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Programming Manual ioControl
CR2042
CR2052
Runtime system > V03.04.00
CODESYS® > V2.3.9.33
English
2 ioControl CR2042, CR2052
Contents
1
1.1
1.2
1.3
1.4
1.5
2
2.1
2.2
2.3
2.4
About this manual 4
Copyright .............................................................................................................................. 4
Overview: documentation modules for CR2042, CR2052 ................................................... 5
What do the symbols and formats mean? ........................................................................... 6
How is this documentation structured? ................................................................................ 7
History of the instructions ..................................................................................................... 7
Safety instructions 8
Please note .......................................................................................................................... 8
What previous knowledge is required? ................................................................................ 8
Start-up behaviour of the controller...................................................................................... 9
Notes: serial number ............................................................................................................ 9
3 System description 10
3.1
3.2
Information about the device ..............................................................................................10
Overview device family ioControl .......................................................................................10
3.3
Hardware description .........................................................................................................11
3.3.1
Hardware structure ..................................................................................................................... 11
3.3.2
Inputs (technology) ..................................................................................................................... 13
3.3.3
Outputs (technology) .................................................................................................................. 17
3.3.4
Note on wiring ............................................................................................................................ 22
3.3.5
Safety instructions about Reed relays ........................................................................................ 22
3.3.6
Indicators .................................................................................................................................... 23
3.3.7
Operating elements .................................................................................................................... 26
3.4
Interface description ...........................................................................................................27
3.4.1
CAN interfaces ........................................................................................................................... 27
3.5
Software description ..........................................................................................................28
3.5.1
Software modules for the device ................................................................................................ 28
3.5.2
Programming notes for CODESYS projects ............................................................................... 31
3.5.3
Operating states ......................................................................................................................... 34
3.5.4
Performance limits of the device ................................................................................................ 37
4 Configurations 39
4.1
Set up the runtime system .................................................................................................39
4.1.1
Install the runtime system ........................................................................................................... 40
4.1.2
Update the runtime system ......................................................................................................... 41
4.1.3
Verify the installation .................................................................................................................. 41
4.2
Set up the programming system ........................................................................................42
4.2.1
Set up the programming system manually ................................................................................. 42
4.3
4.2.2
Set up the programming system via templates ........................................................................... 46
Function configuration in general .......................................................................................46
4.3.1
System variables ........................................................................................................................ 46
4.4
Function configuration of the inputs and outputs ...............................................................47
4.4.1
Configuration of the inputs and outputs (default setting) ............................................................ 47
4.4.2
Configure inputs ......................................................................................................................... 48
4.4.3
Configure outputs ....................................................................................................................... 53
4.5
Variables ............................................................................................................................57
4.5.1
Retain variables .......................................................................................................................... 57
4.5.2
Network variables ....................................................................................................................... 58
ioControl CR2042, CR2052
9
5 ifm function elements 59
5.1
ifm libraries for the device CR20n2 ....................................................................................59
5.1.1
Bibliothek ifm_CR20n2_V01yyzz.LIB ......................................................................................... 59
5.1.2
Bibliothek ifm_ioControl_Display_LED_Vxxyyzz.LIB .................................................................. 60
5.1.3
Library ifm_RAWCan_NT_Vxxyyzz.LIB...................................................................................... 61
5.1.4
Library ifm_CANopen_NT_Vxxyyzz.LIB ..................................................................................... 61
5.1.5
Library ifm_J1939_NT_Vxxyyzz.LIB ........................................................................................... 63
5.2
ifm function elements for the device CR20n2 ....................................................................64
5.2.1
Function element outputs ........................................................................................................... 65
5.2.2
Function elements: RAW-CAN (Layer 2) .................................................................................... 66
5.2.3
Function elements: CANopen ..................................................................................................... 92
5.2.4
Function elements: SAE J1939 ................................................................................................ 138
5.2.5
Function elements: processing input values ............................................................................. 170
5.2.6
Function elements: output functions ......................................................................................... 181
5.2.7
Function elements: system ....................................................................................................... 188
6 Diagnosis and error handling 215
6.1
6.2
Diagnosis .........................................................................................................................215
Fault .................................................................................................................................215
6.3
Response to system errors ..............................................................................................216
6.3.1
Example process for response to an error message ................................................................ 216
6.4
CAN / CANopen: errors and error handling .....................................................................216
7 Appendix 217
7.1
System flags .....................................................................................................................217
7.1.1
System flags: voltages.............................................................................................................. 217
7.1.2
System flags: system ............................................................................................................... 217
7.1.3
System flags: keys ................................................................................................................... 217
7.2
Address assignment and I/O operating modes ................................................................218
7.2.1
Address assignment inputs / outputs ........................................................................................ 218
7.3
7.2.2
Possible operating modes inputs/outputs ................................................................................. 220
Error tables .......................................................................................................................222
7.3.1
Error flags ................................................................................................................................. 222
7.3.2
Errors: CAN / CANopen............................................................................................................ 222
8 Terms and abbreviations 224
Index 237
3
4 ioControl CR2042, CR2052
>
1 About this manual
Content
26077
1.1
Copyright
26002
© All rights reserved by ifm electronic gmbh . No part of this manual may be reproduced and used without the consent of ifm electronic gmbh .
All product names, pictures, companies or other brands used on our pages are the property of the respective rights owners:
• AS-i is the property of the AS-International Association, (→ www.as-interface.net
)
• CAN is the property of the CiA (CAN in Automation e.V.), Germany (→ www.can-cia.org
)
• CODESYS™ is the property of the 3S – Smart Software Solutions GmbH, Germany (→ www.codesys.com
)
• DeviceNet™ is the property of the ODVA™ (Open DeviceNet Vendor Association), USA (→ www.odva.org
)
• EtherNet/IP ® is the property of the →ODVA™
• EtherCAT ® is a registered trade mark and patented technology, licensed by Beckhoff Automation GmbH, Germany
• IO-Link ® (→ www.io-link.com
) is the property of the →PROFIBUS Nutzerorganisation e.V., Germany
• ISOBUS is the property of the AEF – Agricultural Industry Electronics Foundation e.V., Deutschland
(→ www.aef-online.org
)
• Microsoft ® is the property of the Microsoft Corporation, USA (→ www.microsoft.com
)
• Modbus ® is the property of the Schneider Electric SE, France (→ www.schneider-electric.com
)
• PROFIBUS ® is the property of the PROFIBUS Nutzerorganisation e.V., Germany (→ www.profibus.com
)
• PROFINET ® is the property of the →PROFIBUS Nutzerorganisation e.V., Germany
• Windows ® is the property of the →Microsoft Corporation, USA
> ioControl CR2042, CR2052
1.2
Overview: documentation modules for CR2042, CR2052
The documentation for this devices consists of the following modules:
(Downloads from ifm's website → www.ifm.com
)
Document Contents / Description
Data sheet
Installation instructions
(are supplied with the device)
Technical data in a table
Instructions for installation, electrical installation, and commissioning
Technical data
Programming manual
Functions of the setup menu of the device
Creation of a CODESYS project with this device
Target settings with CODESYS
Programming of the device-internal PLC with CODESYS
Description of the device-specific CODESYS function libraries
System manual
"Know-How ecomatmobile"
Know-how about the following topics (examples):
Overview Templates and demo programs
CAN, CANopen
Control outputs
Visualisations
Overview of the files and libraries
28035
5
6
> ioControl CR2042, CR2052
1.3
What do the symbols and formats mean?
The following symbols or pictograms illustrate the notes in our instructions:
WARNING
Death or serious irreversible injuries may result.
CAUTION
Slight reversible injuries may result.
NOTICE
Property damage is to be expected or may result.
→ ...
Important note
Non-compliance can result in malfunction or interference
Information
Supplementary note
► ... Request for action
> ... Reaction, result
"see" abc
123
0x123
0b010
[...]
Cross-reference
Decimal number
Hexadecimal number
Binary number
Designation of pushbuttons, buttons or indications
26329
> ioControl CR2042, CR2052
>
1.4
How is this documentation structured?
204
26041
This documentation is a combination of different types of manuals. It is for beginners and also a reference for advanced users. This document is addressed to the programmers of the applications.
How to use this manual:
Refer to the table of contents to select a specific subject.
Using the index you can also quickly find a term you are looking for.
At the beginning of a chapter we will give you a brief overview of its contents.
Abbreviations and technical terms → Appendix.
In case of malfunctions or uncertainties please contact the manufacturer at:
Contact → www.ifm.com
We want to become even better! Each separate section has an identification number in the top right corner. If you want to inform us about any inconsistencies, indicate this number with the title and the language of this documentation. Thank you very much for your support!
We reserve the right to make alterations which can result in a change of contents of the documentation. You can find the current version on ifm's website:
→ www.ifm.com
1.5
History of the instructions
What has been changed in this manual? An overview:
Date Theme
2017-11-16
2018-07-09
2018-11
Memory for application
List of the ifm branch offices
Device: CR2042
Change is 128 kBytes (instead of 512 kBytes) removed added
50311
7
8 ioControl CR2042, CR2052
2 Safety instructions
>
Content
28333
2.1
Please note
6091
35944
No characteristics are warranted with the information, notes and examples provided in this manual.
With the drawings, representations and examples given no responsibility for the system is assumed and no application-specific particularities are taken into account.
► The manufacturer of the machine/equipment is responsible for ensuring the safety of the machine/equipment.
► Follow the national and international regulations of the country in which the machine/installation is to be placed on the market!
WARNING
>
Non-observance of these instructions can lead to property damage or personal injury. ifm electronic gmbh does not assume any liability in this regard.
► The acting person must have read and understood the safety instructions and the corresponding chapters in this manual before working on and with this device.
► The acting person must be authorised to work on the machine/equipment.
► The acting person must have the qualifications and training required to perform this work.
► Adhere to the technical data of the devices!
You can find the current data sheet on the ifm website.
► Note the installation and wiring information as well as the functions and features of the devices!
→ supplied installation instructions or on the ifm website.
Homepage → www.ifm.com
2.2
What previous knowledge is required?
28341
This document is intended for people with knowledge of control technology and PLC programming with IEC 61131-3.
To program the PLC, the people should also be familiar with the CODESYS software.
The document is intended for specialists. These specialists are people who are qualified by their training and their experience to see risks and to avoid possible hazards that may be caused during operation or maintenance of a product. The document contains information about the correct handling of the product.
Read this document before use to familiarise yourself with operating conditions, installation and operation. Keep the document during the entire duration of use of the device.
Adhere to the safety instructions.
> ioControl CR2042, CR2052
2.3
Start-up behaviour of the controller
6827
15233
WARNING
Danger due to unintentional and dangerous start of machine or plant sections!
► When creating the program, the programmer must ensure that no unintentional and dangerous start of machines or plant sections after a fault (e.g. e-stop) and the following fault elimination can occur!
Realise restart inhibit.
► In case of an error, set the outputs concerned to FALSE in the program!
>
A restart can, for example, be caused by:
• Voltage restoration after power failure
• Reset after the watchdog responded because the cycle time was too long
• Error elimination after an E-stop
To ensure safe controller behaviour:
► monitor the voltage supply in the application program.
► In case of an error switch off all relevant outputs in the application program.
► Additionally monitor actuators which can cause hazardous movements in the application program
(feedback).
► Monitor relay contacts which can cause hazardous movements in the application program
(feedback).
► If necessary, ensure that welded relay contacts in the application project cannot trigger or continue hazardous movements.
2.4
Notes: serial number
28582
► In the user's production facility, draw a diagram of the controller network in the machine. Enter the serial number of each controller installed into the network diagram.
► Before downloading a software component, read out this serial number and check the network diagram to make sure that you are accessing the right controller.
9
ioControl CR2042, CR2052
3 System description
>
Content
28392
3.1
Information about the device
>
This manual describes of the ecomatmobile family for mobile machines of ifm electronic gmbh :
ioControl: CR2042, CR2052
36544
3.2
Overview device family ioControl
Device family ioControl:
Equipment
16 inputs
0 outputs
0 inputs
16 outputs
8 inputs
8 outputs
Details →Data sheet
Deutsch connectors
CR2050
CR2051
CR2052
M12 connectors
CR2040
CR2041
CR2042
46130
10
ioControl CR2042, CR2052
3.3
Hardware description
Content
28381
>
3.3.1
Hardware structure
Content
28382
Conditions
34718
The device does not start until sufficient voltage is applied to the supply connection VBBs.
Permissible operating voltage → data sheet
11
ioControl CR2042, CR2052
Principle block diagram
36715
>
Figure: Block diagram of the supply
Available memory
>
FLASH memory
FLASH memory (non-volatile, slow memory) overall existing in the device
Thereof the following memory areas are reserved for ... maximum size of the application program data other than the application program read data with FB FLASH_READ
(files: 128 bytes less for header)
>
The remaining rest of the memory is reserved for system internal purposes.
SRAM
SRAM (volatile, fast memory) overall existing in the device
SRAM indicates here all kinds of volatile and fast memories.
Thereof the following memory areas are reserved for ... data reserved by the application program
>
The remaining rest of the memory is reserved for system internal purposes.
FRAM
FRAM (non-volatile, fast memory) overall existing in the device
FRAM indicates here all kinds of non-volatile and fast memories.
Thereof the following memory areas are reserved for ... variables in the application program, declared as VAR_RETAIN fixed as remanent defined flags (%MB0...127)
The remaining rest of the memory is reserved for system internal purposes.
28798
35699
1 536 kByte
128 kByte
64 kByte
592 kByte
36599
512 kByte
2 kByte
35700
128 Byte
128 Byte
12
ioControl CR2042, CR2052
>
3.3.2
Inputs (technology)
Content
28353
Analogue inputs
15444
The analogue inputs can be configured via the application program. The measuring range can be set as follows:
• current input 0...20 mA
• voltage input 0...10 V
• voltage input 0...32 V
• resistance measurement 16...30 000
(measurement to GND)
The voltage measurement can also be carried out ratiometrically (0...1000 ‰, adjustable via function blocks). This means potentiometers or joysticks can be evaluated without additional reference voltage.
A fluctuation of the supply voltage has no influence on this measured value.
As an alternative, an analogue channel can also be evaluated binarily.
In case of ratiometric measurement the connected sensors should be supplied with VBBs of the device. So, faulty measurements caused by offset voltage are avoided.
33386
In = pin multifunction input n
(CR) = device
(1) = input filter
(2) = analogue current measuring
(3a) = binary-input plus switching
(3b) = binary-input minus switching
(4a) = analogue voltage measuring 0...10 V
(4b) = analogue voltage measuring 0...32 V
(5) = voltage
(6) = reference voltage
Figure: principle block diagram multifunction input
8972
Figure: block diagram of the resistor survey input
In = pin resistor survey input n
(CR) = device
(1) = input filter
(2) = constant-current source
(3) = internal resistance
(4) = voltage
13
ioControl CR2042, CR2052
>
Binary inputs
The binary input can be operated in following modes:
• binary input plus switching (BL) for positive sensor signal
• binary input minus switching (BH) for negative sensor signal
Depending on the device the binary inputs can configured differently. In addition to the protective mechanisms against interference, the binary inputs are internally evaluated via an analogue stage.
This enables diagnosis of the input signals. But in the application software the switching signal is directly available as bit information
1015
28811
In = pin binary-input n
(CR) = device
(1) = input filter
(2a) = input minus switching
(2b) = input plus switching
(3) = voltage
Figure: basic circuit of binary input minus switching / plus switching for negative and positive sensor signals
In = pin binary input n
(S) = sensor
In = pin binary input n
(S) = sensor
Basic circuit of binary input plus switching (BL) for positive sensor signal:
Input = open signal = low (GND)
Basic circuit of binary input minus switching (BH) for negative sensor signal:
Input = open signal = high (supply)
For some of these inputs ( → data sheet) the potential can be selected to which it will be switched.
14
ioControl CR2042, CR2052
>
Input group IN00, IN01, IN04, IN05
These inputs are a group of multifunction channels.
These inputs can be used as follows (each input separately configurable):
• analogue input 0...20 mA
• analogue input 0...10 V
• analogue input 0...32 V
• voltage measurement ratiometric 0...1000 ‰
• binary input plus switching (BL) for positive sensor signal (with/without diagnosis)
• binary input minus switching (BH) for negative sensor signal
• fast input for e.g. incremental encoders and frequency or interval measurement
→ chapter Possible operating modes inputs/outputs
Sensors with diagnostic capabilities to NAMUR can be evaluated.
All inputs show the same behaviour concerning function and diagnosis.
Detailed description → chapter Address assignment inputs / outputs
>
Configuration of each input is made via the application program:
• FB INPUT
• FBs FASTCOUNT
INC_ENCODER
PERIOD
> If the analogue inputs are configured for current measurement, the device switches to the safe voltage measurement range (0...32 V DC) and the output RESULT is set accordingly in the function block INPUT when the final value (23 mA for > 40 ms) is exceeded. After about one second the input automatically switches back to the current measuring range.
36702
Input group IN02, IN03, IN06, IN07
36690
These inputs are a group of multifunction channels.
These inputs can be used as follows (each input separately configurable):
• binary input plus switching (BL) for positive sensor signal
• input for resistance measurement (e.g. temperature sensors or fuel sensors)
→ chapter Possible operating modes inputs/outputs
Sensors with diagnostic capabilities to NAMUR can be evaluated.
► Configuration of each input is made via the application program:
• FB INPUT
15
ioControl CR2042, CR2052
>
Resistance measurement
Typical sensors on these inputs:
• tank level
• temperature (PT1000, NTC)
Figure: block diagram of the resistor survey input
In = pin resistor survey input n
(CR) = device
(1) = input filter
(2) = constant-current source
(3) = internal resistance
(4) = voltage
The resistance for this device is not linearly dependent on the resistance value, → figure:
9773
8972
8970
Figure: resolution dependent on the resistance value
(1) = resistance value at the input
(2) = resolution
By how many ohms does the measured value change when the signal of the A/D converter on the input changes by 1?
Examples:
• In the range of 1...100
the resolution is 1.2
.
• In the range of 1 k
the resolution is approx. 2
.
• In the range of 2 k
the resolution is approx. 3
.
• In the range of 3 k
the resolution is approx. 6
.
• In the range of 6 k
the resolution is approx. 10
.
