configuration Edit Tab Page and select Edit Slave Terminal Configuration Or select
258. xpression DWORD_TO_DINT DWORD DWORD TO DINT Variables Default DWORD 16 00000000 Name VO Description Validrange Data to con Input Data to con DWORDY1 6500000000 vert vert to FFFFFFFF Out Conversion Output Conversion DINT 2147483648 to DINT 0 result result 2147483647 If you omit an input or output parameter a building error will occur Boolean Bit strings Integers Durations eo eo o z o o gt lt gt 5 gt gt gt gt gt T 4 T 5 T T T 5 r m m m m m m m m w Uu Cz g 9 z fe 5 2 8 In OK OK Out OK OK Function This function converts DWORD data n to DINT data Out Example When Value of Out Is Positive DINT 0 to DINT 2147483647 The value of Out is DINT 0 to DINT 2147483647 according to the value of In DWORD 1 6 00000000 to DWORD 16 7FFFFFFF Example When Value of Out Is Negative DINT 2147483648 to DINT 1 Ifthe value of n is DWORD 16 80000000 1000 0000 0000 0000 0000 0000 0000 0000 binary the value of Out is DINT 2147483648 If the value of In is DWORD 16 FFFFFFFF 1111 1111 1111 1111 1111 1111 1111 1111 binary the value of Out is DINT 1 Additional Information To convert DINT data to DWORD data refer to DINT TO DWORD NX series Safety Control Unit Instructions Reference Manual Z931 2 21 suononijsu ed
259. y FB Common Input Variables on page 4 2 NX series Safety Control Unit Instructions Reference Manual Z931 4 Safety Function Blocks Output Variables Variable Data type Valid range Default Description Ready BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 S GuardLocked SAFEBOOL TRUE or FALSE FALSE Connect this output to actuator that is the hazard source inside the guard The safety output changes to FALSE when there is a request to unlock the guard FALSE A non safe state exists TRUE A safe state exists S UnlockGuard SAFEBOOL TRUE or FALSE FALSE The guard unlock signal FALSE Closes the guard TRUE Releases the guard Error BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 DiagCode WORD Depends on state 1640000 Refer to Safety FB Common Output Variables on page code 4 4 Function This FB controls a guard lock It monitors the guard and lock position You can use this FB with a mechanical lock switch The operator requests access to a hazardous area The guard can be unlocked only when the haz ardous area is in a safe state If the guard is closed it can be locked If the guard is closed and locked the mechanical device can be started An open guard or an unlocked guard is detected as a situation that has a serious impact on safety Activate the 5 StartHeset and
260. y FB Common Input Variables on page 4 2 S_ESPE_In SAFEBOOL TRUE or FALSE FALSE A variable This is a safety request input FALSE There is a request for a safety function TRUE There is no request for a safety function If the ESPE is used as a stopping device the safety con trol system must detect a short shutoff 80 ms min according to IEC 61496 1 with a sensor S_StartReset SAFEBOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 S_AutoReset SAFEBOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 Reset BOOL TRUE or FALSE FALSE Refer to Safety FB Common Input Variables on page 4 2 i Output Variables Variable Data type Valid range Default Description Ready BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 S ESPE Out SAFEBOOL TRUE or FALSE FALSE The safety function enable signal FALSE Disables the safety output There is a request for a safety related response example a reset request or an internal error TRUE Enables the safety output There is no request for a safety related response Error BOOL TRUE or FALSE FALSE Refer to Safety FB Common Output Variables on page 4 4 DiagCode WORD Depends on 1640000 Refer to Safety FB Common Output Variables on page 4 4 state code 4 42 NX series Safety Control Unit Instructions Reference Manual 2931 4 Safety Function Blocks Function This FB monito

NX-series Safety Control Unit Instructions Reference Manual

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