Epsilon: User Manual

Epsilon LD
User Manual
DPA-302
Software Version 1.6.0
en | 2.6 | September 2019

Abstract
Abstract
This document contains information on installing and using the Epsilon LD
development environment. This software is designed for configuring and
programming the Regul RX00 series industrial logic controllers.
Epsilon LD allows one to perform hardware configuration of the Regul RX00
controllers, create and edit application software, configure backups, download and
upload projects, perform the step-by-step debugging and online monitoring of
application programs, and troubleshoot the controller.
Epsilon LD. User Manual DPA-302-v2.6

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Contents
Contents
Introduction.................................................................................................. 7
Terms and Definitions .............................................................................................................. 7
Recommended Documents List .............................................................................................. 8
Program Installation .................................................................................... 9
Minimum System Requirements ............................................................................................. 9
Installation Process ................................................................................................................. 9
Overview of the Development Environment ........................................... 16
Interface Description .............................................................................................................. 16
General information ........................................................................................................................... 16
Adding objects................................................................................................................................... 22
Renaming objects ............................................................................................................................. 23
Deleting objects ................................................................................................................................. 23
Updating devices ............................................................................................................................... 24
Forms entry, parameters setting........................................................................................................ 25
Basic Concepts of Development Environment .................................................................... 26
Brief description of project structure .................................................................................................. 26
Project ............................................................................................................................................... 28
Device, device tree ............................................................................................................................ 29
Application......................................................................................................................................... 30
POU .................................................................................................................................................. 31
Task configuration ............................................................................................................................. 31
Configuring the Controller Hardware ...................................................... 38
Using a Wizard to Compose a Controller Configuration ..................................................... 38
Configuring Racks ................................................................................................................. 42
Adding racks to the project ................................................................................................................ 42
Bus editor .......................................................................................................................................... 45
Rack editor, setting the rack address ................................................................................................ 51
Placement of Modules in a Rack ........................................................................................... 53
Adding a rack .................................................................................................................................... 53
Adding a module to the rack .............................................................................................................. 53
Special aspects of module positioning in the Regul R500 controller rack .......................................... 61
Special aspects of module positioning in the Regul R200 controller rack .......................................... 62
Special aspects of the Regul R400 controller modules positioning ................................................... 63
Configuring Module Parameters .............................................................. 64

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Contents
Module Editor ......................................................................................................................... 64

Saving and Restoring Settings Stored in ROM .................................................................... 65
Setting Parameters of Analog Input Modules ...................................................................... 66
General parameters .......................................................................................................................... 66
Advanced options .............................................................................................................................. 68
Calibration coefficient ........................................................................................................................ 69
Setting Parameters of Analog Output Modules ................................................................... 70
General parameters .......................................................................................................................... 70
Calibration coefficient ........................................................................................................................ 71
Setting Parameters for Analogue Combined Modules ........................................................ 72
Setting Parameters of Digital Input Modules ....................................................................... 72
Setting Parameters of Digital Output Modules..................................................................... 73
Setting the parameters of the emergency protection algorithm ......................................................... 73
Setting Parameters of Pulse Counting Modules .................................................................. 76
Module configurable parameters (frequency meter) .......................................................................... 77
Module configurable parameters (encoder) ....................................................................................... 77
Module configurable parameters (LACT)........................................................................................... 78
Module settings (turbine safety switch) ............................................................................................. 79
Setting Parameters for Communication Processor Modules ............................................. 83
Binding Channels to Program Variables .............................................................................. 86
General information ........................................................................................................................... 86
Mapping of variables and inputs/outputs ........................................................................................... 88
Connecting the Controller to the Network .............................................. 92
Network Scanner. Configuring the IP Addresses ................................................................ 92
Establishing a Connection with the Controller .................................................................... 96
Network scanning .............................................................................................................................. 98
Searching for a device by its IP address ......................................................................................... 103
Filtering by device type (Target ID) ................................................................................................. 103
Change PLC connection policy ....................................................................................................... 104
Adding Routing Rules .......................................................................................................... 106
Configuring the Modbus ...................................................................................................... 108
Configuring the IEC 104 ....................................................................................................... 108
HART Setup .......................................................................................................................... 108
Configure OPC DA ............................................................................................................... 108
Configure OPC UA ............................................................................................................... 109

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Contents
Programming the Controller and Debugging the Project ................... 110

PLC Program Creation ......................................................................................................... 110
Program editor ................................................................................................................................ 110
Variables declaration ....................................................................................................................... 110
Entering the program code .............................................................................................................. 111
Debugging the Project ......................................................................................................... 111
Compiling and uploading the application to the controller ............................................................... 111
Launching and monitoring an application ........................................................................................ 113
Application reset .............................................................................................................................. 115
Online monitoring of a specific POU ................................................................................................ 117
Writing and capturing the variables ................................................................................................. 117
Defining of breakpoints and step-by-step program execution .......................................................... 118
Maintenance of the Controller................................................................ 121
Change Controller Settings for FTP Connection ............................................................... 121
Controller Diagnostics ......................................................................................................... 122
Obtaining diagnostic information about the controller ...................................................................... 122
Enabling debug mode for racks and modules ................................................................................. 125
Enabling Debug Mode for Modbus and IEC-104 Drivers ................................................................. 127
The event log .................................................................................................................................. 128
Online Event Log ............................................................................................................................. 128
Complete event log ......................................................................................................................... 130
Time Settings ........................................................................................................................ 132
Restore/Backup .................................................................................................................... 135
Updating the Software ......................................................................................................... 138
Updating the package ..................................................................................................................... 138
Updating the firmware ..................................................................................................................... 141
About backward compatibility .......................................................................................................... 143
Selecting the Display Resolution ........................................................................................ 145
Controller Service Mode .................................................................................................................. 146
Service mode on R200, R500, R600 series controllers ................................................................... 147
Work in service mode ...................................................................................................................... 147
Factory Reset Algorithm .................................................................................................................. 148
Service Mode on R400 Series Controller ........................................................................................ 149
Information Security ............................................................................... 150
Setting a Password, Electronic Key or Certificate on a Project File ................................ 150
Setting PLC Permissions ..................................................................................................... 154
Users and groups ............................................................................................................................ 155
Access rights ................................................................................................................................... 157

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Contents
Setting Access Rights to Project Objects among Users ................................................... 160

Project users and groups ................................................................................................................ 161
Project permissions ......................................................................................................................... 164
Contact Technical Support .................................................................................................. 168
APPENDIX A ............................................................................................. 169

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Introduction
Introduction
The main purpose of this document is to give the user a basic knowledge of how to set
up the Regul RX00 series controllers via the Epsilon LD software. The detailed
description of programming, configuring the data transmission channels, and
building a redundant system are treated in separate documents.
Work in the Epsilon LD environment comprises the composing of a controller’s
hardware configuration, setting up the connection to a computer and field devices,
programming of the controller, and configuring the values of various parameters. All
these operations are described in the corresponding sections and/or separate
documents. Each section can be read on its own, independently of other sections, to
solve a specific current task. However, for a proper understanding of the Epsilon LD
development environment we recommended that you familiarize yourself with the
basic concepts, read the interface description and the overview of the development
environment.
Terms and Definitions

Programmable logic controller (PLC) is a microprocessor device in an industrial
implementation used for collecting, converting, processing, storing information and
generating commands, which has a finite number of inputs and outputs with probes,
switches, actuators connected to them and to a controlled item, and is designed for
real-time operation.
Integrated Development Environment (IDE) is a set of software tools used by
technical specialists to develop application software.
Epsilon LD is a development environment with a set of components for
configuring/programming the Regul RX00 series controllers offered by GP Systems.
Epsilon LD allows one to use editors of the IEC 61131-3 standard:
• IL - Instruction List
• ST - Structured Text
• LD - Ladder Diagram Logic
• FBD - Function Block Diagrams
• SFC - Sequential Function Charts
Rack is a separate assembly comprising several modules combined in a common
housing or on a DIN rail, with independent power supply.
Project is a combination of program code and device settings, which is required for
the controller to perform its functions.

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Introduction
POU (Program Organization Unit) is a component of program organization. In most

cases, this term refers to a user program and a function block.
Device is a specialized hardware on which the PLC program (application) is to be
run.
Application is a set of software objects required to run a specific instance of a user
program on a particular device.
Task is a part of an application that executes a subroutine block in a separate loop of
the controller. One can define an execution time check for each task.
Runtime System is a part of the controller's system software designed to run a user
program on the controller. It is installed onto the controller during its fabrication.
Plug-ins are modules that connect to the Epsilon LD development environment and
enable the setting-up and configuration of the Regul RX00 series controllers. Each
plug-in has a name, version and version restrictions.
Profile is a set of plug-ins of specific versions that get loaded into the development
environment at the time of its launching.
Recommended Documents List

In order to get more detailed information on configuring the Regul RX00 series
controllers in the Epsilon LD development environment we recommended that you
read the following documents:
• Regul R600. System Manual.
• Configuring a redundant system
• Implementation of data exchange using the Modbus protocol
• Implementation of data exchange using the IEC 104 standard
• Implementation of data exchange using the HART protocol
• Setting up and running the Regul OPC DA Server

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Program Installation
Minimum System Requirements
The following is required to install the Epsilon LD integrated development
environment:
• Windows 7 (or higher) operating system
• 4 GB of RAM
• 3 GB of HDD free space
• CPU: Pentium V, Centrino > 3.0 GHz, Pentium M > 1.5GHz
Installation Process
Epsilon LD software generally consists of a development environment and service
packs that are distributed as improvements are made and new features are added. At
the same time, service packs have requirements for the minimum version of the
development environment on which they can be installed.
This section describes the installation process for the development environment. The
description of installing the update package is given in the section “Updating the
controller software”.
The development environment installation file and the update package file can be
downloaded from the manufacturer's website.
To install a development environment run the Epsilon LD xxxx Setup.exe file, where
xxxx is the file’s version number.
Epsilon LD may require additional elements in order to operate on your system. If
such elements are not present on the computer, the installer will prompt you to install
them (Figure 1). Click the Install button.
Figure 1. Window prompting to install additional elements required for the operation of Epsilon LD

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Once the additional items are installed, the main installer dialog (Figure 2) will open.
Click the Next button.
Figure 2. Epsilon LD installer dialog
The License Agreement window (Figure 3) will appear.
Figure 3. Dialog with the License Agreement terms
Please, read through the software’s License Agreement.

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To receive a hardcopy of the agreement, you may click the Print button, which will
open the printer and page settings, from where you can print the document out.
In order to continue the installation, please, choose I accept the terms of the license
agreement and click Next.
A window of important information will open (Figure 4). Read the information, if you
wish, print using the Print button, and select the I have read the information check
box. Press Next.
Figure 4. Dialog box with important versioning information
A window will open prompting you to select the location for program’s installation
(Figure 5). By default, the installer creates a GP Systems folder in the Program Files
directory (if you have a 32-bit version of the Windows operating system) or in the
Program Files (x86) directory (if you have a 64-bit version of the Windows
operating system). If you need to install the program elsewhere, then go to the
Destination folder field and click the Browse... button - this will open a window
where you can specify in which directory the program is to be installed.

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Figure 5. Dialog for selecting the location where the program will be installed
In the Choose Destination Location window, click Next. The Installation View dialog
box opens (Figure 7). Select the type of installation: Full or Custom. An experienced
user can take advantage of custom installation of program components.
Figure 6. Dialog box for choosing the type of component installation
When setting the switch in the Custom field, the Custom installation window will pop
up (Figure 7). The components offered for installation are:
Components that are not selected in the process of installation of Epsilon LD can be
installed at a later occasion using standard Windows installation/uninstallation tools.

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Once you have selected the components to be installed, please, click the Next button.
Figure 7. Dialog for selecting the software components to be installed
Click the Help button and the Custom Installation Tips window opens, familiarize
yourself with ways to change the installation of components (Figure 8)
Figure 8. Help dialog window
After selecting the components to install, click Next. A dialog box is ready to install the
program (Figure 9).

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Figure 9. Dialog for creating a shortcut for launching the program
Check all the settings made in the previous steps. If you need to change them, use the
Back button and go to the desired step. If all settings are correct, click Install.
The installation of Epsilon LD with the full or selected set of components will start,
which may take some time (Figure 10).
Figure 10. Program Installation Dialog Box

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Wait for the end of the process and a notification about the successful completion of
the installation. Click Finish. After the installation is complete, a shortcut will be
automatically created on the desktop and in the Start menu.

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Overview of the Development Environment

Interface Description
General information
The user interface in the Epsilon LD development environment comprises the
following: main menu, toolbar, workspace with various windows, status bar
(Figure 11).
Figure 11. Main window
The main menu and toolbar can be configured "for themselves" in the program
settings. Here you can add and remove menu items and commands, edit the drop-
down menu, add toolbars and individual commands, change the order of elements,
assign key combinations for various operations. All these settings are saved in a
special file.
So, for example, if the Regul Configuration Wizard ( )icon is missing on the main
panel, you can add it as follows:
• select in the main menu Tools  Customize ... The Customize window opens;
• next to the File item, click the button ; in the list that opens, put the cursor
on the New project ... button Add command ... button will become active
(Figure 12);
• click the Add command button ... The Add command window opens;
• in the left part of the window, in the Categories section, select Devices. In the
right part of the window, in the Commands block, all commands of this
category will be displayed. Select the Regul Configuration Wizard command
(Figure 13). Click OK. Close the Customize window. An icon (Regul
Configuration Wizard) appears in the toolbar in front of the icon (New
Project).

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Figure 12. Window for setting up the main menu and toolbar
Figure 13. Adding a command to the toolbar

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Here you can add and delete menu items and commands, edit the drop-down menus,
add toolbars and individual commands, change the order of items, assign keyboard
shortcuts to various operations. All these settings are saved in a special file.
For some commands there are preassigned “default” hot keys, for example, the F11
key is used for compilation, while Ctrl+N opens a new project. You can review which
keyboard shortcuts are assigned to which commands in the menu (Figure 14).
Figure 14. "Debugging" menu item, where some commands have additional keyboard shortcuts assigned to them
In addition to the main menu, there is a context menu that pops up when the right
mouse button is pressed (Figure 15). The context menu’s contents change depending
on the right-clicked item.

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Figure 15. Examples of context menus
Work in the workspace is done in windows and tabs. (Figure 16).
Figure 16. Windows and tabs in the workspace
In the example (Figure 16), the Devices window and the tabs are attached to
boundaries of the main window, "confined" within the workspace. Double-clicking
the left mouse button on a window’s/tab’s title turns it into a separate window that
can be moved around and outside the workspace, resized, collapsed, or closed
(Figure 17).

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Figure 17. Windows and tabs as separate windows
Moreover, double-clicking on the window title returns it to its original state. A

window that is accidentally closed or simply missing can be found by selecting it from
the main menu’s View item (Figure 18).
Figure 18. Selecting the desired window in the menu’s "View" item
There are windows that open when you view or edit specific project items in the
corresponding editor. These can not be "hidden" or "detached" from the framing
window. They are accessed through the main menu’s Window item.
Windows that are used in the development environment:
• Toolbar window contains tools for specific editors

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• POU window serves to organize the project software components in the form
of a tree
• Devices window serves to organize the project's resource objects in the form
of a tree
• Editor window is used to create a specific object in the corresponding editor,
e.g., ST editor, CFC editor, task editor, device editor
• Messages window: this window displays compilation, precompilation,
downloads messages, etc.”
• Windows for monitoring and online viewing of editors: these allow
viewing POUs or lists of monitored expressions defined by the user
At the bottom of the main program window there is the status bar (Figure 19).
Figure 19. Example of the status bar
The status bar displays:

• Messages of the last compilation
• Information about the current user
• Current cursor position and editing mode (when you are working in the
editor window)
• Current status of the program (in the online mode)
• RUN - the program has been launched
• STOP - the program has been stopped
• HALT ON BP - the program was stopped at the breakpoint
• Program loaded - the program was loaded onto the controller
• Program unchanged - the program in the controller is identical to the
program in the program development system

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• Program modified (online change) - the program in the controller differs from
the program in the program development system, an online change is
required
• Program modified (full download) - the program in the controller differs from
the program in the program development system, a full download is required
• Program loaded - EXCEPTION - the program was loaded, but in the course of
operation an exception was encountered
• Program loaded - SIMULATION - the program was loaded in a simulation
mode
Adding objects
The adding of objects, most often, is done via the right-click menu and its
corresponding items, e.g., Add object (Figure 20) or Add device... (Figure 21).
Figure 20. Adding an object

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Figure 21. Adding a device
Renaming objects
To rename an object, select it and click on its name once. The line with the title will go
into the editing mode, where the text can be changed.
Figure 22. Renaming a device
Thus, you can rename not just the controller, but also other devices (rackss, modules,
etc.), application, or POU objects (software components).
Deleting objects
The right-click menu is also used to delete objects - the user must choose the Delete
item from it. Otherwise, the Delete key on the keyboard can be used for the same
purpose. Do be careful when effecting these actions, because the program does not
request a confirmation for the deletion, and you could accidentally delete a desired
device or a large piece of work.

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It should be noted that until the changes are saved in the project, they can be
reverted, and even the deleted objects can be returned. Thus, if you have not yet
selected the File  Save project menu item or pressed the button, and there is an
asterisk (*) in the window’s title (meaning that there are unsaved changes), you can
use the buttons on the toolbar to cancel a number of your recent actions. The
specific number of steps that can be reverted depends on when the last save of the
project was made. Please, check whether the auto-save feature is enabled and what is
its frequency: select Tools  Options from the main menu, then choose the Load and
save item in the window that opens (Figure 23).
Figure 23. Configuring the autosave settings
Updating devices
If you need to replace a controller or a rack in your project, it is not necessary to
delete the existing device and add another device type - instead you should use the
Update device... right-click menu’s item. A window, like the Add device... window will
appear - use the button to open the device list and choose the necessary device.
After updating the device, you can rename it in the device tree (Figure 24).