• In the range of 10 k
the resolution is approx. 11
• In the range of 20 k
the resolution is approx. 60
.
16
ioControl CR2042, CR2052
>
3.3.3
Outputs (technology)
Content
28572
Protective functions of the outputs
15248
>
The outputs of this device are protected against overload and short circuit within specific ranges.
→ data sheet
Definition: overload
28846
>
Overload can only be detected on an output with current measurement.
Overload is defined as ...
"a nominal maximum current of 12.5 %".
Definition: short circuit
35510
>
A short circuit can be detected on all outputs with diagnostic capabilities.
Diagnostics is possible in case of voltage feedback and current feedback.
A short circuit is defined as ...
"a drop of the output voltage below 93.5% (± 2.0% of the measured value) of the corresponding supply voltage."
> A ground fault can only be detected in case of output = TRUE.
Reaction of the outputs to overload or short circuit
15251
>
Self-protection of the output
35775
The hardware protects itself, irrespective of the operating mode of the output and of the fault detection. In case of a too high thermal load (caused by short circuit or overload), the output driver begins to clock.
The driver may be damaged in case of too long clocking of the output (several hours).
We therefore recommend: that you operate device outputs with diagnostic capabilities in the following mode, since, in this case, the software protects the drivers additionally by switching off:
• FB OUTPUT
This is also the default setting if only the flags in the control configuration are used.
17
ioControl CR2042, CR2052
Reaction according to the operating mode of the output
>
In case of an overload or a short circuit, the behaviour of the output depends on its operating mode
( → function block OUTPUT
MODE=2: binary output plus-switching: no diagnostics and no protection
> the output continues to operate.
MODE=15: binary output plus-switching with diagnostics
> Error is detected and signalled by the FB OUTPUT at the RESULT output: e.g.: RESULT = 128, 141, 142 or 145.
This depends on the type of output and the current or voltage at the output.
The programmer can react in the program to the error.
MODE=16: binary output plus-switching with diagnostics and protection
> Error is detected and signalled by the FB OUTPUT at the RESULT output.
> The respective output is switched off.
> The logic state of the output remains unaffected by this!
Reboot: Switch output logically off and on!
35526
Reaction when using PWM or CURRENT_CONTROL
35785
>
The situation is different when the FBs PWM or CURRENT_CONTROL are used:
There is no diagnosis. The Self-protection of the output
► For outputs with current feedback:
Query the typical current for the output in the application program!
It is the responsibility of the programmer to react to the event.
Output group OUT00...OUT03
36686
These outputs are a group of multifunction channels.
These outputs provide several function options (each output separately configurable):
• binary output, plus switching (BH) with/without diagnostic function
• analogue current-controlled output (PWMi)
• analogue output with Pulse Width Modulation (PWM)
→ chapter Possible operating modes inputs/outputs
► Configuration of each output is made via the application program:
→ FB OUTPUT
PWM output: → FB PWM1000
Current control and load current indication → FB CURRENT_CONTROL
► For the limit values please make sure to adhere to the data sheet!
18
ioControl CR2042, CR2052
>
Diagnosis: binary outputs (via current and voltage measurement)
19433
19434
The diagnostics of these outputs is made via internal current and voltage measurement in the output:
Figure: principle block diagram
(1) Output channel
(2a) Read back channel for diagnosis via current measuring
(2b) Read back channel for diagnosis via voltage measuring
(3) Pin output n
(4) Load
>
Diagnosis: overload (via current measurement)
19437
28851
>
Overload can only be detected on an output with current measurement.
Overload is defined as ...
"a nominal maximum current of 12.5 %".
>
Diagnosis: wire break (via voltage measurement)
19436
33415
Wire-break detection is done via the read back channel inside the output.
Prerequisite for diagnosis: output = FALSE
Diagnosis = wire break: the resistor Ru pulls the read back channel to HIGH potential (power supply)
Without the wire break the low-resistance load (RL < 10 kΩ) would force a
LOW (logical 0).
Diagnosis: short circuit (via voltage measurement)
Wire-break detection is done via the read back channel inside the output.
Prerequisite for diagnosis: output = TRUE
Diagnosis = short circuit against GND: the read back channel is pulled to LOW potential (GND)
28852
19
ioControl CR2042, CR2052
>
Output group OUT04...OUT07
36685
>
These outputs are a group of multifunction channels.
These outputs provide several function options (each output separately configurable):
• binary output, plus switching (BH) with/without diagnostic function
• analogue current-controlled output (PWMi)
• analogue output with Pulse Width Modulation (PWM)
→ chapter Possible operating modes inputs/outputs
► Configuration of each output is made via the application program:
→ FB OUTPUT
PWM output: → FB PWM1000
Current control and load current indication → FB CURRENT_CONTROL
► For the limit values please make sure to adhere to the data sheet!
Diagnosis: binary outputs (via current and voltage measurement)
19433
19434
The diagnostics of these outputs is made via internal current and voltage measurement in the output:
Figure: principle block diagram
(1) Output channel
(2a) Read back channel for diagnosis via current measuring
(2b) Read back channel for diagnosis via voltage measuring
(3) Pin output n
(4) Load
>
Diagnosis: overload (via current measurement)
19437
28851
>
Overload can only be detected on an output with current measurement.
Overload is defined as ...
"a nominal maximum current of 12.5 %".
Diagnosis: wire break (via voltage measurement)
19436
33415
Wire-break detection is done via the read back channel inside the output.
Prerequisite for diagnosis:
Diagnosis = wire break: output = FALSE the resistor Ru pulls the read back channel to HIGH potential (power supply)
Without the wire break the low-resistance load (RL < 10 kΩ) would force a
LOW (logical 0).
20
ioControl CR2042, CR2052
>
Diagnosis: short circuit (via voltage measurement)
Wire-break detection is done via the read back channel inside the output.
Prerequisite for diagnosis: output = TRUE
Diagnosis = short circuit against GND: the read back channel is pulled to LOW potential (GND)
28852
21
ioControl CR2042, CR2052
3.3.4
Note on wiring
28579
The wiring diagrams ( → installation instructions of the devices, chapter "Wiring") describe the standard device configurations. The wiring diagram helps allocate the input and output channels to the IEC addresses and the device terminals.
The individual abbreviations have the following meaning:
A
BH
Analogue input
Binary high side input: minus switching for negative sensor signal
Binary high side output: plus switching for positive output signal
BL
CYL
ENC
FRQ
H bridge
PWM
PWMi
IH
IL
Binary low side input: plus switching for positive sensor signal
Binary low side output: minus switching for negative output signal
Input period measurement
Input encoder signals
Frequency input
Output with H-bridge function
P ulsew idth m odulated signal
PWM output with current measurement
Pulse/counter input, high side: minus switching for negative sensor signal
Pulse/counter input, low side: plus switching for positive sensor signal
R Read back channel for one output
>
Allocation of the input/output channels: → Catalogue, mounting instructions or data sheet
3.3.5
Safety instructions about Reed relays
28354
For use of non-electronic switches please note the following:
Contacts of Reed relays may be clogged (reversibly) if connected to the device inputs without series resistor.
► Remedy: Install a series resistor for the Reed relay:
Series resistor = max. input voltage / permissible current in the Reed relay
Example: 32 V / 500 mA = 64 Ohm
► The series resistor must not exceed 5 % of the input resistance RE of the device input → data sheet). Otherwise, the signal will not be detected as TRUE.
Example:
RE = 3 000 Ohm
max. series resistor = 150 Ohm
28354
22
ioControl CR2042, CR2052
>
3.3.6
Indicators
Content
36643
This device has several indicators:
LEDs for input and output status
36736
16 orange LEDs signal the status of the binary inputs and outputs:
OFF: status = FALSE
On: status = TRUE
7 8
IN03
IN07
OUT 07
OUT 03
5 6
IN02
IN06
OUT 06
OUT 02
3 4
IN01
IN05
OUT 05
OUT 01
1 2
IN00 OUT 04
IN04 OUT 00
Graphics: LEDs for input and output status
23
ioControl CR2042, CR2052
Multifunction display
Content
36631
PWR M A B C D DIA
2 = LED [Power], green
3 = LED [Mode], green
4 = Application LEDs, green
5 = LED [Lock], green
6 = LED [Diagnostics], red
7 = 4-digit 10-segment display, red/green
>
LED [PWR], power
The green LED [PWR] signals the system status.
LED colour Display
Permanently off
Description
No operating voltage
Off briefly on initialisation or reset checks
Green
Flashing with 5 Hz
(time frame = 200 ms) no runtime system loaded
Green
Flashing with 2 Hz
(time frame = 200 ms)
Application = RUN
Green
(time frame = 200 ms)
Permanently on Application = STOP
>
Green
With the FB SET_LED_PWR_DIA_4_10
(→ p. 211 ) in the application program it is possible to set a
different representation.
36630
24
ioControl CR2042, CR2052
LED [M], mode
>
The green LED [M] is at the disposal of the programmer.
→ FB SET_BAR
LED [A]...[D]
>
The 4 green LEDs [A]...[D] are at the disposal of the programmer.
→ FB SET_BAR
LED [Lock]
>
The green LED [Lock] is at the disposal of the programmer.
→ FB SET_BAR
LED [DIA], diagnostics
The red LED [DIA] signals the diagnostic status.
LED colour Display
Permanently off
Description
No operating voltage
Off briefly on initialisation or reset checks
Red
Red
Flashing with 10 Hz
(time frame = 200 ms)
Application = STOP with error application program is stopped
Cause: exceeded timeout of the application or visualisation:
Delete the application!
PowerOn reset
Reload the application into the device
Flashing with 5 Hz
(time frame = 200 ms)
Application = stopped because of undervoltage
Red
Permanently on
(time frame = 200 ms)
System error (FATAL ERROR):
Application = STOP
Red
With the FB SET_LED_PWR_DIA_4_10
(→ p. 211 ) in the application program it is possible to set a
different representation.
36639
36636
36634
36635
25
ioControl CR2042, CR2052
>
4-digit 10-segment display
>
The 4-digit 10-segment display is at the disposal of the programmer. ifm provides the following function blocks: ifm_ioControl_Display_LED_Vxxyyzz.LIB
Represent a 4-digit character string: SET_DISPLAY_4_DIGIT
This POU displays the four left characters of the input character string.
Permissible characters = A...Z, a...z, 0...9, +, -, blank.
Selectable display colours = red, green, orange.
Represent an individual character: SET_DIGIT_TO_ALPHA
This POU displays a selectable character on a selectable digit.
Permissible characters = A...Z, a...z, 0...9, +, -, blank.
The points between the digits can be controlled.
Selectable display colours = red, green, orange.
Represent an individual number: SET_DIGIT_TO_NUM
This POU displays a selectable number on a selectable digit.
Permissible characters = 0...9.
The points between the digits can be controlled.
Selectable display colours = red, green, orange.
3.3.7
Operating elements
The following pushbuttons on the device are at the disposal of the programmer:
Pushbutton
Description
UP
Name in the program
Switch_S1
DOWN
ENTER
Switch_S2
Switch_S3
The pushbuttons are not debounced.
► Debounce the input signal with respect to software if required!
36644
36640
26
ioControl CR2042, CR2052
3.4
Interface description
Content
28337
>
3.4.1
CAN interfaces
Content
28810
Connections and data → data sheet
CAN: interfaces and protocols
The devices are equipped with several CAN interfaces depending on the hardware design. Basically, all interfaces can be used with the following functions independently of each other:
• RAW-CAN (Layer 2): CAN on level 2 (→ chapter Function elements: RAW-CAN (Layer 2)
• CANopen master / CANopen slave (→ chapter Function elements: CANopen
• CANopen network variables (via CODESYS) (→ chapter Network variables
(
• SAE J1939 (for drive management, → chapter Function elements: SAE J1939
• Bus load detection
• Error frame counter
• Download interface
• 100 % bus load without package loss
35809
The following CAN interfaces and CAN protocols are available in this ecomatmobile device:
35809
35809
CAN interface CAN 1 CAN 2 CAN 3 CAN 4
Default download ID
CAN protocols
ID 127
CAN Layer 2
CANopen
SAE J1939
ID 126
CAN Layer 2
CANopen
SAE J1939
ID 125
Interface does not exist
ID 124
Interface does not exist
Standard baud rate = 250 Kbits/s
All CAN interfaces can operate with all CAN protocols at the same time. The IDs used must not impair each other!
27
ioControl CR2042, CR2052
3.5
Software description
Content
28396
>
3.5.1
Software modules for the device
Content
36600
The software in this device communicates with the hardware as below:
Software module Can the user change the module?
By means of what tool?
Application program with libraries yes
CODESYS 2.3,
MaintenanceTool
Runtime system *)
Bootloader
(Hardware)
Upgrade yes
Downgrade no no no
MaintenanceTool
---
---
*) The runtime system version number must correspond to the target version number in the CODESYS target system setting.
→ chapter Set up the target
Software modules on delivery as IO module
36597
On delivery, the "ioControl" devices have the following software modules:
Application program "BasicController Slave Application" to use the device as an IO module
Runtime system
28
ioControl CR2042, CR2052
>
Software modules for controller function
To use the device as a controller, the programmer must download and install a package from ifm electronic gmbh's website ( → www.ifm.com
):
For CR2042: ifm_CR2042_Vxxyyzz_Package_nnn.ZIP
For CR2052: ifm_CR2052_Vxxyyzz_Package_nnn.ZIP
This package consists of the following software modules:
Runtime system
(for installation on the device)
Version > V03.04.00
Configuration files
(to install the target under CODESYS 2.3 on the PC / laptop)
Libraries
(To program the application under CODESYS 2.3 on the PC / laptop)
>
In the following, we describe these software modules:
36612
Bootloader
36498
>
The boot loader is a start program that allows to reload the runtime system and the application program on the device.
The boot loader contains basic routines...
• for communication between hardware modules,
• for reloading the runtime system.
The boot loader is the first software module to be saved on the device.
Runtime system
36619
Basic program in the device, establishes the connection between the hardware of the device and the application program.
→ chapter Software modules for the device
On delivery, a runtime system is loaded on the device to use it as an IO module (CANopen slave).
To use the device as a controller, the corresponding runtime download must be executed once. The application program can then be loaded in the controller (also several times) without affecting the runtime system.
>
The runtime system can be downloaded from ifm electronic gmbh 's website:
→ www.ifm.com
Application program
28795
Software specific to the application, implemented by the machine manufacturer, generally containing logic sequences, limits and expressions that control the appropriate inputs, outputs, calculations and decisions.
28795
WARNING
The user is responsible for the reliable function of the application programs he designed. If necessary, he must additionally carry out an approval test by corresponding supervisory and test organisations according to the national regulations.
29
ioControl CR2042, CR2052
>
Libraries
35719 ifm electronic offers several libraries ( *.LIB
) to match each device containing program modules for the application program. Examples:
Library ifm_CR20n2_Vxxyyzz.LIB
Use ifm_RawCAN_NT_Vxxyyzz.LIB
ifm_CANopen_NT_Vxxyyzz.LIB
ifm_J1939_NT_Vxxyyzz.LIB
Device-specific library
Must always be contained in the application program!
(optional) when a CAN interface of the device is to be operated with CAN
Layer 2
(optional) when a CAN interface of the device is to be operated as
CANopen master or CANopen slave
(optional) when a CAN interface of the device is to communicate with a motor control
Details:
→ chapter ifm libraries for the device CR20n2
30
ioControl CR2042, CR2052
>
3.5.2
Programming notes for CODESYS projects
Content
28583
Here you receive tips how to program the device.
► See the notes in the CODESYS programming manual.
FB, FUN, PRG in CODESYS
35283
In CODESYS we differentiate between the following types of function elements:
FB = function block
• An FB can have several inputs and several outputs.
• An FB may be called several times in a project.
• An instance must be declared for each call.
• Permitted: Call FB and FUN in FB.
FUN = function
• A function can have several inputs but only one output.
• The output is of the same data type as the function itself.
PRG = program
• A PRG can have several inputs and several outputs.
• A PRG may only be called once in a project.
• Permitted: Call PRG, FB and FUN in PRG.
NOTE
Function blocks must NOT be called in functions!
Otherwise: During execution the application program will crash.
All function elements must NOT be called recursively, nor indirectly!
An IEC application may contain maximum 8000 function elements; in this device maximum 512 function elements!
Background:
All variables of functions...
• are initialised when called and
• become invalid after return to the caller.
Function blocks have 2 calls:
• an initialisation call and
• the actual call to do something.
Consequently that means for the function block call in a function:
• every time there is an additional initialisation call and
• the data of the last call gets lost.
31
ioControl CR2042, CR2052
>
Note the cycle time!
For the programmable devices from the controller family ecomatmobile numerous functions are available which enable use of the devices in a wide range of applications.
As these units use more or fewer system resources depending on their complexity it is not always possible to use all units at the same time and several times.
28578
NOTICE
Risk that the device acts too slowly!
Cycle time must not become too long!
► When designing the application program the above-mentioned recommendations must be complied with and tested.
► If necessary, the cycle time must be optimised by restructuring the software and the system set-up.
32
ioControl CR2042, CR2052
>
Creating application program
28845
The application program is generated by the CODESYS 2.3 programming system and loaded in the controller several times during the program development for testing:
In CODESYS: [Online] > [Login] > load the new program.
For each such download via CODESYS 2.3 the source code is translated again. The result is that each time a new checksum is formed in the controller memory. This process is also permissible for safety controllers until the release of the software.
Graphics: Creation and distribution of the software
33
ioControl CR2042, CR2052
>
Using ifm maintenance tool
27717
The ifm Maintenance Tool serves for easy transfer of the program code from the programming station to the controller. As a matter of principle each application software can be copied to the controllers using the ifm Maintenance Tool. Advantage: A programming system with CODESYS licence is not required.
>
Here you will find the current ifm Maintenance Tool:
Homepage → www.ifm.com
>
Distribution of the application program
35311
We recommend the following sequence, if the application software is to be copied to the series machine and used:
Saving the software
After completion of program development the latest version of the application program loaded in the controller using the ifm Maintenance Tool has to be read from the controller and saved on a data carrier using the name project_file.RESX
. Only this process ensures that the application software and its checksums are stored.
Download of the software.
To equip all machines of a series production with an identical software only this file may be loaded in the controllers using the ifm Maintenance Tool.
