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®
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Total number of pages: 197
PLCopen - Technical Committee 5
–
Safety Software
Technical Specification
Part 1: Concepts and Function Blocks
Version 2.01 – Official Release
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®
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Copyright © 2020 by PLCopen. All rights reserved.
Date: February 25, 2020
PLCopen
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Concepts and Function Blocks for Safety Functions
The following paper is a document created within the PLCopen Technical Committee 5 – Safety Software. It is an update of
the version 2.0 as published in July 2018 and is merged with the corrigendum of October 2018, which contained feedback to
(minor) errors in the document.
It summarizes the results of the PLCopen Technical Committee meetings, containing specific contributions for this version of
the following persons of PLCopen member companies:
Name
Company
Roland Wagner
B&R Automation
Hagen Burchardt
Bosch Rexroth
Thomas Riess
Bosch Rexroth
Ulf Schuenemann
Codesys
Roland Schaumburg
Danfoss
Karl Pickan
Kollmorgen
Michael Niehaus
Lenze
Viktoria Kapuscinski
Logicals
Josep Plassa
Omron
Harry Koop
Phoenix Contact Software
Thomas Kahabka
Siemens
Stefan Haeb
TÜV Köln
Eelco van der Wal
PLCopen
Change Status List:
Version
Number
Date
Change Comment
May 25, 2016
Decision to create V 1.01 based on:
• Results of request for additional Feedback
• Include Appendix to Part 1
• Merge with Part 3 (harmonizing ErrorIDs)
• Update the reference to Standards
• Harmonize with relevant sections of Part 4 (a.o. DataTypes)
• Bring in-line with the PLCopen Coding Guidelines
V 1.01
June 30, 2016
As result of the webmeeting on May 25, 2016 and June 28, 2016
V 1.02
Aug. 18, 2016
As a result of the webmeeting
V 1.03
Sept. 21, 2016
As a result of the face2face meeting
V1.04
Jan 04, 2017
As a result of the webmeeting. More status than changes
V 1.05
March 3, 2017
As result of the Face2Face meeting in Lohr on Feb 21&22, 2017. Integration of
Part 3
V 1.05A
March 21, 2017
With additional feedback on the Architectural Model
V1.06
March 28, 2017
As result of webmeeting on Architectural Model, resulting in new order of FBs
V1.07
May 30, 2017
As result of webmeeting April 20 and May 30
V 1.07a
June 8, 2017
As result of a webmeeting on Basic Level vs Extended Level
V1.08
July 4, 2017
As result of webmeeting on June 28 and feedback on reference to standards
V 1.09
July 31, 2017
As as result of the webmeeting on July 12 and additional input.
V 1.09A
Sept. 6, 2017
As a result of the webmeeting
V 1.09B
Oct. 19, 2017
As a result of the face to face meeting in Köln. Not distributed
V 1.09C
Oct. 24, 2017
With proposal in Estop for combination F_TRIG and R_TRIG
V 1.09D
March 13, 2018
As a result of the face to face meeting in Lemgo
V 1.09E
April 12, 2018
As a result of the face to face meeting in Cologne
V 1.09F
May 30, 2018
As a result of the face to face meeting in Kempten& harmonisation of DiagCodes
V 1.09G
June 13, 2018
As input for the webmeeting June 14, 2018
V 1.09H
June 21, 2018
As result of the webmeeting and further edits EvdW
V 2.0
July 3, 2018
Converted to V20 after no feedback to be included
V2.0A
October 2, 2019
As result of the decisions made for the corrigendum during the webmeeting
V2.0B
October 29, 2019
Additional feedback items discussed at webmeeting Oct. 24 and published intern.