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Figure 24. Renaming the controller after updating a device
Forms entry, parameters setting

Conventional tools - such as checking or unchecking a box, selecting a value from a
drop-down list, manually entering a value in the field - are used for filling in the forms
(Figure 25).
Figure 25. Setting of parameters
Upon having manually entered a value in the field, please, press the Enter key or
choose any other field with your mouse. Only then the program will register the new
value. You can cancel an erroneously entered value by pressing Esc. In some forms,
e.g., for configuring bus parameters, the pressing of the Enter key after changing a
field’s value is mandatory, otherwise the new value will not be saved.

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Basic Concepts of Development Environment

Brief description of project structure
In the programming environment, the controller’s hardware configuration is
presented in the form of a tree, where the controller is the head unit or the main
device, while the internal and external devices are associated with it according to
certain hierarchical rules (Figure 26).
Figure 26. Devices in the controller’s hierarchical structure
Program (PLC program) is a user-implemented algorithm intended for process

control, equipment emergency protection, telemetry, etc. It consists of program
components (POU), such as: program code, function procedure, global variables,
function blocks, as well as method, action, interface, DUT (data type unit) or an
external file of any format. The program is tied to the controller and occupies a
certain place in the controller’s structure (Figure 27). A controller can have one or
several programs created for it.

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Figure 27. PLC program in the controller's hierarchical structure
Application is a set of objects required to run a specific instance of a PLC program on

a specific controller, i.e. an application software program. It is represented by the
Application item in the device tree (Figure 28).
Figure 28. Application in the controller’s hierarchical structure
Task is a unit of processing in the IEC program. It has a name, a priority, and a type.
The type defines the condition for invoking the task. Such a condition can be a period
of time (cyclic or free execution), or an event (for example, exceeding a specified
global variable threshold or an interrupt in the controller).
Several programs to be executed could be assigned to each task.
For each task, you can set a watchdog timer (an execution time check). Further, it is
possible to directly link system events (i.e. Start, Stop, Reset) to the execution of
certain POUs of the project.

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Figure 29. Configuration of tasks in the controller’s hierarchical structure
In addition to devices, PLC program, and tasks, there is also the device configuration
relating to the connection, parameters, and mapping of inputs/outputs.
All of these - devices, software components, applications, settings, etc., corresponding
to a specific controller - are brought together in the Project, meaning that they are
assembled in one place, structured according to certain rules, and have relations
between various items defined.
Project
In one project, you can configure and program several controllers regardless of type.
In this case, the project contains several controllers, each of which includes an
executable application program (Application). The application in bold is in the Active
application state and it will be loaded when the controller starts. The choice of
another application as active is carried out through the context menu (see subsection
"Application").
It is possible to create a separate project for each controller. If there is a need to work
simultaneously with two or more controllers (e.g., to compare some parameters), you
can open several instances of the Epsilon LD development environment, and a
separate project in each instance.
The creation of a project is affected using the Regul Configuration Wizard at the time
of selecting the controller (see the "Using a wizard to compose a controller
configuration" section).

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The project configuration can be performed via the Tools  Setup and Tools 
Options dialogs. A new project’s basic configuration (menu structure, defined
objects) is determined by the currently active project template.
To set the project settings, use the Project Settings item, which is displayed by
default in the POU window. Moreover, there is the Project information item, which is
added to the POU window immediately upon its being invoked by the corresponding
menu command (usually, the Project menu). The Project information dialog can be
used to edit or view specific information about the project, such as: file data, objects
statistics, author’s name.
It is possible to protect the project file with a password or an electronic key. In
addition, it is possible to print the project out as a text document.
Device, device tree
Each device is a dedicated hardware object. Examples: controller, bus coupler, I/O
module, monitor.
The Devices window (device tree) contains not only the devices, but also every object
required to run the application on the controller.
General concepts:
• The project is always the root node of the tree .

• The controller configuration is determined by the topological structure of devices
in the device tree. Individual dialogs serve only for configuring specific devices or
task parameters. Thus, the hardware structure is represented in the device tree
by the corresponding arrangement of device objects.
• Each device tree object is represented by a symbol, a symbolic name (editable),
and a device type (i.e. the device name specified in the device description).
• A device can be programmable or simply configurable. The device type determines
its possible position in the tree, as well as which resources can be inserted under
this device. Programmable devices are indicated by an additional PLC Logic
node, which is automatically inserted under the device. You can insert under this
node the objects needed to program the device (applications, lists of texts, etc.),
as well as functional objects, such as "Parameters manager".
• Configuration of the device relating to the connection, parameters, and mapping of
inputs outputs is performed in the device dialog (device editor), which can be
opened by double-clicking on a device’s name in the device tree.
The icon appearing next to the device in the development environment indicates
its status:
• : The device is running

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• : The device is not yet running, not configured, or has errors
• : The device is running, diagnostic information is available
• The device is configured, but not running
• : The device is stopped; no data is exchanged with the device

Rules on organizing and configuring objects in the device tree:
• Devices can be added using the right-click menu ("Interface Description" - "Adding
of objects" section).
• An object’s position can be changed by dragging it with the mouse.
• An object can be copied to another location using standard Clipboard commands
(Cut, Copy, Paste) or by dragging the selected object with the mouse while
holding the Ctrl key. If the inserted object can be placed both below the current
item and above it, the Select insert position dialog will open, in which you would
have to specify the position for inserting the object. When adding devices via the
Copy and Paste function, the new device receives the same name with a
sequential number appended to it.
• Only Device objects can be placed directly under the root node bearing the
project’s name. If you have selected a different object type in the Add object
right-click menu, e.g., List of texts, it will be added to the POU window. If no items
are selected, the root node will be selected automatically.
Application
Key points on working with applications:
• An application is represented by the Application object in the device tree. It
can only be inserted under the PLC Logic node (programmable device). It is
possible to insert other software objects, such as DUT, GVL (global variables
list), or visualization objects, below applications.
• The task configuration must be inserted under each application.
• When you try to load an application onto a target device (controller or
emulator), a check of the controller’s current application will be performed,
and the compliance of parameters of this application with those of the
application in the project configuration will be checked. If there is a
mismatch, warnings will be displayed, after which it will be possible to
change the application on the controller.
• The application you are about to work with must have an Active application
status. This is set via the right-click menu. An active application is highlighted
in bold (Figure 30).

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Figure 30. Defining an application as active
POU
POU (Program Organization Unit) is a component of program organization. In most
cases, this term refers to any object that is an integral part of the PLC program.
Program components may correspond to a particular device. In this case, other
project devices will not be able to use these POUs. These objects’ visibility is limited
to the device, POUs are displayed in the Devices window.
It is possible to create program components common to several devices within a
single project. I.e. such objects have a global visibility for the project and are
displayed in the POU window. To start an application on a specific device an instance
of the program component is invoked.
You can view and change the program components in the editor window. A POU
object can be a program, a function, a function block, a method, an action, an
interface, a DUT (data type unit), or some external file of an arbitrary format.
It is possible to define certain properties (such as compilation conditions, etc.)
separately for each POU.
Task configuration
The Task configuration defines one or more tasks that control the execution of an
application program. It is an application’s inalienable resource object and should be
placed under the application in the device tree. The task can invoke both a POU for an
application and for the programs located in the POU window.

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Figure 31. Configuration dialog
The Priority field will display the default priority value, determined by a number in
the range from 0 to 31. The lower the number, the higher the priority, respectively
0 is the highest, 31 is the lowest priority. If two or more tasks must receive control at
the same time, a task with a higher priority will be launched. A task with a higher
priority may interrupt a task with a lower priority. The execution of a task with a
lower priority will continue after the end of the cycle of a task with a higher priority.
The example shows the execution of two tasks with different priorities (Figure 32).
Task call interval 1 Task call interval 1
(user defined) (user defined)
t1 - runtime of t1 - runtime of t1 - runtime of
task cycle 1 task cycle 1 task cycle 1
1 2 3 1 2 3 1 2 3
Задача
Task call interval 2
(user defined)
Приоритет
t2 - runtime of
task cycle 2
Задача
1 2 3 1 2
Приоритет
t
памят и
Обла сть
1 Input data processing
2 Algorithm execution
3 Output data preparation
Figure 32. Processing tasks in multitasking
In the memory area, the values of the variables are updated. The task is performed
with the values of the variables fixed in the memory area at the time of the task
invocation. After the end of the task, the processed data is unloaded into the memory
area.

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If the same variables are used in different tasks, then the update of the values of these
variables in the memory area occurs when each task is called. If the task is
interrupted by a higher priority task, in which the variables used in the interrupted
task are involved, then at the time of calling the high priority task they will be
updated. And in this case, the completion of the interrupted task will be carried out
already with the updated values of the variables, which may differ from the values at
which the first part of the displaced task was performed.
The same situation is typical for the case when the repressed task uses the output of a
high priority task.
In the configuration dialog box, when changing the value in the Priority field, a sign
will be displayed in the right corner of the field. Hover over the sign and a description
of priority appears.
Note: it is forbidden to change the parameters (default) of configuration tasks:
ModbusTask, Slave / Master 101/104 Task, RegulbusTask, Redundancy! It is
forbidden to assign priorities “0” or “1” to user tasks, these priorities are assigned to
the tasks of RegulBus and Redundancy, respectively (see table 1).
Table 1
Value Priority
0 Highest priority - highest realtime priority (RegulBus only)

1 Medium priority - realtime priority (Redundancy only)
2 Medium priority (above network system) - realtime priority (above
network system)
3 Medium priority (above network system) - realtime priority (above
network system)
4 Medium priority - realtime priority
… Medium priority - realtime priority
14 Medium priority - realtime priority
15 Lower priority - lowest realtime priority
16 Low priority
… Low priority
31 Low priority
Table 2
Type Description

33
Cyclic The task is called cyclically at a given time interval.
Free The task is called again automatically, immediately after the end, in
execution a continuous cycle, without setting any intervals, will be executed
in the background.
For example: Collecting and processing system parameters and
displaying them on the screen.
DO NOT USE THIS TYPE FOR THE TASK OF THE TIRE CYCLE!
Event The task is called on the rising edge of the value of the logical
variable that is defined in the Event field (the field appears when
you select the type of call: Event)
Status The task starts if the variable specified in the Event field returns
TRUE. The task is called by the event that is defined in the Event
field (the field appears when you select the type of call: Status).
Table 3 - Task properties
Property Description
Interval The period of time after which the task should be called again.
(tasks) Required for the Cyclic type when an event requires a specified
time
Событие A global variable that initializes the task launch. The property is
necessary for the task types Event and Status. It is necessary to pay
attention to the difference:
a task of type Status is executed if the specified event returns
TRUE;
launching a task of type Event requires switching the event from
FALSE to TRUE.
Please note that if the scanning frequency of tasks is too low, then
the leading edge of the event may go unnoticed (Figure 33)

34
1 2 3 4 5 6
"1"
(TRUE )
"0"
(FALSE )
"0" "1" "1" "1" "0" "1"
Task call
0 – not running 1- running 1 - running 1 - running 0 - not running 1 - running
by STATUS
1 - not running
Task call From 0 to 1 too fast transition From 1 to 1 - From 1 to 0 - From 0 to 0 -
0 – not running not running not running
running from 1 to 0 and running
by EVENT back to 1
Figure 33. Calling a task by Status or by Event
For each task, you can define the monitoring of the execution time (watchdog timer).
If the watchdog timer is enabled (the checkbox is selected in the Enable field), the
task will be aborted with the status set to an exception if it took longer to complete
than the time field specified. After the time specified in the Time field has expired, the
task should complete the work.
It is also necessary to take into account the value specified in the Susceptibility field.
By susceptibility is meant the permissible number of times the watchdog timer has
exceeded without occurrence of the formation of the status of an exceptional
situation.
For example: Time = t # 15ms, Susceptibility = 5 Under these conditions, the status
will appear as soon as the task is completed for more than 75ms.
To define and display the basic parameters of the task configuration, in the device
window, mouse over the Task Configuration element and double-click the left
mouse button to open a separate Task Configuration window (Figure 34).
Figure 34. Dialog box for task configuration. Monitoring tab
The Monitoring tab in online mode displays the status and current statistics
characterizing the time taken to complete the task. The description is presented in
table 4.

35
Table 4
Name Description
Task Task name

State A task can be in one of the following states:
Not created - Not launched since the last update;
Created - is recognized in the system, but is currently not in use;
Valid - it works fine;
Exception - an exception occurred
Counter The number of cycles completed since the application was

IEC cycles launched (0 if the target system does not support the counter
function)
Cycle The number of completed cycles since connecting to the PLC.
counter Depending on the target system, may be equal to Counter
IEC cycles or more (when the application does not work, but
continues to count cycles)
Last. (µs) Last measured cycle time (μs)
Avg Cycle
The average execution time of all cycles (μs)
Time (µs)
Max Cycle Maximum measured runtime of all cycles (μs)
Time (µs)
Min.cycle Minimum measured runtime of all cycles (μs)
time (µs)
Jitter (µs) Last Jitter Measured (μs)
Jitter shows the time difference between the actual challenge of a
task and its planned start.
For example, if a task should run every 900 μs, but in fact it starts
after 1000 μs, then the jitter is 100 μs.
Jitter can be either positive or negative.
Min.jitter Minimum Measured Jitter (μs)
(µs)
Max Jitter Maximum Measured Jitter (μs)
(µs)
To fix the correct value of the parameter "Max. cycle time ”, it is recommended that
after starting the controller, reset the values to“ zero ”, since at startup the task
execution time can significantly exceed the real maximum value in subsequent cycles

36
of the task. To reset the parameters of any of the tasks, you must perform the
following sequence of actions:
• place the cursor on the field with the name of the task (in the Task column)
• by right-clicking the mouse, open the “Reset” command,
• select the “Reset” command, after which the values will be reset (Figure 35).
Figurd 35. Reset task parameter values

37
Configuring the Controller Hardware

Regul RX00 controller has a modular design, consisting of one or several racks, which,
in turn, include modules of various types. A detailed description of the controller
design is given in the "System Manual" document pertaining to the corresponding
controller model.
To configure and program the controller, it is necessary to compose in the Epsilon LD
development environment a controller configuration, which completely corresponds
to the real hardware configuration. The entire configuration (composition of modules,
their location within the rack, number, and position of racks) should be identical to
the actual structure of the controller.
Using a Wizard to Compose a Controller Configuration

The controller configuration can be composed in a new project or in an existing one.
If the controller will pertain to a new project, immediately go to the Regul
Configuration Wizard’s activation step, and the project will be automatically created
by the wizard at a certain stage. If you intend to add a controller to an existing
project, open the project using the main menu’s File  Open project... item or File 
Recent Projects item.
To activate the Regul Configuration Wizard, please, click the button on the toolbar
(it is the leftmost one). This will open the Regul Configuration Wizard (Figure 36)
opens.
Figure 36. Regul Configuration Wizard. Selecting the controller series
Choose which series your controller belongs to. To determine this, please, look at the
series of the controller’s CPU-containing module. The other modules of the controller
may belong to the same or a different series, for example, an R200 controller may
have R200 and R500 modules.
Click the Next button. You will advance to the selection of the CPU model (Figure 37).

38
Figure 37. Regul Configuration Wizard. Controller selection
Select the CPU type. Should it become necessary, you can subsequently change the
controller’s model by using the Update device command. Click the Next button. You
will be taken to the advanced settings screen (Figure 38).
Figure 38. Regul Configuration Wizard. Advanced settings
The  checkbox in the Create task and POU field means that a user program
template and a task template will be automatically created in the project’s controller
structure.
In the next block, please, specify (by flagging the corresponding radio button)
whether the project is to support redundancy. Subsequently, this parameter can be
changed in the bus editor (see the "Bus editor" section). The composing of redundant
systems is described in detail in the "Configuring a redundant system" document. No
redundancy is provided in the case of the R200 series.

39
For R500 series controllers, select (by setting the radio button) whether the
controller is expandable (Regul Bus) or not (R500 Simple Bus). A non-expandable
controller consists of a single rack, you can not add other racks to it. An expandable
controller can consist of one or more (up to 255) racks. Controllers of other series are
always expandable; you do not need to choose a bus.
Click the Next button. You will be taken to the project settings screen (Figure 39).
Figure 39. Regul Configuration Wizard. Project settings
If you create a controller configuration in an existing project that is already open,

leave the Use existing project button flagged.
If a separate project (other than an open project) is required for the controller
configuration to be created, or the project has not yet been created, please, flag the
Create new project button. Enter the project’s name in the Name: field. In the Path:
field, please, specify the path to the directory where the project file will be located
manually or by using the button. For your convenience, it is recommended that
you create a separate folder for storing files related to this project while working on
it.
Click the Next button.

40
Figure 40. Regul Configuration Wizard. Summary
In this step (Figure 40), please, verify that all the parameters you have entered are
correct. If necessary, use the Back button. To finish creating the controller’s "base"
press the Finish button. The Configuration Wizard will close automatically, and the
controller structure (Figure 41) will appear in the Device tree window.
Figure 41. A controller has been added to the project
The program provides the ability to change, rename or delete a device (see the
"Interface description" section).
The Regul RX00 controllers of each series have special aspects pertaining to
composing the configuration - these are described below.

