SMC_IsPowerOfTen (FUN) ¶ FUNCTION SMC_IsPowerOfTen : BOOL Checks and returns whether udiNum is a power of ten. If so, udiExp holds the exponent such that udiNum = 10^udiExp. InOut: Scope Name Type Return SMC_IsPowerOfTen BOOL Input udiNum UDINT Output udiExp UDINT

File and Project Information ¶ Scope Name Type Content FileHeader creationDateTime date 10.03.2023, 13:43:12 companyName string 3S-Smart Software Solutions GmbH libraryFile SM3_Drive_ETC_Stoeber_SI6_SC6.library primaryProject True productName CODESYS productProfile CODESYS V3.5 SP16 Patch 3 contentFile SM3_Drive_ETC_Stoeber_SI6_SC6.clean.json version version 2.0.0.0 ProjectInformation Released bool True ShowSmartCodingInfo True LastModificationDateTime date 10.03.2023, 13:43:11 LibraryCategories library-category-list Intern|SoftMotion Company string 3S - Smart Software Solutions GmbH CompiledLibraryCompatibilityVersion CODESYS V3.5 SP15 Description See: Description Placeholder SM3_Drive_ETC_Stoeber_SI6_SC6 Project SM3_Drive_ETC_Stoeber_SI6_SC6 Title SM3_Drive_ETC_Stoeber_SI6_SC6 Version version 4.14.0.0

Library Reference ¶ This is a dictionary of all referenced libraries and their name spaces. CmpErrors2 Interfaces ¶ Library Identification ¶ Name: CmpErrors2 Interfaces Version: newest Company: System Namespace: CmpErrors Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: CmpErrors2 Interfaces, * (System) IoStandard ¶ Library Identification ¶ Placeholder: IoStandard Default Resolution: IoStandard, * (System) Namespace: IoStandard Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: IoStandard SM3_Basic ¶ Library Identification ¶ Placeholder: SM3_Basic Default Resolution: SM3_Basic, * (3S - Smart Software Solutions GmbH) Namespace: SM3_Basic Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SM3_Basic SM3_Drive_CiA_DSP402 ¶ Library Identification ¶ Placeholder: SM3_Drive_CiA_DSP402 Default Resolution: SM3_Drive_CiA_DSP402, * (3S - Smart Software Solutions GmbH) Namespace: SM3_Drive_CiA_DSP402 Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SM3_Drive_CiA_DSP402 SM3_Drive_ETC ¶ Library Identification ¶ Placeholder: SM3_Drive_ETC Default Resolution: SM3_Drive_ETC, * (3S - Smart Software Solutions GmbH) Namespace: SM3_Drive_ETC Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SM3_Drive_ETC SM3_Drive_ETC_DS402_CyclicSync ¶ Library Identification ¶ Placeholder: SM3_Drive_ETC_DS402_CyclicSync Default Resolution: SM3_Drive_ETC_DS402_CyclicSync, * (3S - Smart Software Solutions GmbH) Namespace: SM3_Drive_ETC_DS402_CyclicSync Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SM3_Drive_ETC_DS402_CyclicSync SM3_ETC_ITF ¶ Library Identification ¶ Placeholder: SM3_ETC_ITF Default Resolution: SM3_ETC_ITF, * (3S - Smart Software Solutions GmbH) Namespace: SM3_ETC_ITF Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SM3_ETC_ITF Standard ¶ Library Identification ¶ Placeholder: Standard Default Resolution: Standard, * (System) Namespace: Standard Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: Standard SysTypes2 Interfaces ¶ Library Identification ¶ Name: SysTypes2 Interfaces Version: newest Company: System Namespace: SysTypes Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SysTypes2 Interfaces, * (System)

Function Blocks ¶ CANopenDeviceSIL2 (FunctionBlock) Cyclic-Methods-state-independent State-Machine State Transitions States CheckConfiguration CheckConfiguration and Stopped Operational

