1 Festo FED-CEC

This manual describes the FED HMIcontrol system based on the CoDeSys control software.
The documentation covers:
- FED-CEC control modules factory-loaded with CoDeSys run-time,
- FED local I/O subsystems
- CANopen distributed I/O interface.
This manual is not intended to be a reference for CoDeSys programming. If you need a CoDeSys
programming manual please refer to the appropriate documentation

1.1 FED and CoDeSys Control Solutions

At the core of HMIcontrol there is the FED-CEC PLC module. Control modules based on CoDeSys
are compatible with all FED panels (expect for FED-40 models) with firmware 5.12 or higher.

FED-CEC Ethernet interface supports also basic TCP/IP Ethernet connectivity for FED and CANopen
master interface

The FED-CEC modules physical memory configuration is described in Table 1. The table refers to
CoDeSys firmware version V4.01K and above.

Data Memory Code Memory

FED-CEC 1MB 1MB
Table 1
They all have a typical scan time measured for the execution of BOOL instructions written in IL
language of 350 s / K .

Note: the CoDeSys implementation on FED-CEC modules correspond to a single-task model with
no multithreading; the CoDeSys kernel has a system execution time fixed at operating system
level, to 10ms; this means that the fastest possible reaction on I/O image is limited to 10ms

CoDeSys is the complete development environment for the FED-CEC PLC modules. CoDeSys offers
the PLC programmer a simple approach to the powerful IEC languages.

The original documentation of CoDeSys will be installed when the software is installed. The available
documentation includes a clear and detailed presentation of the software and contains also a useful
“First Steps with CoDeSys” that should be your first guide in getting confidence with the system.

The main technical data of the FED-CEC control modules are shown in the table.

CPU 32 bit MIPS RISC processor

Clock speed 24Mhz
Program Flash memory 4MB
Data Flash Memory 16MB
SDRAM memory 8MB
CPU supervision (Reset, Watchdog) Yes
Interface Ethernet 10BASE-T and CAN interface with
optical isolation
Table 2

FED-CEC FED-UIM User's Manual 1

1.1.1 System Configurations
You can apply the HMIcontrol systems in different configurations.

1.1.1.1 Compact Stand-alone Controller

The HMIcontrol system can be used to build very compact standalone HMI and PLC systems.
Input/output is available via the FED-UIM internal modules.

Local I/O

Figure 1

1.1.1.2 Controller with Distributed I/O

A built-in fieldbus interface is provided with the HMIcontrol modules. Configurations with local and
distributed I/O are possible.

Local I/O

Remote I/O

Figure 2

FED-CEC FED-UIM User's Manual 2

1.1.1.3 HMIcontrol Connectivity
An HMIcontrol system still offers the same connection capabilities of the FED products. Control
capability can be combined with connection to a conventional controller (PLC).

Figure 3

1.1.2 Requirements and Limitations

The following firmware and software versions are required to work with the CoDeSys HMIcontrol
systems:

Version
FED Designer 6.03 or higher
FED Firmware 5.12 or higher
CoDeSys 2.3.2 or higher
Table 3
All the FED units have only one slot available for the communication or control module and, if one
iPLC module is used, it is no longer possible to plug one additional communication module.

Note: The current implementation of CoDeSys on FED-CEC does not include drivers for Ethernet
distributed I/O.

1.2 Getting Started

The following chapter describes the basic steps to follow in order to get HMIcontrol running on the
FED-CEC control modules.

1.2.1 Installing the FED-CEC Control Module

The FED-CEC Control Module must be installed in the socket available for the optional
Communication Modules.
The Control Module must be installed with the panel powered off. Once the power supply is
connected again the FED firmware will recognize the new module.

Follow this procedure to install the module in the operator panel:

1. Turn off the operator panel.
2. Remove the rear cover.

FED-CEC FED-UIM User's Manual 3

3. Plug the module in the slot with red connectors and make sure the connectors are properly
latched.
4. Re-install the rear cover.
5. Mount back the rear cover.
6. Stick in the area “B” the label indicating the type of module that has just been plugged in.

Figure 4

1.2.2 Control Module Diagnostic

The System Menu of FED provides some basic diagnostic information on the operation of the
communication and control modules.
To view the diagnostic information:
1. Make sure the operator panel is in Operation Mode
2. Recall the System Menu
3. Scroll down the display to show the bottom row of the page
4. The diagnostic information will be shown as in the example below:

SCM12 0 H160 X130 OK

SCM12 type of module
0 Hnnn Xnnn internal version codes
OK confirms the correct installation of the control module.
5. FED-CEC firmware version can be read directly in system menu; when the SCMxx line is
highlighted by the cursor, press the right arrow key to display the version information.
FED-CEC modules always include the TCP/IP software usable for all Ethernet based FED protocols.

Internal I/O modules are compatible with FED 500, FED 1000, FED 2000 and FED 5000 models.

1.2.3 Installing the FED-UIM I/O module

Follow the procedure described below to install an internal I/O module.

1) Turn off the operator panel and remove all cables.

2) Unscrew (but not remove) with the crosshead screwdriver the four screws A, B, C, and D.

FED-CEC FED-UIM User's Manual 4

3) Remove the rear cover.
4) Insert the FED-UIM module
5) Fix the FED-UIM module with the two screws E and F.
6) Plug the FED-UIM internal flat cable connector in to the red connector and make sure they are
properly latched.
7) Remove the side protection inserts from the rear box.
8) Replace the rear cover, and fix the screws A, B, C, D.
9) Stick the labels indicating the pin assignment.

Figure 5

FED-CEC FED-UIM User's Manual 5

 Figure 6

Figure 7

1.2.4 I/O Module Diagnostic

The System Menu of FED provides some basic diagnostic information on the operation of the internal
I/O modules.
To view the diagnostic information:
1. Make sure the operator panel is in Operation Mode
2. Recall the System Menu
3. Scroll down the display to show the bottom row of the page
4. The diagnostic information will be shown as in the example below:

UIM05 0 H160 X130 OK

UIM05 type of module
0 Hnnn Xnnn internal version codes
OK confirms the correct installation of the control module.

FED-CEC FED-UIM User's Manual 6

1.2.5 Installing the CoDeSys provided by Festo Programming System
Please take the FED Designer CD 6.06(05) or higher. Select the subdirectory “CoDeSys pb Festo”.
Start the installation of CoDeSys provided by Festo by double click on the file
“CoDeSys_pbF_vXXXX.exe” and follow the instructions.

1.2.6 Setting-up the Communication

The HMIcontrol system is composed by two subsystems, the FED Operator Panel and the FED-CEC
Internal Controller Module.
Programming both subsystems will be via the same serial communication link.
The FED-CEC modules offer, as a more efficient alternative, an Ethernet interface that can be used
for:
- Programming the internal PLC,
- communication with an external controller using a FED Ethernet communication protocol and
finally
- programming FED.

The set-up of the CoDeSys communication is described in the following chapters.

1.2.6.1 Setting-up the Port for the CoDeSys Programming Software

Select “Online\Communication Parameters” in the CoDeSys programming software. The
“Communication Parameters” dialog will appear as shown in Figure 8.
The first time this dialog is opened, the user will be requested to specify the channel for the
connection with the PLC. Connection channels can be created with the “New…” button.

Figure 8
When defining a new channel, the type and all the relevant parameters can be defined in the dialog
box shown in Figure 9.

FED-CEC FED-UIM User's Manual 7

The following options are possible:

FED-CEC Serial (RS232)

TCP/IP (Level 2)

Figure 9
Default parameters for both serial port connection and Ethernet connection are correct for operation
with FED.
When defining the driver for Ethernet connection, the “Address” parameter shown in Figure 10 must
contain the IP address assigned to the FED-CEC module.

Figure 10

FED-CEC FED-UIM User's Manual 8

1.2.6.1.1 Setting the IP address in FED-CEC Control Modules
Setting the IP address of the module follows the standard rules for FED IP address setup.