V2.01
February 25, 2020
Released version since no additional comments received
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Table of Contents
1 INTRODUCTION .................................................................................................................................................... 9
1.1 THE RATIONALE OF A NEW SAFETY STANDARD ..................................................................................................... 9
1.2 OBJECTIVES .......................................................................................................................................................... 10
1.3 CERTIFICATION ..................................................................................................................................................... 11
1.4 MAJOR CHANGES IN THIS VERSION ....................................................................................................................... 11
2 GENERAL .............................................................................................................................................................. 12
2.1 SCOPE ................................................................................................................................................................... 12
2.2 TERMS AND DEFINITIONS ...................................................................................................................................... 13
2.3 RELATION TO OTHER STANDARDS ........................................................................................................................ 14
3 MODEL ................................................................................................................................................................... 15
3.1 SOFTWARE ARCHITECTURAL MODEL.................................................................................................................... 15
3.2 SAFE DATA TYPES ................................................................................................................................................ 20
3.3 GENERAL RECOMMENDATIONS AND CONSTRAINTS .............................................................................................. 20
4 REDUCTION IN THE DEVELOPMENT ENVIRONMENT ........................................................................... 22
4.1 DEFINITION OF USER LEVELS ................................................................................................................................ 22
4.2 REDUCTION IN THE SET OF PROGRAMMING LANGUAGES ...................................................................................... 23
4.3 REDUCTION IN DATA TYPES AND DECLARATIONS ................................................................................................ 23
4.4 REDUCTION IN FUNCTIONS AND FUNCTION BLOCKS ............................................................................................. 26
4.5 ST SPECIFIC REDUCTIONS ..................................................................................................................................... 27
4.6 OTHER REDUCTIONS ............................................................................................................................................. 28
5 GENERAL RULES FOR SAFETY-RELATED FUNCTION BLOCKS .......................................................... 30
5.1 FUNCTION BLOCK-SPECIFIC RULES ...................................................................................................................... 30
5.1.1 General Input Parameters ............................................................................................................................ 30
5.1.2 General Output Parameters ......................................................................................................................... 31
5.2 DIAGNOSTIC CODES .............................................................................................................................................. 32
5.3 DIAGNOSTIC FB .................................................................................................................................................... 34
5.4 GENERIC STATE DIAGRAM .................................................................................................................................... 36
5.5 SIMPLIFIED REPRESENTATION IN THE STATE DIAGRAM ......................................................................................... 37
5.6 RESET BEHAVIOR WITH ISO 13849-1:2015 .......................................................................................................... 38
5.6.1 Implementation and usage ............................................................................................................................ 38
5.6.2 SF_ResetButton always on ........................................................................................................................... 40
5.6.3 Compatibility to Part 1 Version 1.0.............................................................................................................. 40
6 SAFETY FUNCTION BLOCKS PRE-PROCESSING ...................................................................................... 41
6.1 RESET BUTTON ..................................................................................................................................................... 41
6.1.1 Applicable Safety Standards ......................................................................................................................... 41
6.1.2 Interface Description .................................................................................................................................... 41
6.1.3 Functional description ................................................................................................................................. 42
6.1.4 Error Detection ............................................................................................................................................ 44
6.1.5 Error Behavior ............................................................................................................................................. 44
6.1.6 Function Block-Specific Error and Status Codes ......................................................................................... 44
6.2 EQUIVALENT ......................................................................................................................................................... 45
6.2.1 Applicable Safety Standards ......................................................................................................................... 45
6.2.2 Interface Description .................................................................................................................................... 45
6.2.3 Functional Description ................................................................................................................................. 45
6.2.4 Error Detection ............................................................................................................................................ 48
6.2.5 Error Behavior ............................................................................................................................................. 48
6.2.6 Function Block-Specific Error and Status Codes ......................................................................................... 49
6.3 ANTIVALENT ......................................................................................................................................................... 50
6.3.1 Applicable Safety Standards ......................................................................................................................... 50
6.3.2 Interface Description .................................................................................................................................... 50
6.3.3 Functional Description ................................................................................................................................. 50
6.3.4 Error Detection ............................................................................................................................................ 53
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6.3.5 Error Behavior ............................................................................................................................................. 53
6.3.6 Function Block-Specific Error and Status Codes ......................................................................................... 53
6.4 MODE SELECTOR .................................................................................................................................................. 55
6.4.1 Applicable Safety Standards ......................................................................................................................... 55
6.4.2 Interface Description .................................................................................................................................... 55
