IFM Electronic ecomot 300 AC1353 Application guide

1
Supplementary device manual
AS-i controllerewith Ethernet programming interface
A
AC1353 / AC1354
AC1355 / AC1356
AC1357 / AC1358
Firmware version RTS 2.x
Target from V15 onwards
for CoDeSys®from version 2.3 onwards
7390565 / 02 05 / 2011

2
As on: 05 May 2011
© All rights reserved by ifm electronic gmbh.
No part of this manual may be reproduced and used
without ifm electronic's consent.

3
Contents
1On this manual ......................................................................................................................... 1-1
1.1 What do the symbols and formats stand for? .................................................................. 1-1
1.1.1 Warning levels, signal words............................................................................... 1-1
1.1.2 Symbols and formats .......................................................................................... 1-1
1.2 What devices are described in this manual? ................................................................... 1-2
1.3 How is this manual structured?........................................................................................ 1-2
1.4 Overview: where is what? ................................................................................................ 1-3
2Safety instructions................................................................................................................... 2-1
2.1 General ............................................................................................................................ 2-1
2.2 What previous knowledge is required?............................................................................ 2-1
2.3 Functions and features .................................................................................................... 2-1
3System requirements............................................................................................................... 3-1
3.1 Information concerning the device................................................................................... 3-1
3.2 Information concerning the software................................................................................ 3-1
3.3 Required accessories ...................................................................................................... 3-1
4Function .................................................................................................................................... 4-1
4.1 Overview .......................................................................................................................... 4-1
4.2 Data management ........................................................................................................... 4-2
4.3 Which operating modes are there for the PLC in the controllere?................................... 4-3
4.4 AS-Interface as well as project transmission and diagnosis via RS232.......................... 4-3
4.5 Project transmission and diagnosis via Ethernet interface .............................................. 4-4
4.5.1 Point-to-point connection .................................................................................... 4-4
Overview point-to-point connection .............................................................................4-4
Step 1: Connect the PC to the controllere...................................................................4-5
Step 2: Set IP addresses and subnet mask ................................................................4-5
Step 3: Select the target system and write the project ................................................4-9
Step 4: Set the communication parameters ..............................................................4-11
Step 5: Transmit and start the project .......................................................................4-13
Step 6: Set-up, monitoring and diagnosis of the AS-i system....................................4-14
Step 7: Create the boot project and save the source code........................................4-15
Step 8: Transmit the source code from the controllereto the PC (service case).......4-16
4.5.2 Ethernet network connection............................................................................. 4-18
Overview Ethernet network connection .....................................................................4-18
Excursion: Global network variables / EXP files............................................... 4-19
Overview: Steps for implementing an Ethernet network connection..........................4-20
Step 1: Connect the devices via Ethernet .................................................................4-20
Step 2: Set IP addresses and subnet mask ..............................................................4-20
Step 3: Select the first target system and create a project ........................................4-21