41
Configuring Racks
Adding racks to the project
Each controller should include a base rack - a rack with a central processor module
(and other modules in accordance with the project). To increase the channel capacity
of the controller, up to 255 expansion racks (racks with various modules, but
without a central processor module) can be connected to the base rack.
In the R400 series, the controller itself is the base rack. In an unreserved controller in
the R600, R500, R200 series, there can be only one base rack containing one (and
only one) CPU module. Features of constructing the hardware configuration of
controllers in a redundant system are described in the document “Configuring a
redundant system on Regul RX00 series controllers. User's manual".
Extension racks can contain modules of the same series as the base rack modules, or
they can consist of modules of other Regul series, but each rack must contain only
modules of the same series. So, for example, a controller with an R500 base rack can
have several R500 expansion racks and several R200 expansion racks. But the
situation is unacceptable when on board one rack there are R500 and R200 modules
at the same time.
When adding a controller to the project using the Regul configuration wizard, the
Regul Bus is automatically created and the base rack is automatically placed on it
(R200 CU Rack, R 400 PLC, R500 Rack or R600 Basic Rack) (Figure 42).
Figure 42. Example of automatic creation of bus and base rack

42
To add expansion racks in the device tree window, place the cursor on the name of
the Regul Bus, right-click. In the context menu that appears, select Add device ... A
window will open where, using the button to open the list of devices, select Regul →
Racks → R__ Rack. Click the Add device button. The selected rack will appear in the
project in the device tree. Without closing the dialog box, you can add a few more
racks to the project.
Figure 43. Add rack to expansion bus Regul Bus
The program provides the ability to change the existing controller configuration.
Racks can be deleted, new ones added (including racks of other Regul series),
renamed and redefined type of rack (base or extension rack).
To delete the racks, press the Delete key or select the Delete command in the context
menu. The rack will be deleted completely, including all modules and all settings for
modules and rack. Be careful - the program does not ask for confirmation to delete
the rack (but you can cancel the deletion if the project has not yet been saved).
Renaming of racks takes place as well as renaming of other objects (see "Description
of the interface. Renaming of objects").

43
The need to redefine the type of rack can arise when it is necessary to transfer the
role of the base rack to another rack. Mandatory base rack must belong to the same
Regul series as the controller.
Note: to correctly display the update results, it is recommended to update the device
with the device editor tab closed.
If the racks and controller belong to the same series, follow these steps:
• change the type of current base rack:
o for R500 series - remove the central processor module,
o for the R600 and R200 series, select the Update device item in the context
menu ... The Update device window opens, where in the list of racks select
R600 Rack or R200 Rack accordingly, click the Update device button. Close
the window. The composition of the rack will change - the central processor
module will be removed;
• change the type of rack assigned by the base:
o for R500 series - add a central processor module,
o for the R600 and R200 series, select the Update device item in the context
menu ... The Update device window opens, where in the list of racks select
R600 Base Rack or R200 CU Rack accordingly, click the Update device
button. Close the window. The composition of the rack will change - a
central processor module will be added.
If the base rack is assigned to a different series than the controller, follow these
steps:
• replace the controller (the head device in the device tree) - select the Update
device item in the context menu ... the Update device window opens, where in the
list select the new controller, click the Update device button (Figure 44). Close
the window;

44
Figure 44. Device update
• change the type of current base rack. Be careful - when changing the type of
rack, all previous modules and settings of this rack are deleted automatically.
In the context menu, select Update device ... The Update device window
opens, where in the list of racks, select respectively R200 CU Rack, R 400 PLC,
R500 Rack or R600 Base rack, click the Update device button. Close the
window;
• for the R500 series - add the CPU module to the rack.
Bus editor
To go to the bus editor, please, double-click the name of the bus in the Device tree
window. The Regul Bus tab (window) will open (Figure 45).

45
Figure 45. R500 controller bus editor
The bus editor contains a visual designer (Regul bus map tab), a parameter editor,
an input/output mapping tab, and Status and Information (manufacturer, type, ID,
version, etc.) tabs.
The visual bus designer displays which racks are located on the bus and how they are
connected to it. Figure 45 shows an example of a bus with a single rack of the R500
controller. Figures 46 and 47 show examples of controllers of other series.
If the controller is used in a redundant system, the redundant racks are clearly visible
in the bus structure. They are displayed in gray and can not be edited directly. A
detailed description is given in the "Configuring a redundant system" document.

46
Figure 46. Structure of the R600 controller bus (2 racks, with complete redundancy)

47
Figure 47. Structure of the R400 controller with R200 and R500 modules
The visual bus designer has a convenient way for going into the rack editor - just
double click on the rack image.

48
Figure 48. Bus parameter editor
The bus parameter editor (Regul bus Params editor internal tab) (Error! R
eference source not found.) allows you to set parameter values, but in most cases
they are not to be changed:
• Master timeout is the time after which the module disqualifies the wizard,
resulting in the module being transferred to a safe state.
• Module timeout is the time after which the wizard disqualifies the module,
resulting in a hardware error being generated.
• Rack per cycle is the number of racks polled per one bus cycle. The value can be
equal to any integer up to the number of racks on the bus. If you set the value to
0, all the racks will be polled in each cycle. The default value is 1. The processor
load directly depends on the number of racks polled simultaneously per each
cycle. The more racks in the project, the less often each of them is polled.
• Bus cycle time (ms) is the bus operation interval, ms. The default value is 1 ms.
The value of the master timeout determines the maximum time interval during
which the output modules will give a signal from the CPU (not an actual signal).
This period will depend on at what point in time the application cycle occurs. If a
malfunction occurs at the beginning of the cycle, then the period of control delay
will be minimal (or there will be none at all). If such a malfunction occurs at the
very end of the application cycle, then the control delay will be maximum, i.e.
equal to the timeout of the master.
The module timeout, by analogy with the master timeout, determines which
maximum time interval the CPU module will use in the application program the
irrelevant value of the signal from the input / output module with which
communication has already been lost. And just like in the case of the module
timeout, the actual delay will depend on the moment of occurrence of the
malfunction relative to the application cycle.

49
Setting the checkbox in the Auto parameter settings field blocks the ability to
change the values of the parameters Timeout of the wizard, Timeout of the
module. If the Auto-tuning options is activated, the automatic substitution of
optimal settings for the wizard timeout is calculated using the following formula:
TO_ms = 17+3*CI, (1)
• where CI - interval polling modules;
The calculation of the polling interval of the modules is performed according to
the following formula:
CI = BI*CN/CPC, (2)
• where BI (Bus Cycle) - bus operating interval, in ms (default is 1 ms);
• CPC (Number of racks per cycle) - the number of racks polled per cycle (default
1);
• CN (Number of Racks) - The number of racks in the controller.
You can change the Bus cycle parameter (only upward) if frequent polling of the
modules is not required (the application has a much larger cycle).
You can also change the Number of racks per cycle parameter. When this parameter
is increased, the interrogation of all controller modules will occur in less time. Since
an increase in the parameter will affect the peak CPU load, it is necessary to ensure
that the RegulBusTask task is completed in the allotted time.
When setting the value of the Number of racks per cycle parameter to “0”, all
controller racks will be interrogated in one cycle.
You can set the required values for the master timeout and the module timeout by
yourself.
In a non-redundant system, the module timeout value is recommended to be set
equal to the timeout value of the wizard.
It should be borne in mind that increasing the timeout value reduces the sensitivity of
the controller to external influences, leading to loss of communication on the internal
data bus.
On the contrary, decreasing timeouts accelerates the controller’s reaction to the
occurrence of a hardware error, which is critical in critical systems with a fast control
cycle.
It should also be noted that the execution time of the control cycle depends on the
parameter CI. So, the maximum execution time of the PLC control cycle (Figure 49) is
determined by the following formula:
То = tп+2*CI+tи+2* CI +tу, (3)

50
where tп (Conversion time) is the conversion time of the input signals in the module
(this parameter is indicated in the table of technical specifications for the module, see
the document on “REGUL RX00. System Manual”);
CI (Interval of interrogation of modules) - calculated according to the formula (2);
tи (Execution time) - the execution time of the task cycle (see Figure 32. Section
“Task configuration”);
ty (Settling time) - time for setting the output signals in the module (this parameter
is indicated in the table of technical specifications for the module, see the document
on “REGUL RX00. System Manual”).
To
tп CI CI tи CI CI tу
t
Figure 49. Maximum PLC control cycle execution time
Rack editor, setting the rack address

Open the rack editor (Error! Reference source not found.) in one of two ways: in t
he device tree by double-clicking on the name of the rack, or in the Regul Bus editor
by double-clicking on the rack image.

51
Figure 50. Rack Editor Example (Regul R600 Controller)
In the rack editor, you can add modules to the rack, swap them, and remove them
from the rack (see the "Placing Modules in the Rack" section).
The Redundance mode field displays which redundance mode is selected. If
redundancy is not provided for the controller, then this field is inactive. In case there
is a reservation, in this field you can select a value from the drop-down list: Full or
Partial. The fact of availability / absence of reservation is determined by the program
automatically by the presence of the Redundancy object in the first application of the
project. A detailed description of redundancy systems is provided in the document
“Configuring a Redundant System on Regul RX00 Series Controllers. User's manual".
In the Rack size field (for Regul R600), select a value from the drop-down list: 14
slots or 7 slots.
The Rack Address field in the editor allows you to set the address of the selected
rack in a distributed control system.
Each rack included in the REGUL RX00 controller is assigned a unique address:

52
• for Regul R600, this address is set by two rotary switches on the front panel
of the power supply module corresponding to the rack;
• for Regul R500, this address is set by the address switch on the front panel of
the IN terminal of the corresponding rack. The address switch incorporates 8
DIP keys. Turning on the key adds to the value of the rack address the
corresponding value (from 1 to 128) indicated next to it;
• for the Regul R200 expansion rack, this address is set by the address switch
on the front panel of the interface module. The address switch incorporates 8
DIP keys. Turning on the key adds to the value of the rack address the
corresponding value (from 1 to 128), indicated next to it.
The range of valid addresses is from 0 to 255. The rack address can be set arbitrarily,
without focusing on the physical order of the racks connections among themselves,
but it must necessarily coincide with the address assigned to this rack in the Epsilon
LD development environment. The rack address is displayed in the device tree before
the rack name.
Regul R400 and Regul R200 base rack do not have a hardware address selector. An
immutable address of 0 is always reserved for them.
Placement of Modules in a Rack

Adding a rack
In the Device tree window, place the cursor over the bus name (Regul Bus) and click
the right mouse button. Select Add device... in the right-click menu that appears.
A window will open where you can use the button to expand the list of devices and
select the Regul →Racks →R__ Rack items. Click the Add Device button. The selected
rack will appear in the project device tree. You can add a few more racks to the
project without closing the dialog box.
If there is a CPU module in a rack, then such a rack is the base rack, otherwise it is an
expansion rack. If you want to change the type of an existing base rack, you should
use the right-click menu command Update device... instead of trying to delete this
base rack and add a new rack of a different type.
Adding a module to the rack
There are two options for adding modules to the rack: through the device tree or
using the rack editor. Adding through the rack editor is described below for each
controller series.
To add modules to the rack through the device tree: in the device tree, place the
cursor on the name of the rack, press the right mouse button. In the context menu
that appears, select the Add device ... item (Figure 51).

53
Figure 51. Adding modules to the rack through the device tree
A window opens with a list of modules for selection (Error! Reference source not f
ound.).
By default, the Group by category box is checked. Therefore, to select a module, open
the list with the button .

54
Figure 52. Adding modules to the controller rack
If you uncheck the Group by categories field, the list of modules takes the following
form (Figure 53).

55
Figure 53. List of modules to add to the rack
For each module, its name, manufacturer and software version number are indicated.
It is possible to use not only different modules in one project, but also modules of the
same type with different software versions. For the modules to work correctly, it is
necessary that the software version of the module matches the software version from
the description file in the Epsilon LD package.
Select the Show all versions (for experts) check box. The list will show all modules
of all possible compatible versions (Figure 54).

56
Figure 54. List of modules of all versions
Select the required module, paying attention to the software version, double-click on
the name of the module or at the bottom of the window click the Add device button.
The module will be added to the rack selected in the project tree.
A detailed description of the compatibility of the software versions of the modules is
given in the section "About Backward Compatibility".
Features of placing modules in the Regul R600 controller rack

57
The controller rack editor Regul R600 is as follows
(
Figure 55).

58
Figure 55. Regul R600 controller rack example
The left side of the editor displays a new rack with empty slots, that is, seats for
modules. On the right side is the workspace where the selected modules are
temporarily placed. The power supply module is always installed in the first slot.
Since the modules of the power supply and the central processor occupy two slots,
speaking about the installation slot number, the number of the left of the two slots
occupied by the module is implied. In the following slots, depending on the
functionality of the rack, you can install any type of module in the following order:
• if there is one power supply (PP) and one central processing unit (CU) in the
rack, then the PP module occupies slot 1, and the CU module should occupy
slot 3;
• if there are two power supplies and two central processing unit (CU) modules
in a rack, then the first PP module occupies slot 1, the second PP module
occupies slot 3, the CU modules should occupy slot 5 and slot 7;

59
• other slots can be occupied by I/O modules and communication processor

modules in any order.
Adding a module through the rack editor: left-click on an empty slot. The Add Device
window opens (Error! Reference source not found.).
Select the desired module. Double-clicking with the left mouse button will add this
module to the rack. If you double-click twice, this module will be added to the
workspace. Without closing windows, you can add other modules to the workspace.
As soon as it runs out of space, in the Add device window it will automatically be
offered to select a new rack, and not a module.
Moving modules from the workspace to the rack is done by drag and drop. Also, by
dragging and dropping, you can swap modules or delete them (move them to the
basket).
All modules added to the rack editor are displayed in the device tree: black - modules
in the rack, pale gray - modules in the workspace.
Figure 56. Modules in rack - display in device tree

60
Special aspects of module positioning in the Regul R500 controller rack

At the beginning of working in the Regul R500 controller rack editor it will display a
rack with terminal modules, a power supply module and, if this is a base rack, the CPU
module (Figure 57). As the racks are added to the controller, and modules are added
to the racks, they are displayed in the device tree.
Figure 57. Regul R500 controller rack editor
Hardware and software solutions implemented in the controller have no restrictions

regarding installation of the modules in a single rack or in multiple racks forming a
part of the same controller, except for the following rules:
• On both sides of the rack, terminal modules must be installed: the IN-terminal
module to the left of the rack, and the OUT-terminal module to the right of the
rack.
• The number of modules of different types (excluding terminal modules) in a
single rack should not exceed 40 units.

61
• If additional power supply modules are installed, they should be distributed

along the rack.
• There can be no more than two CPU modules that physically work on
different hardware busses in the controller, which should also be indicated in
the virtual editor (in the CPU module parameters, "Configuring module
parameters" section).
In order to add a module to the rack, hover the cursor over the available modules, and
the area where the new module will be inserted will be highlighted in green. Click the
left mouse button. The Insert Device window, similar to the Add Device window,
will open. Select the desired module. Double clicking the module will add it to the
rack. You can use dragging to swap modules’ positions or delete them (move them to
the trash).
Special aspects of module positioning in the Regul R200 controller rack
The Regul R200 controller rack editor has the following appearance (Figure 58).
A rack must contain one (and only one) CPU module (in the case of a base rack) or an
interface module (in the case of an expansion rack), which is installed in the leftmost
position. Other modules (I/O, communication processor, power supply) are
connected to it on the right side in a free order. You can install up to 140 modules of
various types in a single rack: I/O, communication processor or power supply
modules.

62
In order to add a module to the rack, hover the cursor over the available modules, and
the area where the new module will be inserted will be highlighted in green. Click the
left mouse button. The Add Device window will open. Select the desired module.
Double clicking the module will add it to the rack. You can use dragging to swap
modules’ positions or delete them (move them to the trash).
Special aspects of the Regul R400 controller modules positioning
The Regul R400 controller modules (Figure 59) are added via the device tree - you
need to add an R200, R500 or R600 rack. Placement of modules in the racks of these
series according to the rules described above.

63
Configuring Module Parameters

Regul RX00 series controllers have a number of parameters that are used to
customize the operation of a module for a specific application task. These parameters
include, for example, masking of the input/output channels, calibration factors of the
analog I/O channel, speed of communication over the channels of communication
modules, etc. A specific scope of parameters available for the module depends on its
type.
The parameters can be configured either when connected to the controller (online
mode) or while offline. In the first case, the new parameters will be applied
immediately, but will not be saved in the project. Accordingly, the next time you
reboot the controller or application, all new settings will be lost, because they will be
replaced with values from the current project.
In the second case, i.e. in offline mode, the controller parameters are saved in the
project and will be used the next time the program is loaded into the controller.
Module Editor
Select the desired module in the device tree. Double-clicking the module opens the
module editor tab (Figure 60). In the case of Regul R600 modules, you can go to this
editor from the rack editor (by double-clicking on the module image).
Figure 60. Example of a module editor
All module editors have a standard structure and consist of the following groups:

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• Basic parameters common to all modules

• Module-specific parameters
• Table of channel parameters with the ability to read/write parameter values both
offline and when connected to the controller
• Separate editor tab, where you bind variables to the inputs/outputs of a module
Parameters common to all modules:
• Compatible firmware versions (Compatible FW versions)
• Current version of the firmware (FW version current)
• Needed device ID (Device ID required)
• Current device ID (Device ID current)
• Required firmware version (Minimal FW version)
• Version of the PDO/SDO map (PDO/SDO map version)
• Last message
• Last message (ET)
These are system parameters; they have a Read-Only attribute and are used by the
controller execution environment to identify the module and its type.
The following describes how to configure the parameters of specific modules in the
Epsilon LD development environment. A detailed description of the algorithm of
operation of each module, its technical characteristics, and other parameters are
given in the "Regul R200. System Manual","Regul R500. System Manual","Regul R600.
System Manual” documents.
Saving and Restoring Settings Stored in ROM

In the case of I/O modules, it is possible to save the settings stored in ROM in a
separate file.
Set the desired parameters of analog/digital channels (see the "Setting the module
parameters" sections). Right-click to invoke the context menu (Figure 61).