6.4.3 Functional Description ................................................................................................................................. 57
6.4.4 Error Detection ............................................................................................................................................ 59
6.4.5 Error Behavior ............................................................................................................................................. 59
6.4.6 Function Block-Specific Error and Status Codes ......................................................................................... 60
6.5 EMERGENCY STOP ................................................................................................................................................ 62
6.5.1 Applicable Safety Standards ......................................................................................................................... 62
6.5.2 Interface Description .................................................................................................................................... 62
6.5.3 Functional Description ................................................................................................................................. 63
6.5.4 Error Detection ............................................................................................................................................ 66
6.5.5 Error Behavior ............................................................................................................................................. 66
6.5.6 Function Block-Specific Error and Status Codes ......................................................................................... 66
6.6 ELECTRO-SENSITIVE PROTECTIVE EQUIPMENT (ESPE) ........................................................................................ 68
6.6.1 Applicable Safety Standards ......................................................................................................................... 68
6.6.2 Interface Description .................................................................................................................................... 68
6.6.3 Functional Description ................................................................................................................................. 69
6.6.4 Error Detection ............................................................................................................................................ 72
6.6.5 Error Behavior ............................................................................................................................................. 72
6.6.6 Function Block-Specific Error and Status Codes ......................................................................................... 72
6.7 PRESSURE SENSITIVE EQUIPMENT (PSE) .............................................................................................................. 74
6.7.1 Applicable Safety Standards ......................................................................................................................... 74
6.7.2 Interface Description .................................................................................................................................... 74
6.7.3 Functional Description ................................................................................................................................. 75
6.7.4 Error Detection ............................................................................................................................................ 78
6.7.5 Error Behavior ............................................................................................................................................. 78
6.7.6 Function Block-Specific Error and Status Codes ......................................................................................... 78
6.8 TWO-HAND CONTROL TYPE II .............................................................................................................................. 80
6.8.1 Applicable Safety Standards ......................................................................................................................... 80
6.8.2 Interface Description .................................................................................................................................... 80
6.8.3 Functional Description ................................................................................................................................. 80
6.8.4 Error Detection ............................................................................................................................................ 82
6.8.5 Error Behavior ............................................................................................................................................. 82
6.8.6 Function Block-Specific Error and Status Codes ......................................................................................... 82
6.9 TWO-HAND CONTROL TYPE III ............................................................................................................................. 85
6.9.1 Applicable Safety Standards ......................................................................................................................... 85
6.9.2 Interface Description .................................................................................................................................... 85
6.9.3 Functional Description ................................................................................................................................. 86
6.9.4 Error Detection ............................................................................................................................................ 88
6.9.5 Error Behavior ............................................................................................................................................. 88
6.9.6 Function Block-Specific Error and Status Codes ......................................................................................... 88
6.10 TESTABLE SAFETY SENSOR ................................................................................................................................... 91
6.10.1 Applicable Safety Standards ......................................................................................................................... 91
6.10.2 Interface Description .................................................................................................................................... 91
6.10.3 Functional Description ................................................................................................................................. 92
6.10.4 Error Detection ............................................................................................................................................ 95
6.10.5 Error Behavior ............................................................................................................................................. 95
6.10.6 Function Block-Specific Error and Status Codes ......................................................................................... 96
6.11 SEQUENTIAL MUTING ......................................................................................................................................... 101
6.11.1 Applicable Safety Standards ....................................................................................................................... 101
6.11.2 Interface Description .................................................................................................................................. 101
6.11.3 Functional Description ............................................................................................................................... 103
6.11.4 Error Detection .......................................................................................................................................... 107
6.11.5 Error Behavior ........................................................................................................................................... 107
6.11.6 Function Block-Specific Error and Status Codes ....................................................................................... 108
6.12 PARALLEL MUTING ............................................................................................................................................. 111
6.12.1 Applicable Safety Standards ....................................................................................................................... 111
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6.12.2 Interface Description .................................................................................................................................. 111
6.12.3 Functional Description ............................................................................................................................... 113