1.2.6.2 Communicating with the Internal Controller

When FED does not contain a valid project, it stays in Configuration Mode; in this situation the PLC
port is assigned by default to the Internal Controller.
To program the Internal Controller when no project is loaded in the panel, use the normal FED
programming cable connected to the PLC port of the panel.
Note that the Ethernet port is always available for communication with the PLC run-time system.
When a valid project is present in FED and the panel is in Operation Mode, the System Menu will
allow the user selecting the mode of communication for the Internal Controller using the following
procedure:
- recall the System Menu in the panel,
- use the Up/Down arrow keys to scroll the menu lines until PC/Printer or PLC are highlighted,
- use the Left/Right arrow keys to change the assignment of the selected port.

Two options related to the Internal Controller are available for each FED port:
Application Mode ports should always be assigned to the Internal Controller in Application
Mode if it has to be used for normal operations such as application
downloading and debugging
Service Mode Service Mode is reserved for special Internal Controller maintenance and
should not be used

The Port is assigned to the Internal Controller in Application Mode when the corresponding row of the
System Menu displays the text “Application”. This message is reduced to “A” for displays with 20
characters per row.
When the PC/Printer port is not assigned to the Internal Controller, it reports the printer status as
usual.
When the PLC port is not assigned to Internal Controller and the Designer project does not use an
external controller, the System Menu contains the string “NOT IN USE” in the PLC row. In case an
external controller is used, the PLC row reports the communication error code as usual.

Note any modification to the port assignment done in System Menu becomes effective after you
exit the menu.

Communication with the Internal Controller is possible both when the panel is in Configuration Mode
and when it is in Operation Mode.
Standard FED programming cables can be used to connect the CoDeSys software FED. A gender
changer may be required to connect to the FED PLC port.

1.2.6.2.1 Limitations
There are some limitations in the configurations available for programming the Internal Controller.
This chapter provides an overview.

1. If FED contains a valid project that uses the PLC port to communicate with an external controller
and it is in Operation Mode, then communication with the Internal Controller is not allowed
through the PLC Port, because it is already assigned to the PLC communication.

FED-CEC FED-UIM User's Manual 9

2. If FED contains a valid project configured to work with Remote Passthrough, the communication
with the Internal Controller through the PC/Printer Port is not allowed. The PC/Printer port is
already assigned to wait for incoming commands for the Remote Passthrough operation.

3. If FED contains a valid project configured to use the UniNet network and the PC/Printer port is
assigned to network communication, the same FED port cannot be used to communicate with the
FED Internal Controller. A similar consideration applies in case the PLC port is used as network
port: communication with the PLC is not allowed through the same port.

4. If FED contains a valid project where the external controller is configured with a protocol that
requires a TCM module, then the Internal Controller may not work properly. Operations with
external controllers that require Ethernet interface via FED-CEC are instead always allowed.

The table below summarizes the most common cases in the connection with the Internal Controller.
FED Mode Communication Selection in Connect Internal Controller to
Ports System Menu
Configuration PC/Printer+PLC - PLC Port
PC/PLC - Programmable only in Operation Mode
Operation PC/Printer+PLC PLC: Application PLC Port
PC/Printer+PLC Printer: Application PC/Printer Port
PC/PLC Printer: Application PC/PLC Port
Table 4

1.3 HMI Programming

FED Designer software version 6.03 or higher is required to program the HMI panel equipped with the
FED-CEC modules when the use of the Internal Controller is required.

1.3.1 Enabling the Internal Controller CoDeSys

FED supports three different modes of operation of the Internal Controller.
The mode of operation can be selected in the dialog box “Project\Configure Controllers” as shown in
Figure 11.

FED-CEC FED-UIM User's Manual 10

 Figure 11

1.3.1.1 No Internal Controller

If you select “External Controller Only” from the “Configure Controllers” dialog box, the FED HMI
panels will not activate the internal controller. FED will communicate to an external controller using
the communication driver selected from the list of drivers displayed when you click on the reference
button.
This option can be chosen also when an FED-CEC Control Module is present in the system. In this
case the Control Module will not be activated.

1.3.1.2 Stand Alone Operation

Selecting “Internal Controller Only” from the “Configure Controllers” dialog box will activate the
Internal Controller in the HMIcontrol system. FED will not communicate to an external controller via
the PLC Port. HMI projects will only reference the Internal Controller.

Note If the Designer project is configured to use the Internal Controller and FED-CEC module is
not installed on the panel, the project will not run properly. Additionally, using a TCMxx
module with a project configured to use the Internal Controller may result in an unexpected
behavior.

1.3.1.3 Operation with External Controller

Operation “Internal + External Controller” is the most general configuration. FED is connected to an
external controller via the PLC port or Ethernet port and the Internal Controller is also activated.
The Internal Controller will work independently of the communication with the external controller.

FED-CEC FED-UIM User's Manual 11

When operation with external controller has been selected, the Designer will always present the
Source Selection dialog box when entering communication references for all dynamic data items. The
Source Selection dialog box lets the user choose the location of the requested data.

1.3.1.4 Selecting the Internal Controller Type

After selecting one of the modes including Internal Controller in the “Configure Controllers” dialog box,
Designer will prompt you for the Internal Controller type selection showing the dialog box of Figure 12.

Figure 12

1.3.1.5 UniNet and the Internal Controller

Internal Controllers are compatible with the UniNet network. The data of the Internal Controller
running in any operator panel configured as UniNet server is available to all clients in the network.

Internal Controllers appear in the list of available data sources in the Source Selection dialog box.
See figure below.

Figure 13

FED-CEC FED-UIM User's Manual 12

1.3.2 The Tag Editor
The Designer Tag Editor supports direct import of the tag file generated by the CoDeSys
programming software.

1.3.2.1 Importing a Tag File

The CoDeSys programming software saves a list of all the names used into the PLC program in a file
with extension “.sym”. This file is stored in the application folder.
The software creates the “.sym” file only if the option “Dump symbol entries” is selected in the
CoDeSys Option, under “Symbol Configuration” as shown in Figure 14.
You may need eventually to check the configuration of the symbol file in order to be sure that symbols
are created for all variables in all POUs. Please refer to CoDeSys documentation for additional
information.

Figure 14

A new version of the “.sym” file is created each time the project is built. Symbol files should be re-
imported in Designer Tag Editor to update the Designer’s tag list every time they are updated.

The CoDeSys symbol file can be imported in Designer selecting the “Import tags” command from the
“File” menu of the Tag Editor. The first step of the import process is shown in Figure 15; in the list of
the available controllers the CoDeSys is listed as “iPLC CoDeSys”.

FED-CEC FED-UIM User's Manual 13

 Figure 15

The second step is shown in Figure 16.

Figure 16
Support for CoDeSys native tag format is provided selecting the “Native Driver Tags format” radio
button.

Any new set of tags imported in Tag Editor after the first one will be imported as a new Dictionary.
The new Dictionary should be properly linked to the Designer project when enabling the Tag Support
under “Project\Configure Tag Dictionaries…”.

FED-CEC FED-UIM User's Manual 14

Note: New Tags can be ONLY created starting from CoDeSys programming software. The
Designer tag database must not be changed from within Designer.

Note: When the “Clean all” command is executed in the CoDeSys programming software, all the
absolute tag addresses are re-calculated by the CoDeSys compiler and the tag file needs to
be imported again in the Designer Tag Editor.

1.3.2.2 Source Selection Dialog Box

If the Internal Controller set-up uses only the internal PLC, the “Define Field” dialog box immediately
appears and includes only the CoDeSys variables as shown in Figure 17.

Figure 17
If the Internal Controller set-up is configured to use a combination of internal PLC and an external
controller, the “Network” tab allows the source selection of the variable to be added as shown in
Figure 18.

FED-CEC FED-UIM User's Manual 15

 Figure 18

1.3.2.3 Using the Internal Controller with UniNet

If the UniNET network has been enabled and any of the UniNET servers includes an Internal
Controller, then the Internal Controllers appears in the list of available data sources in the Network tab
of the Data Field Properties.

An example is given in the rest of this chapter

The UniNET network has been configured according to Figure 19; the network has two panels both
configured as Server and both configured to use their internal PLC, the “Network” tab of the Define
Field dialog box will appear as shown in Figure 20.

