Internal items

Type

Definition

Constants

MNR_min:= 0x100

UInt32

// 0x100 is the start value for MNR, also used after wrap-around

// The values 0…0xFF are reserved for future use

Variables

FaultReqOA_i

Boolean

Local memory for errors which request operator acknowledgment

OperatorAckConsumerAllowed_i

Boolean

Auxiliary flag indicating that operator acknowledgment is allowed. It is true if the input SAPI.OperatorAckConsumer has been ‘false’ since FaultReqOA_i was set

MNR_i

UInt32

Local MonitoringNumber (MNR)

prevMNR_i

UInt32

Local memory for previous MNR

ConsumerID_i

UInt32

Local memory for SafetyConsumerID in use

CRCCheck_i

Boolean

Local variable used to store the result of the CRC check

SPDUCheck_i

Boolean

Local variable used to store the result of the additional SPDU checks

SPDU_ID_1_i

UInt32

Local variable to store the expected SPDU_ID_1

SPDU_ID_2_i

UInt32

Local variable to store the expected SPDU_ID_2

SPDU_ID_3_i

UInt32

Local variable to store the expected SPDU_ID_3

SPI_SafetyConsumerID_i

UInt32

Local variable to store the parameter SafetyConsumerID

SPI_SafetyProviderID_i

UInt32

Local variable to store the parameter SafetyProviderID

SPI_SafetyBaseID_i

UInt128

Local variable to store the parameter SafetyBaseID

SPI_SafetyStructureSignature_i

UInt32

Local variable to store the parameter SafetyStructureSignature

SPI_SafetyOperatorAckNecessary_i

Boolean

Local variable to store the parameter SafetyOperatorAckNecessary

SPI_SafetyErrorIntervalLimit_i

UInt16

Local variable to store the parameter SafetyErrorIntervalLimit

MNR_re_sync_i

Boolean

Local variable used to support re-synchronization of MNR after detected error

Timers

ConsumerTimer

Timer

This timer is used to check whether the next valid ResponseSPDU has arrived on time. It is initialized using the parameter SPI.SafetyConsumerTimeout.

NOTE As opposed to other parameters, a modification of the parameter value SafetyConsumerTimeout takes effect immediately, i.e. not only when state S11 is visited, see RQ7.26.

ErrorIntervalTimer

Timer

This timer is used to check the elapsed time between errors. If the elapsed time between two consecutive errors is smaller than the value SafetyErrorIntervalLimit, FSV will be activated. Otherwise, the ResponseSPDU is discarded and the SafetyConsumer waits for the next ResponseSPDU.

This timer is initialized using the local variable SPI_SafetyErrorIntervalLimit_i.

See Table 26, 6.3.4.3, and 9.4 for more information.

NOTE The local variable SPI_SafetyErrorIntervalLimit_i is not to be confused with the parameter SPI.SafetyErrorIntervalLimit. The local variable is copied from the parameter in state S11 (restart). Hence, if the parameter value changes during runtime, the new value will only be used after the connection has been restarted.

Macros <...><...>

<risingEdge x>

Macro

// detection of a rising edge:

If x==true && tmp==false Then result:= trueElse result:= falseEndif

tmp:= x

<Get ResponseSPDU>

Macro

Instruction to take the whole ResponseSPDU from the OPC UA Mapper.

<Use FSV>

Macro

SAPI.SafetyData is set to binary 0

If [<ConsumerTimer expired || SAPI.Enable==0 ?>]ThenSAPI.NonSafetyData is set to binary 0

ElseSAPI.NonSafetyData is set to ResponseSPDU.NonSafetyData

Endif

SAPI.FSV_Activated:= 1

RequestSPDU.Flags.FSV_Activated:= 1

NOTE 1 If a safety application prefers fail-safe values other than binary 0, this can be implemented in the safety application by querying SAPI.FSV_Activated.

NOTE 2 The NonSafetyData is always updated if data is available. In case of a timeout, no data is available, which is indicated using binary zero. If it is necessary for an application to distinguish between “no data available” and “binary zero received”, it can add a Boolean variable to the NonSafetyData. This value is set to ”1” during normal operation, and to ”0” for indicating that no data is available.

<Use PV>

Macro

SAPI.SafetyData is set to ResponseSPDU.SafetyData

SAPI.NonSafetyData is set to ResponseSPDU.NonSafetyData

SAPI.FSV_Activated:= 0

RequestSPDU.Flags.FSV_Activated:= 0

RequestSPDU.Flags.CommunicationError:= 0

<Set RequestSPDU>

Macro

Instruction to transfer the whole RequestSPDU to the OPC UA Mapper.