An error in the data of this file is automatically recognised by the integrated checksum when loaded again using the ifm Maintenance Tool.
3.5.3
Operating states
35979
>
After power on the ecomatmobile device can be in one of five possible operating states:
• BOOTLOADER
• INIT
• STOP
• RUN
• SYSTEM STOP
INIT status (reset)
36548
Condition: a valid runtime system is installed.
With each power-on reset the following procedure is carried out:
> The runtime system is initialised.
> Various checks are made, e.g. waiting for valid supply voltage.
>
This temporary state is replaced by the RUN or STOP state.
>
The LEDs [PWR] and [DIA] are briefly lit simultaneously.
A transition from this state into one of the following states is possible:
• RUN
• STOP
34
ioControl CR2042, CR2052
>
STOP state
A transition into this state is possible in the following cases:
• From the INIT state if no application program is loaded.
• From the RUN state if the following condition is met:
• The STOP command is sent via the CODESYS interface.
In the STOP state:
>
The outputs of the device are switched off.
> The processing of the application program has been stopped.
> The green LED [PWR] is on.
The red LED [DIA] is off.
>
A transition from this state into one of the following states is possible:
• RUN
• ERROR
• FATAL ERROR
• INIT (after power-on-reset)
RUN state
A transition into this state is possible in the following cases:
from the INIT state (autostart) if the following conditions are met:
• The operating voltage has reached a minimum value. AND:
• The application program is available.
From the STOP state:
• via the CODESYS RUN command.
• The operating voltage has reached or exceeded a minimum value.
In the RUN state:
> The runtime system is running.
> The application program is running.
> The green LED [PWR] flashes at 2Hz.
The red LED [DIA] is off.
A transition from this state into one of the following states is possible:
• INIT (after power-on-reset)
• STOP
• ERROR
• FATAL ERROR
36611
36626
35
ioControl CR2042, CR2052
>
ERROR state
A transition into this state is possible in the following cases:
• if the supply voltage is too low.
In the ERROR state:
> The outputs of the device are off.
> The processing of the application program has been stopped.
>
System parameters are saved.
> The red LED [DIA] flashes at 5 Hz.
The green LED [PWR] is off.
>
A transition from this state into one of the following states is possible:
• RUN
• STOP
• FATAL ERROR
• INIT (after power-on-reset)
FATAL ERROR state
A transition into this state is possible in the following cases:
• Memory error (RAM / Flash)
• Exceptional error
• Runtime system error
In the FATAL ERROR state:
> The outputs of the device are switched off.
>
The application program is terminated.
> The runtime system is terminated.
> The red LED [DIA] is on.
The green LED [PWR] is off.
A transition from this state into one of the following states is possible:
• INIT (after power-on-reset)
36539
36542
36
> ioControl CR2042, CR2052
3.5.4
Performance limits of the device
Note the limits of the device! → Data sheet
>
Watchdog behaviour
A watchdog monitors the program runtime of the CODESYS application on this device.
If the maximum watchdog time (100 ms) is exceeded:
> the device changes to the "Timeout Error" state
> all processes are stopped (reset)
> all outputs are switched off
> the red LED [DIA] flashes at 10 Hz
> the green LED [PWR] is off
Eliminate the fault:
Delete the application program!
PowerOn reset
Reload the application program into the device
If the described watchdog fails:
> a second watchdog leads the device to the state "Fatal Error"
> the red LED [DIA] is on
> the green LED [PWR] is off
Eliminate the fault:
PowerOn-Reset
If without success:
Goto Bootloader
PowerOn-Reset
Reload the runtime system into the device
Reload the application program into the device
If without success:
Hardware error: send device back to ifm !
28571
36578
37
ioControl CR2042, CR2052
>
>
Limitations for CAN in this device
35727
FIFO ( F irst I n, F irst O ut) = Operating principle of the stack memory: The data packet that was written into the stack memory first, will also be read first. Each identifier has such a buffer (queue).
Some Raw-CAN function elements enable transmitting and receiving of several messages in one PLC cycle as the messages are temporarily stored in a FiFo:
- CAN_TX..., → Function elements: transmit RAW-CAN data
- CAN_RX_ENH_FIFO
- CAN_RX_RANGE_FIFO
The number of FIFo messages is limited. The following limitations of the devices are valid:
Device
Criterion
BasicController: CR040n, CR041n,
CR043n
BasicDisplay: CR045n ioControl: CR205n
SmartController: CR253n
PDM360 NG: CR108n, CR120n max. FiFo transmit
- with FB CAN_TX...
- with FB CAN_TX_ENH... max. FiFo receive
- with FB CAN_RX_..._FIFO
4 messages
16 messages
32 messages
4 messages
16 messages
32 messages
Limitations for CANopen in this device
35924
>
The following limitations of the devices are valid:
Device
Criterion
BasicController: CR040n, CR041n,
CR043n
BasicDisplay: CR045n ioControl: CR205n
SmartController: CR253n max. guarding error max. SDO data
32 messages
2 048 bytes
Limitations for CAN J1939 in this device
PDM360 NG: CR108n, CR120n
128 messages
2 048 bytes
35923
The following limitations of the devices are valid:
Device
Criterion
BasicController: CR040n, CR041n,
CR043n
BasicDisplay: CR045n ioControl: CR205n
SmartController: CR253n max. FiFo transmit
- with FB J1939_TX
- with FB J1939_TX_ENH max. FiFo receive
- with FB J1939_RX_FIFO max. DTCs max. data J1939
4 messages
16 messages
32 messages
64 messages
1 785 bytes
PDM360 NG: CR108n, CR120n
4 messages
16 messages
32 messages
64 messages
1 785 bytes
38
ioControl CR2042, CR2052
4 Configurations
Content
28785
The device configurations described in the corresponding installation instructions or in the Appendix (→
specifications of most applications.
Depending on the customer requirements for series use it is, however, also possible to use other device configurations, e.g. with respect to the inputs/outputs and analogue channels.
4.1
Set up the runtime system
Content
28320
39
> ioControl CR2042, CR2052
4.1.1
Install the runtime system
36531
→ chapter Software modules for the device
Normally it is necessary to download the runtime system only once. The application program can then be loaded to the device (also several times) without affecting the runtime system.
The runtime system can be downloaded from ifm electronic gmbh 's website:
→ www.ifm.com
36531
NOTICE
Risk of data loss!
In case of power failure during the data transmission data can be lost so that the device is no longer functionable. Repair is only possible by ifm electronic .
► Ensure an uninterrupted power supply during the data transmission!
36531
NOTE
The software versions suitable for the selected target must always be used:
• runtime system ( ifm_CR20n2_Vxxyyzz.RESX
),
• PLC configuration ( ifm_CR20n2_Vxx.CFG
),
• device library ( ifm_CR20n2_Vxxyyzz.LIB
) and
• the further files.
V xx: 00...99 yy: 00...99 zz: 00...99 version target version number release number patch number
The basic file name (e.g. " CR20n2 ") and the software version number "xx" (e.g. " 01 ") must always have the same value! Otherwise the device goes to the STOP mode.
The values for "yy" (release number) and "zz" (patch number) do not have to match.
36531
The following files must also be loaded:
• the internal libraries (created in IEC 1131) required for the project,
• the configuration files ( *.CFG
) and
• the target files ( *.TRG
).
It may happen that the target system cannot or only partly be programmed with your currently installed version of CODESYS. In such a case, please contact the technical support department of ifm electronic gmbh .
Contact → www.ifm.com
The runtime system is transferred to the device using the independent program "Maintenance Tool".
This program can be downloaded from the ifm website:
→ www.ifm.com
Usually, the application program is loaded via the programming system to the device. However, it can also be loaded using "Maintenance Tool" if it was first read from the device.
40
> ioControl CR2042, CR2052
4.1.2
Update the runtime system
28404
An older runtime system is already installed on the device. Now, you would like to update the runtime system on the device?
28404
NOTICE
Risk of data loss!
When deleting or updating the runtime system all data and programs on the device are deleted.
► Save all required data and programs before deleting or updating the runtime system!
>
For this operation, the same instructions apply as in the previous chapter 'Reinstall the runtime system'.
4.1.3
Verify the installation
► After loading of the runtime system into the controller:
• Check whether the runtime system was transmitted correctly!
• Check whether the correct runtime system is loaded in the controller!
► 1st test:
Test with the ifm maintenance tool if the correct runtime system version was loaded:
• Read name and version of the runtime system in the device!
• Manually compare this information with the target data!
► 2nd test (optional):
Check in the application program if the correct runtime system version was loaded:
• read name and version of the runtime system in the device!
• Compare this data with the specified values!
The following FB serves for reading the data:
GET_SW_INFO
Delivers information about the system software of the device:
• software name,
• software version,
• build number,
• build date
► If the application detects an incorrect version of a runtime system: bring all safety functions into the safe state.
35017
41
ioControl CR2042, CR2052
4.2
Set up the programming system
Content
35802
4.2.1
Set up the programming system manually
Content
28307
42
ioControl CR2042, CR2052
>
Set up the target
35782
35782
When creating a new project in CODESYS the target file corresponding to the device must be loaded.
► Select the requested target file in the dialogue window [Target Settings] in the menu
[Configuration].
> The target file constitutes the interface to the hardware for the programming system.
> At the same time, several important libraries and the PLC configuration are loaded when selecting the target.
► If necessary, in the window [Target settings] > tab [Network functionality] > activate [Support parameter manager] and / or activate [Support network variables].
► If necessary, remove the loaded (3S) libraries or complement them by further (ifm) libraries.
► Always complement the appropriate device library ifm_CR20n2_Vxxyyzz.LIB
manually!
35782
NOTE
The software versions suitable for the selected target must always be used:
• runtime system ( ifm_CR20n2_Vxxyyzz.RESX
),
• PLC configuration ( ifm_CR20n2_Vxx.CFG
),
• device library ( ifm_CR20n2_Vxxyyzz.LIB
) and
• the further files.
V xx: 00...99 yy: 00...99 zz: 00...99 version target version number release number patch number
The basic file name (e.g. " CR20n2 ") and the software version number "xx" (e.g. " 01 ") must always have the same value! Otherwise the device goes to the STOP mode.
The values for "yy" (release number) and "zz" (patch number) do not have to match.
35782
The following files must also be loaded:
• the internal libraries (created in IEC 1131) required for the project,
• the configuration files ( *.CFG
) and
• the target files ( *.TRG
).
It may happen that the target system cannot or only partly be programmed with your currently installed version of CODESYS. In such a case, please contact the technical support department of ifm electronic gmbh .
Contact → www.ifm.com
43
ioControl CR2042, CR2052
>
Activate the PLC configuration
35713
The PLC configuration is automatically loaded with the target system. The PLC configuration maps the contents of the file CR20n2.cfg in CODESYS. Like this, the programmer has easy access to predefined system and error flags, inputs and outputs as well as to the CAN interfaces of the device.
To access the PLC configuration (e.g. CR1080):
► Click on the tab [Resources] in CoDeSys:
► Double-click on [PLC Configuration] in the left column.
>
Display of the current PLC configuration (
following figure):
> Based on the configuration the following is available in the program environment for the user:
System and error flags
Depending on the application and the application program, these flags must be processed and evaluated. Access is made via their symbolic names.
Structure of the inputs and outputs
These can be directly symbolically designated (highly recommended!) in the window [PLC
Configuration] (example → figure below) and are available in the whole project as [Global
Variables].
44
ioControl CR2042, CR2052
>
CAN declaration (e.g. CR1080)
35422
In the CODESYS PLC configuration you now have to declare the CAN interface(s).
► Right-click on the name of the PLC configuration. [CANopen Interface [FIX]] of the desired CAN interface.
► Click on [Append Subelement].
► Even if the device is operated as a CANopen slave: Click on [CANopen Master...]:
Info
If the device is operated as a slave, the selection [CanSlave_Device] would also be possible.
For the simpler configuration as a master, all CAN Layer 2 and network variable functions can also be used.
> The CAN parameters of the PLC configuration are displayed. Some CAN parameters are already set as default:
► If the device is operated on CAN Layer 2 or as a slave via network variables or CAN_RX /
CAN_TX:
Check whether the correct baud rate is set for the device (baud rate must be identical for all participants).
► If the device is operated as a CANopen master:
Check all parameter settings.
► Close the window [PLC Configuration].
45
ioControl CR2042, CR2052
>
► In the menu [File] > [Save as ...] give a sensible name to the project and save it in the requested directory.
► In the application program always call an own instance of the FB CANOPEN_ENABLE
for every CAN interface!
4.2.2
Set up the programming system via templates
28325 ifm offers ready-to-use templates (program templates), by means of which the programming system can be set up quickly, easily and completely.
28325
>
When installing the ecomatmobile DVD "Software, tools and documentation", projects with templates have been stored in the program directory of your PC:
…\ifm electronic\CoDeSys V…\Projects\Template_DVD_V…
► Open the requested template in CODESYS via:
[File] > [New from template…]
>
CODESYS creates a new project which shows the basic program structure. It is strongly recommended to follow the shown procedure.
4.3
Function configuration in general
28350
>
4.3.1
System variables
All system variables ( → chapter System flags
(→ p. 217 )) have defined addresses which cannot be
shifted.
28414
46
ioControl CR2042, CR2052
>
4.4
Function configuration of the inputs and outputs
Content
7995
35755
For some devices of the ecomatmobile controller family, additional diagnostic functions can be activated for the inputs and outputs. So, the corresponding input and output signal can be monitored and the application program can react in case of a fault.
Depending on the input and output, certain marginal conditions must be taken into account when using the diagnosis:
► It must be checked by means of the data sheet if the device used has the described input and output groups ( → data sheet).
Constants are predefined (e.g. IN_DIGITAL_H) in the device libraries ( ifm_CR20n2_Vxxyyzz.LIB
) for the configuration of the inputs and outputs.
For details → Possible operating modes inputs/outputs
4.4.1
Configuration of the inputs and outputs (default setting)
All inputs and outputs are in the binary mode (plus switching!) when delivered.
The diagnostic function is not active.
The overload protection is active.
28792
47
ioControl CR2042, CR2052
>
4.4.2
Configure inputs
Content
28784
Valid operating modes → chapter Possible operating modes inputs/outputs
Safety instructions about Reed relays
28354
For use of non-electronic switches please note the following:
Contacts of Reed relays may be clogged (reversibly) if connected to the device inputs without series resistor.
► Remedy: Install a series resistor for the Reed relay:
Series resistor = max. input voltage / permissible current in the Reed relay
Example: 32 V / 500 mA = 64 Ohm
► The series resistor must not exceed 5 % of the input resistance RE of the device input → data sheet). Otherwise, the signal will not be detected as TRUE.
Example:
RE = 3 000 Ohm
max. series resistor = 150 Ohm
28354
48
ioControl CR2042, CR2052
>
Analogue inputs: configuration and diagnosis
35685
Configuration of each input is made via the application program:
• FB INPUT
► If the analogue inputs are configured for current measurement, the device switches to the safe voltage measurement range (0...32 V DC) and the output RESULT is set accordingly in the function block INPUT when the final value (23 mA for > 40 ms) is exceeded. After about one second the input automatically switches back to the current measuring range.
As an alternative, an analogue channel can also be evaluated binarily.
35685
In = pin multifunction input n
(CR) = device
(1) = input filter
(2) = analogue current measuring
(3a) = binary-input plus switching
(3b) = binary-input minus switching
(4a) = analogue voltage measuring 0...10 V
(4b) = analogue voltage measuring 0...32 V
(5) = voltage
(6) = reference voltage
Figure: principle block diagram multifunction input
49
ioControl CR2042, CR2052
>
Configure the software filters of the inputs
35752
Via the input FILTER in the FB INPUT
(→ p. 175 ) a software filter can be configured which filters the
measured input voltage at the analogue inputs.
The filter behaves like a low-pass filter; the filter frequency is set with the value entered in FILTER. For
FILTER, values from 0...8 are permitted.
Table: limit frequency software low-pass filter at the analogue input
FILTER Filter frequency [Hz]
0…70 %
Step response [ms] for ...
0…90 % 0…99 %
Remarks
3
4
5
6
7
0
1
2
Filter deactivated
120
47
22
10
5
2.5
1.2
10
19
38
2
5
77
154
8 0.7 308 589
The following statements of the step response are relevant:
• Input analogue: 0...90 % and 0...99 %
• Input binary: 0...70 %
18
36
73
4
9
147
294
7
17
35
72
146
293
588
1177 recommended
Figure: course of time binary signal at the input upon switch-on / switch-off
50
ioControl CR2042, CR2052
>
>
Binary inputs: configuration and diagnosis
36482
Configuration of each input is made via the application program:
• FB INPUT
MODE BYTE Operating mode of input channel:
0 = 0x00 off
1 = 0x01
(only for inputs with binary evaluation) binary input, plus-switching (BL)
3 = 0x03 voltage input
6 = 0x06 voltage input, ratiometric
7 = 0x07 current input
9 = 0x09 voltage input
0…10 000 mV
0...1 000 ‰
0…20 000 µA
0…32 000 mV
10 = 0x0A
11 = 0x0B
(only for inputs with analogue evaluation) binary input, plus-switching (BL)
(only for inputs with analogue evaluation) binary input, plus-switching (BL) with diagnostic
(Namur)
12 = 0x0C binary input, minus-switching (BH)
18 = 0x12 Resistance input 16…30 000 Ω
Activation of the input diagnosis
35688
If the diagnosis is to be used, it needs to be activated additionally.
► Set the mode of the input via input MODE of the function block INPUT
> The FB INPUT
(→ p. 175 ) provides the diagnostic messages of the inputs on its RESULT output.
NAMUR diagnosis for binary signals of non-electronic switches:
► Equip the switch with an additional resistor connection!
Figure: non-electronic switch S at input Inn
Sensors with diagnostic capabilities to NAMUR can be used on these inputs.
In this case, no additional resistor connection is required.
51
ioControl CR2042, CR2052
>
Fast inputs
35691
The devices dispose of fast counting/pulse inputs for an input frequency up to 30 kHz ( → data sheet).
14677
If, for example, mechanical switches are connected to these inputs, there may be faulty signals in the controller due to contact bouncing.
Appropriate function blocks are e.g.:
FASTCOUNT
INC_ENCODER
PERIOD
Counter block for fast input pulses
Up/down counter function for the evaluation of encoders
Measures the frequency and the cycle period (cycle time) in [µs] at the indicated channel
>
When using these units, the parameterised inputs and outputs are automatically configured, so the programmer of the application does not have to do this.