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Figure 61. Right-click menu for saving/restoring settings
To save the settings, select the right-click menu Export item. The Export params
data window will open, where you should specify the name of the file that will store
the settings, and the location of this file on the user PC. Click the Save button. Channel
parameters will be stored on the PC (i.e. outside the module) in a file with the .csv
extension.
If you change the table’s channel parameters in the process of working with the
controller, you may need to restore the previously defined parameters. This is
possible if the previous settings were exported into a file. Select the right-click menu’s
Import item. The Import params data window will open. Select the .csv file in which
the values of the module parameters are stored and click the Open button. The
module parameters will be recovered from the file.
Setting Parameters of Analog Input Modules

General parameters
Figure 62. General parameters of analog channels: 1) R500 AI 16 011 module 2) R600 AI 16 011 module

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Figure 63. Parameters of analog channels: 1) R500 AI 08 041, R500 AI 08 051 modules 2) R600 AI 08 041 module
The following general parameters of each channel are available for configuring the
analog input modules:
• Mask - flagging this field makes a channel masked, i.e. the channel will not be
processed. There is no break indication for masked channels. The default value is
0 (empty field) - the channel is not masked.
Note: in the case of an AI 16 011 module with one ADC, the masked channel is
excluded from the polling cycle. Thus, a full poll of all inputs will be completed
faster.
• K0 and K1 are the conversion coefficients for converting an electrical value into an
engineering one. They are defined for every measurement range of every analog
channel. They depend on the sensor used for measurements and are set by the
user when configuring the module. These coefficients are stored in the project.
Note: if you don’t need to use the module’s built-in signal rejection and
linearization functionality, or if the sensor is of the non-linear type, then the
values of these coefficients must be kept unchanged. In this case the module will
provide to the application program electrical values in place of measured values.
• Channel type - select the measuring range. Possible values (depending on the
module): -10…10 V; 0…10 V; 4…20 mA; 0…20 mA.
• Averaging coefficient is the averaging coefficient α within the [0...1] range. Its
default setting is 0 - the averaging is disabled.
• Averaging time (ms) - specifies the time in milliseconds within which the
averaged value will reach 95% of the new signal value, if it changes
instantaneously, provided that the value of the signal and the averaged value
were previously equal. Averaging of the measured value is effected using the
exponentially weighted moving average function.

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• Transmitted value type is the format in which the measured value is provided.
There are three value types:
o ADC codes – direct transmission of the analog-to-digital converter code
o Electrical unit – input signal’s electrical value (mA, V)
o Physical unit – engineering value measured by a primary transducer
(pressure, temperature, mass, level, etc.).
Advanced options
There are additional parameters of analog input modules that allow implementing
automatic rejection of signals if it is necessary to automatically detect abnormal
values or rates of change of measured signals. When a signal is rejected, the module
automatically sets a common channel rejection flag and a flag corresponding to the
criterion according to which the signal was rejected. Two types of rejection are
supported: by signal surge and by going above the limit.
The analog input modules’ additional parameters window opens when the Advanced
tab is selected (Figure 64).
Figure 64. Advanced parameters of analog input modules
A signal is rejected if the engineering value changes too sharply (signal surge). The
following parameters are used to configure the signal rejection algorithm:
• Maximum signal speed. The maximum rate of change of the engineering
value per interrogation cycle of unmasked module channels (660 μs);

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• Dead time. The time interval in ms, after which the channel rejection status is
set. The default value is 100 - the channel rejection status will be set after 100
ms (for modules of the R200 / R500 series);
• Defective rate. The time interval in ms (set as a percentage of the averaging
value), after which the channel rejection status is set. The default value is 100
- the channel rejection status will be established after the time specified by
the “Averaging time, ms” parameter has been set (for modules of the R600
series).
Rejection of the signal on bounds violation occurs when the following limits are
exceeded:
• ADC module measurement limits - this depends on the installed ADC and can
not be configured by the user.
• "electric" signal possible change limits - this depends on the type of electrical
signal measured by this channel. For example, if the channel is operating in
the 4 to 20 mA current measurement mode, the change limits correspond to 4
and 20 mA. If the current is below 4 mA or above 20 mA, the channel will be
rejected. The values of these limits are also non-configurable by the user.
• Engineering value accepted limits. These are defined by the user and are
based on the specifics of a technological process: the engineering value lower
limit (Engineering units, Lower limit), the engineering value upper limit
(Engineering units, Upper limit).
Calibration coefficient
The channel calibration window of the analog input modules opens when the
EEPROM tab is selected (Fig. 65).
Figure 65. Setting the channel calibration coefficient for the R600 AI 08 041 module

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The K0 and K1 coefficients differ from the above-described K0 and K1 coefficients.

K0 and K1 are the channel calibration factors, they belong to a specific physical
channel of a particular module and are stored only there (and not in the project).
Their values are calculated and written to the module’s ROM during manufacturing.
Subsequently, during the module operation, if it becomes necessary to recalibrate a
channel, the values of these coefficients can be recalculated and rewritten.
Changing the values of such parameters can be carried out only in online mode (while
connected to the controller) - in order to save the new values, you must click the Save
to flash button.
Setting Parameters of Analog Output Modules

General parameters
Figure 66. General parameters of analog channels of the R500 AO 08 031 module
The following general parameters of each channel can be set:

• Mask – flagging this field makes a channel masked, i.e. the channel will not be
processed. There is no break indication for masked channels. The default
value is 0 (empty field) – the channel is not masked.
• K0 and K1 are the coefficients for signal conversion from an engineering
value to an electrical signal. By default, these coefficients are equal to "0" and
"1", respectively. In other words, if no channels are configured in the
application, the module receives a control signal corresponding to the output
current. If required by the user, the K0, K1 coefficients can be individually
customized for every channel both during controller configuration and during
its operation. These coefficients are stored in the project.

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• Channel control timeout (ms) – timeout of channel control in case of loss of

communication with the CPU module, ms. Range [0 - 65535] (0 equals
infinity).
• Preset channel value (el. unit) – preset channel value if communication
with the CPU module is lost.
• Connection failure strategy - channel status if communication with the
CPU module is lost. Possible values: preset - enable the preset value, do not
change - do not change the channel state.
• Channel type - select the measuring range. Possible values (depending on the
module): -10…10 V; 0…10 V; 4…20 mA; 0…20 mA.
Calibration coefficient
Go to the EEPROM tab (Figure 67).
Figure 67. Calibration coefficients of analog channels of the R500 AO 08 031 module
The K0 and K1 coefficients differ from the coefficients K0 and K1. K0 and K1 are the
channel calibration factors, they belong to a specific physical channel of a particular
module and are stored only in it (and not in the project). Their original values are
preset during factory calibration of the module, and stored in the module’s ROM.
Changing the values of such parameters can be carried out only in online mode (while
connected to the controller) - in order to save the new values, you have to click the
Save to flash button.

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Setting Parameters for Analogue Combined Modules
Combined analog modules combine the channel parameters of the analog input and
output modules, which are described above (Figure 68).
Figure 68. Parameters of analog input and output channels using the example of the R500 AS 08 011 module
Setting Parameters of Digital Input Modules
Figure 69. Parameters of binary channels of the R600 DI 32 011 module
The following general parameters of each channel can be set:

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• Mask – flagging this field makes a channel masked, i.e. the channel will not be
processed. The default value is 0 (empty field) - the channel is not masked.
• Debouncing (ms) – debounce time in milliseconds.
• Inversion – flagging this field enables the channel inversion. The default
value is 0 (empty field) - no inversion.
• Store events – registration of short-term binary events. Flagging this field
means that an archive of the last 10 events will be maintained. The default
value is 0 (empty field) - the archive is not kept.
Setting Parameters of Digital Output Modules

For each channel of the module it is possible to activate the Masking parameter -
checking the checkbox in this field sets the masking of the channel, that is, the
channel is not processed, output values are not issued. The default value is 0 (empty
field) - the channel is not masked.
Figure 70. Parameters of binary channels of R500 DO 32 011 modules
You can activate the Mask parameter for each channel of the module – flagging this
field makes a channel masked, i.e. the channel will not be processed, output values
are not output. The default value is 0 (empty field) – the channel is not masked.
Setting the parameters of the emergency protection algorithm
Digital output modules offer the option to implement an emergency protection
algorithm when one of the following events occurs:
• Loss of communication with the CPU module.
• Hardware failure of the CPU
• Error in the system software and/or application software of the CPU module

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Within the context of implementation of the emergency protection algorithm, the

module manages the digital output channels in several configurable stages (up to 3,
with the ability to cycle through stages) with different time intervals (up to 65 535
seconds per segment) and different control strategies at each stage. The channel
control algorithm is shown in the figure (Figure 71), where T1, T2, T3 are stages, S1,
S2 - stage strategy, Cnt -number of repetitions.
Figure 71. Channel management algorithm
In order to implement the above algorithm, the following parameters are to be set for
each channel:
• Channel control timeout, T1 (T2, T3) - the time segment of stage 1 (stage 2,
stage 3), ms, upon whose expiration the corresponding strategy is triggered.
Range [0 - 65535] (0 equals infinity).

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• Strategy, T1 (T2). Possible values: set to 0 , no change - do not change the

status, set to 1.
• Repeat T2 and T3 (times) - the number of repetitions of stages 2 and 3.
Range [0 - 65535] (0 equals infinity).
Example 1. In case of loss of communication set the value to 1, regardless of the
values set in the module. Parameter values: Channel control timeout at stage 1- 0,
Stage 1 strategy - set to 1, other parameters can have any values.
T1 =
1
0
S1
Figure 72. Example 1
Example 2. Regardless of the values set on the module, in case of loss of

communication, leave them unchanged. Parameters: Channel control timeout at stage
1 - 0, Stage 1 strategy - do not change, other parameters can have any values.
T1 =
1
0
S1
Example 3. Regardless of the values set on the module, in case of loss of

communication, leave them unchanged during stage 1, then set the value to 1.
Parameters: Channel control timeout at stage 1 - 10000 ms, Stage 1 strategy - do
not change, Channel control timeout at stage 2 - 0, Stage 2 strategy - set to 1, other
parameters can have any values.

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Example 4. Parameters: Channel control timeout at stage 1 - 10000 ms, Stage 1

strategy - set to 0, Channel control timeout at stage 2 - 2000 ms, Stage 2 strategy - set
1, Channel control timeout at stage 3 - 0, other parameters can have any values.
T1 T3 =
1
T2
0
S2 S1
S1
Example 5. Parameters: Channel control timeout at stage 1 - 10000 ms, Stage 1

strategy - set to 0, Channel control timeout at stage 2 - 2000 ms, Stage 2 strategy - set
1, Channel control timeout at stage 3 - 5000 ms, Number of repeats - 2 .
T1 T3 T3
1
T2 T2
0
S2 S1 S2 S1
S1
Setting Parameters of Pulse Counting Modules

The pulse counting modules can operate in one of the following modes:
• frequency counter up to 10 kHz with counting the number of pulses;
• frequency counter up to 500 kHz;
• data processing from an encoder;
• module of the system for measuring the quality and quantity of oil (LACT);
• automatic safety device (R500 DA 03 021, R600 DA 03 021, R200 DA 01 011).

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Module configurable parameters (frequency meter)
Figure 77. Parameters of channels of modules 1) R500 DA 03 011 2) R600 DA 03 011
The following parameters can be set (Figure 77):

• Masking channel 1 (channel 2, channel 3) - checking the box in this field sets
the masking of the channel, that is, the channel is not processed. The default
value is 0 (empty field) - the channel is not masked;
• The upper limit of channel 1 (channel 2, channel 3) is the upper threshold
for the operation of channel 1, channel 2, channel 3 [V]. Range [4-18];
• Switching channel - channel for switching the internal frequency generator.
The default value is 0 - none. When specifying a value from 1 to 3, the internal
frequency generator closes to one of the pulse inputs (this is necessary for the
self-testing of the algorithm);
• Frequency of the internal oscillator. The range is [0 - 10,000].
Module configurable parameters (encoder)

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Figure 78. Parameters of channels of modules 1) R500 DA 03 011 2) R600 DA 03 021

• Upper limit, channel 1 (channel 2, channel 3) is the upper trigger
threshold of channel 1, channel 2, channel 3 [V]. Range [4-18].
• Counter sensitivity. Possible values: X1 - only rising edges of line A, X2 - only
rising and dropping edges of line A, X3 - rising and dropping edges of line A
and line B.
• Direction of rotation. Possible values: CW - clockwise, CCW -
counterclockwise.
Module configurable parameters (LACT)
Figure 79. Parameters of channels of modules R500 DA 03 011 and R600 DA 03 021

• Mask1 (Mask2, Mask3) - flagging this field makes a channel masked, i.e. the
channel will not be processed. The default value is 0 (empty field) - the
channel is not masked.

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• Upper limit, channel 1 (channel 2, channel 3) is the upper trigger

threshold of channel 1, channel 2, channel 3 [V]. Range [4-18].
• Switching channel is the channel for switching the internal clock. The default
value is 0 - none. If you specify a value between 1 and 3, the internal clock
terminates on one of the pulse inputs (this is necessary for the algorithm’s
self-testing).
• Internal clock frequency. Range [0 - 10 000].
• Insensitivity time (ms) - time of insensitivity during event generation, ms.
• Trigger event for digital input 1 (input 2 ... input 6) - type of the digital
input event generation. Possible values: Disabled, Edge, Fall.
• Channel 1 averaging time (ms) (channel 2, channel 3) - averaging of
frequency values. The number of pulses for averaging will be determined
each time before invoking the filter function, depending on the current value
of measured frequency and the value of reaction time. When there are no
pulses, the frequency is equal to 0 and the number of pulses for averaging is
equal to 0.
Module settings (turbine safety switch)
Modules R600 DA 03 021, R500 DA 03 021, R200 DA 01 011 as a safety device are
designed to control the speed of rotation of the turbine and emergency shutdown in
case of acceleration of the turbine.

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Figure 80. Parameters of the R600 DA 03 021 module (Governor)

• Masking channel 1 (channel 2, channel 3) - flagging this field makes a
channel masked, i.e. the channel will not be processed. The default value is 0
(empty field) - the channel is not masked.
• Switching channel is the channel for switching the internal clock. The default
value is 0 - none. If you specify a value between 1 and 3, the internal clock
terminates on one of the pulse inputs (this is necessary for the algorithm’s
self-testing).
• Frequency of the internal oscillator. The range is [0 - 10,000]. In the
operating mode of the Electronic Security Automaton module, this parameter
is not used. To set the generator frequency, the Initial test rotation speed,
Final test rotor rotation speed, Test angular acceleration fields are
configured;
• Assignment of digital input 1 (input 2 ... input 6). Possible values:
o 0 - discretionary monitoring. An input of this type is intended for
receiving a signal and, without analyzing its status in the module

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protection and diagnostics algorithms, transmit it to the CPU

technological program.
o 1 - revertive monitoring of protection relay activation. An input of this
type is intended for receiving monitoring signals of protection relay
activation controlled by the "Protection relay activation" output. The
signal status is used in the protection relay diagnostics algorithm.
o 2 - monitoring of protection circuits being powered. An input of this
type is intended to receive signals about the protection circuits losing
their power supply. The absence of power is determined by a 0-level
signal at the module input. The signal status is used in the protection
diagnostics algorithm.
• Assignment of digital output 1 (output 2 ... output 6). Possible values:
o 0 - discretionary control. The state of an output of this type is not
generated in the module protection or diagnostics algorithms but is
defined in the CPU technological program.
o 1 - activation of protection. An output of this type signals that a
condition for tripping the protection was fulfilled (logic level 1). It is
used for external signaling (data signal sent to the upper level). Ii is
initiated by the automatic safety algorithm.
o 2 - enable/disable the protection relay. An output of this type controls
the protection relay when the protection is tripped (logic level 1 or 0,
selected in the protection algorithm options).
o 3 - overfrequency. An output of this type is intended for signaling the
surpassing of the value of the rotor speed used in the protection
algorithms (set in the RateHiSetting field), warning threshold (logic
level 1).
o 4 - malfunction (of frequency measuring channels or protection
circuits). An output of this type signals about invalid frequency values,
module malfunctions, or failures of any protection relay (logic level 1).
• Assignment of frequency input 1 (input 2, input 3). Possible Values:
o 0 - discretionary measurement. An input of this type is intended for
receiving a frequency signal, according to which the rotational speed
and angular acceleration of the rotor, not used in the protection or
diagnostic algorithms, are calculated.
o 1 - protective measurement. An input of this type is intended for
receiving a frequency signal, according to which the rotational speed

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and angular acceleration of the rotor, used in the protection or

diagnostic algorithms, are calculated.
• Command - command (numeric encoding). Possible values:
o 0 - none
o 1 - enable the TEST1 mode
o 2 - enable the TEST2 mode
o 3 - reset the protection tripping event. The values that are reset are the
SafetyRate and SafetyAccel.
o 4 - reset diagnostic errors
o 5 - interrupt a launched TEST1 or TEST2
• Number of pulses of the input signal for calculating the rotor speed. The
default value is 1. This value is used to calculate the speed using the moving
average algorithm. It is recommended to set a value that is a multiple of the
number of teeth of the measuring gear;
• The maximum possible rotor speed, rpm. If exceeded, it is considered that
a measurement error has occurred. The default value is 4,000;
• The maximum possible acceleration - the maximum possible change in
speed over a period, (rpm) / s. If exceeded, it is considered that a
measurement error has occurred. The default value is 200;
• Number of teeth of the measuring gear. Range [1 - 120]. The default value
is 60;
• Rotation speed when the protection is triggered - the setting for the operation
of the protection at zero angular acceleration of the rotor, rpm At this
frequency, the protection will occur at zero acceleration. The range is [0.00 -
8000.00]. The default value is 3,300;
• Acceleration gear ratio. The acceleration weight in the formula used to
determine the protection condition. The default value is 0.4;
• The minimum permissible set point for protection operation is the
turbine speed, below which the operation will not occur at any acceleration
value (permissible), rpm. The range is [0.00 - 8,000.00]. The default value is
3,200;
• Hysteresis of the protection signal, %. Range is [0 - 100]. The default value
is 0.15;
• Setpoint for increased rotor speed, rpm. The range is [0 - 8,000]. The
default value is 3,150;

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• Alarm hysteresis of increased rotor speed, %. Range is [0 - 100]. The

default value is 0.15;
• Initial test rotor speed, rpm The range is [0 - 8,000]. The default value is
0.15;
• Final test rotor speed, rpm The range is [0 - 8,000]. The default value is
3,000;
• Test angular acceleration of the rotor, (r / min) / s. Range [0 - 654] The
default value is 1;
• Duration of anti-dispersal protection, sec. Range is [0 - 65 535]. The
default value is 5;
• Setting the output On / Off of the protection relay. Possible values:
o 0 - when the protection is tripped, the DO contact opens
o 1 - when the protection is tripped, the DO contact closes
• TypeBad - setting of protection relay on/off output in case of invalid speed
signals. Possible values:
o 0 - only the "Invalidity" signal
o 1 - "Invalidity" signal and tripping of protection relay
• AccMeasTime - acceleration measurement period, ms. Range [1 - 250].
Default value - 10.
Setting Parameters for Communication Processor Modules
Communication processor modules are configured based on functionality. Modules

are intended for:
• organization of communication channels via RS-485 interface;
• organization of communication channels via Ethernet;
• expansion of the internal data bus.
Parameters of modules with RS-485 interface using the example of R500 CP 04 011
(Figure 81). System parameters with the Read-only attribute are presented and are
used by the controller runtime to identify the module itself and its type.