4
Step 4: Set the communication parameters ..............................................................4-23
Step 5: Activate the network variable support ...........................................................4-25
Step 6: Integrate libraries ..........................................................................................4-26
Step 7: Complete and transmit the project (Global network variables).....................4-27
Excursion: variable list identifier (COB ID) ....................................................... 4-29
Continuation of step 7: ..................................................................................... 4-30
Step 8: Write projects for further controllere devices.................................................4-30
Step 9: Transmit projects ..........................................................................................4-32
Step 10: Test the global network variable transmission ............................................4-32
4.5.3 MODBUS/TCP server / client............................................................................ 4-33
Overview MODBUS/TCP server / client ....................................................................4-33
Valid Modbus addresses and their meaning .............................................................4-34
Modbus address for controllerePLC status ..............................................................4-36
Modbus address for Modbus timeout ........................................................................4-36
Modbus address for Modbus write timeout................................................................4-36
Modbus address for "delete Modbus write timeout register" .....................................4-36
Modbus addresses of the digital slave inputs and outputs ........................................4-37
IEC addresses in the PLC of the controllerefor the digital slave
inputs and outputs............................................................................................ 4-38
Modbus addresses for the master flags ....................................................................4-40
IEC addresses in the PLC of the controllerefor the master flags .................... 4-40
Modbus addresses for the analogue slave inputs and outputs..................................4-41
Status information of analogue slaves ............................................................. 4-45
IEC addresses in the PLC of the controllerefor the analogue slave inputs
and outputs ...................................................................................................... 4-47
Modbus addresses for configuration data (CDI) of the slaves...................................4-53
IEC addresses in the PLC of the controllerefor configuration data (CDI)
of the slaves..................................................................................................... 4-54
Modbus addresses for parameter data of the slaves.................................................4-55
IEC addresses in the PLC of the controllerefor parameter data
of the slaves..................................................................................................... 4-55
Modbus addresses for the slave list LAS (list of active slaves) .................................4-56
IEC addresses in the PLC of the controllerefor the slave list LAS
(list of active slaves)......................................................................................... 4-56
Modbus addresses for the slave list LDS (list of detected slaves).............................4-57
IEC addresses in the PLC of the controllerefor the slave list LDS
(list of detected slaves) .................................................................................... 4-57
Modbus addresses for the slave list LPF (list of slaves with periphery faults) ...........4-58
IEC addresses in the PLC of the controllerefor the slave list LPF
(list of slaves with periphery faults) .................................................................. 4-58
Modbus addresses for the slave list LPS (list of projected slaves) ............................4-59
IEC addresses in the PLC of the controllerefor the slave list LPS
(list of projected slaves) ................................................................................... 4-59
Modbus addresses for the slave telegram error counters .........................................4-60
IEC addresses in the PLC of the controllerefor the slave telegram
error counter .................................................................................................... 4-61

5
Modbus addresses for the configuration error counter ..............................................4-62
IEC addresses in the PLC of the controllerefor the configuration
error counter .................................................................................................... 4-62
Modbus addresses for the AS-i cycle counter ...........................................................4-62
IEC addresses in the PLC of the controllerefor the AS-i cycle counter ........... 4-62
Modbus addresses for the request data of the host command channel ....................4-63
Modbus addresses for the response data of the host command channel .................4-64
Modbus addresses for the fieldbus data from/to the PLC of the controllere..............4-65
IEC addresses in the PLC of the controllerefor the fieldbus data
from/to the PLC of the controllere.................................................................... 4-66
Modbus addresses for the extended data from/to the PLC of the controllere............4-67
IEC addresses in the PLC of the controllerefor the extended data
from/to the PLC of the controllere.................................................................... 4-73
4.5.4 Data exchange HTML page – controllere......................................................... 4-74
Overview HTML data exchange ................................................................................4-74
Setting up an own web page .....................................................................................4-75
Step 1: Connect the devices via Ethernet .................................................................4-75
Step 2: Set IP addresses and subnet mask ..............................................................4-75
Step 3: Open the HTML page in the browser ............................................................4-76
Step 4: Address the file server via FTP .....................................................................4-77
Step 5: Edit the web page .........................................................................................4-79
Functions available in the applet...................................................................... 4-79
Call the function cyclically ................................................................................ 4-80
Step 6: Loading and testing the modified web page..................................................4-81
5Menu .......................................................................................................................................... 5-1
5.1 Menu "Ethernet Setup"“ ................................................................................................... 5-1
6Operation .................................................................................................................................. 6-1
6.1 The Modbus command channel....................................................................................... 6-1
Request from host: ....................................................................................................... 6-1
Response from controllere: .......................................................................................... 6-1
6.1.1 Overview of the commands in the Modbus command channel .......................... 6-2
6.1.2 Command 0 (0#00): no execution of a command............................................... 6-4
Request from host: ....................................................................................................... 6-4
Response from controllere: .......................................................................................... 6-4
6.1.3 Command 1 (0#01): Write parameters to a connected AS-i slave ..................... 6-5
Request from host: ....................................................................................................... 6-5
Response from controllerein the normal case: ............................................................ 6-5
Response from controllerein the case of an error: ...................................................... 6-6
Possible error codes:.................................................................................................... 6-6
6.1.4 Command 3 (0#03): Adopt and save currently connected AS-i slaves
in the configuration.............................................................................................. 6-7
Request from host: ....................................................................................................... 6-7
Response from controllerein the normal case: ............................................................ 6-7
Response from controllerein the case of an error: ...................................................... 6-8
Possible error codes:.................................................................................................... 6-8