Use as binary inputs
3804
The permissible high input frequencies also ensure the detection of faulty signals, e.g. bouncing contacts of mechanical switches.
► If required, suppress the faulty signals in the application program!
52
ioControl CR2042, CR2052
>
4.4.3
Configure outputs
Content
28788
Valid operating modes → chapter Possible operating modes inputs/outputs
Configure the software filters of the outputs
36013
Via the input FILTER in the FB OUTPUT
(→ p. 184 ) a software filter can be configured which filters the
measured output current at the PWM outputs.
The FILTER byte is only valid for outputs with current measurement.
For outputs without current measurement: set FILTER = 0!
The current at the output is averaged over a PWM period.
If dithering is set, the current is averaged over the dither period.
The filter behaves like a low-pass filter; the limit frequency is set by the value entered in FILTER. For
FILTER, values from 0...8 are permitted.
Table: limit frequency software low-pass filter on PWM output
FILTER Filter frequency [Hz]
0…90 %
Step response [ms] for ...
0…95 % 0…99 %
Remarks
0
1
6
7
4
5
2
3
Filter deactivated
600
233
109
52
26
13
6
0.8
1.8
3.6
7.2
14.6
29.4
58.8
1.0
2.2
4.6
9.4
19.0
38.2
76.4
8 4 117.8 153.2
The following statements of the step response are relevant:
• Output current: 0...90 % and 0...99 %
1.4
3.4
7.0
14.4
29.2
58.6
117.6
235.4 outputs without current measurement recommended
>
Figure: time sequence binary current signal on output upon switch-on / switch-off
53
ioControl CR2042, CR2052
Binary outputs: configuration and diagnosis
The following operating modes are possible for the device outputs ( → data sheet):
• binary output, plus switching (BH) with/without diagnostic function
35708
35708
Qn = pin output n
(L) = load
Basic circuit of output plus switching (BH) for positive output signal
► Configuration of each output is made via the application program:
→ FB OUTPUT
35708
WARNING
Dangerous restart possible!
Risk of personal injury! Risk of material damage to the machine/plant!
If in case of a fault an output is switched off via the hardware, the logic state generated by the application program is not changed.
► Remedy:
• Reset the output logic in the application program!
• Remove the fault!
• Reset the outputs depending on the situation.
>
►
Configuration of the output diagnosis
If the diagnosis is to be used, it needs to be activated additionally.
► If using the output as binary output with diagnosis (→ data sheet):
→ FB OUTPUT > input MODE = 15 or 18
>
The FB
OUTPUT
(→ p. 184 ) provides the diagnostic messages of the outputs on its RESULT
output.
35744
54
ioControl CR2042, CR2052
>
PWM outputs
The following operating modes are possible for the device outputs ( → data sheet):
• PWM output, plus switching (BH) without diagnostic function
• PWM output pair H-bridge without diagnostic function
36067
36067
Qn = pin output n
(L) = load
Basic circuit of output plus switching (BH) for positive output signal
16253
WARNING
Property damage or bodily injury possible due to malfunctions!
For outputs in PWM mode:
• There are no diagnostic functions
9980
NOTE
PWM outputs must NOT be operated in parallel, e.g. in order to increase the max. output current. The outputs do not operate synchronously.
Otherwise the entire load current could flow through only one output. The current measurement would no longer function.
>
PWM outputs can be operated with and without current control function.
Current-controlled PWM outputs are mainly used for triggering proportional hydraulic functions.
The medium current across a PWM signal can only be correctly determined via the FB
CURRENT_CONTROL
(→ p. 182 ) if the current flowing in the switched-on state is within the
measuring range.
Availability of PWM
Device
Number of available
PWM outputs of which current-controlled
(PWMi)
36670
PWM frequency
[Hz] ioControl CR2041, CR2051 ioControl CR2042, CR2052
16
8
8
8
20...250
20...250
55
ioControl CR2042, CR2052
>
FBs for PWM functions
36001
>
The following function blocks are available for the PWM function of the outputs:
CURRENT_CONTROL
PWM1000
Current controller for a PWMi output channel
Initialises and configures a PWM-capable output channel the mark-to-space ratio can be indicated in steps of 1 ‰
Current control with PWM (= PWMi)
14722
Current measurement of the coil current can be carried out via the current measurement channels integrated in the controller. This way, the current can for example be re-adjusted if the coil heats up.
The hydraulic conditions in the system are maintained.
In principle, the current-controlled outputs are protected against short circuit.
56
ioControl CR2042, CR2052
4.5
Variables
Content
28318
In this chapter you will learn more about how to handle variables.
28318
The device supports the following types of variables:
Declaration place Validity area Variable local local retain global global retain in the declaration part of the function element (POU)
Only valid in the function element
(POU) where it was configured.
In [Resources] > [Global Variables] >
[Globale_Variables]:
Valid in all function elements of this
CODESYS project.
Memory behaviour volatile nonvolatile volatile nonvolatile
Network
Network retain
In [Resources] > [Global Variables] > declaration list
Values are available to all CODESYS projects in the whole network if the variable is contained in its declaration lists. volatile nonvolatile
>
4.5.1
→ CODESYS programming manual
Retain variables
Retain variables can be saved automatically in a protected memory area and be reloaded automatically during a reboot.
Typical applications for retain variables are for example:
• operating hours which are counted up and retained while the machine is in operation,
• position values of incremental encoders,
• preset values entered in the monitor,
• machine parameters, i.e. all variables whose values must not get lost when the device is switched off.
All variable types, also complex structures (e.g. timers), can be declared as retain.
► To do so, activate the control field [RETAIN] in the variable declaration (→ window).
35182
35182
57
ioControl CR2042, CR2052
>
Save retain variables
35034
In the device the data type RETAIN is only stored in the volatile memory (RAM) during the runtime.
To save the data permanently, at the end of each cycle they are automatically be saved in the FRAM memory ¹).
¹) FRAM indicates here all kinds of non-volatile and fast memories.
NOTE
>
In this device, do NOT use the following functions from the 3S library SysLibPlcCtrl.lib
:
- FUN SysSaveRetains
- FUN SysRestoreRetains
Read back retain variables
35229
After power on and before the first program cycle the device automatically writes the saved data back to the working memory once. To do so, no additional FBs must be integrated into the application program.
NOTE
>
In this device, do NOT use the following functions from the 3S library SysLibPlcCtrl.lib
:
- FUN SysSaveRetains
- FUN SysRestoreRetains
4.5.2
Network variables
15242
35116
Global network variables are used for data exchange between controllers in the network. The values of global network variables are available to all CODESYS projects in the whole network if the variables are contained in their declaration lists.
► Integrate the following library/libraries into the CODESYS project:
3S_CANopenNetVar.lib
ifm_NetVarLib_NT_Vxxyyzz.lib
58
ioControl CR2042, CR2052
5 ifm function elements
Content
28394
All CODESYS function elements (FBs, PRGs, FUNs) are stored in libraries. Below you will find a list of all the ifm libraries you can use with this device.
This is followed by a description of the function elements, sorted by topic.
5.1
ifm libraries for the device CR20n2
>
Content
28323
5.1.1
Bibliothek ifm_CR20n2_V01yyzz.LIB
36713
This is the device library.This ifm library contains the following function blocks:
Function element Short description
CURRENT_CONTROL
FASTCOUNT
FLASH_INFO
FLASH_READ
GET_APP_INFO
GET_HW_INFO
GET_IDENTITY
GET_SW_INFO
GET_SW_VERSION
Current controller for a PWMi output channel
Counter block for fast input pulses
Reads the information from the user flash memory:
• name of the memory area (user defined),
• software version,
• start address (for simple reading with IEC structure) transfers different data types directly from the flash memory to the RAM
Delivers information about the application program stored in the device:
• name of the application,
• version of the application,
• unique CODESYS build number,
• CODESYS build date
Delivers information about the device hardware:
• ifm article number (e.g. CR0403),
• article designation,
• unambiguous serial number,
• hardware revision,
• production date
Reads the identification of the application stored in the device
(has previously been saved by means of SET_IDENTITY
Delivers information about the system software of the device:
• software name,
• software version,
• build number,
• build date
Delivers information about the software versions stored in the device:
• BasicSystem version,
• bootloader version,
• SIS version,
• application program version,
• user flash version
59
ioControl CR2042, CR2052
Function element
INC_ENCODER
INPUT
MEM_ERROR
MEMCPY
OHC
OUTPUT
PERIOD
PWM1000
SET_IDENTITY
SET_LED
SET_PASSWORD
TIMER_READ_US
Short description
Up/down counter function for the evaluation of encoders
Assigns an operating mode to an input channel
Provides the current state of the selected channel
Signals errors in some parameters or in the memory
(Re-)initialisation of system resources
Writes and reads different data types directly in the memory
Adjustable operating hours counter (0...3)
Assigns an operating mode to an output channel
Provides the current state of the selected channel
Measures the frequency and the cycle period (cycle time) in [µs] at the indicated channel
Initialises and configures a PWM-capable output channel the mark-to-space ratio can be indicated in steps of 1 ‰
Sets an application-specific program identification
Change the frequency and color of the status LED in the application program
Sets a user password for access control to program and memory upload
Reads out the current system time in [µs]
Max. value = 1h 11min 34s 967ms 295µs
>
5.1.2
Bibliothek ifm_ioControl_Display_LED_Vxxyyzz.LIB
This ifm library contains the following function blocks:
Function element Short description
SET_BAR
SET_DIGIT_TO_ALPHA
SET_DIGIT_TO_NUM
SET_DISPLAY_4_DIGIT
SET_LED_PWR_DIA_4_10
controls in the application program a bar of green LEDs on the multifunction display indicates a selectable character on a selectable digit of the 4-digit 10-segment display.
Permissible characters = A...Z, a...z, 0...9, +, -, blank indicates a selectable character on a selectable digit of the 4-digit 10-segment display.
Permissible characters = 0...9 indicates the first 4 characters (from the left) of a character string on the 4-digit 10-segment display.
Permissible characters = A...Z, a...z, 0...9, +, -, blank can control the following LEDs on the multifunction display in the application program, by circumventing the system configuration:
• green LED [PWR], power
• red LED [DIA], diagnostic
36483
60
> ioControl CR2042, CR2052
>
5.1.3
Library ifm_RAWCan_NT_Vxxyyzz.LIB
35715
This ifm library contains the following function blocks:
Function element
CAN_ENABLE
CAN_RECOVER
CAN_REMOTE_REQUEST
CAN_REMOTE_RESPONSE
CAN_RX
CAN_RX_ENH
CAN_RX_ENH_FIFO
CAN_RX_RANGE
CAN_RX_RANGE_FIFO
CAN_SETDOWNLOADID
CAN_STATUS
CAN_TX
CAN_TX_ENH
CAN_TX_ENH_CYCLIC
Short description
Initialises the indicated CAN interface
Configures the CAN baud rate
Activate / deactivate the automatic bus off handling
Restart the CAN interface in case of bus off
Send a corresponding request and return the response of the other device as a result
Provides data to the CAN controller in the device which is automatically sent as a response to the request of a remote message
Configures a data receive object and reads out the receive buffer of the data object
• Configures a data receive object and reads out the receive buffer of the data object
• Frame type and mask can be selected
• Configures a data receive object and reads out the receive buffer of the data object
• Frame type and mask can be selected
• Several CAN messages per cycle possible
• Configures a range of data receive objects and reads out the receive buffer of the data objects
• Frame type and mask can be selected
• Configures a range of data receive objects and reads out the receive buffer of the data objects
• Frame type and mask can be selected
• Several CAN messages per cycle possible
= Set CAN download ID
Sets the download identifier for the CAN interface
Get status information on the CAN bus selected:
BAUDRATE, DOWNLOAD_ID, BUSOFF, WARNING_RX, WARNING_TX, VERSION, BUSLOAD and reset if required: BUSOFF, WARNING_RX, WARNING_TX
Transfers a CAN data object (message) to the configured CAN interface for transmission at each call
Transfers a CAN data object (message) to the configured CAN interface for transmission at each call
CAN-specific characteristics can be set
Cyclically transfers a CAN data object (message) to the configured CAN interface for transmission
CAN-specific characteristics can be set
5.1.4
Library ifm_CANopen_NT_Vxxyyzz.LIB
35712
This ifm library contains the following function blocks:
Function element
CANOPEN_ENABLE
CANOPEN_GETBUFFERFLAGS
CANOPEN_GETEMCYMESSAGES
CANOPEN_GETERRORREGISTER
Short description
Initialises the indicated CANopen master interface
Configures the CAN baud rate
= CANopen get buffer flags
Provides information on the buffer flags
The flags can be reset via the optional inputs.
= Get CANopen emergency messages
Lists all emergency messages that have been received by the controller from other nodes in the network since the last deletion of messages
The list can be reset by setting the according input.
= Get CANopen error register
Reads the error registers 0x1001 and 0x1003 from the controller
The registers can be reset by setting the respective inputs.
61
ioControl CR2042, CR2052
Function element
CANOPEN_GETGUARDHBERRLIST
CANOPEN_GETGUARDHBSTATSLV
CANOPEN_GETNMTSTATESLAVE
CANOPEN_GETODCHANGEDFLAG
CANOPEN_GETSTATE
CANOPEN_GETSYNCSTATE
CANOPEN_NMTSERVICES
CANOPEN_READOBJECTDICT
CANOPEN_SDOREAD
CANOPEN_SDOREADBLOCK
CANOPEN_SDOREADMULTI
CANOPEN_SDOWRITE
CANOPEN_SDOWRITEBLOCK
CANOPEN_SDOWRITEMULTI
CANOPEN_SENDEMCYMESSAGE
CANOPEN_SETSTATE
CANOPEN_SETSYNCSTATE
CANOPEN_WRITEOBJECTDICT
Short description
= get CANopen guard and heartbeat error list
Lists all nodes in an array for which the master has detected an error: guarding error, heartbeat error
The list can be reset by setting the according input.
= CANopen slave get guard and heartbeat state
Signals the following states to the controller in slave operation: node guarding monitoring, heartbeat monitoring
The signalled errors can be reset by setting the respective input.
= CANopen slave get network management state
Signals the network operating status of the node
= Get object directory changed flag
Reports any change of value for a particular object directory entry
= CANopen set state
Request the parameters of the master, a slave device or a specific node in the network
= CANopen get SYNC state
• Reads the setting of the SYNC functionality (active / not active),
• reads the error state of the SYNC functionality (SyncError)
= CANopen network management services
Updates the internal node status and, depending on the NMT command entries:
• triggers an NMT command or
• triggers the initialisation of a node
= CANopen read object directory
Reads configuration data from the object directory of the device
= CANopen read SDO
Reads an "Expedited SDO" = Expedited Service Data Object
= CANopen read SDO block
Reads the indicated entry in the object directory of a node in the network via SDO block transfer
= CANopen read SDO multi
Reads the indicated entry in the object directory of a node in the network
= SDO write
Writes an "Expedited SDO" = Expedited Service Data Object
= CANopen write SDO block
Writes in the indicated entry in the object directory of a node in the network via SDO block transfer
= CANopen write SDO multi
Writes in the indicated entry in the object directory of a node in the network
= CANopen send emergency message
Sends an EMCY message. The message is assembled from the according parameters and entered in register 0x1003
= CANopen set state
Set the parameters of the master, a slave device or a specific node in the network
= CANopen set SYNC state
Switch the SYNC functionality on and off
= CANopen write object directory
Writes configuration data into the object directory of the device
62
> ioControl CR2042, CR2052
5.1.5
Library ifm_J1939_NT_Vxxyyzz.LIB
35714
This ifm library contains the following function blocks:
Function element
J1939_DM1RX
J1939_DM1TX
J1939_DM1TX_CFG
J1939_DM3TX
J1939_ENABLE
J1939_GETDABYNAME
J1939_NAME
J1939_RX
J1939_RX_FIFO
J1939_RX_MULTI
J1939_SPEC_REQ
J1939_SPEC_REQ_MULTI
J1939_STATUS
J1939_TX
J1939_TX_ENH
J1939_TX_ENH_CYCLIC
J1939_TX_ENH_MULTI
Short description
J1939 Diagnostic Message 1 RX
Receives diagnostic messages DM1 or DM2 from other ECUs
J1939 Diagnostic Message 1 TX
Transmit an active error message to the CAN stack
J1939 Diagnostic Message 1 TX configurable
CAN stack does not send cyclic DM1 "zero active faults" messages
J1939 Diagnostic Message 3 TX
Deletes inactive DTCs (DM2) on a device
Initialises the J1939 stack
= Get destination arbitrary name
Determine the target address of one or several participants by means of the name information
Give the device a name for identification in the network
Receives a single frame message
Shows the message last read on the CAN bus
= J1939 RX with FIFO
Receives all specific messages and successively reads them from a FiFo
= J1939 RX multiframe message
Receives multiframe messages
= J1939 specific request
Requests and receives a specific message from another controller
= J1939 specific request multiframe message
Requests and receives a specific multiframe message from another controller
Shows relevant information on the J1939 stack
Sends individual single frame messages
= J1939 TX enhanced
Sends individual single frame messages
Can also be set: transmission priority, data length
= J1939 TX enhanced cyclic
Cyclically sends single frame messages
Can also be set: transmission priority, data length, period
= J1939 TX enhanced Multiframe Message
Sends individual multiframe messages
63
ioControl CR2042, CR2052
5.2
ifm function elements for the device CR20n2
Content
13988
28309
Here you will find the description of the ifm function elements suitable for this device, sorted by topic.
64
> ioControl CR2042, CR2052
5.2.1
Function element outputs
Some function elements return a RESULT message.