<(Re)Start ConsumerTimer>

Macro

Restarts the ConsumerTimer.

<(Re)Start ErrorIntervalTimer>

Macro

Restarts the ErrorIntervalTimer.

<ConsumerTimer expired?>

Macro

Yields “true” if the timer is running longer than SPI.SafetyConsumerTimeout since last restart, “false” otherwise.

<ErrorIntervalTimer expired?>

Macro

Yields “true” if the timer is running longer than SPI.SafetyErrorIntervalLimit since last restart, “false” otherwise.

<Assign ConsumerID>

Macro

If SAPI.SafetyConsumerID != 0

Then

ConsumerID_i:= SAPI.SafetyConsumerID

Else

ConsumerID_i:= SPI_SafetyConsumerID_i

EndifRequestSPDU.SafetyConsumerID:= ConsumerID_i

<Calc SPDU_ID_i>

Macro

uint128 BaseID

uint32 ProviderID

const uint32 SafetyProviderLevel_ID:= … // see 7.2.3.4

If(SAPI.SafetyBaseID == 0)

ThenBaseID:= SPI_SafetyBaseID_iElseBaseID:= SAPI.SafetyBaseID

EndifIf(SAPI.SafetyProviderID == 0)

ThenProviderID:= SPI_SafetyProviderID_iElseProviderID:= SAPI.SafetyProviderID

Endif

SPDU_ID_1_i:= BaseID (octets 0…3) XOR SafetyProviderLevel_ID

SPDU_ID_2_i:= BaseID (octets 4…7) XOR SPI_SafetyStructureSignature_i

SPDU_ID_3_i:= BaseID (octets 8…11) XOR BaseID (octets 12…15) XOR ProviderID

// see 7.2.3.2 for clarification

<ParametersOK?>

Macro

Boolean result:= trueIf(SAPI.SafetyBaseID == 0 && SPI_SafetyBaseID_i==0)Thenresult:= falseElseEndif

If(SAPI.SafetyProviderID == 0 && SPI_SafetyProviderID_i==0)Thenresult:= falseElseEndif

If(SAPI.SafetyConsumerID == 0 && SPI_SafetyConsumerID_i==0)Thenresult:= falseElseEndif

If(SPI_SafetyStructureSignature_i==0)Thenresult:= falseElseEndif

yield result

<Set Diag(ID,

Boolean isPermanent)>

Macro

// ID is the identifier for the type of diagnostic output, see Table 28.// Parameter isPermanent is used to indicate a permanent error.// Only one diagnostic message is created for multiple permanent// errors in sequence

If(RequestSPDU.Flags.CommunicationError == 0) Then <do vendor-specific function for diagnostic output using ID>Else//do nothingEndif

RequestSPDU.Flags.CommunicationError:= isPermanent// NOTE See Table 28 for possible values for “ID” and their codes.

<ResponseSPDUready for checks>

Macro

Boolean result:= false

If MNR_re_sync_i == false

ThenIf ResponseSPDU.MNR <> prevMNR_i

Then result:= true

Else//do nothingEndif

Else

If ResponseSPDU.MNR == MNR_i

Then result:= true

Else//do nothingEndif

Endif

yield result

<Handle WDTimeout>

Macro

<Set Diag(CommErrTO,isPermanent:=true)><Use FSV>

If SPI_SafetyOperatorAckNecessary_i == 1ThenFaultReqOA_i:= 1SAPI.OperatorAckRequested:= 0RequestSPDU.Flags.OperatorAckRequested:= 0Else// do nothingEndif

External event

Restart cycle

Event

The external call of SafetyConsumer can be interpreted as event “restart cycle”

State name

State description

Initialization

// Initial state of the SafetyConsumer instance.