There are four possible sources for a reference to be added:

- the external controller connected to the UniNET node 1 (Festo EasyIP)
- the internal controller of the panel that has UniNET node 1
- the external controller connected to the UniNET node 2 (Festo)
- the internal controller of the panel that has UniNET node 2

FED-CEC FED-UIM User's Manual 16

 Figure 19

Figure 20

FED-CEC FED-UIM User's Manual 17

1.3.2.4 Data Field Dialog Box for the Internal Controller
The “Data Field” dialog box for an Internal Controller data item is show in Figure 21.

The “Enable Tag” checkbox allows browsing the Tag list created or imported in the Designer project.
See chapter “The Tag Editor” for detailed description of the Tag Editor tool.

In a CoDeSys system the following data types are available:

- PLC Memory
- PLC Input
- PLC Output
- PLC Retain
- PLC Parameter
- Internal Panel Memory
The CoDeSys user program data is divided into “segments” as shown in the table below.

Segment Type
0 %M Memory
1 %I Input
2 %Q Output
Table 5
If the option “Retain in own segment” is on, retain variables are in segment 3.
Global and POU (Program Organization Unit) local variables without direct address are in the
subsequent segments, starting with segment 4. If the option “Retain in own segment” is off, they start
at segment 3.
The reference to variables in the CoDeSys system consists of “POUref” (the segment), Offset and
size. Detailed description will be given in the following sections.

FED-CEC FED-UIM User's Manual 18

 Figure 21

All variables used in a CoDeSys program must be declared in the “Declaration Editor”. The CoDeSys
“Declaration Editor” is shown in Figure 22.
The Declaration Editor is used to declare variables of POUs and global variables, for data type
declarations, and in the Watch and Receipt Manager

Figure 22

FED-CEC FED-UIM User's Manual 19

1.3.2.5 PLC Memory
Variable of type “PLC Memory” refer to the flag memory area in the PLC.

Figure 23

1.3.2.6 PLC Input and PLC Output

Variable of type “PLC Input” refer to the variables configured as “Input variables” in the “PLC
Configuration” tool. The “PLC Configuration” tool can be opened from the “Resources” tree in the
CoDeSys programming software.
The CoDeSys “PLC Configuration” window is shown in Figure 24.

FED-CEC FED-UIM User's Manual 20

 Figure 24
Input and Output points can be addresses either using tags or pointing directly to them (direct
addressing mode).
Designer can specify 4 different Data Types for Input and Output, depending on the size of the
element you want to address.

The data types for Input are:

PLC Input (X) to address bit elements
PLC Input (B) to address byte elements
PLC Input (W) to address word elements
PLC Input (D) to address double word elements

The data types for Output are:

PLC Output (X) to address bit elements
PLC Output (B) to address byte elements
PLC Output (W) to address word elements
PLC Output (D) to address double word elements

The different data types must be used depending on the PC Configuration built into the CoDeSys PLC
program; the mnemonics are compatible.

1.3.2.7 PLC Retain

Variables of type “PLC Retain” refer to CoDeSys variables declared in the “Declaration Editor” in the
section enclosed between the keywords VAR_RETAIN and END_VAR.

FED-CEC FED-UIM User's Manual 21

These variables maintain their value when the controller is powered off and even after an uncontrolled
shutdown of the controller.

The content of retain variables is saved when the device is turned off and restored at the following
power-up.

Note FED firmware can allocate memory for retentive variables ONLY when the panel is in
Operation Mode.

There is a limit to the maximum number of retentive variables that can be defined. The current
implementation will support a maximum of up to 2048 bytes.
Retain settings are shown in the “Target Settings” dialog box as shown in Figure 26. They are fixed
and can not be changed by the user.

At programming time it will be responsibility of the programmer to ensure that the maximum amount of
available memory will not be exceeded. When compiling the project, the CoDeSys software will use
the specific Target Settings information to check if the total amount of retentive variables has been
exceeded.

As FED-CEC module has no on-board battery backup, removing the controller from the unit will result
in losing the information of the retentive memories.

The content of retentive memories will also be lost in the following cases:
- a new project file has been downloaded to FED
- a new firmware has been downloaded to FED
- the FEC-CEC module is moved from one FED panel to another
- a new PLC program is downloaded to the controller

Note: the Retentive Memory mechanism requires a specific sequence for its activation; after
CoDeSys project download or FED firmware update the power of the panel MUST be cycled
for TWO times to activate the mechanism.

1.3.2.8 PLC Parameter

The data type “PLC Parameter” refers to all POU local and global variables. The POUref parameter
must be fixed to “4”.

FED-CEC FED-UIM User's Manual 22

 Figure 25

Figure 26

1.3.2.9 Internal Panel Memory

The variables of type Internal Panel Memory refer to an internal memory structure, located in the FED
panel. Accessing this memory does not involve any communication with the iPLC controller memory.

FED-CEC FED-UIM User's Manual 23

1.3.3 Using the RDA
The Reserved Data Area can be configured in the memory of the Internal Controller.
To use the RDA a certain number of Tag’s with contiguous addresses must be configured in the
CoDeSys program.
The easiest way to declare a list of variables in CoDeSys, which can be considered “contiguous”, is to
use an array as shown in Figure 27 and address the RDA using the tags.

Figure 27
The array must contain bytes elements declared in CoDeSys as unsigned short integer (USINT).
The absolute address into the controller memory segment of a variable declared in CoDeSys is only
visible in the symbol file created by the programming software at compile time.
The CoDeSys array structure ensures that all its elements have contiguous addresses; the first
element of the array can be used as offset reference for the RDA area.

Figure 28
If the “Keep RDA Contiguous” check box is enabled, Designer calculates the proper address of the
RDA segments, showing the absolute memory address into the PLC memory.

Considering the example of variable declaration shown in Figure 27, the Keyboard area is mapped as
shown in the Figure 29.

FED-CEC FED-UIM User's Manual 24

 Tag RDA [ 4 ] RDA [ 3 ] RDA [ 2 ] RDA [ 1]
B it 8 7 6 5 4 3 2 1 8 7 6 5 4 3 2 1 8 7 6 5 4 3 2 1 8 7 6 5 4 3 2 1

F32 F31 F30 F29 F28 F27 F26 F25 F24 F23 F22 F21 F20 F19 F18 F17 F16 F15 F14 F13 F12 F11 F10 F9 F8 F7 F6 F5 F4 F3 F2 F1

Figure 29 – The Keyboard Area

Tag RDA [ 8 ] RDA [ 7] RDA [ 6 ] RDA [ 5]

B it 8 7 6 5 4 3 2 1 8 7 6 5 4 3 2 1 8 7 6 5 4 3 2 1 8 7 6 5 4 3 2 1

Day Month Res erved Day of week

Minutes Seconds Year Hour

Figure 30 – The Panel Area

Tag RDA [ 12 ] RDA [ 11] RDA [ 10 ] RDA [ 9 ]

B it 8 7 6 5 4 3 2 1 8 7 6 5 4 3 2 1 8 7 6 5 4 3 2 1 8 7 6 5 4 3 2 1

L16 L15 L14 L13 L12 L11 L10 L9 L8 L7 L6 L5 L4 L3 L2 L1 PR (Page Reques t)

Figure 31 – The PLC Area

1.3.4 Programming the Mailbox

The Mailbox can be configured in the Internal Controller memory area using an array of bytes
(USINT). To the mailbox should be reserved an array of minimum 40 bytes in length.

Tag M ailb o x[ 4 ] M ailb o x[ 3 ] M ailb o x[ 2 ] M ailb o x[ 1]

B it 8 7 6 5 4 3 2 1 8 7 6 5 4 3 2 1 8 7 6 5 4 3 2 1 8 7 6 5 4 3 2 1

Com m and/Res pons e Word Status Word

Param eter 1 Param eter 0

Param eter 3 Param eter 2

…. …..

Figure 32 – The Mailbox

1.3.5 Alarms
The Alarm area in the Internal Controller memory is organized as bytes. An array of bytes (USINT)
can be configured to handle Alarms.
Alarm bits are organized according to Figure 33.