Possible results for RESULT:
Value dec | hex
Description
0 00
15
241
242
247
250
252
253
7
8
14
5
6
1
4
255
1...31
32
10
...63
64
10
…127
128
10
...255
238 EE
239
240
EF
F0
F1
F2
F7
FA
FC
FD
07
08
0E
01
04
05
06
0F
FF
FB is inactive
Global return values; examples:
FB execution completed without error
– data is valid
FB is being processed – data is cyclically processed
FB is being processed
– still receiving
FB is being processed – still sending
FB is being processed – remote for ID active function block is active
FB is active
CANopen manager configures devices and sends SDOs
FB is active
CANopen manager is started
FB specific return values
FB specific error messages
Global error messages; examples:
Error: CANopen configuration is too large and cannot be started
Error: CANopen manager could not be started
Error: several modal inputs are active e.g. CANopen NTM services
Error: CANopen state transition is not permitted
Error: setting is not possible
Error: memory exceeded (length larger than array)
Error: FiFo is full – data was lost
Error: CAN multiframe transmission failed
Error: CAN transmission failed.
Data cannot be sent.
Error: not enough memory available for the consuming multiframe
8354
35758
65
ioControl CR2042, CR2052
5.2.2
Function elements: RAW-CAN (Layer 2)
Content
35756
Here we describe the RAW-CAN function blocks (CAN Layer 2) of ifm electronic to be used in the application program.
Function elements: RAW-CAN status
Content
35750
66
ioControl CR2042, CR2052
CAN_ENABLE
Unit type = function block (FB)
Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35432
>
Description
>
With CAN_ENABLE the CAN hardware is initialised. Without this call no other calls are possible in
RAW-CAN or they return an error.
In order to change the baud rate the following procedure is required:
► Maintain the function block on ENABLE=FALSE for the duration of one cycle.
> All protocols are reset.
> Re-initialisation of the CAN interface and the CAN protocols running on it. Any information available for cyclical transmission is lost as well and must be newly created.
> At renewed ENABLE=TRUE, the new baud rate is adopted.
35407
Parameters of the inputs
35231
Parameter
ENABLE
CHANNEL
BAUDRATE
Data type
BOOL := FALSE
BYTE
WORD := 250
Description
TRUE: enable CAN interface
FALSE: disable CAN interface
CAN interface (1...n) depending on the device
Baudrate [kbits/s] permissible = 20, 50, 100, 125, 250, 500, 1000
>
Parameters of the outputs
35103
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
0
Value dec | hex
00
Description
1
8
01
08
FB is inactive
FB execution completed without error – data is valid function block is active
9
242
09
F2
CAN is not active
Error: setting is not possible
67
ioControl CR2042, CR2052
CAN_RECOVER
Unit type = function block (FB)
Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35435
>
Description
35366
CAN_RECOVER has the following tasks:
to activate / deactivate the automatic bus off handling
to restart the CAN interface in case of bus off
> In case of bus off: CAN Controller deletes all buffers (including the buffers of the other protocols).
>
If CAN_RECOVER is not used (ENABLE=FALSE):
> in case of a bus off a recovery attempt is automatically made after 1 s.
> after 4 failed recovery attempts in a row the affected CAN interface is deactivated.
Parameters of the inputs
35241
Parameter
ENABLE
CHANNEL
RECOVER_EXECUTE
Data type
BOOL := FALSE
BYTE
BOOL
TIME := T#1s
Description
TRUE: No automatic recovery after CAN bus off
FALSE: Automatic recovery after CAN bus off
CAN interface (1...n) depending on the device
TRUE (only for 1 cycle): restart of CAN interface remedy bus off condition
FALSE: function element is not executed
Waiting time between bus off and restart of the CAN interface InhibitTime
(optional use of the parameter)
68
ioControl CR2042, CR2052
CAN_SETDOWNLOADID
= Set download ID
Unit type = function block (FB)
Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35077
>
Description
>
35373
The download ID is required for data exchange when connecting the runtime system and the
CODESYS development environment. When the device is started the download ID is set with the default value from the hardware configuration.
With CAN_SETDOWNLOADID this value can be set in the PLC program (e.g. using certain inputs).
The changed ID is also written into the hardware configuration.
Parameters of the inputs
35242
Parameter
EXECUTE
CHANNEL
DOWNLOAD_ID
Data type
BOOL := FALSE
BYTE
BYTE
Description
FALSE TRUE (edge): execute function element once otherwise: function element is not active
A function element already started is processed.
CAN interface (1...n) depending on the device
1...127 = set download ID
0 = read download ID
>
Parameters of the outputs
35090
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
0
Value dec | hex
00
Description
FB is inactive
1
8
242
01
08
F2 function block execution completed without error function block is active
Error: setting is not possible
69
ioControl CR2042, CR2052
CAN_STATUS
Unit type = function block (FB)
Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35064
>
Description
>
CAN_STATUS provides information on the chosen CAN bus.
Without hardware initialisation the following flags can be reset to FALSE:
- BUSOFF
- WARNING_RX
- WARNING_TX
Parameters of the inputs
Parameter
ENABLE
CHANNEL
CLEAR
Data type
BOOL := FALSE
BYTE
BOOL := FALSE
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CAN interface (1...n) depending on the device
TRUE: Reset the following flags:
• WARNING_RX
• WARNING_TX
• BUSOFF
FALSE: function element is not executed
35367
35228
70
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
BAUDRATE
DOWNLOAD_ID
BUSOFF
WARNING_RX
WARNING_TX
VERSION
BUSLOAD
RESULT
Data type
WORD
BYTE
BOOL
BOOL
BOOL
DWORD
BYTE
BYTE
Possible results for RESULT:
Value dec | hex
Description
8
9
0
1
242
00
01
08
09
F2
FB is inactive function block execution completed without error function block is active
CAN is not active
Error: setting is not possible
Description current baudrate of the CANopen node in [kBaud] current download ID
Error CAN BUS OFF at the interface
Warning threshold for receiving is exceeded at the interface
Warning threshold for transmitting is exceeded at the interface
Version of the ifm CAN stack library
Current bus load in [%] feedback of the function block
(possible messages → following table)
35094
71
ioControl CR2042, CR2052
Function elements: receive RAW-CAN data
Content
35705
72
ioControl CR2042, CR2052
CAN_RX
Unit type = function block (FB)
Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35412
>
Description
35369
>
CAN_RX is used for receiving a message.
The FB limits itself to a few functions and the required memory space is low.
CAN_RX filters for the set identifier. If several CAN messages with the same identifier are received in one cycle, only the last / latest message is available.
Parameters of the inputs
35221
Parameter
ENABLE
CHANNEL
ID
Data type
BOOL
BYTE
DWORD
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CAN interface (1...n) depending on the device
Number of the data object identifier: normal frame (2 048 IDs):
0...2 047 = 0x0000 0000...0x0000 07FF extended Frame (536 868 864 IDs):
2 048...536 870 911 = 0x0000 0800...0x1FFF FFFF
>
Parameters of the outputs
35096
Parameter
DATA
RESULT
Data type
ARRAY [0..7] OF BYTE
BYTE
Description received data, (1...8 bytes) feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
0
1
5
9
242
00
01
05
09
F2
FB is inactive function block execution completed without error
FB is being processed – still receiving
CAN is not active
Error: setting is not possible
73
ioControl CR2042, CR2052
CAN_RX_ENH
= CAN RX enhanced
Unit type = function block (FB)
Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35415
>
Description
In addition, CAN_RX_ENH provides the following possibilities (as opposed to CAN_RX
• select the frame type (11 or 29 bits),
• define a mask for the evaluation of the CAN ID.
35364
Bit comparison of
ID and mask:
If ID_MASK-Bit = 0, then CAN-ID-Bit may be = 0 or 1.
If ID_MASK-Bit = 1, then CAN-ID-Bit must be = ID-Bit.
>
With the mask several identifiers can be defined as filters.
Example:
ID = 0x100 = 0b0001 0000 0000
Result
ID_MASK = 0x1F1 = 0b0001 1111 0001
The CAN IDs with the following bit pattern are evaluated:
0bxxx1 0000 xxx0 (x = any), i.e. for this example (all in [hex]):
100, 102, 104, 106, 108, 10A, 10C, 10E,
300, 302, 304, 306, 308, 30A, 30C, 30E,
500, 502, 504, 506, 508, 50A, 50C, 50E,
700, 702, 704, 706, 708, 70A, 70C, 70E
Parameters of the inputs
35227
Parameter
ENABLE
CHANNEL
ID
Extended
(optional use of the parameter)
ID_Mask
(optional use of the parameter)
Data type
BOOL
BYTE
DWORD
BOOL := FALSE
DWORD := 0
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CAN interface (1...n) depending on the device
Number of the data object identifier: normal frame (2 11 IDs):
0...2 047 = 0x0000 0000...0x0000 07FF extended Frame (2 29 IDs):
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
TRUE: extended Frame (ID = 0...2
29 -1)
FALSE: normal Frame (ID = 0...2
11 -1) filter mask for the identifier: if ID_MASK bit = 0, CAN ID bit may be = 0 or 1 if ID_MASK bit = 1, CAN ID bit must be = ID bit
74
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
MATCHED_ID
DATALENGTHCOUNT
DATA
RESULT
Data type
DWORD
BYTE
ARRAY [0..7] OF BYTE
BYTE
Possible results for RESULT:
Value dec | hex
Description
5
9
0
1
242
00
01
05
09
F2
FB is inactive function block execution completed without error
FB is being processed – still receiving
CAN is not active
Error: setting is not possible
Description number of the data object identifier
= Data Length Count number of the data bytes received received data, (1...8 bytes) feedback of the function block
(possible messages → following table)
34987
75
ioControl CR2042, CR2052
CAN_RX_ENH_FIFO
= CAN RX enhanced with FiFo
Unit type = function block (FB)
Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35434
>
Description
35359
In addition, CAN_RX_ENH_FIFO provides a FiFo for the received data (as opposed to CAN_RX_ENH
(→ p. 74 )). Thus several CAN messages can be received in one cycle.
No overwriting takes place when the FiFo is full. Inbound messages will be lost.
>
In this event:
► Deactivate and reactive the FB via ENABLE.
>
The FiFo is deleted and can be newly filled.
Description to the filter mask: → CAN_RX_ENH
Description
Parameters of the inputs
35227
Parameter
ENABLE
CHANNEL
ID
Extended
(optional use of the parameter)
ID_Mask
(optional use of the parameter)
Data type
BOOL
BYTE
DWORD
BOOL := FALSE
DWORD := 0
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CAN interface (1...n) depending on the device
Number of the data object identifier: normal frame (2 11 IDs):
0...2 047 = 0x0000 0000...0x0000 07FF extended Frame (2 29 IDs):
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
TRUE: extended Frame (ID = 0...2
29 -1)
FALSE: normal Frame (ID = 0...2
11 -1) filter mask for the identifier: if ID_MASK bit = 0, CAN ID bit may be = 0 or 1 if ID_MASK bit = 1, CAN ID bit must be = ID bit
76
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
MATCHED_ID
DATALENGTHCOUNT
DATA
MORE_DATA_AVAILABLE
RESULT
Data type
DWORD
BYTE
ARRAY [0..7] OF BYTE
BOOL
BYTE
Possible results for RESULT:
Value dec | hex
Description
5
9
0
1
242
250
00
01
05
09
F2
FA
FB is inactive function block execution completed without error
FB is being processed
– still receiving
CAN is not active
Error: setting is not possible
Error: FiFo is full – data was lost
Description number of the data object identifier
= Data Length Count number of the data bytes received received data, (1...8 bytes)
TRUE: further received data available in the FiFo
FALSE: no further data available in the FiFo feedback of the function block
(possible messages → following table)
34990
77
ioControl CR2042, CR2052
CAN_RX_RANGE
Unit type = function block (FB)
Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35413
>
Description
35368
CAN_RX_RANGE provides the following settings:
select the message type (11 or 29 bits),
define an identifier range.
>
CAN_RX filters for the set identifier. If several CAN messages with the same identifier are received in one cycle, only the last / latest message is available.
Parameters of the inputs
35226
Parameter
ENABLE
CHANNEL
ID_START
ID_STOP
Extended
(optional use of the parameter)
Data type
BOOL
BYTE
DWORD
DWORD
BOOL := FALSE
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CAN interface (1...n) depending on the device start number of the data object identifier range: normal frame (2 11 ):
0...2 047 = 0x0000 0000...0x0000 07FF extended frame (2 29 ):
0...536 870 911 = 0x0000 0000...0x1FFF FFFF end number of the data object identifier range: normal frame (2 11 ):
0...2 047 = 0x0000 0000...0x0000 07FF extended frame (2 29 ):
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
TRUE: extended Frame (ID = 0...2
29 -1)
FALSE: normal Frame (ID = 0...2
11 -1)
78
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
ID
DATALENGTHCOUNT
DATA
RESULT
Data type
DWORD
BYTE
ARRAY [0..7] OF BYTE
BYTE
Possible results for RESULT:
Value dec | hex
Description
5
9
0
1
242
00
01
05
09
F2
FB is inactive function block execution completed without error
FB is being processed – still receiving
CAN is not active
Error: setting is not possible
Description
Number of the data object identifier: normal frame (2 048 IDs):
0...2 047 = 0x0000 0000...0x0000 07FF extended Frame (536 868 864 IDs):
2 048...536 870 911 = 0x0000 0800...0x1FFF FFFF
= Data Length Count number of the data bytes received received data, (1...8 bytes) feedback of the function block
(possible messages → following table)
34989
79
ioControl CR2042, CR2052
CAN_RX_RANGE_FIFO
= CAN RX range with FiFo
Unit type = function block (FB)
Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35066
>
Description
CAN_RX_RANGE_FIFO basically works like CAN_RX_RANGE
In addition, CAN_RX_RANGE_FIFO provides a FiFo for the received data. Thus several CAN messages can be received in one cycle.
No overwriting takes place when the FiFo is full. Inbound messages will be lost.
>
In this event:
► Use ENABLE to deactivate and reactivate the function.
> The FiFo is deleted and can be newly filled.
Parameters of the inputs
Parameter
ENABLE
CHANNEL
ID_START
ID_STOP
Extended
(optional use of the parameter)
Data type
BOOL
BYTE
DWORD
DWORD
BOOL := FALSE
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CAN interface (1...n) depending on the device start number of the data object identifier range: normal frame (2 11 ):
0...2 047 = 0x0000 0000...0x0000 07FF extended frame (2 29 ):
0...536 870 911 = 0x0000 0000...0x1FFF FFFF end number of the data object identifier range: normal frame (2 11 ):
0...2 047 = 0x0000 0000...0x0000 07FF extended frame (2 29 ):
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
TRUE: extended Frame (ID = 0...2
29 -1)
FALSE: normal Frame (ID = 0...2
11 -1)
35370
35226
80
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
ID
DATALENGTHCOUNT
DATA
MORE_DATA_AVAILABLE
RESULT
Data type
DWORD
BYTE
ARRAY [0..7] OF BYTE
BOOL
BYTE
Possible results for RESULT:
Value dec | hex
Description
5
9
0
1
242
250
00
01
05
09
F2
FA
FB is inactive function block execution completed without error
FB is being processed
– still receiving
CAN is not active
Error: setting is not possible
Error: FiFo is full – data was lost
Description
Number of the data object identifier: normal frame (2 048 IDs):
0...2 047 = 0x0000 0000...0x0000 07FF extended Frame (536 868 864 IDs):
2 048...536 870 911 = 0x0000 0800...0x1FFF FFFF
= Data Length Count number of the data bytes received received data, (1...8 bytes)
TRUE: further received data available in the FiFo
FALSE: no further data available in the FiFo feedback of the function block
(possible messages → following table)
34984
81
ioControl CR2042, CR2052
Function elements: transmit RAW-CAN data
Content
35711
82
ioControl CR2042, CR2052
CAN_TX
Unit type = function block (FB)
Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35067
>
Description
35372
CAN_TX sends a standard message per cycle.
The FB limits itself to a few functions and the required memory space is low.
> If an instance of this FB is called several times during a cycle, the data is also sent several times.
>
In case of the simple functions CAN_TX and CAN_RX, it is determined by means of the ID whether a standard or an extended frame is to be sent. With the enhanced versions this is set via the input
EXTENDED. Therefore, extended frames in the ID area 0...2047 cannot be sent via the easy functions.
Parameters of the inputs
35243
Parameter
ENABLE
CHANNEL
ID
Data type
BOOL
BYTE
DWORD
ARRAY [0..7] OF BYTE
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CAN interface (1...n) depending on the device
Number of the data object identifier: normal frame (2 048 IDs):
0...2 047 = 0x0000 0000...0x0000 07FF extended Frame (536 868 864 IDs):
2 048...536 870 911 = 0x0000 0800...0x1FFF FFFF data to be sent (1...8 bytes)
>
DATA
Parameters of the outputs
35093
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
0
1
242
250
00
01
F2
FA
FB is inactive function block execution completed without error
Error: setting is not possible
Error: FiFo is full – data was lost
83
ioControl CR2042, CR2052
CAN_TX_ENH
= CAN TX enhanced
Unit type = function block (FB)
Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35078
>
Description
35347
>
Additional setting options are offered through CAN_TX_ENH (for: enhanced). Here, all CAN specific characteristics can be set individually, e.g.:
Is it an 11 or a 29 bit identifier?
The additional inputs can be preset so that CAN_TX
> If an instance of this FB is called several times during a cycle, the data is also sent several times.
Parameters of the inputs
35557
Parameter
ENABLE
CHANNEL
ID
Extended
(optional use of the parameter)
DATALENGTHCODE
DATA
Data type
BOOL := FALSE
BYTE
DWORD
BOOL := FALSE
BYTE
ARRAY [0..7] OF BYTE
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CAN interface (1...n) depending on the device
Number of the data object identifier: normal frame (2 11 IDs):
0...2 047 = 0x0000 0000...0x0000 07FF extended Frame (2 29 IDs):
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
TRUE: extended Frame (ID = 0...2
29 -1)
FALSE: normal Frame (ID = 0...2
11 -1)
= Data Length Code number of the data bytes to be sent (0...8) data to be sent (1...8 bytes)
84
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
0
Value dec | hex
00
Description
FB is inactive
1
242
250
01
F2
FA function block execution completed without error
Error: setting is not possible
Error: FiFo is full – data was lost
35093
85
ioControl CR2042, CR2052
CAN_TX_ENH_CYCLIC
= CAN TX enhanced cyclic
Unit type = function block (FB)
Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35073
>
Description
35346
CAN_TX_ENH_CYCLIC serves for cyclical transmitting of CAN messages.
Otherwise, the FB corresponds to CAN_TX_ENH
► Set the period duration via the parameter PERIOD.
>
If a period is too short, this could lead to a high bus load which could affect the performance of the complete system.
