This section provides a detailed description of the controller states.
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UNINTENDED EQUIPMENT OPERATION |
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oNever 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. oBefore performing any of these operations, consider the effect on all connected equipment. oBefore acting on a controller, always positively confirm the controller state by viewing its LEDs, verifying the presence of output forcing, and reviewing the controller status information via EcoStruxure Machine Expert.(1) |
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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 M251 PLCSystem library
The following table describes the controller states:
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Controller State |
Description |
LED |
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RUN (Green) |
ERR (Red) |
I/O (Red) |
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BOOTING |
The controller executes the boot firmware and its own internal self-tests. It then checks the checksum of the firmware and user applications. |
OFF |
OFF |
ON |
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OFF |
ON |
ON |
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OFF |
ON |
OFF |
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INVALID_OS |
There is not a valid firmware file present in the flash memory. The controller does not execute the application. Refer to the Firmware Upgrade section to restore a correct state. |
OFF |
Regular flash |
OFF |
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EMPTY |
The controller has no application. |
OFF |
Single flash |
OFF |
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EMPTY after a system error detected |
This state is the same as the normal EMPTY state. But the application is present, and is intentionally not loaded. A next reboot (power cycle), or a new application download, will restore correct state. |
OFF |
Fast flash |
OFF |
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RUNNING |
The controller is executing a valid application. |
ON |
OFF |
OFF |
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RUNNING with breakpoint |
This state is same as the RUNNING state with the following exceptions: oThe task-processing portion of the program does not resume until the breakpoint is cleared. oThe LED indications are different. oFor more information on breakpoint management, refer to EcoStruxure Machine Expert Programming Guide. |
Single flash |
OFF |
OFF |
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RUNNING with external error detected |
Configuration, TM3, SD card, or other I/O error detected. When I/O LED is ON, the details about the detected error can be found in PLC_R.i_lwSystemFault_1 and PLC_R.i_lwSystemFault_2. Any of the detected error conditions reported by these variables cause the I/O LED to be ON. |
ON |
OFF |
ON |
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STOPPED |
The controller has a valid application that is stopped. See details of the STOPPED state for an explanation of the behavior of outputs and field buses in this state. |
Regular flash |
OFF |
OFF |
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STOPPED with external error detected |
Configuration, TM3, SD card, or other I/O error detected. |
Regular flash |
OFF |
ON |
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HALT |
The controller stops executing the application because it has detected an application error |
Regular flash |
ON |
– |
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Boot Application not saved |
The controller has an application in memory that differs from the application in Flash memory. At next power cycle, the application will be changed by the one from Flash memory. |
ON or regular flash |
Single flash |
OFF |
This figure shows the difference between the regular flash and single flash:
The following statements are true for the STOPPED state:
oEthernet, Serial (Modbus, ASCII, and so on), 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.
oAll 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:
oThe Read Inputs operation continues normally. The physical inputs are read and then written to the %I input memory variables.
oThe Task Processing operation is not executed.
oThe 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.
CAN Behavior When Update IO While In Stop Is Selected
The following is true for the CAN buses when the Update IO while in stop setting is selected:
oThe CAN bus remains fully operational. Devices on the CAN bus continue to perceive the presence of a functional CAN Master.
oTPDO and RPDO continue to be exchanged.
oThe optional SDO, if configured, continue to be exchanged.
oThe Heartbeat and Node Guarding functions, if configured, continue to operate.
oIf the Behaviour for outputs in Stop field is set to Keep current values, the TPDOs continue to be issued with the last actual values.
oIf 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:
oThe Read Inputs operation ceases. The %I input memory variables are frozen at their last values.
oThe Task Processing operation is not executed.
oThe 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.
CAN Behavior When Update IO While In Stop Is Not Selected
The following is true for the CAN buses when the Update IO while in stop setting is not selected:
oThe CAN Master ceases communications. Devices on the CAN bus assume their configured fallback states.
oTPDO and RPDO exchanges cease.
oOptional SDO, if configured, exchanges cease.
oThe Heartbeat and Node Guarding functions, if configured, stop.
oThe current or default values, as appropriate, are written to the TPDOs and sent once before stopping the CAN Master.