<Use FSV> SAPI.OperatorAckRequested:= 0RequestSPDU.Flags.OperatorAckRequested:= 0SAPI.OperatorAckProvider:= 0FaultReqOA_i:= 0OperatorAckConsumerAllowed_i:= 0SAPI.TestModeActivated:= 0RequestSPDU.Flags.CommunicationError:= 0

MNR_re_sync_i:= false

S11_Wait for (Re)Start

// Safety layer is waiting for (Re)Start

// Changes to these parameters are only considered in this state

// Exception: a change of SafetyConsumerTimeout is possible during operation

// Read parameters from the SPI and store them in local variables:

SPI_SafetyConsumerID_i:= SPI.SafetyConsumerID

SPI_SafetyProviderID_i:= SPI.SafetyProviderIDConfigured

SPI_SafetyBaseID_i:= SPI.SafetyBaseIDConfigured

SPI_SafetyStructureSignature_i:= SPI.SafetyStructureSignature

SPI_SafetyOperatorAckNecessary_i:= SPI.SafetyOperatorAckNecessary

SPI_SafetyErrorIntervalLimit_i:= SPI_SafetyErrorIntervalLimit

S12_initialize MNR

// Use previous MNR if known// or random MNR within the allowed range (e.g. after cold start), see 9.2.

MNR_i:= (previous MNR_i if known) or (random MNR)

MNR_i:= max(MNR_i, MNR_min)1

S13_PrepareRequest

// Build RequestSPDU and send (done in T16)

S14_WaitForChangedSPDU

// Safety Layer is waiting for next ResponseSPDU from SafetyProvider.

// A new ResponseSPDU is characterized by a change in the MNR.

S15_CRCCheckSPDU

// Check CRC

uint32 CRC_calcCRCCheck_i:= (CRC_calc == ResponseSPDU.CRC)

// see 7.2.3.6 on how to calculate CRC_calc

S16_CheckResponseSPDU

// Check SafetyConsumerID and SPDU_ID and MNR (see T22, T23, T24)

SPDUCheck_i:= ResponseSPDU.SPDU_ID_1 == SPDU_ID_1_i && ResponseSPDU.SPDU_ID_2 == SPDU_ID_2_i && ResponseSPDU.SPDU_ID_3 == SPDU_ID_3_i && ResponseSPDU.SafetyConsumerID == ConsumerID_i && ResponseSPDU.MNR == MNR_i

S17_Error

SAPI.TestModeActivated:= 0

S18_ProvideSafetyData

// Provide SafetyData to the application program

S19_SecondWDT_Check

// Second check of WDTimeout

// Prevents restarting of ConsumerTimer if it expired since initial check

1 This ensures that the MNR is greater or equal to MNR_min, in cases the random number generator yielded a smaller value.

Transition

Source state

Target state

Guard condition

Activity

T12

Init

S11

-

T13

S11

S12

//Start

[SAPI.Enable==1 && <ParametersOK?>]

<(Re)Start ErrorIntervalTimer><calc SPDU_ID_i>// see 7.2.3.2 for clarification

T14

S12

S13

// MNR initialized

<(Re)Start ConsumerTimer>

<Assign ConsumerID>

T15

S18

S11

// Termination

[SAPI.Enable==0]

<Use FSV>

RequestSPDU.Flags.CommunicationError:= 0

// necessary to make sure that no diagnostic

// message is lost, see macro <Set Diag ...>

// NOTE Depending on its implementation, it could

// be necessary to stop the ConsumerTimer here.

T16

S13

S14

// Build RequestSPDU // and send it

prevMNR_i:= MNR_i

If MNR_i == 0xFFFFFFFFFThenMNR_i:= MNR_minElse

MNR_i:= MNR_i + 1Endif

RequestSPDU.MonitoringNumber:= MNR_i

<Set RequestSPDU>

T17

S14

S15

// Changed ResponseSPDU// is received1

<Get ResponseSPDU>2

<ResponseSPDU ready for checks>

// A changed ResponseSPDU is characterized by a change in the MNR.

T18

S14

S17

// WDTimeout

[<ConsumerTimer expired?>]

<Handle WDTimeout>

T19

S15

S13

// When CRC err and ErrorIntervalTimer expired[(crcCheck_i == 0) && <ErrorIntervalTimer expired?>]

MNR_re_sync_i:= true

<(Re)Start ErrorIntervalTimer><Set Diag(CRCerrIgn, isPermanent:=false)>

T20

S15

S17

// When CRC err and ErrorIntervalTimer not expired

[(crcCheck_i == 0) && not <ErrorIntervalTimer expired?>]

<(Re)Start ErrorIntervalTimer><Set Diag(CRCerrOA, isPermanent:=true)><Use FSV>

FaultReqOA_i:= 1SAPI.OperatorAckRequested:= 0RequestSPDU.Flags.OperatorAckRequested:= 0

T21

S15

S16

// When CRCCheckOK

[crcCheck_i == 1]

-

T22

S16

S18

// SPDU OK

[SPDUCheck_i==true]

// For clarification, refer to Figure 19;

MNR_re_sync_i:= false

// indicate OA from provider

SAPI.OperatorAckProvider:= ResponseSPDU.Flags.OperatorAckProvider

// OA requested due to rising edge at ActivateFSV?