Parameters of the inputs
35240
Parameter
ENABLE
CHANNEL
ID
Extended
(optional use of the parameter)
DataLengthCode
(optional use of the parameter)
DATA
PERIOD
Data type
BOOL
BYTE
DWORD
BOOL := FALSE
BYTE := 8
ARRAY [0..7] OF BYTE
TIME
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CAN interface (1...n) depending on the device
Number of the data object identifier: normal frame (2 11 IDs):
0...2 047 = 0x0000 0000...0x0000 07FF extended Frame (2 29 IDs):
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
TRUE: extended Frame (ID = 0...2
29 -1)
FALSE: normal Frame (ID = 0...2
11 -1) length of the data to be sent (0...8 bytes) data to be sent (1...8 bytes) period duration
86
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
9
242
250
0
1
8
00
01
08
09
F2
FA
FB is inactive
FB execution completed without error
– data is valid function block is active
CAN is not active
Error: setting is not possible
Error: FiFo is full – data was lost
35095
87
ioControl CR2042, CR2052
Function elements: RAW-CAN remote
Content
35757
88
ioControl CR2042, CR2052
CAN_REMOTE_REQUEST
Unit type = function block (FB)
Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35438
>
Description
>
In order to request a remote message, an according requirement is dispatched via
CAN_REMOTE_REQUEST and the response of the other device is sent back as result.
Parameters of the inputs
Parameter
EXECUTE
CHANNEL
ID
>
Extended
(optional use of the parameter)
Parameters of the outputs
Data type
BOOL := FALSE
BYTE
DWORD
BOOL := FALSE
Description
FALSE TRUE (edge): execute function element once otherwise: function element is not active
A function element already started is processed.
CAN interface (1...n) depending on the device
Number of the data object identifier: normal frame (2 11 IDs):
0...2 047 = 0x0000 0000...0x0000 07FF extended Frame (2 29 IDs):
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
TRUE: extended Frame (ID = 0...2
29 -1)
FALSE: normal Frame (ID = 0...2
11 -1)
35362
35220
34983
Parameter
DATALENGTHCOUNT
DATA
RESULT
Data type
BYTE
ARRAY [0..7] OF BYTE
BYTE
Possible results for RESULT:
0
Value dec | hex
00
Description
FB is inactive
1
5
9
242
01
05
09
F2 function block execution completed without error
FB is being processed – still receiving
CAN is not active
Error: setting is not possible
Description
= Data Length Count number of the data bytes received received data, (1...8 bytes) feedback of the function block
(possible messages → following table)
89
ioControl CR2042, CR2052
CAN_REMOTE_RESPONSE
Unit type = function block (FB)
Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35433
>
Description
35365
CAN_REMOTE_RESPONSE provides data to the CAN controller in the device which is automatically sent upon the request of a remote message.
This FB strongly depends on the device type. Only a limited number of remote messages can be set up:
BasicController: CR040n, CR041n, CR043n
BasicDisplay: CR045n max. 40 remote messages
>
PDM360 NG: CR108n, CR120n max. 100 remote messages
Parameters of the inputs
35738
Parameter
ENABLE
CHANNEL
ID
Extended
(optional use of the parameter)
DATALENGTHCODE
DATA
Data type
BOOL := FALSE
BYTE
DWORD
BOOL := FALSE
BYTE
ARRAY [0..7] OF BYTE
Description
TRUE: execute this function element
Edge: enter the new values
FALSE: unit is not executed reset internal remote values
CAN interface (1...n) depending on the device
Number of the data object identifier: normal frame (2 11 IDs):
0...2 047 = 0x0000 0000...0x0000 07FF extended Frame (2 29 IDs):
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
TRUE: extended Frame (ID = 0...2
29 -1)
FALSE: normal Frame (ID = 0...2
11 -1)
= Data Length Code number of the data bytes to be sent (0...8) data to be sent (1...8 bytes)
90
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
8
10
242
0
6
7
08
0A
F2
00
06
07
FB is inactive
FB is being processed
– remote for ID not active
FB is being processed – remote for ID active function block is active no further remote entrys available
Error: setting is not possible
34996
91
ioControl CR2042, CR2052
5.2.3
Function elements: CANopen
Content
35751
For CANopen, ifm electronic provides a number of function elements which will be explained in the following.
Function elements: CANopen status
Content
35741
92
ioControl CR2042, CR2052
CANOPEN_ENABLE
Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35076
>
Description
35343
CANOPEN_ENABLE allows to switch the CANopen master on or off.
► In the application program always call an own instance of the FB CANOPEN_ENABLE
for every CAN interface!
To avoid guarding or heartbeat errors the nodes must be "shut down" via an appropriate sequence first.
If the master is restarted after a stop, all other connected nodes also have to be re-initialised.
>
Without CANOPEN_ENABLE, the CANopen master is started automatically, as far as this has been selected in the configuration.
The configured baud rate is only adopted if CAN_ENABLE
(→ p. 67 ) has not been activated before.
Parameters of the inputs
35162
Parameter
ENABLE
CHANNEL
Baud rate
(optional use of the parameter)
Data type
BOOL := TRUE
BYTE
WORD := 0
Description
TRUE:
• Enable CANopen for the selected channel
• Start CANopen manager or CANopen device
according to the configuration settings
FALSE:
• Disable CANopen for the selected channel
• Terminate CANopen manager or CANopen device
CAN interface (1...n) depending on the device
Baud rate [kbits/s] permissible values = 20, 50, 100, 125, 250, 500, 800, 1 000
0 = use setting from the PLC configuration
93
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameters
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
0
1
14
15
238
239
242
00
01
0E
0F
EE
EF
F2
FB is inactive function block execution completed without error
FB is active
CANopen manager configures devices and sends SDOs
FB is active
CANopen manager is started
Error: CANopen configuration is too large and cannot be started
Error: CANopen manager could not be started
Error: setting is not possible
35009
94
ioControl CR2042, CR2052
CANOPEN_GETBUFFERFLAGS
= Get buffer flags
Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35079
>
Description
CANOPEN_GETBUFFERFLAGS supplies information on the buffer flags.
The flags can be reset via the optional inputs.
>
The function block returns the state of the overflow flags.
Parameters of the inputs
Parameter
EXECUTE
CHANNEL
ResetRXFlags
(optional use of the parameter)
ResetTXFlags
(optional use of the parameter)
Data type
BOOL := FALSE
BYTE
BOOL := FALSE
BOOL := FALSE
Description
FALSE TRUE (edge): execute function element once otherwise: function element is not active
A function element already started is processed.
CAN interface (1...n) depending on the device
TRUE: Provide fag status at the output and then reset
FALSE: function element is not executed
TRUE: Provide flag status at the output and then reset
FALSE: function element is not executed
35340
35146
95
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
RXOVFL
RXWARN
TXOVFL
TXWARN
RESULT
Data type
BOOL
BOOL
BOOL
BOOL
BYTE
Possible results for RESULT:
Value dec | hex
Description
0
1
8
242
00
01
08
F2
FB is inactive function block execution completed without error function block not yet executed
Error: setting is not possible
Description condition of the RX overflow flag
TRUE: overflow in the receive buffer
FALSE: no overflow in receive buffer condition of the RX overflow warning flag
TRUE: level in the receive buffer is critical
FALSE: level in the input buffer is uncritical condition of the TX overflow flag
TRUE: overflow in the transmit buffer
FALSE: no overflow in transmit buffer
Condition of the TX overflow warning flag
TRUE: Level in the transmit buffer is critical
FALSE: Level in the transmit buffer is uncritical feedback of the function block
(possible messages → following table)
35056
96
ioControl CR2042, CR2052
CANOPEN_GETSTATE
= Get state
Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35070
>
Description
35339
>
Via CANOPEN_GETSTATE, parameters of the master, a slave device or a specific node in the network can be set.
Parameters of the inputs
Parameter
EXECUTE
CHANNEL
NODE
Data type
BOOL := FALSE
BYTE
BYTE
Description
FALSE TRUE (edge): execute function element once otherwise: function element is not active
A function element already started is processed.
CAN interface (1...n) depending on the device
Node ID = ID of the node (0...127)
Device as CANopen master:
Value = 0:
Only the status information of the device itself is returned at the outputs. The outputs with information on the nodes are invalid.
Value not 0:
Node ID of a node in the network. For this one as well as for the device the states are returned at the outputs.
Device as CANopen slave:
Value = 0 (preset):
The status information of the slave is returned at the outputs.
Value not 0: no action
35178
97
ioControl CR2042, CR2052
>
Parameters of the outputs
35057
Parameter
MASTERSTATE
PLCNODEID
PLCBAUDRATE
PLCVERSION
CANSTATE
NODESTATE
LASTNODESTATE
RESULT
Data type
BYTE
BYTE
DWORD
DWORD
BYTE
BYTE
BYTE
BYTE
Description
Master state = internal state of the master:
0 = 0x00 = master starts up
4 = 0x04 = node configuration running
5 = 0x05 = normal operating state of the master
255 = 0xFF = PLC running as slave
PLC node ID = node ID of the PLC the program is running on
Value = 0...127 = 0x00...0x7F
Baudrate of the PLC
PLC version
Status of the CANopen network
Device operated as master:
Node ID = 0 (device as such):
0 = 0x00 = OK
128 = 0x80 = BUSOFF
Node ID ≠ 0 (node):
0 = 0x00 = OK
1 = 0x01 = guard or heartbeat error on node
128 = 0x80 = BUSOFF
Device operated as slave:
0 = 0x00 = OK
1 = 0x01 = guard or heartbeat error
128 = 0x80 = BUSOFF
Node state = internal node state of a slave seen from the master's perspective. The input NODEID identifies the node.
-1 = 0xFF = reset after ResetNode
1 = 0x01 = waiting for BOOTUP
2 = 0x02 = after receipt of the BOOTUP message
3 = 0x03 = not yet configured: STOPPED
4 = 0x04 = after configuration with SDOs: PRE-OPERATIONAL
5 = 0x05 = after starting the node: OPERATIONAL
97 = 0x61 = optional node
98 = 0x62 = other device type configured than in 0x1000
99 = 0x63 = node guarding
Last Node State
Node state according to CANopen (with these values the status is also coded in the corresponding messages with regard to the node).
0
4
5
127
0x00 BOOTUP
0x04 STOPPED
0x05 OPERATIONAL
0x7F PRE-OPERATIONAL feedback of the function block
(possible messages → following table)
Possible results for RESULT:
0
Value dec | hex
00
Description
1
8
01
08
FB is inactive
FB execution completed without error – data is valid
FB is active – not yet processed
242 F2 Error: setting is not possible
98
ioControl CR2042, CR2052
CANOPEN_SETSTATE
= Set state
Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35382
>
Description
35344
Via CANOPEN_SETSTATE, parameters of the master, a slave device or a node in the network can be set.
The treatment of the NMT state of master, node or device is carried out in the CAN stack or via the commands of the FB
CANOPEN_NMTSERVICES
(→ p. 103 ). At the same time admissibility checks are
carried out. For reasons of consistency no inputs are provided for this purpose.
99
ioControl CR2042, CR2052
>
Parameters of the inputs
Parameter
EXECUTE
CHANNEL
NODE
GlobalStart
(optional use of the parameter)
CfgTimeout
(optional use of the parameter)
InitNoSdos
(optional use of the parameter)
Data type
BOOL := FALSE
BYTE
BYTE
BOOL := TRUE
TIME := T#0ms
BOOL := FALSE
35165
Description
FALSE TRUE (edge): execute function element once otherwise: function element is not active
A function element already started is processed.
CAN interface (1...n) depending on the device
Node ID = ID of the node (0...127)
Device as CANopen master:
Value = 0:
The changes only refer to the device itself.
Value not 0:
Node ID of a node in the network the parameters of which are to be changed. The established settings are only adopted for this node (not for the device).
Device as CANopen slave:
In slave mode, the node ID of the slave can be set via this input.
Value = 0: no action
Value not 0:
The function block adopts this value as the new node ID of the device.
Requirement: FB must be called immediately after starting the IEC program. This setting overwrites the setting of the configuration.
TRUE: Start all participants simultaneously
FALSE: Start all participants one after the other set configuration timeout for a node:
Value = 0: no action – retain configuration data
Value not 0: overwrite data from the configuration with the new value
To the node indicated in NODE, during initialisation,...
TRUE: do not send configuration data
FALSE: send configured SDOs
>
Parameters of the outputs
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
0
1
8
242
00
01
08
F2
FB is inactive
FB execution completed without error – data is valid
FB is active – not yet processed
Error: setting is not possible
35060
100
ioControl CR2042, CR2052
Function elements: CANopen network management
Content
35754
101
ioControl CR2042, CR2052
CANOPEN_GETNMTSTATESLAVE
= Get network management state slave
Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35416
>
Description
>
► Only use the FB if the device is operated as CANopen slave!
With CANOPEN_GETNMTSTATESLAVE, only the operating state according to CANopen and an error message are reported to the application if an invalid state transition has been requested.
35345
Parameters of the inputs
35164
Parameter
EXECUTE
Data type
BOOL := FALSE
BYTE
Description
FALSE TRUE (edge): execute function element once otherwise: function element is not active
A function element already started is processed.
CAN interface (1...n) depending on the device
>
CHANNEL
Parameters of the outputs
35061
Parameter
NMTSTATE
RESULT
Data type
BYTE
BYTE
Possible results for RESULT:
Value dec | hex
Description
0
1
8
242
00
01
08
F2
FB is inactive function block execution completed without error
FB is active – not yet processed
Error: setting is not possible
Description
Network operating status of the node
0 = INIT
1 = OPERATIONAL
2 = PRE-OPERATIONAL
3 = STOPPED feedback of the function block
(possible messages → following table)
102
ioControl CR2042, CR2052
CANOPEN_NMTSERVICES
= Network management services
Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35068
>
Description
Depending on its NMT command entries, CANOPEN_NMTSERVICES either triggers an NMT command or the initialisation of a node.
NMT = N etworkM anagemen T
The function block updates the internal node status. If a state transition to CANopen ( → system manual "Know-How ecomat mobile " >
NMT state
) should not be permitted, the command is not executed.
>
A CANopen device can automatically change its CANopen state by means of the FB: preoperational operational
Parameters of the inputs
35354
35163
Parameter
EXECUTE
CHANNEL
NODE
NMTSERVICE
Timeout
(optional use of the parameter)
Data type
BOOL := FALSE
BYTE
BYTE
BYTE
TIME := T#0ms
Description
FALSE TRUE (edge): execute function element once otherwise: function element is not active
A function element already started is processed.
CAN interface (1...n) depending on the device
CANopen ID of the node permissible = 0...127 = 0x00...0x7F
NODE = 0: command applies to all nodes in the network
NODE = Node ID of the device: command applies to the device as such network command
0 = init node (except master)
1 = enter PRE-OPERATIONAL
2 = start node
3 = reset node
4 = reset communication
5 = stop node waiting time of the FB for the initialisation when the time has elapsed, the FB stops waiting.
0 = use value from the configuration
103
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
0
Value dec | hex
00
Description
FB is inactive
1
8
35
36
37
43
241
242
24
25
2B
F1
F2
01
08
23 function block execution completed without error function block is active at least 1 SDO of the configuration was not successful node was already initialised when initialisation was requested the node was not in the PRE-OPERATIONAL mode master / slave is not initialised
Error: CANopen state transition is not permitted
Error: setting is not possible
35062
104
ioControl CR2042, CR2052
Function elements: CANopen object directory
Content
35759
105
ioControl CR2042, CR2052
CANOPEN_GETODCHANGEDFLAG
= Get object directory changed flag
Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35071
>
Description
35332
>
CANOPEN_GETODCHANGEDFLAG reports any change of value for a particular object directory entry.
Parameters of the inputs
35167
Parameter
EXECUTE
>
CHANNEL
IDX
SUBIDX
Parameters of the outputs
Data type
BOOL := FALSE
BYTE
WORD
BYTE
Description
FALSE TRUE (edge): execute function element once otherwise: function element is not active
A function element already started is processed.
CAN interface (1...n) depending on the device index in object directory sub-index referred to the index in the object directory
35074
Parameter
DATA
RESULT
Data type
DWORD
BYTE
Description parameter value feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
0
1
8
242
00
01
08
F2
FB is inactive function block execution completed without error
FB is active – not yet processed
Error: setting is not possible
106
ioControl CR2042, CR2052
CANOPEN_READOBJECTDICT
= Read object directory
Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35375
>
Description
35331
>
CANOPEN_READOBJECTDICT reads up to 4 bytes of configuration data from the object directory of the device for use in the application program.
Parameters of the inputs
35177
Parameter
EXECUTE
>
CHANNEL
IDX
SUBIDX
Parameters of the outputs
Data type
BOOL := FALSE
BYTE
WORD
BYTE
Description
FALSE TRUE (edge): execute function element once otherwise: function element is not active
A function element already started is processed.
CAN interface (1...n) depending on the device index in object directory sub-index referred to the index in the object directory
35055
Parameter
DATA
RESULT
Data type
DWORD
BYTE
Description parameter value feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
0
1
8
40
242
00
01
08
28
F2
FB is inactive function block execution completed without error function block not yet executed object directory entry is invalid
Error: setting is not possible
107
ioControl CR2042, CR2052
CANOPEN_WRITEOBJECTDICT
= Write object directory
Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35399
>
Description
CANOPEN_WRITEOBJECTDICT writes configuration data to the object directory of the controller.
35330
>
NOTICE
This could lead to falsification of important system settings, e.g.:
- guarding times
- heartbeat times
► Carefully verify input parameters!
Parameters of the inputs
35147
Parameter
EXECUTE
CHANNEL
IDX
SUBIDX
DATA
Data type
BOOL := FALSE
BYTE
WORD
BYTE
DWORD
Description
FALSE TRUE (edge): execute function element once otherwise: function element is not active
A function element already started is processed.
CAN interface (1...n) depending on the device index in object directory sub-index referred to the index in the object directory parameter value
108
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
0
1
8
40
242
00
01
08
28
F2
FB is inactive function block execution completed without error function block not yet executed object directory entry is invalid
Error: setting is not possible
35048
109
ioControl CR2042, CR2052
Function elements: CANopen SDOs
Content
28407
Here you will find ifm function elements for CANopen handling of Service Data Objects (SDOs).