6.12.4 Error Detection .......................................................................................................................................... 117
6.12.5 Error Behavior ........................................................................................................................................... 117
6.12.6 Function Block-Specific Error and Status Codes ....................................................................................... 117
6.13 PARALLEL MUTING WITH 2 SENSORS .................................................................................................................. 122
6.13.1 Applicable Safety Standards ....................................................................................................................... 122
6.13.2 Interface Description .................................................................................................................................. 122
6.13.3 Functional Description ............................................................................................................................... 123
6.13.4 Error Detection .......................................................................................................................................... 127
6.13.5 Error Behavior ........................................................................................................................................... 127
6.13.6 Function Block-Specific Error and Status Codes ....................................................................................... 127
6.14 ENABLE SWITCH ................................................................................................................................................. 130
6.14.1 Applicable Safety Standards ....................................................................................................................... 130
6.14.2 Interface Description .................................................................................................................................. 130
6.14.3 Functional Description ............................................................................................................................... 131
6.14.4 Error Detection .......................................................................................................................................... 134
6.14.5 Error Behavior ........................................................................................................................................... 134
6.14.6 Function Block-Specific Error and Status Codes ....................................................................................... 134
6.15 ENABLESWITCH 2 (WITHOUT DETECTION OF PANIC POSITION) ............................................................................ 136
6.15.1 Applicable Safety Standards ....................................................................................................................... 136
6.15.2 Interface Description .................................................................................................................................. 137
6.15.3 Functional Description ............................................................................................................................... 137
6.15.4 Error Detection .......................................................................................................................................... 140
6.15.5 Error Behavior ........................................................................................................................................... 140
6.15.6 Function Block-Specific Error and Status Codes ....................................................................................... 140
6.16 SAFETY GUARD ................................................................................................................................................... 142
6.16.1 Applicable Safety Standards ....................................................................................................................... 142
6.16.2 Interface Description .................................................................................................................................. 142
6.16.3 Functional Description ............................................................................................................................... 143
6.16.4 Error Detection .......................................................................................................................................... 146
6.16.5 Error Behavior ........................................................................................................................................... 146
6.16.6 Function Block-Specific Error and Status Codes ....................................................................................... 147
6.17 SAFETY GUARD INTERLOCKING WITH LOCKING (VERSION 2) ............................................................................. 149
6.17.1 Applicable Safety Standards ....................................................................................................................... 149
6.17.2 Interface Description .................................................................................................................................. 149
6.17.3 Functional Description ............................................................................................................................... 150
6.17.4 Error Detection .......................................................................................................................................... 152
6.17.5 Error Behavior ........................................................................................................................................... 152
6.17.6 Function Block-Specific Error and Status Codes ....................................................................................... 153
6.18 SAFETY GUARD INTERLOCKING WITH LOCKING FOR SWITCHES WITH SERIAL CONTACTS ................................... 157
6.18.1 Applicable Safety Standards ....................................................................................................................... 157
6.18.2 Interface Description .................................................................................................................................. 157
6.18.3 Functional Description ............................................................................................................................... 158
6.18.4 Error Detection .......................................................................................................................................... 160
6.18.5 Error Behavior ........................................................................................................................................... 160
6.18.6 Function Block-Specific Error and Status Codes ....................................................................................... 161
6.19 OVERRIDE ........................................................................................................................................................... 165
6.19.1 Applicable Safety standards ....................................................................................................................... 165
6.19.2 Interface description ................................................................................................................................... 166
6.19.3 Functional Description ............................................................................................................................... 168
6.19.1 Error Detection .......................................................................................................................................... 171
6.19.2 Error Behavior ........................................................................................................................................... 171
6.19.3 Function Block-Specific Error and Status Codes ....................................................................................... 172
7 SAFETY FUNCTION BLOCKS POST PROCESSING .................................................................................. 174
7.1 SAFETY REQUEST ................................................................................................................................................ 174
7.1.1 Applicable Safety Standards ....................................................................................................................... 174
7.1.2 Interface Description .................................................................................................................................. 174
7.1.3 Functional Description ............................................................................................................................... 175
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