6
6.1.5 Command 4 0#04): List of the projected AS-i slaves (LPS) .............................. 6-9
Request from host: ....................................................................................................... 6-9
Response from controllerein the normal case: ............................................................ 6-9
Response from controllerein the case of an error: .................................................... 6-10
Possible error codes:.................................................................................................. 6-10
6.1.6 Command 5 (0#05): Set the operating mode of the AS-i master..................... 6-11
Request from host: ..................................................................................................... 6-11
Response from controllerein the normal case: .......................................................... 6-11
Response from controllerein the case of an error: .................................................... 6-11
Possible error codes:.................................................................................................. 6-11
6.1.7 Command 6 (0#06): Readdress a connected AS-i slave................................. 6-12
Request from host: ..................................................................................................... 6-12
Response from controllerein the normal case: .......................................................... 6-12
Response from controllerein the case of an error: .................................................... 6-13
Possible error codes:.................................................................................................. 6-13
6.1.8 Command 7 (0#07): Set the auto address mode of the AS-i master............... 6-14
Request from host: ..................................................................................................... 6-14
Response from controllere: ........................................................................................ 6-14
6.1.9 Command 9 (0#09): Change the extended ID code 1 in the connected
AS-i slave .......................................................................................................... 6-15
Request from host: ..................................................................................................... 6-15
Response from controllerein the normal case: .......................................................... 6-15
Response from controllerein the case of an error: .................................................... 6-16
Possible error codes:.................................................................................................. 6-16
6.1.10 Command 10...20 (0#0A...0#14): Force analogue data transmission
directly to / from 3 AS-i slaves in each case ..................................................... 6-17
Request from host: ..................................................................................................... 6-17
Response from controllere: ........................................................................................ 6-19
6.1.11 Command 21 (0#15): Read the ID string of an AS-i slave with profile S-7.4... 6-21
Request from host: ..................................................................................................... 6-21
Response from controllerein the normal case: .......................................................... 6-21
Response from controllerein the case of an error: .................................................... 6-23
Possible error codes:.................................................................................................. 6-23
6.1.12 Command 28 (0#1C): Deactivate the slave reset when changing to the
protected mode ................................................................................................. 6-24
Request from host: ..................................................................................................... 6-24
Response from controllere: ........................................................................................ 6-24
6.1.13 Command 31 (0#1F): One-time execution of the "Extended Safety Monitor
Protocol" in the "Safety at work" monitor .......................................................... 6-25
Request from host: ..................................................................................................... 6-25
Response from controllerein the normal case: .......................................................... 6-25
Response from controllerein the case of an error: .................................................... 6-28
Possible error codes:.................................................................................................. 6-28
6.1.14 Command 33 (0#21): Read the diagnosis string of an AS-i slave with
profile S-7.4....................................................................................................... 6-29
Request from host: ..................................................................................................... 6-29
Response from controllere: ........................................................................................ 6-29