110
ioControl CR2042, CR2052
CANOPEN_SDOREAD
= SDO read
Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35378
>
Description
35342
CANOPEN_SDOREAD is an easy function block for editing "Expedited SDOs", i.e. SDOs with max.
4 bytes of user data. This type usually represents the bigger part of the SDO communication.
>
Expedited SDO = Expedited Service Data Object
A considerable amount of memory space can be saved due to the limitation of the data volume to max. 4 bytes of user data, as this FB only needs to reserve 4 bytes as buffer storage and does not create a large data array itself.
Parameters of the inputs
35161
Parameter
EXECUTE
CHANNEL
NODE
IDX
SUBIDX
Timeout
(optional use of the parameter)
Data type
BOOL := FALSE
BYTE
BYTE
WORD
BYTE
TIME := T#10ms
Description
FALSE TRUE (edge): execute function element once otherwise: function element is not active
A function element already started is processed.
CAN interface (1...n) depending on the device
ID of the node permissible values = 1...127 = 0x01...0x7F index in object directory sub-index referred to the index in the object directory waiting time of the FB for the response when the time has elapsed, the FB stops waiting. value = 0: use value from the configuration
111
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
LEN
DATA
RESULT
Data type
BYTE
DWORD
BYTE
Description number of the bytes received (1...4) the received data value (up to 4 bytes) feedback of the function block
(possible messages → following table)
Possible results for RESULT:
0
Value dec | hex
00
Description
1
5
32
33
01
05
20
21
FB is inactive
FB execution completed without error – data is valid
FB is active
– no data received yet
SDO transmission aborted by client or server
(SDO abort code 0x80)
TIMEOUT elapsed
242
255
F2
FF
Error: setting is not possible buffer overflow
– too many data bytes were received
35008
112
ioControl CR2042, CR2052
CANOPEN_SDOREADBLOCK
= SDO Read Block
Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35381
>
Description
35363
CANOPEN_SDOREADBLOCK reads the indicated entry in the object directory of a node in the network via SDO block transfer.
>
If the node doesn't support block transfer, the FB automatically changes to "segmented transfer".
You can also directly change to "segmented transfer" via the input.
>
The COB ID for the SDO is calculated from the transmitted node ID.
The length of multiframe SDOs is generally not limited.
For systems without a file system (e.g. BasicController CR04nn) the following applies:
► transmit an address to the FB which is accessed by the pointer for writing. The memory area determined by the start address DATA and the amount of data MAX_LEN must be available!
> If the amount of data is greater than indicated, the transfer is stopped and signalled via RESULT.
For systems with a file system (e.g. PDM360NG CR108n) the following applies:
► transmit the path and name of a file to the FB, in which the data is to be saved in binary format.
>
The output RESULT provides information on the status of the SDO transmission.
113
ioControl CR2042, CR2052
>
Parameters of the inputs
Parameter
EXECUTE
CHANNEL
NODE
IDX
SUBIDX
DATA
FILE
MAX_LEN
SegmentedTransfer
(optional use of the parameter)
Timeout
(optional use of the parameter)
>
Parameters of the outputs
Data type
BOOL := FALSE
BYTE
BYTE
WORD
BYTE
DWORD
STRING(80)
DWORD
BOOL := FALSE
TIME := T#10ms
35002
Description
FALSE TRUE (edge): execute function element once otherwise: function element is not active
A function element already started is processed.
CAN interface (1...n) depending on the device
(Node ID) ID of the node allowed = 1...127 = 0x01...0x7F
The COB ID of the SDO is calculated from the node ID + 0x600 index in object directory sub-index referred to the index in the object directory
Address of the data zone for storage of the received data
Input is without function for devices with file system (Linux).
Path and file name for storage of the received data in binary format
Input without function for device without file system
(BasicSystem).
Maximum permitted number of bytes which may be received
TRUE: Segmented SDO transfer
FALSE: SDO block transfer waiting time of the FB for the response when the time has elapsed, the FB stops waiting. value = 0: use value from the configuration
Parameter
LEN
RESULT
Data type
DWORD
BYTE
Description number of received data bytes feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
33
64
65
66
242
16
17
32
0
1
5
21
40
41
42
F2
10
11
20
00
01
05
FB is inactive
FB execution completed without error – data is valid
FB is active – no data received yet
Transmission is active as a segmented download
Transmission is active as a block download
SDO transmission aborted by client or server
(SDO abort code 0x80)
TIMEOUT elapsed
Error: Write pointer outside admissible data range
Error: File could not be opened
Error when writing to file
Error: setting is not possible
114
35204
ioControl CR2042, CR2052
CANOPEN_SDOREADMULTI
= SDO read multi
Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35376
>
Description
>
35349
CANOPEN_SDOREADMULTI reads the indicated entry in the object directory of a node in the network. The COB ID for the SDO is calculated from the transmitted node ID according to CANopen convention.
Parameters of the inputs
35156
Parameter
EXECUTE
CHANNEL
NODE
IDX
SUBIDX
Timeout
(optional use of the parameter)
Data type
BOOL := FALSE
BYTE
BYTE
WORD
BYTE
TIME := T#10ms
Description
FALSE TRUE (edge): execute function element once otherwise: function element is not active
A function element already started is processed.
CAN interface (1...n) depending on the device
(Node ID) ID of the node allowed = 1...127 = 0x01...0x7F
The COB ID of the SDO is calculated from the node ID + 0x600 index in object directory sub-index referred to the index in the object directory waiting time of the FB for the response when the time has elapsed, the FB stops waiting. value = 0: use value from the configuration
115
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
LEN
DATA
RESULT
Data type
DWORD
Description number of the bytes received permissible values = 1...2 048 = 0x0000 0001...0x0000 0800
ARRAY [0..SDOMAXDATA] OF
BYTE buffer memory for user data of the SDO data transmission
BYTE feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
0
1
5
32
33
242
255
21
F2
FF
00
01
05
20
FB is inactive
FB execution completed without error – data is valid
FB is active – no data received yet
SDO transmission aborted by client or server
(SDO abort code 0x80)
TIMEOUT elapsed
Error: setting is not possible
Error: not enough memory available for the consuming multiframe
35007
116
ioControl CR2042, CR2052
CANOPEN_SDOWRITE
= SDO write
Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35387
>
Description
35348
CANOPEN_SDOWRITE is an easy function block for editing "Expedited SDOs", i.e. SDOs with max.
4 bytes user data. This type usually represents the bigger part of the SDO communication.
>
Expedited SDO = expedited service data object
A considerable amount of memory space can be saved due to the limitation of the data volume to max. 4 bytes of user data because this FB only needs to reserve 4 bytes as buffer storage and does not create a large data array itself.
Parameters of the inputs
35157
Parameter
EXECUTE
CHANNEL
NODE
IDX
SUBIDX
LEN
DATA
Timeout
(optional use of the parameter)
Data type
BOOL := FALSE
BYTE
BYTE
WORD
BYTE
BYTE
ARRAY [0..3] OF BYTE
TIME := T#10ms
Description
FALSE TRUE (edge): execute function element once otherwise: function element is not active
A function element already started is processed.
CAN interface (1...n) depending on the device
ID of the node permissible values = 1...127 = 0x01...0x7F index in object directory sub-index referred to the index in the object directory number of the data bytes to be transmitted permissible values = 1...4 = 0x01...0x04 data area (1...4 bytes) waiting time of the FB for the response when the time has elapsed, the FB stops waiting. value = 0: use value from the configuration
117
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
0
Value dec | hex
00
Description
1
8
01
08
FB is inactive
FB execution completed without error – data is valid function block is active
32 20
33
242
21
F2
SDO transmission aborted by client or server
(SDO abort code 0x80)
TIMEOUT elapsed
Error: setting is not possible
35087
118
ioControl CR2042, CR2052
CANOPEN_SDOWRITEBLOCK
= SDO Write Block
Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35390
>
Description
35320
CANOPEN _SDOWRITEBLOCK writes in the indicated entry in the object directory of a node in the network via SDO block transfer.
You can change to segmented transfer via the FB input if required.
> The COB ID for the SDO is calculated from the transmitted node ID.
> The output RESULT provides information on the status of the SDO transmission.
The length of multiframe SDOs is generally not limited.
For systems without a file system (e.g. BasicController CR04nn) the following applies:
► transmit an address to the FB which is accessed by the pointer for reading.
For systems with a file system (e.g. PDM360NG CR108n) the following applies:
► Transmit the path and name of a file to the FB, from which the data is to be read in binary format.
119
ioControl CR2042, CR2052
>
Parameters of the inputs
Parameter
EXECUTE
CHANNEL
NODE
IDX
SUBIDX
LEN
DATA
FILE
SegmentedTransfer
(optional use of the parameter)
Timeout
(optional use of the parameter)
>
Parameters of the outputs
Data type
BOOL := FALSE
BYTE
BYTE
WORD
BYTE
DWORD
DWORD
STRING(80)
BOOL := FALSE
TIME := T#10ms
35005
Description
FALSE TRUE (edge): execute function element once otherwise: function element is not active
A function element already started is processed.
CAN interface (1...n) depending on the device
(Node ID) ID of the node allowed = 1...127 = 0x01...0x7F
The COB ID of the SDO is calculated from the node ID + 0x600 index in object directory sub-index referred to the index in the object directory number of data bytes to be transmitted in DATA allowed = 1...2 048 = 0x0000 0001...0x0000 0800
Address of the data zone for reading of the data to be transmitted
Input is without function for devices with file system (Linux).
Path and file name for reading of the data to be transmitted in binary format
Input without function for device without file system
(BasicSystem).
TRUE: Segmented SDO transfer
FALSE: SDO block transfer waiting time of the FB for the response when the time has elapsed, the FB stops waiting. value = 0: use value from the configuration
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
0
1
8
16
17
32
33
65
242
21
41
F2
00
01
08
10
11
20
FB is inactive
FB execution completed without error – data is valid
FB is active – not yet processed
Transmission is active as a segmented download
Transmission is active as a block download
SDO transmission aborted by client or server
(SDO abort code 0x80)
TIMEOUT elapsed
Error: File could not be opened
Error: setting is not possible
120
35203
ioControl CR2042, CR2052
CANOPEN_SDOWRITEMULTI
= SDO write multi
Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35377
>
Description
35355
>
CANOPEN_SDOWRITEMULTI writes the indicated entry in the object directory of a node in the network. The COB ID for the SDO is calculated from the transmitted node ID according to CANopen convention.
Parameters of the inputs
35166
Parameter
EXECUTE
CHANNEL
NODE
IDX
SUBIDX
LEN
DATA
Timeout
(optional use of the parameter)
Data type
BOOL := FALSE
BYTE
BYTE
WORD
BYTE
DWORD
Description
FALSE TRUE (edge): execute function element once otherwise: function element is not active
A function element already started is processed.
CAN interface (1...n) depending on the device
ID of the node permissible values = 1...127 = 0x01...0x7F index in object directory sub-index referred to the index in the object directory number of the data bytes to be transmitted permissible values = 1...2 048 = 0x0000 0001...0x0000 0800
ARRAY [0..SDOMAXDATA] OF
BYTE buffer memory for user data of the SDO data transmission
TIME := T#10ms waiting time of the FB for the response when the time has elapsed, the FB stops waiting. value = 0: use value from the configuration
121
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
0
Value dec | hex
00
Description
1
8
01
08
FB is inactive
FB execution completed without error – data is valid function block is active
32 20
33
242
21
F2
SDO transmission aborted by client or server
(SDO abort code 0x80)
TIMEOUT elapsed
Error: setting is not possible
35063
122
ioControl CR2042, CR2052
Function elements: CANopen SYNC
Content
35742
123
ioControl CR2042, CR2052
CANOPEN_GETSYNCSTATE
= Get SYNC state
Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35069
>
Description
35334
CANOPEN_GETSYNCSTATE reads...
• the setting of the SYNC functionality (active / not active),
• the error state of the SYNC functionality (SyncError).
If the PLC CAN runs as CANopen slave, it is signalled via this FB whether SYNC signals are absent or appear regularly.
>
Synchronous PDOS etc. are handled in the CAN stack. CANOPEN_GETSYNCSTATE, however, provides the error state so that the application program can react accordingly.
Parameters of the inputs
35175
Parameter
EXECUTE
CHANNEL
Data type
BOOL := FALSE
BYTE
Description
FALSE TRUE (edge): execute function element once otherwise: function element is not active
A function element already started is processed.
CAN interface (1...n) depending on the device
124
ioControl CR2042, CR2052
>
Parameters of the outputs
35058
Parameter
SYNC
SYNCERROR
RESULT
Data type
BOOL
BYTE
BYTE
Possible results for RESULT:
0
Value dec | hex
00
Description
FB is inactive
1
8
242
01
08
F2 function block execution completed without error function block not yet executed
Error: setting is not possible
Description status of the SYNC functionality
TRUE: SYNC is activated:
In the master mode SYNC telegrams are generated according to the settings in the configuration, and synchronous PDOs are transmitted and received.
In the slave mode SYNC telegrams are received and accordingly processed.
FALSE: SYNC is not active
(sync error) SYNC error message
0 = no error
>0 = SYNC error (slave mode) feedback of the function block
(possible messages → following table)
125
ioControl CR2042, CR2052
CANOPEN_SETSYNCSTATE
= Set SYNC state
Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35400
>
Description
35337
>
With CANOPEN_SETSYNCSTATE, the SYNC functionality is switched on and off.
Parameters of the inputs
Parameter
EXECUTE
CHANNEL
SYNC
Data type
BOOL := FALSE
BYTE
BOOL
35176
Description
FALSE TRUE (edge): execute function element once otherwise: function element is not active
A function element already started is processed.
CAN interface (1...n) depending on the device status of the SYNC functionality
TRUE: SYNC is activated:
In the master mode SYNC telegrams are generated according to the settings in the configuration, and synchronous PDOs are transmitted and received.
In the slave mode SYNC telegrams are received and accordingly processed.
FALSE: SYNC is not active
>
Parameters of the outputs
35080
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
0
Value dec | hex
00
Description
FB is inactive
1
8
38
242
01
08
26
F2 function block execution completed without error function block not yet executed
SYNC could not be activated
Error: setting is not possible
126
ioControl CR2042, CR2052
Function elements: CANopen guarding
Content
35753
127
ioControl CR2042, CR2052
CANOPEN_GETGUARDHBERRLIST
= Get guard and heartbeat error list
Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35418
>
Description
35335
>
CANOPEN_GETGUARDHBERRLIST lists all nodes in an array for which the master has detected an error:
• guarding error
• heartbeat error
Parameters of the inputs
35124
Parameter
EXECUTE
CHANNEL
ResetList
(optional use of the parameter)
Data type
BOOL := FALSE
BYTE
BOOL := FALSE
Description
FALSE TRUE (edge): execute function element once otherwise: function element is not active
A function element already started is processed.
CAN interface (1...n) depending on the device
Reset error list
TRUE: Provide the error list as well as number of faulty nodes at the output and then reset.
FALSE: function element is not executed
>
Parameters of the outputs
35059
Parameter
N_NODES
NODEID
RESULT
Data type
WORD
ARRAY
[0..MAXGUARDERROR] OF
BYTE
BYTE
Possible results for RESULT:
Value dec | hex
Description
0
1
8
242
00
01
08
F2
FB is inactive function block execution completed without error
FB is active – not yet processed
Error: setting is not possible
Description
Number of nodes with heartbeat or guarding error
0 = none of the nodes has a guarding or heartbeat error
List of node IDs with heartbeat or guarding error.
The most recent entry is in index 0.
MAXGUARDERROR depends on device
→ chapter Limitations for CANopen in this device
feedback of the function block
(possible messages → following table)
128
ioControl CR2042, CR2052
CANOPEN_GETGUARDHBSTATSLV
= Get guard and heartbeat state slave
Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35417
>
Description
35314
CANOPEN_GETGUARDANDHBSTATESLAVE reports the following states to the controller in slave operation:
- monitoring of node guarding
- monitoring of heartbeat
>
The controller can either be the heartbeat producer or the heartbeat consumer.
Parameters of the inputs
35125
Parameter
EXECUTE
CHANNEL
Reset
(optional use of the parameter)
Data type
BOOL := FALSE
BYTE
BOOL := FALSE
Description
FALSE TRUE (edge): execute function element once otherwise: function element is not active
A function element already started is processed.
CAN interface (1...n) depending on the device
TRUE: Provide the current states at the outputs and then reset to "No error"
FALSE: function element is not executed
129
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
GUARDSTATE
PROD_HBSTATE
CONS_HBSTATE
CONS_HBCOBID
RESULT
Data type
BYTE
BYTE
BYTE
WORD
BYTE
Possible results for RESULT:
0
Value dec | hex
00
Description
FB is inactive
1
8
242
01
08
F2 function block execution completed without error
FB is active
– not yet processed
Error: setting is not possible
Description
Status of node guarding:
0 = 0x00 = no error (or: not active)
1 = 0x01 = timeout (configuration)
127 = 0x7F = no guarding message received controller as heartbeat producer:
0 = 0x00 = inactive
1 = 0x01 = active controller as heartbeat consumer:
0 = 0x00 = no fault
1 = 0x01 = timeout (configuration)
127 = 0x7F = no heartbeat message received yet
COB-ID of the heartbeat message the consumer heartbeat of the controller is reacting to (configuration) feedback of the function block
(possible messages → following table)
35050
130
ioControl CR2042, CR2052
Function elements: CANopen emergency
Content
35740
131
ioControl CR2042, CR2052
CANOPEN_GETEMCYMESSAGES
= Get emergency messages
Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35065
>
Description
35338
>
CANOPEN_GETEMCYMESSAGES returns all emergency messages that have been received by the controller from other nodes in the network since the last deletion of messages.
The list can be reset by setting the according input. A maximum of MAXEMCYMSGS messages is stored. Each message contains information from which the node it was sent. The most recent message is in index 0.
Parameters of the inputs
35170
Parameter
EXECUTE
CHANNEL
RstList
(optional use of the parameter)
Data type
BOOL := FALSE
BYTE
BOOL := FALSE
Description
FALSE TRUE (edge): execute function element once otherwise: function element is not active
A function element already started is processed.