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Figure 81. Parameters of the communication module CP 04 011
Parameters of modules with Ethernet interface using the example of R500 CP 02 021
(Figure 82).
Figure 82. Parameters of the communication module R500 CP 02 021
The following parameters are available to configure each communication channel:

• MAC address is a unique identifier for a device on the network. The MAC
address can be assigned automatically, for this click on the Generate MAC #
button;
• IP address - device address;
• Mask - subnet mask;

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• Broadcasting - when ticked, the filtering function of broadcast traffic is

activated. By broadcast traffic is meant the transmission by the host of IP
packets for which the destination IP address or MAC address is a broadcast
address (that is, the transmission of packets to all nodes of a certain network
segment)
Parameters of expansion modules for the internal data bus using the example of R500
CP 06 111 (Figure 83).
Figure 83. Parameters of the communication module R500 CP 06 111
The following options are available to configure extension channels for the internal
data bus:
• Bus number - the module works only on one of the internal data buses: MB1
- the first internal data bus, respectively, MB2 - the second (by default: MB* -
any);
• Port lock options:
o Port blocking duration x100 ms - the port blocking time interval is
indicated, the value is a multiple of 100 ms (by default 1000 ms);
o Number of consecutively lost packets before automatic blocking of the
port - indicates the limit on the number of lost packets of internal bus data
necessary for automatic blocking of the port (10 packets by default);
o Number of attempts to restore communication after automatic
blocking of the port - the restriction on the number of retries is indicated,
at the end of which the port is blocked until the user unblocks it (by default
5).
In the Manual Port Management area, you can force close / open any external port.
To do this, check / uncheck the box opposite the selected port.

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Based on the set values of the parameters located in the Port blocking parameters
area, the procedure for automatically blocking network segments is configured.
Network segments (hereinafter blocks 1/2/3, grouped, respectively, by ports: 1 and
2/3 and 4/5 and 6) are blocked temporarily or permanently. Temporary blocking
occurs when the number of consecutive lost packets is exceeded. Final blocking
occurs when the number of attempts to reconnect is exceeded.
In the Enable manual blocking area, you can forcibly enable / disable the blocking
of any 1/2/3 block. To do this, check / uncheck the box opposite the selected block.
By analogy, in the Disable automatic blocking area, you can forcibly enable / disable
the automatic blocking of the selected block.
On the <Module Name> I / O Mapping tab, you can monitor the status of
connections and blocks (Figure 84).
Figure 84. Mapping tab
Binding Channels to Program Variables

General information
The controller modules have a certain number of logical input/output channels, to
which you can bind the application program variables. Some of these logical
inputs/outputs correspond to various "physical" inputs/outputs of the module, while
others are bound to the module internal registers. Same as in the case of the modules’
parameters, logical inputs/outputs can also be configured by the user in the Epsilon
LD programming environment. To do this, go to the I/O mapping tab in the module
editor (Figure 85).

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Figure 85. I/O mapping
The following is to be considered when correlating the variables and inputs/outputs:

• Variables that are mapped to an input can not be accessed by writing
• An existing variable can only be mapped to one input
• The channel type is indicated in the Variable column by the icon for the
input, and the icon for the output
Depending on the device, the following information can be displayed:
• Channel: symbolic name of the device channel input or output.
• Address: channel address, for example, % QX3.0. You can change the address
value manually. This may be required to change the addressing according to a
specific hardware configuration or to keep an address value even if the order
of the modules is changed (by default, this results in an automatic change of
address values). Note that regardless of the device description you can only
change the address of the input or output as a whole, but not of its individual
sub-elements (bit-channels). Thus, if the input or output is represented in the
mapping table by a subtree, you can only change the topmost object address.
In order to lock an address value, please, highlight it and press the Space key.
This opens the input field. Now, change the value or leave it as is and close the
field by pressing the Enter key.
• Type: data type of the input or output channel, for example, BOOL.
• Unit: unit of measurement the parameter value, for example, "ms" for
milliseconds.

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• Description: a brief description of the parameter.

• Value: the parameter current value, this is displayed in online mode.
Mapping of variables and inputs/outputs
In order to bind a variable to an input or output of the module, please, double-click
the line of the desired input/output in the I/O mapping tab (Figure 85). A cursor will
appear (you can manually enter a variable name) and a button that opens the
Input Assistant window.
Figure 86. Invoking the Input aid
Find the desired variable in the Input Assistant window (Figure 87). If the
Structured view field is flagged, expand the lists using the button. If the field is
unflagged and the variables are represented by one large list, use the filter to search
more conveniently. Upon having selected a variable, click the OK button, the Input
Assistant window will close and the variable will appear in the I/O mapping tab.

88
Figure 87. Input aid dialog box
While on the I/O mapping tab, double-click on a cell in the Description column of
any input/output line to enter a description of the corresponding input/output.
Press the Reset mapping button to reset all bindings of variables to the module
inputs/outputs.
If the Always update variables option is enabled, the variables will be updated in each
cycle of the bus cycle task, regardless of whether there is a binding to inputs/outputs.
The mode of constant updating of variables is useful and necessary during a project
debugging. During normal operation, a large number of variable updates results in an
increased load on the controller CPU.
For the analog input module, there is a description of the input, presented by several
channels (in the terminology of the development environment). These are: a value
read from the analog input, and a status byte, which shows the validity of the value
and a set of flags of events associated with going beyond the measurement
boundaries (Figure 88).
Note: in the application program it is necessary to track the status of the channel and
the status of the module, since when the channel is rejected, the parameter value is
“frozen” at the last reliable value.
It tends to be necessary to check the channel states and module status in the
application program. To do this, go to the I/O mapping tab.
For the analog input module there is a description of an input represented by several
channels (in the development environment terminology). This is a value read from

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the analog input, and a status byte that indicates the validity of the value, and a set of
event flags associated with exceeding the measurement limits (Figure 88).
Figure 88. Verification of analog input module channel status
In the case of the analog output module the software displays values defined for each
of the outputs and a set of status flags that indicate the presence/absence of external
power and the possible break in each channel (Figure 89).

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Figure 89. Verification of analog output module status

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Connecting the Controller to the Network

Network Scanner. Configuring the IP Addresses
To ensure the controller interaction with a PC and other devices it is necessary to
configure its network parameters. The first configuring step uses a special Epsilon LD
Network scanner component, which makes the controller available for built-in
connection mechanisms.
Select the Tools Network scanner item from the main menu (Figure 90).
Figure 90. Initial phase of determining the controller’s network parameters
The Network scanner window will open. Choose a value from the Select a network
connection: drop-down list and click the Scan button. As a result of scanning the
network, a list of all controllers connected to the selected network will appear in the
PLC list: field (Figure 91). Any new controllers, i.e. those that were not in the list after
the previous scan, will be highlighted in green.

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Figure 91. List of controllers in the network
In the PLC List: field, please, select the controller for which you want to set the
connection parameters. To verify that the controller you selected corresponds to the
desired controller physically installed on the bench, click the Wink button in the
program. The controller on the will emit a short beep.
The PLC information: box will display information about the model and version of
the controller, as well as a table will appear with all the network interfaces of the
selected controller (Figure 92). The port highlighted in green is the one from which
the controller responds to network requests.

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Figure 92. Information on the controller
Enter the IP address and subnet mask in the IP and Mask fields located under the
port number. Click the Write button. To delete the data in the IP and Mask fields,
click the button, the fields will be cleared, then click the Write button.
If you want to change the symbolic network name of the controller, delete the existing
name in the PLC name field, enter a new name, then click the Write button. PLC name
can only contain Latin characters, numbers, and the underscore sign ("_").
The network scanner offers the Export and Import commands, eliminating the need
to manually enter all the IP addresses.

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To save the IP addresses in a file, please, click the Export button, and the Save net
interfaces settings window will open. Define the folder in which this file will be
stored, give it a name, then click the Save button.
To restore the IP addresses after updating the firmware (or effecting any other
procedure that caused the controller settings to be canceled) go into the network
scanner and find the desired controller. Then click the Import button, select the file
that contains the settings, and click the Open button. A dialog box will appear where
the controller and the settings (IP-addresses) about to be applied to it will be listed. If
these settings are correct, please, click the Yes button. The window will close and the
IP address, subnet mask, gateway will be automatically added to the corresponding
fields. If the settings are not correct, please, click the No button. The window will
close, allowing you to select another file.
If there is a need to assign a default gateway, please, enter its address in the Gateway
field and click the Write button. This gateway address will be valid for all network
interfaces.
Using the “Lock” button, you can set a ban on changing network settings if this functionality supports
the PLC (Figure 93).
Figure 93. Lock button in the network scanner window
When the button is pressed, a confirmation window will pop up (Figure 94).
Figure 94. Settings lock confirmation window
Press the “Yes” button and all the controls will become dim and not available for
change, except for the “Sound signal” button. The “Sound signal” button is designed to
receive an audio response from the corresponding PLC.
If you need to unlock settings, do the following:

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• go to the Files tab and in the Execution area click the refresh button
(Figure 95);
Figure 95. file sharing window between PC and controller
• Locate the network.cfg file in the etc folder. Use the button to copy this
file from the controller to the PC;
• open the network.cfg file on the PC. Delete the line highlighted in red in
Figure 96;
Figure 96. Line
• return to the Files tab, use the button to copy the changed file from the
PC to the controller. Verify that changing network settings is available.
To continue working on connecting the controller to the network, close the Network
scanner window by clicking the button in the upper right corner.
Establishing a Connection with the Controller

The Epsilon LD development environment uses the concept of a gateway. Only
through it, the Epsilon LD development environment can establish a connection with
the controller. In fact, a gateway is a device for interfacing computer networks using
different protocols. Such a gateway may be a local PC of the developer, there may be
another PC on the network that has a direct connection to the controller. The

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CODESYS Gateway Server communication service must be running on such a gateway

device.
Open the project. In the Devices window in the device tree, select the controller to be
configured, double-click on it. The main tab of the device settings will appear in the
right part of the window, where the internal tab Connection Settings is opened by
default (Figure 97).
Figure 97. Communication settings tab
Select gateway from the drop-down list. A local gateway is available immediately, it
automatically starts when the Codesys Gateway service is started.
If the gateway is working normally, then the marker next to its schematic image will
be green, otherwise it will be red. A black marker indicates that the connection is not
yet defined.
If you don’t find the gateway you want in list, you can create one. To do this, select the
Gateway   Add new gateway... item, and the Gateway window will open
(Figure 98).

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Figure 98. Adding a new gateway
You need to specify the name of the gateway and its IP address (double-clicking in the
IP-address field allows you to edit this field value). In case of a local network it is the
localhost or the local network address, while in case of a remote network it is the
corresponding network address.
In the case of a local network the Port setting should be left unchanged (only to be
changed if the standard port is blocked). In the case of a remote network, the
following ports are used:
• UDP 1740-1743 for broadcast requests
• TCP 1217 for gateway
• TCP 11740-11743 for connection to the PLC
To add or remove gateway use the Gateway   Manage gateways... item. A
window will open where existing gateways can be arranged in the desired order
using the Move Down and Move up buttons. The object located at the very
beginning will be the default gateway for new projects and devices. To add a gateway,
use the Add button, and the Gateway window will open. The Delete button
allows you to delete the gateway. Be careful, the system does not request
confirmation for deletion.
After the gateway is defined, it is necessary to define via a network scan the channel
linking to the target device (controller), which must be connected through the
specified gateway.
Network scanning
Click the Scan network... button. The Select Device window will open (Figure 99).

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Figure 99. Scanning a local network
Wait a few seconds for the Scan network button to become active. Click it to get a
current list of connected devices. You can also execute the command by double-
clicking on the gateway item.
While the gateway is working normally, it is marked with a green marker - ,

otherwise the marker is red - . A gray marker indicates that the gateway is not yet
connected (some communication protocols do not permit to poll the gateway state, so
its status can not be displayed).
The scan will show all the devices available on the network (whether it is a local or
remote one). If the desired device is not listed, close the Select Device window and
do one or more of the following actions:
• Check the controller’s physical connection to the network
• Check if the IP address of the controller is specified correctly
• Select Device on the Communication settings tab and unflag the Filter
network scans by target ID item (or make sure that it is not flagged)
Scan the network once again. If the device in the list is indicated by a pale gray icon
and is not selectable, it means that it does not match the type of the selected
controller. Select the desired controller, and information about it will appear in the
right part of the window (Figure 100).

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Figure 100. Controller is not available for selection
Update the controller type in the device tree of the Devices window (by choosing the
right-click menu Update device... item), and select for it the same model as indicated
in the Target name: field.
Rescan the network. View the list of all devices on the network and select the desired
controller. Click the OK button.
After clicking OK, the Login window will open (Figure 101). To establish a connection
with the PLC, you will need to enter the username (account) - Administrator, with the
password: Administrator (predefined by default, factory setting). This account has
maximum rights.
Figure 101. Login window

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After successful authorization, a window opens asking you to change the password
for the Administrator account. In the future, when reconnecting to the PLC, a new
password will be used (Figure 102).
Figure 102. New Password Entry Window
After confirmation, the window will close, there will be a transition back to the main
program window, where on the device parameters tab near the schematic image of
the device there should be a green marker (the device is working normally), the
device address and its parameters are shown (Figure 103).
Figure 103. Controller was found on the local network and was selected as the active one

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There are two ways to reset the account password to the factory one: through Epsilon
LD software or the controller service mode (see the section "Controller service mode"
and the "Reset algorithm to factory settings" section).
Service mode is used when it is not possible to connect to the controller via Epsilon
LD.
Resetting via Epsilon LD is as follows:
• in the window of the device tree, place the cursor on the name of the REGUL
... controller, press the right mouse button (Figure 104);
Figure 104. Device context menu
in the context menu that appears, select Reset factory device [REGUL ...]. A
confirmation window will open (Figure 105);
Figure 105. Operation Confirmation Window
• press the YES button. Now, when reconnecting to the PLC, the Login window
will open with the factory settings described above. The controller will reset
to factory settings. All applications and variables will be deleted from the
controller.

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Searching for a device by its IP address

The program is capable of searching for the controller directly by its IP address, i.e.
there is no need to scan the network and select the device from the list of found
devices.
First option: in the field below the controller image enter a "device name", device
address, or its IP-address. Press the Enter key. If the address/name was entered
correct, the controller will be found, and its address and parameters will be
displayed.
Second option: configure the list of "favorite devices", which is a list of devices whose
connection settings will be saved, allowing you to connect to them without scanning
the network. Select the Device  Options   Manage favorite devices... item.
The following window will open (Figure 106):
Figure 106. Manage your favorite devices window
Click the Add button. A dialog box will appear where you need to enter the device
name, device address, or IP address. Example of a device address: 0104.02F4.
Example of an IP address: 192.168.101.15. Click the OK button. The program will
automatically attempt to determine the mechanism for searching or adding the
device to the list.
Filtering by device type (Target ID)
It is possible to search for devices of only a certain type. To do this, select the
Device  Options item. A menu will open containing the Filter network scans
by target ID item. Activate this option, and during network scans only those devices

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whose identifiers coincide with the identifier of the currently edited device will be
displayed.
You can search only devices of a certain type. To do this, select Device 
Options Filter network scans by target ID, i.e. filter by device ID (Figure 107).
Figure 107. Filter option activated
If the checkbox is checked, then when scanning the network, only found devices will
be displayed, the identifiers of which coincide with the identifier of the currently
edited device.
Change PLC connection policy
There are a possibility of an encrypted connection with the controller. To establish an
encrypted connection, the certificate generated on the controller will be used.
Connect to the controller and make sure it is available.
Note: To view the availability of a certificate, select the internal PLC Shell tab in the
main tab of the device settings. At the command prompt, enter cert-getapplist. A list of
all applicable certificates appears. If there is no certificate for the CmpSecureChannel
component, then at the command line, enter the command cert-genselfsigned * (* -
indicate the serial number of the component in the list). After a few seconds, issue the
cert-getapplist command again and verify that a new certificate is created.
To change the current connection security setting, go to the Connection Settings tab,
select Device  Change communication policy .... A window of the following
form will open (Figure 108):

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Figure 108. Connection Policy Change Window
In the Communication area, the Current policy: field displays the current status of
the connection policy. To change the policy, select the necessary option in the New
policy: field in the drop-down list:
− No encryption - without encryption of the connection;
− Optional encryption - optional encryption of the connection (on / off). In order to
enable encryption, just check the box Encrypted connection. The communication
line in the Connection settings area will turn yellow (Figure 109);
Figure 109. Activate Encrypted Connection
- Enforced encryption - forced encryption of the connection. Each time you connect to
the controller, the connection will be encrypted automatically.
When connecting to the controller for the first time (with encryption enabled), a
dialog box appears with a message stating that the certificate on the controller does
not have a signature of a trusted center. You will be asked to install it in the local
storage as a trusted certificate (Figure 110)). In the future, the connection to the
controller will be encrypted automatically with this certificate.

