Controller States and Behaviors
Controller States Description Section 7.2
Controller States Description
Controller States Description
Introduction
This section provides a detailed description of the controller states.
WARNING
UNINTENDED EQUIPMENT OPERATION
Never assume that your controller is in a certain controller state before commanding a change of state, configuring your controller options, uploading a program, or modifying the physical configuration of the controller and its connected equipment.
Consider the effect of any of these operations on all connected equipment before performing any of these operations.
Positively confirm the controller state by viewing its LEDs before acting on the controller.
Confirm the condition of the Run/Stop input (if so equipped and configured) and/or the
Run/Stop switch (if so equipped) before acting on the controller.
Verify the presence of output forcing before acting on the controller.
Review the controller status information via EcoStruxure Machine Expert before acting on the controller.
(1)
Failure to follow these instructions can result in death, serious injury, or equipment damage.
(1) The controller states can be read in the PLC_R.i_wStatus system variable of the M258
PLCSystem library.
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Controller States Table
The following table describes the controller states:
Controller State
BOOTING
BOOTING after detection of a
System Error
INVALID_OS
EMPTY
EMPTY after detection of a
System Error
RUNNING
RUNNING with
Breakpoint
RUNNING with detection of an
External Error
STOPPED
Description
The controller executes the boot firmware and its own internal self-tests. It then verifies the checksum of the firmware and user applications. It does not execute the application nor does it communicate.
This state is the same as the normal BOOTING state except that a flag is set to make it appear as if no Boot application is present and the LED indications are different.
There is not a valid firmware file present In the Flash memory. The controller does not execute the application.
Communication is only possible through the USB host port, and then only for uploading a valid OS.
Refer to Upgrading Modicon M258 Motion Controller
Firmware ( see page 246 )
.
There is no application present or an invalid application. PCI expansion modules are inactive.
This state is the same as the normal EMPTY state except that a flag is set to make it appear as if no Boot Application is present (no Application is loaded) and the LED indications are different.
The controller is executing a valid application.
This state is the same as the RUNNING state with the following exceptions:
The task-processing portion of the program does not
resume until the breakpoint is cleared.
The LED indications are different.
For more information on breakpoint management, refer to the EcoStruxure Machine Expert Menu Commands Online
Help.
This state is the same as the normal RUNNING state except the LED indications are different.
RUN/MS LED
Green/red flashing
Rapid red flashing
Red flashing
Single green flash
Rapid red flashing
Green
3 green flashes
Green / single red flash
The controller has a valid application that is stopped. See
Details of the STOPPED State ( see page 55 ) for an
explanation of the behavior of outputs and field buses in this state.
Green flashing
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Controller State
STOPPED with detection of an
External Error
HALT
Description
This state is the same as the normal STOPPED state except the LED indications are different.
RUN/MS LED
Green flashing / single red flash
The controller stops executing the application because it has detected an Application Error.
This description is the same as for the STOPPED state with the following exceptions:
Expert I/O and TM5 I/O busses cease communications.
Expert and TM5 outputs assume their Initialization values
( see page 58 )
.
CAN bus behaves as if the Update IO while in stop option was not selected when managed by a task responsible for the Application Detected Error. Else, CAN bus behavior follows the actual setting.
The LED indications are different.
Single red flash
Details of the STOPPED State
The following statements are true for the STOPPED state:
The input configured as the Run/Stop input remains operational.
The output configured as the Alarm output remains operational and goes to a value of 0.
Ethernet, Serial (Modbus, ASCII, etc.), and USB communication services remain operational and commands written by these services can continue to affect the application, the controller state, and the memory variables.
Outputs initially assume their configured default state (Keep current values or Set all outputs to default) or the state dictated by output forcing if used. The subsequent state of the outputs depends on the value of the Update IO while in stop setting and on commands received from remote devices.
Task and I/O Behavior When Update IO While In Stop Is Selected
When the Update IO while in stop setting is selected:
The Read Inputs operation continues normally. The physical inputs are read and then written to the %I input memory variables.
The Task Processing operation is not executed.
The Write Outputs operation continues. The %Q output memory variables are updated to reflect either the Keep current values configuration or the Set all outputs to default configuration, adjusted for any output forcing, and then written to the physical outputs.
NOTE: Expert functions continue to operate. For example, a counter will continue to count.
However, these Expert functions do not affect the state of the outputs. The outputs of Expert
I/O conform to the behavior stated here.
NOTE: Commands received by Ethernet, Serial, USB and CAN communications can continue to write the memory variables. Changes to the %Q output memory variables are written to the physical outputs.
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CANopen Behavior When Update IO While In Stop Is Selected
The following is true for the CANopen buses when the Update IO while in stop setting is selected:
The CANopen bus remains fully operational. Devices on the CANopen bus continue to
perceive the presence of a functional CANopen Master.
TPDO and RPDO continue to be exchanged.
The optional SDO, if configured, continue to be exchanged.
The Heartbeat and Node Guarding functions, if configured, continue to operate.
If the Behaviour for outputs in Stop field is set to Keep current values, the TPDOs continue to be issued with the last actual values.
If the Behaviour for outputs in Stop field is Set all outputs to default the last actual values are updated to the default values and subsequent TPDOs are issued with these default values.
Task and I/O Behavior When Update IO While In Stop Is Not Selected
When the Update IO while in stop setting is not selected, the controller sets the I/O to either the
Keep current values or Set all outputs to default condition (as adjusted for output forcing if used).
After this, the following becomes true:
The Read Inputs operation ceases. The %I input memory variables are frozen at their last
values.
The Task Processing operation is not executed.
The Write Outputs operation ceases. The %Q output memory variables can be updated via the Ethernet, Serial, and USB connections. However, the physical outputs are unaffected and retain the state specified by the configuration options.
NOTE: Expert functions cease operating. For example, a counter will be stopped.
CANopen Behavior When Update IO While In Stop Is Not Selected
The following is true for the CANopen buses when the Update IO while in stop setting is not selected:
The CANopen Master ceases communications. Devices on the CANopen bus assume their
configured fallback states.
TPDO and RPDO exchanges cease.
Optional SDO, if configured, exchanges cease.
The Heartbeat and Node Guarding functions, if configured, stop.
The current or default values, as appropriate, are written to the TPDOs and sent once before stopping the CANopen Master.
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State Transitions and System Events Section 7.3
State Transitions and System Events
Overview
This section begins with an explanation of the output states possible for the controller. It then presents the system commands used to transition between controller states and the system events that can also affect these states. It concludes with an explanation of the Remanent variables, and the circumstances under which different variables and data types are retained through state transitions.
What Is in This Section?
This section contains the following topics:
Topic
Controller States and Output Behavior
Commanding State Transitions
Error Detection, Types, and Management
Remanent Variables
Page
58
61
68
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