7
6.1.15 Command 34 (0#22): Read the parameter string of an AS-i slave with
profile S-7.4....................................................................................................... 6-31
Request from host: ..................................................................................................... 6-31
Response from controllere: ........................................................................................ 6-31
6.1.16 Command 35 (0#23): Write parameter string of an AS-i slave with the
profile S-7.4....................................................................................................... 6-33
Request from host: ..................................................................................................... 6-33
Response from controllere: ........................................................................................ 6-34
6.1.17 Command 36 (0#24): Acyclic standard read call to an AS-i slave with
CTT2 profile (S-7.5.5, S-7.A.5 or S-B.A.5)........................................................ 6-35
Request from host: ..................................................................................................... 6-35
Response from controllerein the normal case: .......................................................... 6-36
Response from controllerein the case of an error (error detected by AS-i master): ... 6-37
Possible error codes:.................................................................................................. 6-37
Response from controllerein the case of an error (error detected by AS-i slave): .... 6-38
Possible CTT2 error codes:........................................................................................ 6-38
6.1.18 Command 37 (0#25): Acyclic standard write call for an AS-i slave with
CTT2 profile (S-7.5.5, S-7.A.5 or S-B.A.5)........................................................ 6-39
Request from host: ..................................................................................................... 6-39
Response from controllerein the normal case: .......................................................... 6-40
Response from controllerein the case of an error (error detected by AS-i master): .. 6-41
Possible error codes:.................................................................................................. 6-41
Response from controllerein the case of an error (error detected by AS-i slave): .... 6-42
Possible CTT2 error codes:........................................................................................ 6-42
6.1.19 Command 38 (0#26): Acyclic manufacturer-specific read call to an
AS-i slave with CTT2 profile (S-7.5.5, S-.7.A.5 or S-B.A.5).............................. 6-43
Request from host: ..................................................................................................... 6-43
Response from controllerein the normal case: .......................................................... 6-44
Response from controllerein the case of an error (error detected by AS-i master): .. 6-45
Possible error codes:.................................................................................................. 6-45
Response from controllerein the case of an error (error detected by AS-i slave): .... 6-46
Possible CTT2 error codes:........................................................................................ 6-46
6.1.20 Command 39 (0#27): Acyclic standard manufacturer-specific write call
to an AS-i slave with CTT2 profile (S-7.5.5, S-7.A.5 or S-B.A.5)...................... 6-47
Request from host: ..................................................................................................... 6-47
Response from controllerein the normal case: .......................................................... 6-48
Response from controllere in the case of an error (error detected by AS-i master): . 6-49
Possible error codes:.................................................................................................. 6-49
Response from controllerein the case of an error (error detected by AS-i slave): .... 6-50
Possible CTT2 error codes:........................................................................................ 6-50
6.1.21 Command 50 (0#32): Read current configuration of AS-i slaves 0(A)...15(A). 6-51
Request from host: ..................................................................................................... 6-51
Response from controllere: ........................................................................................ 6-51
6.1.22 Command 54 (0#36): Read current parameters of a connected AS-i slave..... 6-52
Request from host: ..................................................................................................... 6-52
Response from controllere: ........................................................................................ 6-52

8
6.1.23 Command 55 (0#37): Read current AS-i slaves .............................................. 6-54
Request from host: ..................................................................................................... 6-54
Response from controllere: ........................................................................................ 6-54
6.1.24 Command 56 (0#38): Read projected configuration of the AS-i slaves
1(A)...15(A)........................................................................................................ 6-56
Request from host: ..................................................................................................... 6-56
Response from controllere: ........................................................................................ 6-56
6.1.25 Command 96 (0#60): Save data non-volatilely in the flash memory
of the controllere............................................................................................... 6-57
Request from host: ..................................................................................................... 6-57
Response from controllere: ........................................................................................ 6-57
6.1.26 Command 97 (0#61): Carry out various settings in the controllere................. 6-58
Request from host: ..................................................................................................... 6-58
Response from controllere: ........................................................................................ 6-58
6.1.27 Command 102 (0#66): Retrieve the status of the controlleredisplay.............. 6-59
Request from host: ..................................................................................................... 6-59
Response from controllere: ........................................................................................ 6-59
6.1.28 Command 105 (0#69): Read the device properties of the controllere............. 6-61
Request from host: ..................................................................................................... 6-61
Response from controllere: ........................................................................................ 6-61
7Terms, abbreviations ............................................................................................................... 7-1
8Index .......................................................................................................................................... 8-1

On this manual
What do the symbols and formats stand for?
1-1
1 On this manual
In this chapter you will find an overview of the following points:
What do the symbols and formats stand for?
What devices are described in this manual?
How is this manual structured?
1.1 What do the symbols and formats stand for?
The following symbols or pictograms shall illustrate our remarks in this manual:
1.1.1 Warning levels, signal words
DANGER
Death or serious irreversible injuries are to be expected.
WARNING
Death or serious irreversible injuries may result.
CAUTION
Slight reversible injuries may result.
NOTICE
Property damage is to be expected or possible.
NOTE
Important note for the correct handling of this product or the manual.
1.1.2 Symbols and formats
… A state to be prevented to avoid a danger.
►… Instruction
> … Reaction from the device or software
… Means: "see"
abc Active cross-reference (link) to another part of the text or an external target on the internet