CANopenDeviceSIL2 (FB) ¶ FUNCTION_BLOCK CANopenDeviceSIL2 EXTENDS CSB.CANopenSafetyBase This function block implements a CANopen Safety Slave SIL2 I/O driver which is realized through a black channel approach. It sits on top of an unsafe CANopen Slave Stack. Communication between both stacks is realized over shared memory. The function block can be enabled/disabled by S_xEnable . When S_xEnable gets TRUE the function block checks all conditions for safe communication each bus cycle: Unsafe stack is in OPERATIONAL state Configuration valid object (16#13FE) is set to 16#A5 Safety configuration signatures are correct Consistency of SRDO configuration data If a configuration error is detected (e.g. CRC mismatch) S_eError changes from NO_ERROR to the corresponding error code. If every condition is fulfilled the function block tries starting safe communication. Output S_xActive gets TRUE if all SRDOs are sent/received at least one time without any error. When communication error occurs (e.g. SCT/SRVT timeout, data mismatch, …), all SRDO communication is stopped: S_xActive = FALSE , S_eError <> NO_ERROR . Errors can be acknowledged by a rising edge of S_xErrorAck . Safe communication will be continued. Note Do not instantiate this function block. It will be instantiated implicitly. InOut: Scope Name Type Initial Comment Input S_xEnable BOOL TRUE TRUE : SRDO communication enabled; FALSE : SRDO communication stopped S_xErrorAck BOOL FALSE Pending error ( S_eError <> NO_ERROR ) can be acknowledged with rising edge. Output S_xActive BOOL FALSE TRUE : safe communication active; FALSE : safe communication inactive (in case of error or S_xEnable = FALSE ) S_eError CST.ERROR CST.ERROR.NO_ERROR Error code of pending error or NO_ERROR . Structure: Cyclic-Methods-state-independent State-Machine State Transitions States CheckConfiguration CheckConfiguration and Stopped Operational

Cyclic Methods (state independent) ¶ Methods called every cycle independent of state.

File and Project Information ¶ Scope Name Type Content FileHeader creationDateTime date 11.12.2018, 09:18:46 companyName string 3S-Smart Software Solutions GmbH libraryFile _3SCANopenSafetySlave.library primaryProject True productName CODESYS productProfile CODESYS V3.5 SP14 contentFile _3SCANopenSafetySlave.clean.json version version 2.0.0.0 ProjectInformation IsEndUserLibrary bool False Released True SIL2 True LastModificationDateTime date 11.12.2018, 09:18:44 LibraryCategories library-category-list Intern|CANbus; Docs|Fieldbus|CAN Author string 3S - Smart Software Solutions GmbH Company 3S - Smart Software Solutions GmbH DefaultNamespace _3SCSSD Description See: Description DocFormat reStructuredText LanguageModelAttribute qualified-access-only Placeholder 3S CANopenSafety Slave Project _3SCANopenSafetySlave Title 3S CANopenSafety Slave Version version 3.5.14.0

State Machine ¶ Methods implementing the state machine. State Transitions States CheckConfiguration CheckConfiguration and Stopped Operational

Library Reference ¶ This is a dictionary of all referenced libraries and their name spaces. Base Interfaces ¶ Library Identification ¶ Name: Base Interfaces Version: newest Company: System Namespace: IBaseLibrary Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: Base Interfaces, * (System) CANopenSafetyBase ¶ Library Identification ¶ Placeholder: CANopenSafetyBase Default Resolution: CANopenSafetyBase, * (3S - Smart Software Solutions GmbH) Namespace: CSB Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: CANopenSafetyBase CANopenSafetyTypes ¶ Library Identification ¶ Placeholder: CANopenSafetyTypes Default Resolution: CANopenSafetyTypes, * (3S - Smart Software Solutions GmbH) Namespace: CST Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: CANopenSafetyTypes CmpErrors2 Interfaces ¶ Library Identification ¶ Name: CmpErrors2 Interfaces Version: newest Company: System Namespace: CmpErrors Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: CmpErrors2 Interfaces, * (System) CmpSIL2 ¶ Library Identification ¶ Placeholder: CmpSIL2 Default Resolution: CmpSIL2, * (System) Namespace: CmpSIL2 Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: CmpSIL2 IoDriver Interfaces ¶ Library Identification ¶ Name: IoDriver Interfaces Version: newest Company: System Namespace: IIoDrv Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: IoDriver Interfaces, * (System) IoDriver Parameter Interfaces ¶ Library Identification ¶ Name: IoDriver Parameter Interfaces Version: newest Company: System Namespace: IIoDrvParameter Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: IoDriver Parameter Interfaces, * (System) IoStandard ¶ Library Identification ¶ Placeholder: IoStandard Default Resolution: IoStandard, * (System) Namespace: IoStandard Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: IoStandard SysExcept ¶ Library Identification ¶ Placeholder: SysExcept Default Resolution: SysExcept, * (System) Namespace: SysExcept Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SysExcept SysTypes2 Interfaces ¶ Library Identification ¶ Name: SysTypes2 Interfaces Version: newest Company: System Namespace: SysTypes Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SysTypes2 Interfaces, * (System)

State Transitions ¶ Methods for switching the internal state of the state machine.