Tag A larm[ 4 ] A larm[ 3 ] A larm[ 2 ] A larm[ 1]

B it 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

A 32 A 31 A 30 A 29 A28 A 27 A 26 A 25 A 24 A23 A 22 A 21 A 20 A 19 A 18 A 17 A 16 A 15 A 14 A13 A 12 A 11 A 10 A 9 A8 A7 A6 A5 A4 A3 A2 A1

Figure 33 – The Alarm Area

FED-CEC FED-UIM User's Manual 25

1.3.6 Alternative Approach to RDA, Alarms and Mailbox
Instead of using arrays the Controller interface areas can be defined statically into the iPLC memory
declaring all variables as global with their corresponding names.

As an example, the RDA Keys area can be declared as follows:

(* RDA : Keys area *)

RDA_Keys1 AT %MW0: WORD;
RDA_Keys2 AT %MW1: WORD;
RDA_Keys3 AT %MW2: WORD;
RDA_Keys4 AT %MW3: WORD;

The RDA Panel area can be declared as follows:

(* RDA : panel area *)

RDA_RTC_DayOfWeek AT %MB8: BYTE;
RDA_RTC_Month AT %MB10: BYTE;
RDA_RTC_Day AT %MB11: BYTE;
RDA_RTC_Hour AT %MB12: BYTE;
RDA_RTC_Year AT %MB13: BYTE;

This means that the individual bits in the Status word can be identified as follows:

RDA_S0 AT %MX8.0:BOOL;
RDA_S1 AT %MX8.1:BOOL;
RDA_S2 AT %MX8.2:BOOL;
RDA_S3 AT %MX8.3:BOOL;
RDA_S4 AT %MX8.4:BOOL;
RDA_S5 AT %MX8.5:BOOL;
RDA_S6 AT %MX8.6:BOOL;
RDA_S7 AT %MX8.7:BOOL;
RDA_S8 AT %MX8.8:BOOL;
RDA_S13 AT %MX8.13:BOOL;
RDA_S14 AT %MX8.14:BOOL;
RDA_S15 AT %MX8.15:BOOL;

A Similar approach is valid also for the Mailbox area:

(* MailBox mapping *)

MB_Status AT %MW21:WORD;
MB_CmdResp AT %MW22:WORD;
MB_Param00 AT %MW23:WORD;
MB_Param01 AT %MW24:WORD;
MB_Param02 AT %MW25:WORD;
MB_Param03 AT %MW26:WORD;
MB_Param04 AT %MW27:WORD;
MB_Param05 AT %MW28:WORD;
MB_Param06 AT %MW29:WORD;
MB_Param07 AT %MW30:WORD;
MB_Param08 AT %MW31:WORD;
MB_Param09 AT %MW32:WORD;
MB_Param10 AT %MW33:WORD;
MB_Param11 AT %MW34:WORD;
MB_Param12 AT %MW35:WORD;
MB_Param13 AT %MW36:WORD;

FED-CEC FED-UIM User's Manual 26

 MB_Param14 AT %MW37:WORD;
MB_Param15 AT %MW38:WORD;
MB_Param16 AT %MW39:WORD;
MB_Param17 AT %MW40:WORD;

The main advantage of this approach would be the natural possibility to overlay the variables
definition and to give to each word, byte or bit the proper tag for a proper reference into the PLC
program and later into the Designer project.
This approach requires of course accepting that a fixed memory area in the controller memory is
allocated and reserved to FED RDA.

1.3.7 Transferring Data with the Internal Controller

The FED Data Transfer function can be used to copy data from an external controller to the CoDeSys
memory. Data can also be copied from the internal CoDeSys memory to the external controller
memory.

The Data Transfer process has different options based on the different Data Format of the data
involved in the copy process.
Source and target tag data format should be always compatible.

In case more than one variable needs to be copied using data transfer, the physical memory address
of all the elements must be contiguous. The easiest way to obtain this is in CoDeSys is configuring an
array.

Before starting a copy operation the Data Transfer module checks the byte order convention used by
the Source and the Target addresses. In FED the so-called Intel data format (little endian) is
considered not inverted; the Motorola format (big endian) is considered inverted.
When Source and Target are both inverted or not inverted the Data Transfer module does not apply
any transformation.
If Source and Target have different byte ordering, the Data Transfer module applies a byte swap
according to the rules explained in Figure 34.

Word Byte Swapping Double Word Byte Swapping

Source Byte1 Byte0 Source Byte3 Byte2 Byte1 Byte0

Target Byte0 Byte1 Target Byte0 Byte1 Byte2 Byte3

Figure 34

1.3.8 FED Communication Diagnostic

FED provides some useful communication diagnostic information in the
System Menu. This is available also for the internal controller. When the communication error status
LED is available, it will also include status information for the Internal Controller.

There are various cases, depending on the system configuration:

1) The Designer project is configured to use an external controller along with the FED-CEC
application, the FED COMM LED blinks when an error occurs in the communication link with

FED-CEC FED-UIM User's Manual 27

 the external controller or when the error is detected in the link with FED-CEC internal
controller. In case of a communication error with the external controller, the System Menu
provides the communication error code as usual.
2) The Designer project is configured to use only the Internal Controller. In this case the
Communication status LED blinks when a communication error with the FED-CEC module
occurs. The FED System Menu does not provide any information about the nature of the
communication error. Communication error with the internal PLC should never appear.

Note FED will communicate with the CoDeSys Internal Controller even if the PLC application is not
running.

1.4 Using the Internal Controller

The FED Internal Controller is fully compatible with the CoDeSys standard.
The description of the CoDeSys programming tool is contained in the CoDeSys manual distributed
with the package; please refer to this documentation for detailed information.

1.4.1 Target Settings

Target Settings are accessible from the “Resources” tag of the CoDeSys programming software.
Please note that most of the options are fixed and cannot be changed by the user.

This chapter includes the basic explanation of the options available in the Festo Target Settings.

A complete explanation of all the options is available in the CoDeSys online help. The tools provided
by 3S to the OEMs allow a high level of customization of the Target Settings dialog depending on the
specific hardware requirements and capabilities. Most of the options described in the on line help are
not available in the Festo Target Support Package. This is not an error but the result of the OEM
decision to keep the interface as simple as possible leaving to the user the possibility to control only
some of the most important options.

FED-CEC FED-UIM User's Manual 28

 Figure 35
Figure 35 shows the “Memory Layout” tab of the Target Settings.
The “Maximum number of POUs” specifies the max number of POU allowed in a project.
The maximum number of POUs supported by the FED-CEC modules is 1024.
The user can specify here any number; at compilation time CoDeSys will verify that the actual number
of POU defined in the project does not exceed the value specified in target settings.
Please note that at download time, if the number of POUs used is greater than 1024, it will be not
possible to download the project to the target.

FED-CEC FED-UIM User's Manual 29

 Figure 36
Figure 36 shows the “General” tab and the customizable options available for the Festo target.

Network functionality (Network Global Variables) is supported starting from FED-CEC firmware
version V4.01K. Visualization capabilities are at the moment not supported. The corresponding tab in
Target Setting does not contain any information.