On this manual
What devices are described in this manual?
1-2
[…] [Designation] of key, signalling lamp, button, menu item ....
Several buttons or menu items to be selected successively are indicated as follows:
►[1st step] > [2nd step] > [3rd step]
Several buttons to be clicked simultaneously are indicated as follows:
►[Ctrl] + [Alt] + [Del]
ABC DESIGNATION of a parameter (in block capitals)
ABC DESIGNATION of file names (in Monospace font)
1.2 What devices are described in this manual?
This manual presents the AS-i controllerefamily from ifm electronic gmbh
with AS-i version 2.1 master
with a firmware from version RTS 2.2 onwards
with the target from V15 onwards
with the option Ethernet programming interface (Ethernet PG)
In this supplementary manual only the Ethernet programming interface is described. Higher-level or
general information separate basic instructions of the device manual.
1.3 How is this manual structured?
This manual is a combination of different instruction types. It is for beginners and also a reference for
advanced users.
How to use this manual:
To find a certain subject straight away, please use the table of contents at the beginning of this
manual.
You can also find a requested term quickly with the index at the end of the manual.
At the beginning of a chapter we will give you a brief overview of its contents.
Headers You can find the title of the current chapter in bold in the header of each page.
Below is the current title of the second order.
Footers You can find the chapter-related number of the page in the footer of each page.
Example: 12-7 means page 7 in chapter 12.
Abbreviations and technical terms page 7-1, (chapter Terms, abbreviations at the end of the
manual.
We reserve the right to make alterations which can result in a change of contents of the manual. You
can find the current version on ifm's website at:
www.ifm.com > Select country/language > [Service] > [Download] > [Bus system AS-Interface]
Nobody is perfect. Send us your suggestions for improvements to this manual and you will receive a
little gift from us to thank you.
© All rights reserved by ifm electronic gmbh. No part of this manual may be reproduced and used
without ifm electronic's consent.

On this manual
Overview: where is what?
1-3
1.4 Overview: where is what?
metal housing IP 20 device to unlock the device from a rail
status LEDs of the
fieldbus interface
(option)
text/graphics display
4 pushbuttons
option: field bus interface
(here: Ethernet)
status LEDs
(here: 2 masters)
terminals for the voltage supply 24 V,
AS-interface(s) and protective wire option: Ethernet programming interface 6-pole RJ11 socket of RS-232 C as programming interface
figure: overview of controllere

On this manual
Overview: where is what?
1-4

Safety instructions
General
2-1
2 Safety instructions
In this chapter you can find general safety instructions such as:
General rules
Required previous knowledge
Safety instructions for mounting and installation
When are you allowed to use this device and when not?
2.1 General
separate basic instructions of the device manual
No characteristics are warranted with the information, notes and examples provided in this manual.
The drawings, representations and examples imply no responsibility for the system and no application-
specific particularities.
The manufacturer of the machine/equipment is responsible for the safety of the machine/equipment.
WARNING
Property damage or bodily injury when the notes in this manual are not adhered to!
ifm electronic assumes no liability for this.
►The acting person must have read and understood the safety instructions and the corresponding
chapters of this manual before performing any work on or with this device.
►The acting person must be authorised to work on the machine/equipment.
2.2 What previous knowledge is required?
These instructions are for persons with knowledge and previous knowledge of control technology and
PLC programming with IEC 61131-3 as well as the CoDeSys® software.
The manual is intended for persons authorised to mount, connect and set up the controllereaccording
to the EMC and low voltage directives. The controllers must be installed and put into operation by a
qualified electrician.
In case of malfunctions or uncertainties please contact the manufacturer at: back of the instructions.
2.3 Functions and features
separate basic instructions of the device manual

Safety instructions
Functions and features
2-2

System requirements
Information concerning the device
3-1
3 System requirements
3.1 Information concerning the device
separate basic instructions of the device manual
This manual describes the AS-i controlleredevice family from ifm electronic gmbh with the option
Ethernet TCP/IP interface.
3.2 Information concerning the software
separate basic instructions of the device manual
3.3 Required accessories
Basic functions separate basic instructions of the device manual
For configuration and programming you also need:
the software "CoDeSys for Automation Alliance™" version 2.3 or higher
CD article no. AC0340
in case of direct connection of the controllereto a PC with Ethernet interface (LAN):
a cross-over CAT5 Ethernet patch cable with an RJ45 connector on both sides:
2 m article no. EC2080
5 m article no. E30112
in case of connection of the controllereto a PC with Ethernet interface (LAN) via a hub or switch:
a common CAT5 Ethernet patch cable with an RJ45 connector on both sides
in case of direct connection of the controllereto a PC with serial interface:
programming cable article no. E70320

