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. oConsider the effect of any of these operations on all connected equipment before performing any of these operations. oPositively confirm the controller state by viewing its LEDs before acting on the controller. oConfirm 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. oVerify the presence of output forcing before acting on the controller. oReview the controller status information via EcoStruxure Machine Expert before acting on the controller.(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 LMC058 PLCSystem library.
The following table describes the controller states:
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Controller State |
Description |
RUN/MS LED |
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BOOTING |
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. |
Green/red flashing |
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BOOTING after detection of a System Error |
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. |
Rapid red flashing |
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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. Communication is only possible through the USB host port, and then only for uploading a valid OS. Refer to Upgrading Modicon LMC058 Motion Controller Firmware. |
Red flashing |
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EMPTY |
There is no application present or an invalid application. PCI expansion modules are inactive. |
Single green flash |
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EMPTY after detection of a System Error |
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. |
Rapid red flashing |
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RUNNING |
The controller is executing a valid application. |
Green |
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RUNNING with Breakpoint |
This state is the 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. For more information on breakpoint management, refer to the EcoStruxure Machine Expert Menu Commands Online Help. |
3 green flashes |
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RUNNING with detection of an External Error |
This state is the same as the normal RUNNING state except the LED indications are different. |
Green / single red flash |
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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. |
Green flashing |
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STOPPED with detection of an External Error |
This state is the same as the normal STOPPED state except the LED indications are different. |
Green flashing / single red flash |
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HALT |
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: oExpert I/O and TM5 I/O busses cease communications. Expert and TM5 outputs assume their Initialization values. oCAN 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. oThe LED indications are different. |
Single red flash |
The following statements are true for the STOPPED state:
oThe input configured as the Run/Stop input remains operational.
oThe output configured as the Alarm output remains operational and goes to a value of 0.
oEthernet, 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.
oOutputs 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.
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.
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:
oThe CANopen bus remains fully operational. Devices on the CANopen bus continue to perceive the presence of a functional CANopen 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.
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:
oThe CANopen Master ceases communications. Devices on the CANopen 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 CANopen Master.