1.4.2 System Library Support

The FED-CEC implementation of the CoDeSys system supports the following system libraries:

Library Function Supported Notes

SysLibFiles SysFileOpen Yes
SysFileClose Yes
SysFileWrite Yes
SysFileRead Yes
SysFileDelete Yes
SysFileGetPos Yes
SysFileSetPos Yes
SysFileEOF Yes
SysFileGetSize Yes
SysFileGetTime Yes
SysFileCopy Yes
SysFileRename Yes

SysLibSockets SysSockAccept Yes

SysSockBindSys Yes
SysSockClose Yes
SysSockConnect Yes
SysSockCreate Yes
SysSockGetHostByName Yes No DNS implemented

FED-CEC FED-UIM User's Manual 30

 SysSockGetHostName Yes
SysSockGetOption Yes
SysSockGetLastErrorSync Yes
SysSockGetLastError Yes
SysSockHtonI Yes
SysSockHtons Yes
SysSockInetAddr Yes
SysSockInetNtoa Yes
SysSockloctl Yes
SysSockListen Yes
SysSockNtohI Yes
SysSockNtohs Yes
SysSockSelect Yes
SysSockSetIPAddress Yes
SysSockSetOption Yes
SysSockShutdown Yes
SysSockRecv Yes
SysSockSend Yes
SysSockRecvFrom Yes
SysSockSendTo Yes

SysLibTime CurTime Yes

CurTimeEx Yes

SysLibRTC SysRtcCheckBattery Yes Return always TRUE

SysRtcGetHourMode Yes Return always TRUE
SysRtcGetTime Yes
SysRtcSetTime Yes

SysLibStr SysStrCmp Yes

SysStrCmpI Yes
SysStrCmpN Yes
SysStrCmpNI Yes
SysStrCpy Yes
SysStrLen Yes

SysLibMem SysMemAlloc Yes

SysMemFree Yes
SysMemMove Yes
SysMemSet Yes
SysMemCmp Yes
SysMemCpy Yes
SysMemSwap Yes

SysLibGetaddress SysLibGetAddress Yes

SysLibGetSize Yes

SysLibCallBack SysCallbackRegister Yes

SysCallbackUnregister Yes

FED-CEC FED-UIM User's Manual 31

1.4.3 The EXOR_Serial.lib Library
The EXOR_Serial.lib library allows the usage of built-in UARTs connecting them to the physical
connectors of the FED panel.
The included functions allow to initialize a built-in UART, connect it to a physical channel, send and
receive serial data. Up to two serial UARTs can be used at the same time directing them to two
physical channels (if present in panel).
Trasmitting and receiving operations are interrupt driven and buffered (8K bytes internal TX and RX
buffer is avaliable for each port), therefore the read and write ioerations are asynchronious and don't
block execution of PLC program.
The library contains all the functions a CoDeSys controller requires to use built-in UARTs.
You must therefore add the EXOR_Ser.lib library to your project using the library manager (see
command [Window] [Library manager]).

1.4.3.1 EXOR_Ser_init
The function allows to initialize a built-in Uart and connect it to a physical channel.
Once a Uart is "used" and "connected" to a channel same Uart and same Channel cannot be used
within the program.
A call to EXOR_Ser_init with a "used" Uart or a "connected" channel will return a error.

parameters:

port: BYTE; (* number of UART: 1 to 2 *)

channel:BYTE; (* physical channel connected to the port: 0 = PLC channel, 1 = PC-Printer
channel *)
baudrate:DWORD; (* allowed values 2400, 4800, 9600, 19200, 38400, 57600, 115200 *)
parity:BYTE; (* type of parity control 0=disabled, 1=even, 2=odd *)
data: BYTE; (* number of data bits: 7 or 8 *)
stop: BYTE; (* number of stop bits - NOT SUPPORTED - fixed to 1 *)
mode:BOOL; (* mode of operation for driver (NOT SUPPORTED) *)
halfduplex:BOOL; (* RS485/422 selector (NOT SUPPORTED) *)
slewrate:BOOL; (* slew rate of the driver (NOT SUPPORTED) *)

return value:

EXOR_Ser_init:SINT; (* 0 = port assigned and initialized, -1 = port not assigned because already
in use *)

1.4.3.2 EXOR_Ser_end
The function allows to make a Uart and connected channel free for other uses

parameters:

port: BYTE; (* number of UART: 1 to 2 *)

return value:

EXOR_Ser_end:SINT; (* 0 = port freed, -1 = port was not in use *)

FED-CEC FED-UIM User's Manual 32

1.4.3.3 EXOR_Ser_test
The function returns number of chars received of specified port, waiting to be read

parameters:

port: BYTE; (* number of UART: 1 to 2 *)

return value:

EXOR_Ser_test:WORD; (* number of chars already received and waiting to be read by program

-1 if port is not in use *)

1.4.3.4 EXOR_Ser_get
The function reads some received chars from internal buffer and copy to user buffer
ATTENTION: dimension of user buffer must be large enough to contain number of characters
specified in LEN parameter

parameters:

port: BYTE; (* number of UART: 1 to 2 *)

len:WORD; (* number of characters to read *)
buffP:POINTER TO BYTE; (* pointer to buffer to be filled *)

return value:

EXOR_Ser_get:SINT; (* 0 = operation completed sucessfully

-1 = port not in use
-2 = not enough chars in the internal RX buffer *)

1.4.3.5 EXOR_Ser_put
The function writes some received chars from user buffer to TX buffer and start transmission if IDLE
ATTENTION: dimension of user buffer must be large enough to contain number of characters
specified in LEN parameter

parameters:

port: BYTE; (* number of UART: 1 to 2 *)

len:WORD; (* number of characters to read *)
buffP:POINTER TO BYTE; (* pointer to buffer containing data to be transmitted *)

return value:

EXOR_Ser_put:SINT; (* 0 = operation completed sucessfully

-1 = port not in use
-2 = TX buffer is full *)

FED-CEC FED-UIM User's Manual 33

1.4.3.6 Programming

1.4.3.6.1 Example: Initialisation of UART 1

VAR
Uart_ok: SINT; (*return value from Easy_SR function*)
END_VAR

(* program UART 1 with 19200,N,8,1 and connect to PLC channel*)

EXOR_Ser_end(1);
Uart_ok := EXOR_Ser_init(1,0,19200,0,8,1,false,false,false);

1.4.3.6.2 Example: Sending a string to UART 1

VAR
send_err:SINT;
str:STRING():='This is a String$R$N';
END_VAR

(* send a string to UART 1 *)

send_err := EXOR_ser_put(1, LEN(str), ADR(str));

1.4.3.6.3 Example: Receiving a string of 20 chars from UART 1

VAR
nchars:WORD;
rstr:STRING();
rec_err:SINT;
END_VAR

nchars := EXOR_ser_test(1);
IF nchars >= 20 THEN
rec_err := EXOR_ser_get(1, 20, ADR(rstr));
END_IF

1.4.4 The EXOR_ModbusTcpSrv.lib Library

The MODBUS protocol is a client-server communication protocol for the simple exchange of data
between intelligent devices. It was developed by MODICON and has established itself as an industrial
standard.
The library implements the functions
- FC1 Read Coils
FC2 Read Discrete inputs
FC3 Read Holding Registers
FC5 Write Single Coil
FC6 Write Single Register
FC15 Write Multiple Coils
FC16 Write Multiple Registers
FC23 Read Write Multiple Registers
Separate data areas can be specified for bit access (FC1, FC2, FC5 und FC15) and 16-bit access

FED-CEC FED-UIM User's Manual 34

(FC3, FC6, FC16 und FC23).
The MODBUS library is based on the libraries SysLibSockets.lib (TCP-connections) and
SysLibCallbacks.lib (system calls). Both are delivered along with a 3S runtime system (e.g. SoftPLC).
With the library ModbusTCPSrv.lib a PLC is able to answer the requests of up to 4 ModBus Clients at
the same time.
The user just has to provide 2 data areas the library will work with. So its possible to exchange data
with a ModBus client without knowing the protocol itself.

1.4.4.1 Using the library

The implementation of the ModBus Server only requires the call of this global instance of function
block EXOR_ModbusTcpSrv.

Function block inputs:

- wTCPport: WORD:= 502; (* Modbus server port - default = 502 *)
- pBitData: POINTER TO ARRAY[0..65535] OF BYTE; (* BIT data area pointer *)
- wMaxBitData: WORD:= 1024; (* Maximum size in bytes of BIT data area - default = 1024 *)
- pWordData: POINTER TO ARRAY[0..65535] OF WORD; (* WORD data area pointer *)
- wMaxWordData: WORD:= 1024; (* Maximum size in words of WORD data area - default = 1024 *)
- bEnable: BOOL:= TRUE; (* enable execution - default = TRUE *)

The following parameters have to be passed:

- wTCPport: Number of the port on which the server receives telegrams. The ModBus protocol
specification intends port 502 to be the standard port which must be supported by all
ModBus devices. So normally here the constant 502 can be passed, which is also the
default value.
- pBitData: Address of the data area for bit access via FC1, FC2, FC5 and FC15 (calculation via
ADR()).
- wMaxBitData: Size of the data area for bit access. Default: 1024 Bytes.
- pWordData: Address of the data area for 16-bit access via FC3, FC4, FC6, FC16 and FC23
(calculation via ADR()).
- wMaxWordData: Size of the data area for 16-bit access. Default: 1024 Words.
- bEnable: Boolean value for activating the server. Default: TRUE.