System requirements
Required accessories
3-2

Function
Overview
4-1
4 Function
Basic functions separate basic instructions of the device manual
Fieldbus interface (option) separate supplementary device manual
4.1 Overview
The programming Ethernet interface of the controllerecan be used for project and data
transmission.
- from the PC to the controllere, as well as
- from the controllereto the PC.
In the network one or several PCs as well as one or several controlleredevices can communicate.
controlleredevices of this type further contain a MODBUS/TCP server which allows data
exchange with a MODBUS/TCP client.
The controllerecan be connected via intranet or internet (following figure). The required
information for all above-mentioned transmissions can be found in these instructions.
AS-Interface
Ethernet Cross-Over Cable
Ethernet Switch / Hub
Ethernet Patch Cable
AC1353/54 AC1353/54 AC1353/54
Intranet
AC1353/54
PLC
Modbus/TCP Master PDM
RS 232

Function
Data management
4-2
4.2 Data management
The controllereconsists of different devices:
This manual exclusively describes the following subject:
With the optional Ethernet programming interface, (10/100 MBd, twisted pair), the device can, in
addition to even faster programming and diagnosis, also be networked to other controllere
devices.
text/graphics
display
AS-i master 1
AS-i master 2
(optional)
SRAM memor
y
flash memor
y
fieldbus interface
(optional)
Ethernet programming interface
(optional)
RS-232C
programming interface
central
processing
unit

Function
Which operating modes are there for the PLC in the controllere?
4-3
4.3 Which operating modes are there for the PLC in the controllere?
Operating mode Meaning Behaviour at Modbus / fieldbus
Run SPS program start
> The PLC program stored in the
controllereis processed.
> LED [PLC RUN] lights
Stop SPS program stop
> The PLC program stored in the
controllereis stopped.
> LED [PLC RUN] flashes
At Modbus AS-i Slaves in the
controllereapplication program can be
written:
Mapping of the PLC address ranges
%IB4.512…%IB4.639
%IW4.320…%IW4.639
Gateway Controllereas gateway
> The PLC program stored in the
controllereis not processed.
> LED [PLC RUN] goes out
Only for devices with the option
fieldbus connection:
The fieldbus has exclusive write access
on the AS-i outputs.
Device with fieldbus: Modbus has no
access here!
Device without fieldbus: Modbus has
write access on the AS-i outputs.
The timeouts for the analogue and
digital AS-i outputs only run in the
operation mode Gateway. For the other
data areas which are be written via
Modbus there is no timeout monitoring.
Note
During changes to the PLC program or to the slaves the PLC program should be stopped to avoid
malfunctions.
Note
In devices with Profibus and Ethernet programming interface Modbus is not be used as fieldbus but
as interface for operation and configuration.
4.4 AS-Interface as well as project transmission and diagnosis via RS232
Also the controlleredevices of type AC1353/54 contain one ore more AS-Interface masters. An RS232
programming interface is also available.
AS-Interface system separate basic instructions of the device manual
Project transmission and diagnosis via RS232 interface separate basic instructions of the device
manual

Function
Project transmission and diagnosis via Ethernet interface
4-4
4.5 Project transmission and diagnosis via Ethernet interface
This section describes the project transmission and diagnosis (AS-i networks and projects) via a
simple structure (PC - controllerewith a point-to-point connection via Ethernet) as well as in an
Ethernet network.
4.5.1 Point-to-point connection
Connection between via page
controllere PC point-to-point connection here
controllere controllere network connection 4-18
controllere client MODBUS/TCP server / client 4-33
controllere HTML page PC HTML data exchange 4-74
Overview point-to-point connection
A simple point-to-point connection is to be implemented (figure):
Ethernet •
Cross-Over Cable
Controller•
AC1353/54
e
PC
For this, the following steps are required:
Step 1 ►Connect the PC to the controllereby means of a cross-over cable (page 4-5)
Step 2 ►Set IP addresses and subnet mask in the controllereand the PC (page 4-5)
Step 3 ►Select the target system and write the project (page 4-9)
Step 4 ►Set the communication parameters (page 4-11)
Step 5 ►Transmit and start the project (page 4-13)
Step 6 ►Set-up, monitoring and diagnosis of the AS-i system (page 4-14)
Step 7 ►Create the boot project (page 4-15)
Transmit and save the source code from the PC to the controllere
Step 8 ►Transmit the source code from the controllereto the PC
(service case, page 4-16)