If (<risingEdge ResponseSPDU.Flags.ActivateFSV>&& SPI_SafetyOperatorAckNecessary_i == true)Then FaultReqOA_i:= 1;<Set Diag(FSV_Requested,isPermanent:=true)> Else // do nothing

Endif

// Set Flags if OA requested:

If FaultReqOA_i==1 Then SAPI.OperatorAckRequested:= 1, RequestSPDU.Flags.OperatorAckRequested:= 1, OperatorAckConsumerAllowed_i:= 0,FaultReqOA_i:= 0Else//do nothingEndif

// Wait until OperatorAckConsumer is not active

If SAPI.OperatorAckConsumer==0

Then

OperatorAckConsumerAllowed_i:= 1

Else

//do nothing

Endif

// Reset Flags after OA:

If SAPI.OperatorAckConsumer ==1 && OperatorAckConsumerAllowed_i == 1

Then

SAPI.OperatorAckRequested:= 0, RequestSPDU.Flags.OperatorAckRequested:= 0Else

// do nothing

Endif

If SAPI.OperatorAckRequested==1 || ResponseSPDU.Flags.ActivateFSV==1Then <Use FSV> Else <Use PV>Endif

// Notify safety application that SafetyProvider is in test mode:

SAPI.TestModeActivated:= ResponseSPDU.Flags.TestModeActivated

T23

S16

S13

// SPDU NOK and ErrorIntervalTimer expired[SPDUCheck_i == false && <ErrorIntervalTimer expired?>]

<(Re)Start ErrorIntervalTimer>,

MNR_re_sync_i:= true

// Send diagnostic message according to the// detected error:

If ResponseSPDU.SafetyConsumerID <> ConsumerID_iThen <Set Diag(CoIDerrIgn, isPermanent:=false)>ElseIf ResponseSPDU.MNR<>MNR_iThen <Set Diag(MNRerrIgn,isPermanent:=false)>Else //do nothingEndIfIf ResponseSPDU.SPDU_ID_1<> SPDU_ID_1_i ||ResponseSPDU.SPDU_ID_2<> SPDU_ID_2_i ||ResponseSPDU.SPDU_ID_3<> SPDU_ID_3_iThen <Set Diag(SD_IDerrIgn,

isPermanent:=false)>3 Else // do nothingEndifEndif

T24

S16

S17

// SPDU NOK and ErrorIntervalTimer not expired

[SPDUCheck_i == 0 && not <ErrorIntervalTimer expired?>]

<(Re)Start ErrorIntervalTimer>// Send diagnostic message according to the // detected error:

If ResponseSPDU.SafetyConsumerID<> ConsumerID_iThen <Set Diag(CoIDerrOA, isPermanent:=true)>Else If ResponseSPDU.MNR<>MNR_iThen <Set Diag(MNRerrOA,isPermanent:=true)>Else //do nothingEndifIf ResponseSPDU.SPDU_ID_1<> SPDU_ID_1_i ||ResponseSPDU.SPDU_ID_2<> SPDU_ID_2_i ||ResponseSPDU.SPDU_ID_3<> SPDU_ID_3_iThen <Set Diag(SD_IDerrOA,isPermanent:=true)>Else //do nothingEndifEndif

FaultReqOA_i:= 1

SAPI.OperatorAckRequested:= 0RequestSPDU.Flags.OperatorAckRequested:= 0<Use FSV>

T25

S17

S18

// SPDU NOK

-

MNR_re_sync_i:= true

T26

S18

S19

// Restart Cycle

[SAPI.Enable==1]

-

T27

S11

S11

// Invalid parameters

[SAPI.Enable==1 && not <ParametersOK?>]

<Set Diag(ParametersInvalid, isPermanent:=true)>

T28

S19

S13

// No WDTimeout

<(Re)Start ConsumerTimer>

T29

S19

S17

// WDTimeout

[<ConsumerTimer expired?>]

<Handle WDTimeout>

1 Another event like “Method completion successful” can be used as guard condition of “Changed ResponseSPDU received” as well.

2 SPDUs with all values (incl. CRC signature) being zero shall be ignored, see requirement RQ5.6.

3 See Table 28.