Now the server waits for ModBus clients requests. At most 4 client connections (and thus
ModBus functions) can be handled at the same time.
Always when this number is exceeded, the server terminates any client connection in order to get
able
to respond to the new request. There is no priority-controlled distinction of the clients.

The FB returns the following counters for statistic and diagnostic purposes

- dwReadBits : DWORD; Number of FC1 or FC2 requests successfully served

- dwReadRegisters : DWORD; Number of FC3 requests successfully served
- dwWriteBit : DWORD; Number of FC5 requests successfully served
- dwWriteRegister : DWORD; Number of FC6 requests successfully served
- dwWriteBits : DWORD; Number of FC15 requests successfully served
- dwWriteRegisters : DWORD; Number of FC16 requests successfully served
- dwReadWriteRegs : DWORD; Number of FC23 requests successfully served
- dwExceptions : DWORD; Number of requests not served

FED-CEC FED-UIM User's Manual 35

1.4.4.2 Programming

Example:
VAR
MODBUS_SRV:EXOR_ModbusTcpSrv;
BA:ARRAY [0..99] OF BYTE; (* BIT area *)
WA:ARRAY [0..199] OF WORD; (* WORD area *)
END_VAR

MODBUS_SRV(wTCPport:= 502, pBitData:= ADR(BA), wMaxBitData:= 100, pWordData:= ADR(WA),

wMaxWordData:= 200, bEnable:= TRUE);

1.4.5 System events Support

The FED-CEC implementation of the CoDeSys system supports the following system events:

Event
EVENT_START,
EVENT_STOP,
EVENT_BEFORE_RESET,
EVENT_AFTER_RESET,
EVENT_AFTER_READING_INPUTS,
EVENT_BEFORE_WRITING_OUTPUTS,
EVENT_DEBUG_LOOP,
EVENT_BEFORE_DOWNLOAD

1.4.6 Setting-up the PLC Configuration

The PLC configuration of the Internal Controller must be defined in the “PLC Configuration” tool
available under the “Resources” tag as shown in Figure 37.

FED-CEC FED-UIM User's Manual 36

 Figure 37
To obtain a valid PLC Configuration, the target settings must be properly configured.
CoDeSys implementation for FED-CEC modules, corresponds to the target “FESTO FED-CEC”, as
shown in Figure 38.

FED-CEC FED-UIM User's Manual 37

 Figure 38
The correct selection of the target ensures a proper configuration of the CoDeSys programming
software environment.

1.4.6.1 Configuring CANopen Distributed I/O

Distributed I/O systems based on the CANopen fieldbus interface of the FED-CEC can be easily
configured using the I/O Connection tool.

The Internal Controller CANopen master interface must be configured adding the I/O devices to the
CanOpenMaster Slot, which is automatically inserted in the PLC configuration upon selection of the
Festo target. Right-click over the CanOpenMaster board to append the elements as shown in Figure
39; available devices list depends on availability of devices eds files in the proper folder of the Target
settings.

FED-CEC FED-UIM User's Manual 38

 Figure 39
The parameters of the CAN controller are configurable in the rightmost part of the PLC Configuration
dialog, once the CAN Master device has been selected in the tree with one mouse click. The
configuration window is shown in Figure 40.

Figure 40

FED-CEC FED-UIM User's Manual 39

Note Information on application
A Start telegram is sent to each CAN participant as standard.

However, a “Start All Nodes” telegram, NodeID=0 can be sent from the IEC.
This requires that at the start-up of the control application always sets the flag
bUseStartAllNodes of the master once, e.g. as follows (bInit defined by the application):

IF NOT bInit THEN

pCanOpenMaster[0].bUseStartAllNodes := TRUE;
bInit := TRUE;
END_IF

Warning: This flag must be set cyclically, since the individual nodes can non longer be started after a
failure.

A complete and detailed description on how the CAN controller should be configured and about the
configuration of CAN slave devices is included in the CoDeSys User Manual in chapter “6.5.7 –
Configuration of CAN Modules”.
CANopen implementation is described in 3S document “CANopen for 3S Runtime Systems
V2_3_5_0.pdf” available in the “Help” subfolder of the Target package installation path.

1.4.7 PLC Programming

The CoDeSys software is based on the IEC 61131-3 standard. It includes the 5 standard
programming languages defined in the IEC 61131-3 model:

- SFC: Status Flow Chart

- FBD: Function Block Diagram
- LD: Ladder Diagram
- ST: Structured Text
- IL: Instruction List

In addition the CFC Continuous Function Chart language has been included.

Please refer to the CoDeSys documentation for all the necessary information and details about
programming languages.

1.4.8 PLC Project Upload

PLC project Upload is supported in the FED implementation.
To upload a project from the FED-CEC module, select the command Open from the File menu and
click on the “PLC” button to specify the source of the open action.

When opening a program from PLC, CoDeSys requires the specification of the target settings; they
should be as shown in Figure 41.

FED-CEC FED-UIM User's Manual 40

 Figure 41
Project upload can be executed only if the project source code has been downloaded to the target
device.
The “Source code download” command is available form the “Online” menu of the CoDeSys
programming software.

1.4.9 I/O Boards Overview and General Information

1.4.9.1 Diagnostic information

Each board when added to the “PLC Configuration” is assigned a “Diagnostic Address”.
Each board reserves at least 4 bytes starting form this “Diagnostic Address”.
Diagnostic information at the moment is not supported; the addressing space is reserved for future
enhancements.

1.5 FED-UIM
FED-UIM is general purpose (multifunction) I/O board, compatible with FED 500, FED 1000, FED
2000 and FED 5000. FED-UIM should satisfy most of the typical process I/O signals. The main
feature of the FED-UIM is its configurability. Due to the high level of integration, FED-UIM offers a
“one-board solution” for most typical I/O configurations.

The current version of FED-UIM board includes the following:

 20 Optically isolated digital inputs

 12 Optically isolated digital outputs
 4 Non isolated 12 bit Analog outputs (user programmable as current 0-20mA, current 4-20mA or
voltage 0-10V)
 4 Non isolated (4 differential or 8 single ended channels) 12bit Analog inputs with different types
of input
 1 Dedicated PT100 channel-input for general usage or compensation of thermocouples.
 Support for fast counter inputs

FED-CEC FED-UIM User's Manual 41

 Figure 42

1.5.1 Digital inputs (20 opto-isolated)

The FED-UIM module supports 20 opto isolated digital inputs, source active high (+24VDC) inputs. All
inputs are internally connected to 0VDC of power supply.

1.5.1.1 Digital inputs schematic diagrams

The next figures describe the digital input connection schemes and Table 6 summarizes the digital
input specifications:

FED-CEC FED-UIM User's Manual 42

 Figure 43: Digital input schematic diagram for S inputs: IN0, IN1, IN4, IN5, IN8, IN9, IN12, IN13.

Figure 44:Digital input schematic diagram for E inputs: IN2, IN3, IN6, IN7, IN10, IN11, IN14, IN15,
IN16, IN17, IN18, IN19.
Description Specification
Input channels 20 digital optoisolated source active high (+24VDC) inputs.
All inputs are internally connected to 0Vdc of power supply.
Input voltage range 12-30Vdc (min 3mA); 35Vdc max for 500ms

FED-CEC FED-UIM User's Manual 43

ON - state voltage/current 12-30Vdc (min 3mA); 6mA @ 24Vdc; 9mA @ 30Vdc
OFF - state voltage/current 6Vdc, max 1mA
Input impedance 3K3 Ohm
Isolation 1500Vrms
Input filter delay max 200 ns for E input, 50 µs for S input (see note below)
Table 6: Digital Inputs specifications

Note: About the input filter delay, please note that the encoder, counter and frequency inputs are
digital ones with lower filter delay (the other characteristics are the same as described in the
above table). Each digital input can be used as a standard, encoder or counter/timer one.
Refer to the next table for the input filter delay specification.