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Figure 110. Request window
Adding Routing Rules

The controller's system software has the ability to set static routing rules for
accessing network resources. Such a need may arise when working in networks with
complex topology. To add routing rules, you need:
• configure IP addresses in the system;
• create a file with routing rules on a PC;
• transfer the file with routing rules to the controller.
If the IP addresses are not pre-configured, then the route cannot be added due to the
unknown source network address (Network is unreachable).
At the time of adding a new routing rule, the system must know the route to the
network gateway, otherwise the route will not be added due to the network
unreachable. For the example below, the route to the network gateway is
192.168.209.131.
Create a routes file on the computer - a file with routing rules on the network where
the controller will be connected. Each line in the file is a new route. Example:
-net 192.168.209.128 -netmask 255.255.255.128 192.168.209.131 or the same rule
can be written like this: -net 192.168.209.128/25 192.168.209.131.
Run the controller. Establish a connection between the controller and the Epsilon LD
program (see the “Connecting the controller to the network” section).
In the device tree, place the cursor on the name of the controller. Double-clicking
opens the main tab (window) of the device parameters.

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Go to the Files tab. In the Host box click the button (Refresh). The window will
display the computer’s file tree. Find the routes file.
In the Runtime box click the button (Refresh). The window will display the tree of
files available on the controller. Find the etc folder.
Picture 111. Copying a file from the PC to the controller’s “etc” folder
Use the button to copy the routes file from the PC to the controller’s etc folder
(from Host to Runtime). The upload of the file to the controller will begin, with a
progress bar appearing in the lower right corner of the screen. Wait until the process
is finished.
Routing rules are automatically applied in case of any change in the routes file.
To diagnose the network connections, go to the PLC shell tab. Press the button in
the lower right corner. A dialog box with a list of commands will appear. Select the
desired command and click the Execute button.
The ? command displays a list of all the commands with corresponding explanations
(Figure 112). To execute the command in this window, enter the text in the command
line and press the Enter key.

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Figure 112. Commands for diagnosticating the routes
Epsilon LD program uses the following commands from the PLC shell for verifying
that the controller is connected to other network devices according to the prescribed
routing rules:
• ping - sends a packet of specified size to a specified host, and then receives it
back.
• traceroute - displays the packet’s path, i.e. list of nodes through which the
packet passed. In case of problems with the delivery of data to any node, the
program allows you to determine which part of the network experiences
problems.
• netinfo - displays information on the controller’s network interfaces.
Configuring the Modbus

A detailed description of the procedure is given in the "Implementation of data
exchange using the Modbus protocol. User guide" document.
Configuring the IEC 104

A detailed description of the procedure is given in the "Implementation of data
exchange using the IEC 104 standard. User guide" document.
HART Setup
A detailed description is given in the document “Configuring HART communication on
REGUL RX00 series controllers. User's manual".
Configure OPC DA
A detailed description is given in the document “Configuration and Operation of
REGUL OPC DA Server. User's manual".

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Configure OPC UA
A detailed description is given in the document “Configuration and Operation of
REGUL OPC UA Server. User's manual".

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Programming the Controller and Debugging the Project

PLC Program Creation
Program editor
Any software component available in the POU tree or device tree can be opened by
double-clicking it with the left mouse button (Figure 113). You can also open an
object in the editor window by using the right-click menu’s Edit object command.
Figure 113. Example of program editor (ST language)
To work with the PLC_PRG software component an editor is used, such as the ST
editor (Figure 113). In this editor, the name of the object is always displayed in the
window’s title bar. The program editor window has the declaration editor at the top
and the implementation section (program body) at the bottom.
Variables declaration
The declaration editor displays the line numbers, type, and name of the component
(for example, PROGRAM PLC_PRG), as well as the VAR and END_VAR keywords for
declaration of variables. The body is empty and at first contains only the initial line
number. Place the cursor behind the VAR in the declaration section and press the
Enter key. This will result in an empty string being inserted in which you can declare
the variables.
The variable declaration must be performed in accordance with the following rules:
• Syntax: <Identifier> {AT <address>}: <Type> {: = <initial value>}
Note: the part enclosed in { } brackets is optional.

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• The identifier must not contain any spaces or special character

• The case of characters is not taken into account; VAR1, Var1, and var1 are
the same variable
• The underscore character is taken into account (for example, A_BCD and
AB_CD are two different identifiers). The identifier must not contain more
than one underscore in a row
• There is no limit to the length of identifier or of its significant part
The declaration editor allows you to use a "speed dial" mode. This function is
executed if you finish entering the line by pressing the Ctrl + Enter keys.
While in the online mode, the declaration editor serves a viewing window.
Entering the program code
Enter the program code in the area after the dividing line, i.e. in the program body.
Picture 114. Example of program code input
Debugging the Project

Compiling and uploading the application to the controller
If you just want to test your "active" application program (i.e. the Application in the
Active application state) to check for syntax errors, select the Build  Build item in
the main menu or use the F11 key. Note: no code will be generated in this case.
Information, warnings, and error messages will be displayed in the message window,
which by default is located in the lower part of the interface (Figure 115).

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Figure 115. Message window. Compilation has finished
Establish a connection with the controller.

To upload the application to the controller, select the Online  Login item from the
main menu or click the button on the toolbar. You can also upload a project to the
controller via the menu Online  Download.
The process of loading the project into the controller will begin. If the project being
uploaded differs from the one that is currently in the controller, a message will
appear (Figure 116).
Figure 116. Message appearing when the project is loaded

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Login with online change allows you to download not the entire project, but only the
changed parts. In other words, an online change will be automatically offered when
connected to the controller with an application program that is already running on it,
but has been changed since the last boot.
Login with download - this is loading a completely new project, instead of existing on
the controller.
Login unchanged connects to a previously loaded project.
To disconnect from the controller, select the main menu Online  Logout item or
click the button.
Launching and monitoring an application
To start the downloaded application, select in the main menu Debug  Start, or
using the Start / Stop buttons (Figure 117).
Figure 117. Start / Stop buttons in the menu bar
When the application is launched, the message “Launch” should appear in the status
bar on a green background (Figure Error! Reference source not found.).
Picture 118. Application is running on a controller

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You can also start / stop the application using the RUN / STOP switches located on
the front panel of the CPU module and performing the same functionality as the Start
/ Stop buttons in the programming environment.
RUN / STOP switches work in two modes, and if necessary, the user can set priorities
over the controls of the application.
Equivalent mode (default)
In this mode, the RUN / STOP switch has the same weight as the controls from the
Epsilon LD environment and suggests the following:
• changing the position STOP RUN or RUN STOP triggers the RUN and STOP
event, respectively;
• starting the application by the user from Epsilon LD with the STOP switch
position is unlimited;
• stopping the application by the user from Epsilon LD when the position of the
RUN switch is unlimited;
• the application loading procedure, as well as the warm / cold reset procedure
of the application (see the section "Resetting applications" below), puts the
active application in the STOP state;
• the application startup procedure puts the active application in the state
determined by the switch position.
Primary mode
To activate, in the PsLed section of the /etc/runtime.cfg configuration file, you must
specify the option:
[PsLed] RunStopButtonSuperior = 1
In this mode, the RUN / STOP switch has priority over the controls from the Epsilon
LD environment and suggests the following:
• changing the position STOP RUN or RUN STOP triggers the RUN and STOP
event, respectively;
• starting the application by the user from Epsilon LD will be canceled when
the STOP switch is positioned;
• stopping the application by the user from Epsilon LD will be canceled when
the position of the RUN switch;
• the application loading procedure, as well as the warm / cold reset procedure
of the application, puts the active application in the state determined by the
switch position;

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• the application startup procedure puts the active application in the state
determined by the switch position.
Application reset
Resetting the application stops the application and returns to the variables their
initial values. Depending on the type of reset, non-volatile variables (RETAIN) and /
or non-volatile constant variables (PERSISTENT RETAIN) are reset. You can run the
application reset command through the main menu Online  Reset / Reset cold /
Factory reset in online mode (Figure 119).
Figure 119. Run the Reset command through the main menu
Reset is divided into the following types:

• Reset (warm) - all variables are reset to their initial values, with the
exception of RETAIN and PERSISTENT RETAIN. The situation is similar to
turning off / on the power of the controller while the application is running;
• Cold reset - all variables are reset to their initial values, with the exception of
PERSISTENT RETAIN;
• Factory reset - all variables are reset to their initial values and the
application program is deleted from the controller.
Variables are declared using the RETAIN and PERSISTENT RETAIN keywords.
Variables occupy a common non-volatile memory area. It should be noted that
PERSISTENT RETAIN variables are declared by adding Persistent variables to the
application program ... (Figure 120)

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Figure 120. Adding non-volatile constant variables
Table 5 shows the behavior of variables for various reset commands.

Table 5 - Variable Behavior
Variables
Online command
VAR VAR RETAIN VAR PERSISTENT RETAIN
Discharge (warm) х ✓ ✓
Cold discharge х х ✓
Factory reset х х х
Note:
«✓» – variables are immutable;
«х» – the variables are reset

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Online monitoring of a specific POU
To view the PLC program execution, open the component program editor (for
example, PLC_PRG) by double-clicking it. The program editor, previously used to
declare variables, enter the program code, and edit the program text, has a different
appearance in the online mode (Figure 121).
Figure 121. Program editor 1) editing mode 2) program online operation
The top of the window, i.e. the declaration editor, will display current values of the
variables. The lower part (the implementation section) will display the program code
lines. Next to each variable there is a small monitoring window that displays the
variable current value (built-in monitoring).
Writing and capturing the variables
You can write predefined values into one or more variables prior to starting the
operating cycle by using the Write values command (from the main menu Debug
item). The writing of the value you defined is carried out at the beginning and at the
end of each control loop.
Cycle execution sequence:
1. Reading of inputs
2. Writing of variables
3. Running of program code
4. Writing of outputs

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While in the online mode, open the component program editor. In the editor’s
declaration section, you will see a table that lists the display expressions. Click on the
corresponding field in the Prepared value column and enter the desired value
(Figure 122). Execute the Write values command. The entered value will be
immediately written into the corresponding field in the Value column, having been
recorded in the controller. The Prepared value field will become empty again.
Figure 122. Writing and capturing the variables
Using the Fix values command (from the Debug main menu item), you can fix the
values of one or more variables. The value you set is recorded at the beginning and at
the end of each control cycle.
Cycle execution sequence:
1. Reading of inputs
2. Capturing of variables
3. Running of program code
4. Capturing of variables
5. Writing of outputs.
The values are fixed in the same way as the values are recorded.
Fixation will take place until you stop it for some or all of the variables, or until the
system is shut down.
Defining of breakpoints and step-by-step program execution
You can use breakpoints when debugging a project in the development environment.
Breakpoints are places in which the execution of the program will be suspended,
which allows you to view the values of variables at a certain stage in the program.
Once the program has reached the breakpoint, it can be continued in a step-by-step
mode.

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While in the online mode, open the necessary component editor, select the required
line, and press the F9 key or select the main menu’s Debug  Toggle breakpoint
item. Subsequently, the breakpoint will appear on the screen (Figure 123).
After the program hits the breakpoint, it can be executed in steps by using the F8 key
or the Debug  Step Into command. This also executes the steps of the function
block’s instance. To skip the function block steps, use the F10 key or the Debug 
Step Over command. The current values of all variables on the controller will be
displayed at the current program execution position.
Figure 123. Breakpoint in the PLC program
To view all information on breakpoints, please, select the main menu’s View 
Breakpoints item. The Breakpoints window will open. Here you can view and
change the current breakpoints, as well as set some new ones (Figure 124).

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Figure 124 - Breakpoints window

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Maintenance of the controller
Maintenance of the Controller

Change Controller Settings for FTP Connection
In some cases (for example, to get a complete event log), you need to connect the
computer to the controller using any FTP client program (for example, WinSCP).
If the FTP connection is disabled in the settings, then do the following:
• in Epsilon LD, on the main tab of the device settings, go to the Files tab. In the
Execution area, click the (Refresh) button. A window displays the tree of
files available on the controller. Find the etc folder (Figure125);
Figure 125. File exchange between PC and controller
• in the etc folder, find the runtime.cfg file. Use the button to copy this file
from the controller to the PC (from Execution to Host);
• open the runtime.cfg file on your PC. If the string EnableFTP = 0 is present in
it, then you should change it to EnableFTP = 1;
• in Epsilon LD, on the Files tab, use the button to copy the changed file
from the PC to the controller (from Host to Execution).

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Controller Diagnostics
Obtaining diagnostic information about the controller
In the Epsilon LD program, in the device tree, place the cursor on the name of the
controller. Double-clicking with the left mouse button opens the main tab (window)
of the device parameters. Run the controller. Establish a connection between the
controller and the Epsilon LD program (see the “Connecting the controller to the
network” section).
To obtain real-time information on the controller status go to the Service PLC
internal tab. In the Update interval (in seconds): field, please, specify the refresh
interval, then click the button (Refresh). The controller diagnostics will begin
(Figure 126).
The General information tab displays the controller firmware version number,
name and version of the runtime environment, information on network interfaces
and data storage, if the Net and data storage mode is selected. In the PLC load mode,
the CPU and RAM load schedules are displayed. If there are two processors in the
controller, the information will be displayed for each of them (Figure 127).

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Figure 126. General diagnostics information on the controller
Figure 127. Example of data on PLC load

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The Hardware info tab (Figure 128) displays information on:

• Temperature of the processor and of the board. The Maximum: and Minimum:
values refer to the entire service life of the controller, including the period of
testing at the manufacturer factory.
• Common parameters:
• WDT countdown device and the initial WDT value in seconds
• Total operating time
• Current uptime
• Counter of activations
• Reason for the previous restart
• Values of controller parameters (BIOS version, release date, etc.)
Figure 128. Hardware information
The SMART tab is used to view the status of the controller’s solid-state drive. To do
this, click the Request data button.
The window will display all information about the status of the controller’s solid state
drive (Figure 129). If the controller has two SSD drives, then it is possible to view
SMART data for each of them. To do this, please, select the desired SSD from the drop-
down list located under the Request data button.

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Figure 129. SMART data
Enabling debug mode for racks and modules

It must be remembered that the total size of the event log (log files) is limited. The
speed of filling the event log depends on the number of included diagnostic options of
the project. Do not simultaneously include an excessive number of diagnostic options,
as this can lead to too fast a cycle of rewriting log files. The correct solution is to
include only those diagnostic options that are really necessary to find the causes of a
failure in a particular module or driver. All other diagnostic options should be
disabled! In the normal operating mode of the controller, it is also desirable to disable
all diagnostic options in order to reduce the execution time of the main program
cycle.
In the main menu of the Epsilon LD program, select Tools  Options and in the
window that opens, the Device Editor item. Select the Show general device
configuration windows check box (Figure 130).

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Figure 130. Device Editor Settings
In the device window, find the Regul Bus element, expand the device tree. Select the
desired rack, double-click the left mouse button to open the tab (window) of the
parameters of the rack. Go to the <Rack Name> Configuration internal tab (Figure
131).
Figure 131. Rack Parameters
If you need to debug all modules of this rack, find the lines Debug mode and Debug
mode for modules. In the Value cell, double-click the left mouse button to change the
value from FALSE to TRUE (Figure 132).

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Figure 132. Enabling debug mode for all modules
To debug an individual module, select this module in the device tree. Double-click the
left mouse button to open the tab (window) of the module parameters. Go to the
internal tab <Module Name> Configuration. Find the Debug mode line and in the
Value cell double-click the left mouse button to change the value from FALSE to TRUE
(Figure 133).
Figure 133. Enabling debug mode for the module
Enabling Debug Mode for Modbus and IEC-104 Drivers
In the device window, expand the device tree. Further:

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To configure Modbus, double-click the desired device with the left mouse button:
• <X>: Regul_Serial_port \ Modbus_Serial_Master \ Modbus_Serial_Outer_Slave_ <Y>,
• <X>: Regul_Serial_port \ Modbus_Serial_Slave,
• Modbus_TCP_Master \ Modbus_TCP_Outer_Slave,
• Modbus_TCP_Slave_Device;
To configure the IEC-104, double-click the desired device with the left mouse
button:
• Master_104_Driver,
• <X>: Slave_104_Driver;
In the General device settings section, select the Debug mode field (Figure 134).
Figure 134. Turn on debug mode
The event log
In the Epsilon LD software environment, there are two logs for viewing events that
occurred in the execution system (operational and full). Such events include:
• events when starting and stopping the system (loaded components and their
versions);
• downloading the application and the boot project;
• user records;
• I/O driver logging and data server logging.
Online Event Log
The online log displays all events from the moment the controller starts. Establish
communication with the controller. Click on the main tab of the device settings on the

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Log tab. Click the (Refresh) button. The journal will be filled with entries (Figure
135).
Figure 135. Online Event Log
Each entry belongs to one of the categories: warning, error, exception, message. The
display of entries for each category can be turned on or off using the corresponding
buttons on the top panel. Each button shows the number of records in the
corresponding category (Figure 136).
Figure 136. Online Event Log
The following characteristics are set for each journal entry:

• Timestamp - date and time (accurate to milliseconds). If the checkbox in the
UTC-time field is checked, then the time of the controller runtime-system is
displayed in the log. If the field is inactive, then the local time of the computer
is displayed (in accordance with the set time zone);
• Description - description of the event;
• Component - ID and name of the component. You can only display entries for
a specific component. By default, the <All components> option is selected.
The journal has a limit of 5,000 entries. When this threshold is reached, logging stops.
To save the log, click the button on the toolbar (Export displayed elements to an
XML file) (Figure 137). A dialog box opens to choose where to save the file. The file
will be saved with the extension .xml.

