Table of Contents
Warranty and Liability ................................................................................................. 2
1 Introduction ........................................................................................................ 4
2 Configuring Fail-Safe Controllers .................................................................... 6
2.1 Selecting the suitable F-CPU ............................................................... 6
2.2 PROFIsafe address types .................................................................... 8
2.3 Protecting the F-CPU against unauthorized access ............................ 9
2.4 F-change history ................................................................................. 11
2.5 Consistently uploading F-CPUs ......................................................... 12
2.6 Know-how protection .......................................................................... 13
3 Methods for Safety Programming .................................................................. 14
3.1 Program structures ............................................................................. 14
3.1.1 Defining a program structure .............................................................. 14
3.1.2 Call levels of F-FBs/F-FCs ................................................................. 16
3.1.3 Call sequence of the blocks in the Main Safety ................................. 16
3.1.4 F-suitable PLC data type .................................................................... 18
3.2 Block information and comments ....................................................... 20
3.3 Functional identifiers of variables ....................................................... 21
3.4 True & False ....................................................................................... 22
3.5 Standardizing blocks .......................................................................... 23
3.5.1 Standardizing sensor evaluation ........................................................ 23
3.5.2 Standardizing actuator control ........................................................... 25
3.6 Programming logic operations ........................................................... 26
3.7 Programming mode-dependent safety functions ............................... 26
3.8 Connecting global data....................................................................... 27
3.9 Data exchange between standard user program and safety
program .............................................................................................. 28
3.9.1 Reading diagnostic and message information from the safety
program .............................................................................................. 29
3.9.2 Transferring operational information to the safety program ............... 30
3.9.3 Using non-safe inputs in the safety program...................................... 30
3.9.4 Transferring HMI signals to the safety program ................................. 31
3.10 Resetting functional switching ............................................................ 33
3.11 Reintegrating fail-safe I/O modules/channels .................................... 34
3.11.1 Evaluating passivated modules/channels .......................................... 34
3.11.2 Automatic reintegration ...................................................................... 36
3.11.3 Manual reintegration ........................................................................... 37
4 Optimizing Safety Programs .......................................................................... 38
4.1 Optimizing the compilation duration and runtime ............................... 38
4.1.1 Jumps in the safety program .............................................................. 39
4.1.2 Timer blocks ....................................................................................... 41
4.1.3 Multi-instances ................................................................................... 41
4.2 Avoiding data corruption..................................................................... 43
5 Glossary ........................................................................................................... 45
6 Appendix .......................................................................................................... 47
6.1 Service and Support ........................................................................... 47
6.2 Links and literature ............................................................................. 48
6.3 Change documentation ...................................................................... 48
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