Input type/input filter delay Input list

E/200 ns IN0, IN1, IN4, IN5, IN8, IN9, IN12, IN13
S/50 µs IN2, IN3, IN6, IN7, IN10, IN11, IN14, IN15, IN16, IN17, IN18,
IN19
Table 7: Input filter delay

Note: the time delay for the digital input filter refer to the complete input stage

1.5.2 Encoder channel specifications

Description Specification
Encoder channels 4 (Phase A, Phase B, Zero encoder and Machine zero index
pulse inputs per channel). All inputs are internally connected to
0Vdc of power supply.
A & B & Z & M channel inputs IN0 & IN1 & IN2 & IN3, IN4 & IN5 & IN6 & IN7,
IN8 & IN9 & IN10 & IN11, IN12 & IN13 & IN14 & IN15
Input frequency 1 MHz max
Count range 32 bit
Input frequency 1 MHz max
Table 8: Encoder channel specifications

1.5.3 Counter inputs specifications

Description Specification
Counter channels 4 (pulse and gate input per channel). All inputs are internally
connected to 0Vdc of power supply. The gate input enables the count
of input pulses; the count could be enabled only by SW (so the gate
input is available as a general digital input)
Pulse & gate input pairs IN0 & IN1, IN4 & IN5, IN8 & IN9, IN12 & IN13
Input frequency 1 MHz max
Pulse width 500 ns min
Count range 32 bit
Table 9: Counter inputs specifications

FED-CEC FED-UIM User's Manual 44

1.5.4 Frequency inputs specifications

Description Specification
Frequency channels 4 (one input per channel). All inputs are internally connected to
0VDC of power supply.
Frequency inputs IN0, IN4, IN8, IN12
Input frequency 20KHz max, 1 Hz min
Pulse width 50 µs min
Accuracy 0.005%
Table 10: Frequency inputs specifications

1.5.5 Digital outputs (12 opto-isolated)

The FED-UIM module supports 12 digital source type opto-isolated outputs.

1.5.5.1 Digital outputs schematic diagram

The next figure describes the digital output connection scheme and Table 11 summarizes the digital
output specifications:

Figure 45: Digital outputs schematic diagram.

Description Specification
Output channels 12 digital source type opto-isolated outputs with
feedback of output driver fault status.
Output voltage 12÷30Vdc
Output current 0.5A
Output delay time 150 µs max
Output protection Over-current and over-temperature protected driver

FED-CEC FED-UIM User's Manual 45

Isolation 1500Vrms
Table 11: Digital Outputs specifications

1.5.6 Analog inputs

The FED-UIM module supports:
 8 single-ended (or 4 differential) analog inputs for voltage and current measurement
 1 PT100 (RTD) input for temperature measurement or for cold junction compensation of
thermocouples.

1.5.6.1 Analog input schematic diagram

The next figure describes the analog input connection scheme and Table 12 summarizes the analog
input specifications:

Figure 46: Analog input schematic block diagram.

Description Specification
Input channels 4 multifunction analog not isolated input channels. All analog
common inputs (COM) are internally connected to M pin of the
panel power supply connector.
Input or measurement type Voltage input
Current input
Temperature measurement (various types of thermocouples or
PT100 RTD) with incorporated external cold junction
compensation
A/D resolution 12 bits
Accuracy @ 25 °C 0.1%
Voltage input type Single-ended (up 8 inputs) or differential configuration (up 4
inputs)
Voltage input range Bipolar (± 100mV, ± 1V, ± 5V, ± 10V)
Unipolar (0 ÷ 100mV, 0 ÷ 1V, 0 ÷ 5V, 0 ÷ 10V)
Voltage input linearity error 0.1%
Voltage input accuracy Bipolar (±100mV) or unipolar (0÷100mV): 0.1% F.S.
Bipolar (±500mV) or unipolar (0÷500mV): 0.2% F.S.

FED-CEC FED-UIM User's Manual 46

 Bipolar (±1V) or unipolar (0÷1V): 0.1% F.S.
Bipolar (±5V) or unipolar (0÷5V): 0.1% F.S.
Bipolar (±10V) or unipolar (0÷10V): 0.1% F.S.
Voltage input absolute ±15V (AGND referenced)
maximum ratings
Current input type 4 differential ones with external supply transmitter
Current input range 0 ÷ 20mA or 4 ÷ 20mA
Current mode input impedance 47 Ω
Accuracy 0.1%
Current input linearity 0.1%
Current input absolute ±15V (AGND referenced)
maximum ratings
Thermocouple inputs 4 with tested break condition
Thermocouple types Thermocouple types E (-270/1000°C)
J (-210/760°C)
K (-270/1370°C)
R (0/1768°C)
S (0/1768°C)
T (-270/400°C)
Cold Junction Compensation External via dedicated PT100 input
PT100 (RTD) input 4 for two or three wires configuration (in two wires
configuration, 4 inputs remain free for single-ended
measurements); break or short circuit detected
Table 12: Analog Inputs specifications

1.5.7 Analog outputs

The FED-UIM module supports 4 analog (voltage or current) outputs.

1.5.7.1 Analog output schematic diagram

The next figure describes the analog output connection scheme and Table 13 summarizes the analog
output specifications:

Figure 47: Analog outputs schematic diagram

FED-CEC FED-UIM User's Manual 47

Description Specification
Output channels 4 analog output not isolated channels (voltage or current
output).
Resolution 12 bit
Output voltage type Single-ended
Output voltage range ±10VDC
Output voltage load impedance 1K minimum
Output voltage load capacitance 10nF max
Output voltage linearity error 0.15%
Output current type Current source
Output current range 0÷20mA or 4÷20mA
Output current load impedance 470 Ω max
Output current linearity error 0.2%
Table 13: Analog Outputs specifications

1.5.8 FED-UIM wiring examples

The next sections describe some typical wiring examples for digital and analog IOs.

1.5.8.1 Digital IO wiring examples

The next figure describes two digital inputs (switches) and two digital outputs connection.

Figure 48: Wiring example: two digital inputs (switches) and two digital outputs connection

FED-CEC FED-UIM User's Manual 48

1.5.8.2 Counter wiring example

Figure 49: Wiring example: logic connection of 4 encoder modules. The encoder modules must be
24V powered (connect 0V reference of the encoder to the 0V of the FED-UIM power supply).

1.5.8.3 Encoder wiring example

Figure 50: Wiring example: counter inputs (pulse and gate) and/or frequency inputs (frequency) logic
connection. The external modules must be 24V powered (connect 0V reference of the external
module to the 0V of the FED-UIM power supply).

FED-CEC FED-UIM User's Manual 49

1.5.8.4 Analog inputs wiring examples
The next figures describe two typical wiring examples for analog inputs:
 two single-ended voltage sources on the same channel (IN3+, IN3-, COM),one differential
voltage source (IN2+, IN2-), one current source (IN0+, IN0-);
 a 2-wire PT100 and a single-ended voltage source on the same channel (IN3+, IN3-,
COM), a 3-wire PT100 (IN2+, IN2-, COM), a shielded thermocouple (IN0+, IN0-), a 3-wire
PT100 (EXC, IN, COM dedicated inputs for cold junction.

Figure 51: Wiring example: two single-ended voltage sources on the same channel (IN3+, IN3-,
COM), one differential voltage source (IN2+, IN2-), one current source (IN0+, IN0-).

Figure 52: Wiring example: 2-wire PT100 and a single-ended voltage source on the same channel
(IN3+, IN3-, COM), a 3-wire PT100 (IN2+, IN2-, COM), a shielded thermocouple (IN0+, IN0-), a 3-wire
PT100 (EXC, IN, COM dedicated inputs for cold

FED-CEC FED-UIM User's Manual 50

1.5.9 CoDeSys Support for FED-UIM
In order to use FED-UIM hardware with the FED-CEC Internal Controllers, the proper I/O boards must
be selected in the PLC Configuration.
Support for FED-UIM consists of a set of I/O boards as shown in Figure 53. To insert the I/O board in
the configuration, just “Replace” the “NoIO” slot with FED-UIM element.