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Figure 137. Export, import, delete functions in the online log
To view previously saved logs, click the button (Import elements through an
existing XML file), locate files like xml files on the computer. Select the desired log-
file, its entries will be shown in a separate window.
To clear the current log table (delete all entries), use the button .
Complete event log
The full log contains records of all controller events, including errors and reboots.
The full log volume is much larger than the online one and is 15 MB by default, but
the maximum log volume can be specified in the configuration file. When filling out
the log, the oldest files are deleted and replaced with newer ones. Therefore, in order
to avoid the loss of information contained in the log, it is necessary to copy the log
files immediately after detecting a malfunction in the program before they are
replaced. The speed of filling the event log depends on the number of included
diagnostic options of the project.
The full event log from the controller can be downloaded in two ways: from the
Epsilon LD development environment or using the FTP client.
To download through Epsilon LD, follow these steps:
• on the main tab of the device settings, go to the Files tab. In the Execution
area, click the (Refresh) button. A window displays the tree of files
available on the controller. Locate the logs folder (Figure 138);

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Figure 138. Download files from the controller to the PC. The event log
• in the logs folder, select the necessary files. Use the button to copy files from the
controller to the PC (from Execution to Host). Open the files on your PC to view.
Follow these steps to download the log using the FTP client:
• connect to the controller's IP address using the following parameters: port 21,
FTP protocol, plclogs login, service password. In case of problems, check the
settings (see the section "Changing the controller settings for FTP connection");
• copy all the log files to your PC. Controller log files are called slogger.log, and the
runtime log is StdLogger.log (runtime folder);
• open the log using the FTP client editor (Figure 139). The timestamp for each
event contains data accurate to microseconds.
Figure 139. Complete event log

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Time Settings
To view and edit the time and NTP settings, please, go to the Time settings tab. Click
the button (Refresh). The screen will display information about the controller’s
current time, NTP data, synchronization sources (Figure 140).
Figure 140. Viewing and configuring the controller time settings
To change the controller’s time, click the Configure time button. The Time Settings
dialog box will appear (Error! Reference source not found.).
Figure 141. Configuring the time
A drop-down list is provided in the Time zone: field to make the time zone selection
more convenient. When you select an item in this list, its value is automatically
inserted in the Posix time zone: field. The parameter name specified in the Posix
time zone: field consists of two parts, e.g., KS-05. The first part is an arbitrary user-
defined name. The second part specifies the corresponding UTC time offset. So, if you
choose the (UTC+01:00) Kassel item (local time, relative to UTC) from the Time zone

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list, then the value recorded in the Posix time zone field will appear as -01 (UTC
relative to local).
It is possible to specify a time zone in posix format manually.
In the NTP Data area: the values of the parameters that describe the statistics of NTP
(protocol for interacting with exact time servers) are displayed. Description of the
main parameters is presented in table Table 6.
Table 6 - The main parameters describing the operation of NTP
Parameter Description
NTPD NTPD service status.
Availability Possible values: 1 - works, 0 - does not work.
NTPD reads the ntp.conf configuration file at startup to
determine synchronization sources and operating modes
Sign of the
presence of an Possible values: 1 - system time is synchronized and
accurate time relevant, 0 - not relevant
signal
Time of data
Date and time of the last update of the data area
updates
System The difference between the local time and the time of the
deviation remote host / server, in ms.
from source Values with “-” mean lag, with “+” the clock is in a hurry.
(offset) During synchronization, this value should approach zero
Frequency Drift (shift) of the watch, when the watch operates at
error different speeds
Root dispersion Scatter of server readings, maximum value of a temporary
error, in seconds
Stratum Time layer
Leap The parameter warns about the adjustment of seconds.
Possible values:
0 - no correction;
1 - the last minute of the day contains 61 seconds;
2 - the last minute of the day contains 59 seconds;
3 - server malfunction (time is not synchronized)
Number The number of satellites from which information is
visible satellites received
The presence of a source of synchronization.

Has sys peer
Possible values: 1 - yes, 0 - no

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In the Peers: area, time source information is displayed. A description of the

parameters of the time source is presented in table Table 7
Table 7 - Time Source Options
Parameter Description
remote Remote Host / NTP Server Name (Sync Source)
Time source for remote host / server (upstream server /
refid
host)
stratum The time layer of the time source (values from 1 to 16).
The time elapsed since the last moment of the host / server
when response (determines how long the synchronization was
made);
The interval between polls. The value is determined by the
poll polling rate in 2n seconds (that is, if poll = 8, then the poll
occurs every 28 = 256 seconds);
Server / node availability status. An octal number that shows
the results of the last eight attempts to connect to the server.
For example, 0 - not a single successful attempt,
reach 3778 = 111111112 - all attempts are successful. The reach
values should be displayed sequentially: 0, 1, 3, 7, 17, 37, 77,
177, 377
(value stabilizes at 377)
The time required to receive a response to the request (delay
delay
in the response of the node / server), in ms
The difference between the local time and the time of the
remote host / server, in ms
offset
Values with “-” mean lag, with “+” the clock is in a hurry.
During synchronization, this value should approach zero.
jitter Time offset on the remote server, in ms
In the Peer status: area, special characters are described that are used to indicate the
status of the host / server (the special character is set in front of the host / server
name). Description of special characters is presented in table
Table 8 - Description of special characters
Special Description
symbol

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« » (space) Excluded as a broken node / server

«х» Unreliable intersection source excluded (host / server unavailable)
«.» Excluded due to oversupply of candidates (not used);
Excluded from the list of candidates by the block of algorithms (it is
«-»
not recommended to use a node / server)
Included by the algorithm in the candidate list of suitable nodes /
«+»
servers for updating
Резервный (больше числа кандидатов, необходимого для
«#»
организации отбора)
«*» The host / server is currently selected for synchronization.
«ᴏ» Selected for synchronization, using PPS (Pulse per second signal)
To configure the NTP settings, please, go to the NTP Settings tab and click the Get
NTP settings file button. The ntp.conf file will open in the same window (Figure
142). Click on the line you want to edit and make the changes. To save the ntp.conf
file with the new data, please, click the Save NTP settings file to PLC button.
Figure 142. Editing of NTP settings
Restore/Backup
The program offers the capability to create a backup of the current state of the
system, and restore the system using a previously saved backup file.

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To create a backup in the controller, establish communication with the controller and
go to the Service PLC tab, then to the internal tab System Software. In the Backups
block, select the switch to the desired position:
• All - all controller software is saved;
• Selectively:
o Basic - only the system part of the controller software is saved
(without user data),
o User - only user data is saved (databases, applications, logs, and so
on).
Next, click the Create backup button. A trigger file is installed that contains a
description of what will be saved in the backup. A message is displayed on the screen:
"The trigger is installed, reboot the controller to take a snapshot of the current state of
the system." Click OK. Reboot the controller. A backup copy will be created on the
controller (snapshot of the system status, image file), no additional messages will be
issued to the user.

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Figure 143 – Restore/Backup
If in the field of the List of available archives of STRs field: click the Refresh button,
the screen will display a list of all backups available on the controller. In order to copy
the backup file from the controller to the PC, go to the Files tab (Figure 144).

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Figure 144. Files tab for copying backup from PLC to PC
In the Execution area, click the (Refresh) button. A window displays the tree of
files available on the controller. Backup files are located in the backup folder.
In the Host area, select the folder in which the backup file will be stored. Use the
button to copy the file from the Execution area to the Host area. A progress bar
will appear in the lower right corner of the screen. Wait for the download to finish.
In order to restore the state of the system from the backup, establish communication
with the controller. In the Recovery (Restore) section, click the Select file ... button.
A dialog box for selecting a file on the computer will open. Select a file, click Open.
Updating the Software

Updating the package
Epsilon LD components are delivered as a package - a file with a name of the
following type: GP-Systems Regul 1.6.0.<Build number><(note)>.package, for example:
GP-Systems Regul 1.6.0.0.package.
The Regul Package contains:

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• Description of software and hardware modules forming part of the controller

• A set of libraries and drivers
• Controller firmware file
• A set of plug-ins for the Epsilon LD development environment
To install the Regul Package, please, select the main menu’s Tools  Package
manager... item. The Package manager window will open (Figure 145).
Figure 145. Package manager dialog
Click the Refresh button. A list of all the packages installed on this computer will be
displayed in the Currently installed packages: box. Packages can be sorted by their
installation date.
To install a package that is not in the list, please, click the Install... button. A window
for selecting the package file will open. Find the desired file with the *.Package
extension. Click the Open button. Wait a few seconds.
The installation wizard will open (Figure 146).

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Figure 146. Software update installation wizard window
Click the Next button. The program will prompt you to select all versions of the
Epsilon LD development environment that should be updated with the installed
package. Click the Next button.
When the installation is complete, a window appears with the message: “The package
was successfully installed. Click Finish to exit the installer, or Next to view the results.
For some components to take effect, you must restart the application. "
Click the Next button. An installation report appears in which you can see a list of
installed components (Error! Reference source not found.). Click Finish
Figure 147. Profile selection
In the Package Manager window, click Close. Restart the Epsilon LD program.

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Updating the firmware
When the firmware is updated, the settings are reset to the factory defaults. You can
store the existing IP address settings via the Network scanner item’s import/export
function (see the "Network scanner. Configuring the IP addresses" section).
You will need to reboot the controller after a firmware upgrade by switching the
power supply or by using the reboot command in the PLC shell.
To update the firmware via the controller services, go to the Service PLC tab, then
switch to the Firmware inner tab. Click the Update FW version button. The current
version number will appear in the Firmware version: field.
Figure 148. Updating the firmware via the controller services
In the Update section, in the Available STR field: all possible files with system
software installed along with support packages and located in the GP Systems folder
will be displayed. If the list contains the desired version of the open source software,
then select this line.
In the case when the system software file was received from the manufacturer
separately, and not as part of the support package, and is not located in the
installation folder of the GP Systems packages, but in some other place on the
computer or on portable media, you can select it using Select file functions. Click the

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Select File ... button. A dialog box opens to select the system software file. Locate the
RegulFw.fwe file.
Click the Refresh button.
The download of the file to the controller will begin, a progress indicator will appear
in the lower right corner of the screen, the message “Uploading the STR file ...” will
appear in the Status field. Wait until the message appears: “A reboot is required to
update the controller software. Reboot the controller? ". Click Yes. Accept the offer to
restart the controller (Reboot PLC). A message appears in the Status field: "The
controller is rebooting ...".
To update the system software via the controller file system, go to the Files tab. In the
Host area, click the (Refresh) button. A window displays the tree of files available
on the computer. Locate the RegulFw.fwe file. Such files are located in the package
folder (Package), which, in turn, is usually installed in the GP Systems GmbH\ Epsilon
LD folder, for example,
C: \ Program Files (x86) \ GP Systems GmbH\ Epsilon LD \ RegulFw 1.5.4.6075 \
Firmware.
In the Execution area, click the (Refresh) button. A window displays the tree of
files available on the controller. Place the cursor on the update folder.
Picture 149. Copying the firmware file to the controller
Use the button to copy the RegulFw.fwe file from the PC to the controller (from
Host to Runtime). The upload of the firmware file to the controller will begin, with a
progress bar appearing in the lower right corner of the screen. Wait until the process
is finished.

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About backward compatibility

The manufacturer is constantly engaged in finalizing the controllers - identifying and
eliminating shortcomings, improving the software and hardware in accordance with
their own advanced technologies and new trends in the industry as a whole. This
inevitably leads to the presence of different versions of firmware on the controller
modules of different releases. In order to ensure the full functioning of the user’s
controllers in such conditions, the manufacturer without fail studies the backward
compatibility issue. This is the ability to work together I / O modules with the latest
software on board, while the open source software module for the central processor
refers to an earlier version; and vice versa - the interaction of previous software
versions of input / output modules with the new open source software of the central
processor module.
Each service pack contains new device description files. These description files allows
you to work with devices with earlier versions of open source software. But if the
versions of open source software installed on the device were released long ago or
when the new description file was released, the list of variables was changed, then
such devices will not be able to work with the current description file. Information
about such a conflict automatically appears in the controller's event log (log) (see the
"Event Log" section) with a description of the error: "Firmware version is outdated."
There are two options for action in this situation:
• update the CVD of the I / O module, (recommended);
• change the version of the module description file in the development environment
if updating the STR of the input / output module is impossible / not acceptable.
To update the STR of the I / O module, contact the manufacturer's technical
support.
To select a different version of the description file, it is necessary to find out
which open source software is installed on the I / O module, and then map the
corresponding description file to the module. For this:
• establish a connection with the controller, login, then start the project. Open the
I/O module editor. In the General device parameters section, the Current
firmware version of the module is displayed in the Current firmware version field
(Figure 150). Write down this number for yourself (if the number is displayed in
the hexadecimal system, then translate it into decimal. So, record 16 # 1000602
means that the version number of STR is 1.0.6.02). Similarly write down for
yourself the value of the Required firmware version field. Close the module
editor.

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Figure 150. Module Information
• update the device: place the cursor on the module name in the device tree,
right-click to bring up the context menu, select the Update device item ... the
Update device window will open, where check the box Display all versions
(only for experts). The list of modules will display all modules of all versions
that are supported in the system (Figure 151);

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Figure 151. List of all supported software versions of the module
• select the required module from the list and view the Information section,
where the required version of the module software is indicated. So, for
example, a module with software version 1.0.6.02 corresponds to a file
description of version 1.6.1.0 with the requirement of software version of
module 1.0.1.10 and higher (if several versions are suitable, select the latest,
that is, the newest);
• select the appropriate module. Click the Update device button.
Selecting the Display Resolution

The program offers the capability to set the display resolution for controllers
equipped with video output.

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Go to the Service PLC tab, then switch to the Resolution settings inner tab. Click the
Update resolution list button. A list of display resolutions supported by this
controller will be displayed in the Supported resolution box (Figure 152).
Figure 152. Selecting the display resolution
Select the desired resolution and click the Save button. An information window will
appear indicating that the display resolution has been changed to the one you have
selected. If you accept the change, please, press the OK button. If not, close this
window and select a different value.
Controller Service Mode
The service mode of the controller is intended for cases when it is not possible to
connect the controller to Epsilon LD.
The service mode of the controller allows the following operations:
• reset to factory state (Factory reset);
• creating a backup copy of user files (User backup);
• creating a backup of system files (System backup);
• creating a full backup

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Service mode on R200, R500, R600 series controllers

Using the LDx / LEDx LEDs and the RUN / STOP, Key switches located on the front
panel, the user can activate the PLC service mode.
To activate the PLC service mode, you must perform the following steps:
• turn off the power to the PLC;
• turn off the autorun application (turn the KEY to position I and the RUN /
STOP switch to STOP);
• apply power to the PLC;
• when the indicators LD1, LD2, LD3 (on the controllers of the R500, R200
series) or LED1, LED2, LED3 (on the controllers of the R600 series) begin to
flash alternately, it is necessary to set the RUN / STOP switch to the RUN
position, which will lead to the transition to service mode. The mode will stop
its work if you do not turn the RUN / STOP switch for five seconds (while the
indicators are blinking);
• simultaneous switching on and fast flashing of the following indicators will
indicate successful activation of the service mode:
o R500 series: indicators RUN, RDD, HF and PF,
o R200 series: RUN, HF and PF indicators,
o R600 series: RUN, RDD, HARDF and PROGF indicators.
Work in service mode
Selection and transition through menu items is done by switching the STOP / RUN
positions. The transition through the menu items is carried out in a circle (after the
last - the transition to the first).
Set the RUN / STOP switch to STOP, then return to RUN. The LD1 / LED1 indicator
lights up - the first item in the service menu is selected (reset to factory state). To go
to the next menu item, return the RUN / STOP switch to STOP, then set it to RUN
again. The LD2 / LED2 indicator lights up, indicating that the second menu item has
been selected. Repeat STOP  RUN to select the following service menu items. If you
linger on the STOP switch for more than two seconds, you will return to the first
menu item.
Below is the corresponding indication of the service mode menu items.

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Service Mode Indicator Status Indicator Status Indicator Status Indicator Status
Menu Item LD1/LED1 LD2/LED2 LD3/LED3 LD4/LED4
(backup)
1  − − −
2 −  − −
3   − −
4 − −  −
To start the selected menu command, turn the KEY to position II. The indicator of
the corresponding LDx / LEDx menu item will blink and will blink green for two
seconds. If you turn the KEY back to position I at this time, the command will be
canceled. If the command has not been canceled, after two seconds it will start, the
LDx / LEDx indicator will turn solid green.
To exit from any service mode menu item, turn the RUN/STOP switch to STOP and
turn the KEY to position I.
Factory Reset Algorithm

Reset to factory settings is carried out by activating the first item of the service mode.
This requires:
1. Turn off the controller.
2. Move KEY to position I.
3. Move the RUN / STOP to the STOP position.
4. Turn on the controller.
5. Wait until the LD1, LD2, LD3 indicators flash alternately and put the RUN /
STOP in the RUN position, the controller will enter service mode (the RUN, HF,
PF indicators will flash).
6. Set the RUN / STOP switch to the STOP position, then return it to the RUN
position, the LD1 indicator lights up. Switch the KEY to position II - start the
selected command, LDx indicators will blink.
7. Wait until the controller boots up, beeps and the PF indicator flashes.
8. Check the network scanner that the controller name is set to localhost, and the
IP addresses of all network interfaces are reset to 0.0.0.0.

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Service Mode on R400 Series Controller
The user can activate the PLC service mode on the built-in touch display, for this you
need to perform the following steps:
• turn on the power to the PLC. A window with an indicator of the download
progress will open on the touch screen, which will fill up within 5 seconds
(Figure 153);
Figure 153. Download progress indicator
• until the indicator is completely filled, touch the touch panel in any area of the
display to open the service menu, otherwise the window will be closed. Press
the Service menu button to open a window with a list of service commands.
To exit the service menu, press the Exit button (Figure 154). To autostart the
application, check the box in the Autostart application line;
Figure 154. Service menu
• the list of service commands is represented by a set of buttons, the

corresponding service command will be executed when one of the buttons is
pressed (Figure 155);
Figure 155. Service Command Window

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Information Security
Setting a Password, Electronic Key or Certificate on a Project File
Sequence is the following:
1. In the main menu, select the Project command  Project Settings ... In the project
settings window that appears, select the Security category (Figure 156).
Figure 156. Project file protection installation dialog box
2. Select the type of protection and set the point in the necessary line: No protection
(on a red background), Integrity check (on an orange background) or Encryption
(on a green background).
3. To better protect your data, select one of the Encryption functions and set a point
in the necessary line: Password, Electronic Key or Certificates (Figure 157).

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Figure 157. Dialogs for activating protection options for the project file (password or electronic key)
Note: we recommend using electronic key protection, because, unlike the password,
there is no need to exchange secret data between users. Also, in case you forget the
password, it will be impossible to restore the contents of the file.
4. When using a password, fill in the New password field, the desired password and
confirm the password Confirm new password. After filling in the fields, click OK.
5. Save the project (File  Save). Now, with each subsequent attempt to start the
project, a dialog box will pop up asking you to enter a password (Figure 158).

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Figure 158. Password Entry Dialog Box Next Time the Project Restarts
If you wish, you can change the password, and in addition to step 5, the Current
password field will appear. After filling in the fields, click OK. To remove a password,
remove the point from the Password line, click OK, and save the project.
To start working with the electronic key, connect it to the PC. Click the Add button,
the Registered Key dialog box opens. In the Electronic key field, a drop-down list of
all connected electronic keys opens. Click the Refresh button to refresh the list. By
pressing the Blink button, the LEDs of the selected key blink for two seconds (if
possible). Select the key you want, then click OK. In the Registered keys field, this
registered electronic key will appear. Similar to item 6, now, to start the project, an
electronic key must be connected to the PC.
With a certificate, you protect a project, application, or online code. All available
certificates for encrypting the project are located in the Windows certificate store.
Click the button and the Certificate Selection window opens (Figure 159). The
properties of certificates will be displayed in a table form: Issued for, Issued by, Valid
from, Valid to, Fingerprint (SHA1 print).

152
Figure 159. Certificate Selection Dialog
Select a certificate from the list of available ones and use the button to add to the
list of certificates for encryption. To delete, use the button . Double-clicking on the
certificate with the left mouse button will open a window with general certificate
information.
Certificate Icons:
• certificates;
• certificates with a private key;
• unverified certificates.
Certificate Difference:
• Certificates with private keys:
o to decrypt files;
o for digital signatures.
• Certificates with public keys (x.509):
o to encrypt files;
o to verify digital signatures.
If encryption is performed by one key, then decryption is performed by another.
Public keys are transferred to other users to verify digital signatures and encrypt files
being transferred. Private keys cannot be exported; they are used to create digital
signatures and decrypt files. The private key is known only to the owner. When
encrypting with a public key, the reliability of the public key and the party that
transmitted it is important, otherwise it is possible to replace the public key and
allow unauthorized access to the transmitted encrypted files. The use of the
certificate guarantees the accuracy of the correspondent created by an authorized
certificate generator. Certificates contain additional information that allows you to

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identify the owner of the private key corresponding to this public key. The certificate
must be signed by an authorized certificate generator.
Setting PLC Permissions
To manage user accounts, go to the Device tab Users and Groups, click the refresh
button (Figure 160), after which the Administrator entry will appear in the Users
list (only this user is initially vested with user management rights).
Figure 160. Users and Groups Dialog Box
When reconnecting to the PLC, an authorization window will pop up (Figure 161).
Upon initial connection and successful authorization, a window will open asking you
to change the account password (see section "Establishing a connection with the
controller. Scanning the network").
Figure 161. User Authorization Dialog Box

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Users and groups
In the Users and Groups tab, you can add, import, edit or delete Users / Groups as
follows:
• opposite the Users list, to create a new account (for example: <new>), click
the (Add ...) button. In the Add User dialog box that appears,
fill in the fields Name, Password, Confirm password. In the Select a default
group: field with a drop-down list, select to which group the new user will
belong. Confirm the changes by pressing the OK button (Figure 162);
Figure 162. Add New User Dialog Box
• similarly, opposite the list of Groups, you can create a new group, click the
Add button (Figure 163). Next, from the list, select the users who should
belong to the new group;

155
Figure 163. Add New Group Dialog Box
• to edit an existing group (editing), select a group from the list and click the
(Edit ...) button, or double-click on it. Next, in the window that
appears, Edit Group <...> (Edit Group <...>), check / uncheck the box, confirm the
action by clicking OK (Figure 164);
Figure 164. Add / Remove User to Existing Group
• to edit a user, select an account in the Users list and click on the
(Edit ...) button, or double-click on the account (Figure 165).

156
Figure 165. User Edit Dialog Box
In the appeared dialog box Edit User <...> fill in the Password and Confirm
password fields, confirm the changes by clicking OK;
• to import the Users / Groups defined in the project, click the button
(Import ... in the corresponding list), the Import Users / Groups dialog box will
pop up (Figure 166). Select Users / Groups and confirm with OK. For security
reasons, all imported user accounts are migrated with blank passwords.
Figure 166 . User / Group Import Dialogs
When finished, on the device tab, Users and Groups, click the button to download
all changes to the PLC.
Access rights
Grant access only to an authorized user, change all the set standard passwords during
the first commissioning. In order to grant or revoke rights to perform actions with

157
files and objects in the PLC to user groups (rights can be granted only to user groups),
go to the device’s Access tab. Click the button to load the configuration from the
PLC (Figure 167).
Figure 167. Access Rights Dialog Box
In the Objects window: in the form of a tree all objects are presented in categories
over which actions can be performed. The types of actions that can be performed by a
group on an object are presented in the Rights window:
Four types of actions on an object are presented:
• add / remove a descendant (the ability for a user belonging to a group to
add or remove child objects);
• change (the ability to change the object by the user);
• review (the ability to monitor the object by the user);
• execute (the ability, for example, to start and stop the application).
In order to reassign the right of a specific action on an object to a group of users,
select a cell in the Rights window: and double-click the left mouse button on the cell
to change the permission (( - granted, - revoked, - disabled, / / - granted
/ disabled by the parent object,). Repeat the process until the desired resolution is
set. When finished, press the button to download all changes to the PLC.
Current configurations Users and groups / Permissions can be saved in
xml - file (* .dum) / (* .drm), respectively, for copying to other PLCs. In the headers of
the Users and groups / Permissions tabs, to download the saved configuration,
click the (Load from Disk) button, and to save the (Save to Disk) button. In
the appropriate dialog box that appears, specify the upload / save path.

158
To enter the controller under the necessary account, disconnect from the current
online user by going to the Online tab  Security  Disconnect the current online
user (Logoff current online user) and then reconnect to the PLC (Figure 168).
Figure 168. Online User Management Dialog Box
There are two ways to reset PLC access restrictions to the factory default: through the
Epsilon LD software (see the section "Establishing a connection with the controller.
Scan the network") or the service mode of the controller (see the section "Controller
service mode. Reset algorithm to factory settings"). Service mode is used when it is
not possible to connect to the controller via Epsilon LD.

159
Setting Access Rights to Project Objects among Users
Setting access rights to project objects is assigned only to user groups, and not to
individual accounts. Each user must be a member of a group. Before setting users and
user groups, pay attention to the following:
• The Everyone group is automatically created, initially all the specified users
and user groups belong to it, it is always there and is equipped with standard
rights (by default it does not have the right to change current users, the group
and the configuration of rights). The group cannot be deleted (as well as its
users), but you can rename it;
• the Owner group is also automatically created, containing one Owner user
(Owner) (initially it has the right to change users, the group and the rights
configuration in the new project, it has all access rights). The group cannot be
deleted (members can be deleted or added, but at least one must remain), you
can rename the group and user.
When starting / restarting a system or a project, no users are initially connected to
the project (Current user: <nobody>).
To obtain a given set of access rights, a user can log in using an existing account and
password (by selecting Project  User Management  User Logon ... in the main
menu (Figure 169)).
Figure 169. Menu for entering / exiting a specific user

160
Initially, you can log in using your Owner account and an “empty” password (Сurrent
user: <Owner>)). Only Owner first has the right to change the current configuration
of the user, group and rights in the new project. Consequently, only Owner can assign
this right to another group.
Project users and groups

Sequencing:
• select the Project command in the main menu  Project Settings ... and in the
window that appears, the Users and Groups category (Figure 170). The
category is divided into three subcategories: User, Groups and Settings;
Figure 170. Dialog box for setting up a project for a category of users and groups
• to create a new account, in the Users subcategory, click on the Add button. A
dialog box will open (Figure 171).

161
Figure 171. Add User Dialog
If the user has not logged in with an existing account, an authorization window will
pop up when confirming that a certain action has been taken. Enter the Owner
username, and the Password line: do not fill in (leave blank) and click OK;
• to change the account, in the Users subcategory, select the desired one and click the
Edit ... button, the Edit User dialog box will pop up similar to the Add User dialog
box, only it will still be active Field Old password;
• to delete an account, select the one you need and click the Remove button. At least
one user in the group must remain;
Attention!!! If you forget the user password, then changing the password and
using the account will not work, because for changing of password you must
enter the old password. If you forget the password for the Owner user, the
entire project will become inaccessible.
• to create a new group, in the subcategory of Groups, click on the Add ... button a
dialog box will open (Figure 172). The group can be changed and / or deleted, but
keep in mind that the group “Everyone” and “Owner” cannot be deleted;

162
Figure 172. Add Group Dialog Box
to use the user management configuration from another project, click the Export /
Import button. Choose export (file type: Users and groups (*. Users)) or import
groups and users;
• in the subcategory of Settings you can set options (the number of failed attempts,
the period of inactivity and “hashing” of the password) regarding user accounts
(Figure 173);
Number of failed attempts

to enter a password,
after which the account
will be disabled (the default
is 3 attempts, the valid value
is from 1 to 10).
Period of user inactivity,

after which the account
will be automatically
disabled (the default is
10 minutes, a valid value is
from 1 to 180 minutes).
Figure 173. Dialog box for setting account options
To apply the new hash format for passwords, select the Password strength check box.
A hash format is a one-way function in which the password hash is computed and

163
stored in the database. When you re-enter the system entered the hash calculated
from the password is compared with the hash of the real password.
Each project has its own user management! Therefore, in order to obtain a specific set
of access rights to the library included in the project, the user must separately enter
this library. Users and user groups defined in different projects are not identical, even
if they have the same name.
User management in the project makes sense only in combination with the
assignment of access rights to objects in the project. In a new project, rights are not
explicitly set, by default they are allowed. In the future, when working with the
project, each right can be explicitly assigned, revoked, or returned to the default
value.
Project permissions
To assign project rights, select menu Project  User Management  Permissions
... from the main menu (Figure 174).

164
Figure 174. Access Control Dialog Box
To change access rights to an individual project object:

165
• select the required object in the window of the device tree and click the right
mouse button;
• in the context menu that appears, select Properties ... ;
• in the pop-up dialog box, go to the Access control tab (Figure 175) Here you
can set access rights to the current object for different user groups. In order
to change the right to a specific action of a specific group, select the
corresponding field, click the mouse to open the list for selecting the right.

166
Figure 175. Access Control Dialog

167
Contact technical support
Contact Technical Support

The most convenient way to contact GP Systems technical support is to contact
support@gp-systems.com
The appeal must contain the following information:
• a detailed description of the situation;
• name of the facility and its location;
• name of the automation system;
• PLC model;
• PLC serial number;
• version of the development environment Epsilon LD;
• version of open source software (firmware) of the controller;
• controller network settings export file;
• archive with log files that include the period of time when the failure occurred;
• date and time of occurrence of the failure. And also the frequency and stability of
the repetition of such failures in the event that such information is available.
It is advisable to send a project for Epsilon LD, as this can greatly simplify and
speed up the process of finding the cause of failure.
Log files copied to a computer are preferably archived. The volume of archived
text files is reduced by about 10 times.
In order to find out the version of Epsilon LD, in the main menu, select Help 
About ... and in the window that opens, click the Version Information button.
To find out the version number of the controller software, select the Network
scanner tool. Scan the network and find the controller you need. In the PLC
Information area: the name of the controller in the network, information about
the type of controller and the version of the STR will be displayed.
To save the network settings of the controller to a file:
• select the Network Scanner tool. Scan the network and find the desired controller;
• click the Export button, the Save net interfaces settings window opens. Define the
folder in which this file will be stored, give it a name, click the Save button.

168
Appendix A
APPENDIX A
Configuring a configuration file
The configuration file is located in the /etc/runtime.cfg directory and contains some
system settings available to the user for editing. To enable it, you must change the
parameter value from "0" to "1". If there is no parameter, if necessary, add it to the
appropriate section with the value “1”.
Table A.1 - Configuration file parameters
Parameter Description Default

value
Basic (default)
Section [PlcServices]:
MySqlNetworkingEnable Providing network access to the 0
MySQL database
EnableFTP FTP server startup 0
EnableSSH SSH server startup 0
EnableLPD Starting the LPD Print Service 0
AutomountStorage Permission to connect external drives 0
Section [PsOpcUaServer]:
Enable Starting OPC UA Server 0
Additional (added if necessary)
Section [PsLed]:
RunStopButtonSuperior RUN / STOP switch priority over other 0
application controls

169
GP Systems GmbH
Ochshäuser Str., 45
34123 Kassel, Germany
Phone: +49 561 820 93350

Fax: +49 561 820 93351
Technical support: support@gp-systems.com

Website: www.gp-systems.com

170

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Epsilon LD

en | 2.6 | September 2019

Epsilon LD. User Manual DPA-302-v2.6

Epsilon LD. User Manual DPA-302-v2.6

Module Editor ......................................................................................................................... 64

Epsilon LD. User Manual DPA-302-v2.6

Programming the Controller and Debugging the Project ................... 110

Epsilon LD. User Manual DPA-302-v2.6

Setting Access Rights to Project Objects among Users ................................................... 160

Epsilon LD. User Manual DPA-302-v2.6

Terms and Definitions

Epsilon LD. User Manual DPA-302-v2.6

POU (Program Organization Unit) is a component of program organization. In most

Recommended Documents List

Epsilon LD. User Manual DPA-302-v2.6

Epsilon LD. User Manual DPA-302-v2.6

Figure 2. Epsilon LD installer dialog

The License Agreement window (Figure 3) will appear.

Figure 3. Dialog with the License Agreement terms

Please, read through the software’s License Agreement.

Epsilon LD. User Manual DPA-302-v2.6

Figure 4. Dialog box with important versioning information

Epsilon LD. User Manual DPA-302-v2.6

Figure 6. Dialog box for choosing the type of component installation

Epsilon LD. User Manual DPA-302-v2.6

Figure 7. Dialog for selecting the software components to be installed

Figure 8. Help dialog window

Epsilon LD. User Manual DPA-302-v2.6

Figure 9. Dialog for creating a shortcut for launching the program

Figure 10. Program Installation Dialog Box

Epsilon LD. User Manual DPA-302-v2.6

Epsilon LD. User Manual DPA-302-v2.6

Overview of the Development Environment

Figure 11. Main window

Epsilon LD. User Manual DPA-302-v2.6

Figure 13. Adding a command to the toolbar

Epsilon LD. User Manual DPA-302-v2.6

Epsilon LD. User Manual DPA-302-v2.6

Figure 15. Examples of context menus

Work in the workspace is done in windows and tabs. (Figure 16).

Figure 16. Windows and tabs in the workspace

Epsilon LD. User Manual DPA-302-v2.6

Figure 17. Windows and tabs as separate windows

Moreover, double-clicking on the window title returns it to its original state. A

Epsilon LD. User Manual DPA-302-v2.6

Figure 19. Example of the status bar

The status bar displays:

Epsilon LD. User Manual DPA-302-v2.6

Figure 20. Adding an object

Epsilon LD. User Manual DPA-302-v2.6

Figure 21. Adding a device

Figure 22. Renaming a device

Epsilon LD. User Manual DPA-302-v2.6

Figure 23. Configuring the autosave settings

Epsilon LD. User Manual DPA-302-v2.6

Figure 24. Renaming the controller after updating a device

Forms entry, parameters setting

Figure 25. Setting of parameters

Epsilon LD. User Manual DPA-302-v2.6

Basic Concepts of Development Environment

Figure 26. Devices in the controller’s hierarchical structure

Program (PLC program) is a user-implemented algorithm intended for process

Epsilon LD. User Manual DPA-302-v2.6