Figure 53

1.5.10 Configuration of Analog Inputs

The FED-UIM Analog Input board has several parameters that have to be properly configured
according to the operation mode requested for each channel.
For all the four channels it is required to specify the operating mode and the full-scale limit.
Each channel can be used for:
 1 Voltage differential measure, or
 2 Voltage single-ended measures, or
 1 resistance measure, or
 1 current measure

Figure 54 shows the configuration of the four Analog Inputs Couples:

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 Figure 54
All the four channels are independently programmable to execute six different types of
measurements. The parameters Ch1Type, Ch2Type, Ch3Type and Ch4Type can be configured like
show in Table 14.

MEASURE TYPE
Parameter value Measure Mode Units
0 Voltage Differential mV
1 Voltage Single Ended mV
2 Current A
3 Resistance 2 wires m
4 Resistance 3 wires m
5 Voltage Thermocouple mV
Table 14
Different Full Scale can be selected for each Channel Couple as shown in Table 15.

FULL SCALE
Full Scale Full Scale for Voltage Full Scale for Current Full Scale for
parameter value Measurement Measurement Resistance
Measurement
0  / 100mV +/-2mA 0 - 80 
1  / 500mV +/-10mA 0 - 400 
2  / 1V +/-20mA 0 - 900 
3  / 5V +/-20mA 0 - 8K 
4  / 10V +/-20mA 0 - 1M 
Table 15
Table 16 shows the different meaning assumed by the nine channels of the Analog Input board
depending on the measure mode selected in the configuration parameters.

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 CH Board MODE
Signal VOLTAGE VOLTAGE 2/3 WIRES CURRENT
DIFFERENTIAL SINGLE ENDED RESISTANCE
1 Ana. Inp. Diff. measure Single Ended Res. Measure Current
Couple 1 (CH+) Measure
2 Ana. Inp. Nothing Single Ended (CH- Nothing Nothing
Couple 1 )
3 Ana. Inp. Diff. measure Single Ended Res. measure Current
Couple 2 (CH+) Measure
4 Ana. Inp. Nothing Single Ended (CH- Nothing Nothing
Couple 2 )
5 Ana. Inp. Diff. measure Single Ended Res. measure Current
Couple 3 (CH+) Measure
6 Ana. Inp. Nothing Single Ended (CH- Nothing Nothing
Couple 3 )
7 Ana. Inp. Diff. measure Single Ended Res. measure Current
Couple 4 (CH+) Measure
8 Ana. Inp. Nothing Single Ended (CH- Nothing Nothing
Couple 4 )
9 Compens Res. Measure - -
at. PT100
Table 16
th
The 9 channel is an input channel dedicated to thermocouple cold junction compensation. Please
refer to the hardware description for additional details.

All the configuration parameters of the FED-UIM Analog Input board can be easily changed run time
using the EXOR_IO_CTRL function with the following Function Codes:

Function Code Argument Description

0 0  4 Set Analog Input Full Scale for Channel 1
1 0  4 Set Analog Input Full Scale for Channel 2
2 0  4 Set Analog Input Full Scale for Channel 3
3 0  4 Set Analog Input Full Scale for Channel 4
4 0  5 Set Analog Input Mode for Channel 1
5 0  5 Set Analog Input Mode for Channel 2
6 0  5 Set Analog Input Mode for Channel 3
7 0  5 Set Analog Input Mode for Channel 4
Table 17
Other Function Codes are reserved for factory test procedures and they can not be used.

1.5.11 Configuration of Analog Outputs

The FED-UIM Analog Output board has several parameters that have to be properly configured
according to the operation mode you desired for each channel.
For all the four channels it is required to specify the operating mode; the full-scale limit is fixed to a
certain value depending on the selected mode.

Each channel can be used for:

 Voltage Output
 Current Output

Figure 55 shows the configuration of the four Analog Outputs channels

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 Figure 55
All the four channels are independently programmable to be used like voltage or current outputs. The
parameters Ch1Type, Ch2Type, Ch3Type and Ch4Type can be configured as shown in next Table.

Parameter value Channel Mode Output Range

0 Voltage Output  10000  10000mV 
1 Current Output 0  20000A
Table 18
The output range is fixed as specified in the previous table. The value written by the PLC program to
the output channels is an integer value between 0 and 10.000 in case of voltage and between 0 and
20.000 in case of current. Units are specified in the previous Table 18.

All the configuration parameters of the FED-UIM Analog Output board can be easily changed run time
using the EXOR_IO_CTRL function with Function Codes listed in the next table:

Function Code Argument Description

10 0 1 Set Analog Output Mode Channel 1
11 0 1 Set Analog Output Mode Channel 2
12 0 1 Set Analog Output Mode Channel 3
13 0 1 Set Analog Output Mode Channel 4

Table 19
Other Function Codes are reserved for factory test procedures and they can not be used.

1.5.12 Digital Input and Digital Output Configuration

FED-UIM has 20 digital inputs and 12 digital outputs grouped as shown in Figure 56.

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 Figure 56

1.5.13 Counter/Timer Inputs

The FED-UIM board features four counter/timer inputs.

Each channel of Counter/Timer type consumes up to 4 digital inputs. In case all the 4 Counter/Timer
inputs are enabled, 4 digital inputs are still free for standard operation. Please refer to FED-UIM
hardware manual for additional specification and wiring diagrams.

For each counter/timer input you want to use, a “Counter/Timer” board has to be setup in the PLC
Configuration. Figure 57 shows an example of possible configuration with 2 channels enabled.

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 Figure 57

The parameter "ChannelNr" specifies the number of the associated counter/timer input; allowed
range is 1…4.

Note: Please note that Channel number must be assigned manually and must be different per each
Counter/timer board in the range 1…4.

Each Counter/timer board is inserted in the configuration using generic names where the channel
numbers are not specified; to complete the configuration the “x” must be replace with unique identifier
as shown for example in Figure 58.

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 Figure 58
The board inputs channels have the following meaning:
Counter/Frequency Value
ZeroFound Flag
Underflow Flag
Overflow Flag

The board output channels

Board parameters have different options and they can be selected at design time.
An explanation of the parameters follows in Table 20, Table 21, Table 22, Table 23 and Table 24.

Parameter Name Value Description

Mode 0 Counter/Timer not active
1 Quadrature incremental encoder counter
2 Normal Counting
3 Gated Counting
4 Frequency Measurement
Table 20
MachineZeroEnabledF false Corresponding terminal block is used as
normal digital input
true Corresponding terminal block is used as
Machine Zero Input
Table 21

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 MachineZeroPolarityF false Means Input is active LOW
true Means Input is active HIGH
Table 22
EncoderZeroEnabledF false Corresponding terminal block is used as
normal digital input
true Corresponding terminal block is used as
Encoder Zero Input
Table 23
EncoderZeroPolarityF false Means Input is active LOW
true Means Input is active HIGH
Table 24
These parameters can also be changed run-time with EXOR_IO_CTRL function with the following
Function Codes:

Function Code Argument Description

100 0…4 Set Mode
101 0…1 Set MachineZeroEnabledF
102 0…1 Set MachineZeroPolarityF
103 0…1 Set EncoderZeroEnabledF
104 0…1 Set EncoderZeroPolarityF
Table 25
Other Function Codes are reserved and cannot be used.

1.5.13.1 Encoder Input

When input is attached to an incremental encoder, then at power up the Encoder Zero Search
procedure is usually performed.
The user program should handle the procedure enabling the Zero Search using the channels of the
“FED-UIM – Encoder Zero Search Enable” board.
Each Counter/Timer board has its own ZeroSearchEnable output.

1.5.14 Diagnostic
FED-UIM is able to report the following diagnostic information using the “FED-UIM - Diagnostic”
board.
The 2 outputs of this board are:
- Missing +24V Flag
- Output short circuit

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 Figure 59

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