CAN interface (1...n) depending on the device
TRUE: Provide list with accumulated CAN messages at the output and then delete
FALSE: function element is not executed
132
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
N_MSGS
EMCY
RESULT
Data type
DWORD
ARRAY [0..MAXEMCYMSGS]
OF T_EMCY
BYTE
Possible results for RESULT:
Value dec | hex
Description
0
1
8
242
00
01
08
F2
FB is inactive function block execution completed without error
FB is active – not yet processed
Error: setting is not possible
Description
Number of accumulated messages
Emergency messages
The most recent entry is in index 0.
Structure of T_EMCY:
.NODEID
.EEC
.ER
.MSEF
ID of the node from which the message came
Emergency Error Code
Error register
Manufacturer Specific Error Code
MAXEMCYMSG = 10 feedback of the function block
(possible messages → following table)
35075
133
ioControl CR2042, CR2052
CANOPEN_GETERRORREGISTER
= Get error register
Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35419
>
>
Description
35336
CANOPEN_GETERRORREGISTER reads the error registers 0x1001 and 0x1003 from the controller.
Parameters of the inputs
35169
Parameter
EXECUTE
CHANNEL
Reset_1001
(optional use of the parameter)
Reset_1003
(optional use of the parameter)
Data type
BOOL := FALSE
BYTE
BOOL := FALSE
BOOL := FALSE
Description
FALSE TRUE (edge): execute function element once otherwise: function element is not active
A function element already started is processed.
CAN interface (1...n) depending on the device
TRUE: Reset error register 0x1001
FALSE: function element is not executed
TRUE: Reset error register 0x1003
Set number of entries to 0
FALSE: function element is not executed
The inputs remain unchanged.
134
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
ER
ERROR_FIELD
RESULT
Data type
BYTE
ARRAY [0..MAXERR] OF
DWORD
BYTE
Possible results for RESULT:
Value dec | hex
Description
0
1
8
242
00
01
08
F2
FB is inactive function block execution completed without error
FB is active – not yet processed
Error: setting is not possible
Description
Content of the error register 0x1001
Content of the error register 0x1003
Index 0 = number of the stored errors
Index 1...MAXERR = stored errors
The most recent error is in index 1
Preset: MAXERR = 5 feedback of the function block
(possible messages → following table)
35052
135
ioControl CR2042, CR2052
CANOPEN_SENDEMCYMESSAGE
= Send emergency message
Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35388
>
Description
35333
>
CANOPEN_SENDEMCYMESSAGE sends an EMCY message. The message is assembled from the according parameters and entered in register 0x1003. The COB ID for the emergency message is determined from the configuration data.
Parameters of the inputs
35168
Parameter
EXECUTE
CHANNEL
ERRORACTIVE
EEC
ER
(optional use of the parameter)
MSEF
Data type
BOOL := FALSE
BYTE
BOOL
WORD
BYTE := 0
ARRAY [0..4] OF BYTE
Description
FALSE TRUE (edge): execute function element once otherwise: function element is not active
A function element already started is processed.
CAN interface (1...n) depending on the device
FALSE TRUE (edge): sends the next error code
TRUE FALSE (edge):
If the error is no longer given, a message that there is no error is sent after a delay of 1 s.
EEC = Emergency Error Code
0 = use value from error register 0x1001
Write1003
(optional use of the parameter)
SendSysStatus
(optional use of the parameter)
BOOL := FALSE
BOOL := FALSE
MSEF = Manufacturer Specific Error Code =
Additional error code which is defined by the manufacturer.
Value comes from the application.
TRUE: Enter this EMCY message in object 0x1003
FALSE: function element is not executed
Send system status
TRUE: The system status is checked and in case of an error state this is transmitted to the network.
FALSE: function element is not executed
136
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
0
Value dec | hex
00
Description
FB is inactive
1
8
39
242
01
08
27
F2 function block execution completed without error
FB is active – not yet processed no object 1001
16
in the configuration
Error: setting is not possible
35053
137
ioControl CR2042, CR2052
5.2.4
Function elements: SAE J1939
Content
28361
For SAE J1939, ifm electronic provides a number of function elements which will be explained in the following.
Function elements: SAE J1939 status
Content
35717
138
ioControl CR2042, CR2052
J1939_ENABLE
Unit type = function block (FB)
Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35252
>
Description
For initialisation of the J1939 stack, J1939_ENABLE is set to TRUE=1.
> This FB also causes booting of the soft I/Os of the CFG file.
> A different baud rate is only adopted if CAN_ENABLE has not been activated before.
>
ACE = A ddress C laiming E nable:
If an ifm controller communicates with only one engine controller via J1939: set ACE = FALSE.
If however several engine controllers are working on the same bus: set ACE = TRUE.
In this case the engine controllers must support the address claiming!
Otherwise you will risk an overlapping of addresses with subsequent system failure.
Parameters of the inputs
Parameter
ENABLE
CHANNEL
Baud rate
(optional use of the parameter)
PreferredAddress
(optional use of the parameter)
Ace
(optional use of the parameter)
Data type
BOOL := FALSE
BYTE
WORD := 250
BYTE = 252
BOOL := TRUE
Description
TRUE: Enable J1939 channel
Ace=TRUE: Address claiming effected
FALSE: Block J1939 channel
CAN interface (1...n) depending on the device
Baud rate [Kbits/s] permissible values: 20, 50, 100, 125, 250, 500, 800, 1 000 preferred source address
Address Claiming Enable
TRUE: Address claiming enabled
(control unit is self-configuring)
FALSE: No address claiming
35360
35222
139
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
0
Value dec | hex
00
Description
FB is inactive
1
8
9
242
01
08
09
F2 function block execution completed without error function block is active
CAN is not active
Error: setting is not possible
35102
140
ioControl CR2042, CR2052
J1939_GETDABYNAME
= get destination arbitrary name
Unit type = function block (FB)
Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35246
>
Description
35358
Via J1939_GETDABYNAME, the target address of one or several participants can be determined by means of the name information.
If a specific value is set on the optional inputs:
the result list will only show the participants with this specific value.
If no value or the default value is set on the optional inputs:
this entry is not taken into account during filtration of the list.
141
ioControl CR2042, CR2052
>
Parameters of the inputs
Parameter
ENABLE
CHANNEL
IndustryGroup
(optional use of the parameter)
VehicleSystemInstance
(optional use of the parameter)
VehicleSystem
(optional use of the parameter) nFunction
(optional use of the parameter)
FunctionInstance
(optional use of the parameter)
ECUInstance
(optional use of the parameter)
ManufacturerCode
(optional use of the parameter)
IdentityNumber
(optional use of the parameter)
>
Parameters of the outputs
Data type
BOOL
BYTE
BYTE = 0xFF
BYTE := 0xFF
BYTE := 0xFF
WORD := 0xFFFF
BYTE := 0xFF
BYTE := 0xFF
WORD := 0xFFFF
DWORD := 0xFFFF FFFF
35212
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CAN interface (1...n) depending on the device industry group = industry group of the device permissible values = 0...7
255 = 0xFF = filter for all instance of the vehicle system permissible values = 0...15 = 0x00...0x0F
255 = 0xFF = filter for all vehicle system permissible values = 0...127 = 0x00...0x7F
255 = 0xFF = filter for all function of the device permissible values = 0...255 = 0x0000...0x00FF
65 535 = 0xFFFF = filter for all instance of the function permissible values = 0...31 = 0x00...0x1F
255 = 0xFF = filter for all instance of the control device permissible values = 0...7
255 = 0xFF = filter for all manufacturer code (must be requested from SAE) permissible values = 0...2047 (2 11 -1) = 0x0000...0x07FF
65 535 = 0xFFFF = filter for all serial number of the device (should not be overwritten) permissible values = 0...2047 (2 11 -1) = 0x0000 0000...0x0000 07FF
4 294 967 295 = 0xFFFF FFFF = filter for all
Parameter
DA
NUMBER
RESULT
Data type
ARRAY [0..254] OF BYTE
BYTE
BYTE
Description
List of found participants
255 = no participant found with this number
Number of found bus participants. feedback of the function block
(possible messages → following table)
Possible results for RESULT:
0
Value dec | hex
00
1 01
Description
FB is inactive
FB execution completed without error – data is valid
8
242
08
F2 function block is active
Error: setting is not possible
34986
142
ioControl CR2042, CR2052
J1939_NAME
Unit type = function block (FB)
Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35257
>
Description
35371
Via J1939_NAME, the device can be given a name for identification in the network.
By default the name of ifm is used.
The user has the following options to change the name of the device:
► use the information from the CFG file or
► overwrite the requested data via J1939_NAME.
> If no value or a default value is set at the optional inputs:
the preset value is not overwritten.
The following list shows the composition of the 64 bit NAME information according to SAE J1939-81:
Parameter arbitrary address capable industry group vehicle system instance vehicle system reserved function function instance
Data type
1 bit
3 bits
4 bits
7 bits
1 bit
8 bits
5 bits
Description any desired address available industry group of the device instance of the vehicle system vehicle system reserved function of the device instance of the function
ECU instance manufacturer code
3 bits
11 bits instance of the controller manufacturer code (must be applied for at SAE) identify number 21 bits serial number of the device (should not be overwritten)
Table: Composition of the 64 bit NAME information according to SAE J1939-81
143
ioControl CR2042, CR2052
>
Parameters of the inputs
Parameter
ENABLE
CHANNEL
IndustryGroup
(optional use of the parameter)
VehicleSystemInstance
(optional use of the parameter)
VehicleSystem
(optional use of the parameter) nFunction
(optional use of the parameter)
FunctionInstance
(optional use of the parameter)
ECUInstance
(optional use of the parameter)
ManufacturerCode
(optional use of the parameter)
IdentityNumber
(optional use of the parameter)
>
Parameters of the outputs
Data type
BOOL := FALSE
BYTE
BYTE = 0xFF
BYTE := 0xFF
BYTE := 0xFF
WORD := 0xFFFF
BYTE := 0xFF
BYTE := 0xFF
WORD := 0xFFFF
DWORD := 0xFFFF FFFF
35223
Description
TRUE: Any desired address available
FALSE: Fixed address
CAN interface (1...n) depending on the device industry group = industry group of the device permissible values = 0...7
255 = 0xFF = filter for all instance of the vehicle system permissible values = 0...15 = 0x00...0x0F
255 = 0xFF = filter for all vehicle system permissible values = 0...127 = 0x00...0x7F
255 = 0xFF = filter for all function of the device permissible values = 0...255 = 0x0000...0x00FF
65 535 = 0xFFFF = filter for all instance of the function permissible values = 0...31 = 0x00...0x1F
255 = 0xFF = filter for all instance of the control device permissible values = 0...7
255 = 0xFF = filter for all manufacturer code (must be requested from SAE) permissible values = 0...2047 (2 11 -1) = 0x0000...0x07FF
65 535 = 0xFFFF = filter for all serial number of the device (should not be overwritten) permissible values = 0...2047 (2 11 -1) = 0x0000 0000...0x0000 07FF
4 294 967 295 = 0xFFFF FFFF = filter for all
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
0
1
8
242
00
01
08
F2
FB is inactive function block execution completed without error function block is active
Error: setting is not possible
34995
144
ioControl CR2042, CR2052
J1939_STATUS
Unit type = function block (FB)
Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35259
>
Description
>
Via J1939_STATUS, relevant information can be read back to the J1939 stack.
Parameters of the inputs
Parameter
ENABLE
Data type
BOOL
BYTE
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CAN interface (1...n) depending on the device
>
CHANNEL
Parameters of the outputs
Parameter
SA
CYCLIC
TIMEOUT
Data type
BYTE
WORD
BYTE
35361
35213
Description claimed source address number of the cyclic messages source address of the node which did not provided data for the process image in due time
255 = 0xFF = all nodes sent the data in due time
Version of the ifm CAN stack library feedback of the function block
(possible messages → following table)
34985
VERSION
RESULT
DWORD
BYTE
Possible results for RESULT:
Value dec | hex
Description
3
4
242
0
1
2
03
04
F2
00
01
02
FB is inactive
Protocol is active
Protocol is not active
Source address requested
Address lost
Error: setting is not possible
145
ioControl CR2042, CR2052
Function elements: SAE J1939 request
Content
35704
146
ioControl CR2042, CR2052
J1939_SPEC_REQ
= J1939 Specific Request
Unit type = function block (FB)
Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35253
>
Description
35321
J1939_SPECIFIC_REQUEST requests and receives a specific message from another controller.
>
If a multiframe message is requested:
• the FB provides the first 8 bytes of the data
• RESULT indicates an error
Parameters of the inputs
35083
Parameter
EXECUTE
CHANNEL
PGN
Data type
BOOL := FALSE
BYTE
DWORD
BYTE
Description
FALSE TRUE (edge): execute function element once otherwise: function element is not active
A function element already started is processed.
CAN interface (1...n) depending on the device
PGN = Parameter Group Number permissible = 0...262 143 = 0x00000000...0x0003FFFF
J1939 address of the requested device
>
DA
Parameters of the outputs
35206
Parameter
PRIO
LEN
DATA
RESULT
Data type
BYTE
WORD
ARRAY [0..7] OF BYTE
BYTE
Description message priority (0…7) number of the bytes received (0...8) received data, (1...8 bytes) feedback of the function block
(possible messages → following table)
Possible results for RESULT:
0
Value dec | hex
00
Description
1
5
01
05
FB is inactive
FB execution completed without error – data is valid
FB is active – no data received yet
64
242
40
F2
Error: receive multiframe
Error: setting is not possible
147
ioControl CR2042, CR2052
J1939_SPEC_REQ_MULTI
= J1939 Specific Request Multiframe Message
Unit type = function block (FB)
Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35256
>
Description
35315
>
J1939_SPECIFIC_REQUEST requests and receives a specific multiframe message from another controller.
Parameters of the inputs
35082
Parameter
EXECUTE
CHANNEL
PGN
Data type
BOOL := FALSE
BYTE
DWORD
BYTE
Description
FALSE TRUE (edge): execute function element once otherwise: function element is not active
A function element already started is processed.
CAN interface (1...n) depending on the device
PGN = Parameter Group Number permissible = 0...262 143 = 0x00000000...0x0003FFFF
J1939 address of the requested device
>
DA
Parameters of the outputs
35183
Parameter
PRIO
LEN
DATA
RESULT
Data type
BYTE
WORD
ARRAY [0..1784] OF BYTE
BYTE
Description message priority (0…7) number of data bytes to be transmitted allowed = 1...1 785 = 0x0001...0x06F9
Received data (1...1785 bytes) feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
0
1
5
242
00
01
05
F2
FB is inactive
FB execution completed without error – data is valid
FB is active
– no data received yet
Error: setting is not possible
148
ioControl CR2042, CR2052
Function elements: receive SAE J1939
Content
35702
149
ioControl CR2042, CR2052
J1939_RX
Unit type = function block (FB)
Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35244
>
Description
>
35264
J1939_RX is the easiest method for receiving single frame messages. The message read last on the
CAN bus is returned.
Parameters of the inputs
35214
Parameter
ENABLE
CHANNEL
PGN
Data type
BOOL
BYTE
DWORD
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CAN interface (1...n) depending on the device
PGN = Parameter Group Number permissible = 0...262 143 = 0x00000000...0x0003FFFF
The PGN = 0 is not used.
>
Parameters of the outputs
35001
Parameter
SA
PRIO
LEN
DATA
RESULT
Data type
BYTE
BYTE
WORD
ARRAY [0..7] OF BYTE
BYTE
Possible results for RESULT:
Value dec | hex
Description
5
9
0
1
242
00
01
05
09
F2
FB is inactive function block execution completed without error
FB is active
– no data received yet
CAN is not active
Error: setting is not possible
Description
Source address of the transmitter message priority (0…7) number of the bytes received (0...8) received data, (1...8 bytes) feedback of the function block
(possible messages → following table)
150
ioControl CR2042, CR2052
J1939_RX_FIFO
= J1939 RX with FIFO
Unit type = function block (FB)
Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35247
>
Description
35267
>
J1939_RX_FIFO enables receipt of all specified messages and their successive reading from a FIFO.
Parameters of the inputs
35155
Parameter
ENABLE
CHANNEL
PGN
Data type
BOOL
BYTE
DWORD
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CAN interface (1...n) depending on the device
PGN = Parameter Group Number permissible = 0...262 143 = 0x00000000...0x0003FFFF
The PGN = 0 is not used.
151
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
SA
PRIO
LEN
DATA
MORE_DATA_AVAILABLE
RESULT
Data type
BYTE
BYTE
BYTE
ARRAY [0..7] OF BYTE
BOOL
BYTE
Description
Source address of the transmitter message priority (0…7) number of the bytes received (0...8) received data, (1...8 bytes)
TRUE: further received data available in the FiFo
FALSE: no further data available in the FiFo feedback of the function block
(possible messages → following table)
Possible results for RESULT:
0
Value dec | hex
00
Description
1
5
01
05
FB is inactive
FB execution completed without error – data is valid
FB is active – no data received yet
242 F2 Error: setting is not possible
250 FA Error: FiFo is full – data was lost
35012
152
ioControl CR2042, CR2052
J1939_RX_MULTI
= J1939 RX multiframe message
Unit type = function block (FB)
Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35258
>
Description
>
J1939_RX_MULTI enables receipt of multi-frame messages.
Parameters of the inputs
Parameter
EXECUTE
CHANNEL
PGN
The PGN = 0 is not used.
>
Parameters of the outputs
Data type
BOOL := FALSE
BYTE
DWORD
Description
FALSE TRUE (edge): execute function element once otherwise: function element is not active
A function element already started is processed.
CAN interface (1...n) depending on the device
PGN = Parameter Group Number permissible = 0...262 143 = 0x00000000...0x0003FFFF
35352
35158
35013
Parameter
SA
PRIO
LEN
DATA
RESULT
Data type
BYTE
BYTE
WORD
ARRAY [0..1784] OF BYTE
BYTE
Possible results for RESULT:
Value dec | hex
Description
0
1
5
242
00
01
05
F2
FB is inactive
FB execution completed without error – data is valid
FB is active – no data received yet
Error: setting is not possible
Description
Source address of the transmitter message priority (0…7) number of the bytes received permissible values = 0...1 785 = 0x0000 0000...0x0000 06F9 data to be sent (1...1785 bytes) feedback of the function block
(possible messages → following table)
153
ioControl CR2042, CR2052
Function elements: transmit SAE J1939
Content
35706
154
ioControl CR2042, CR2052
J1939_TX
Unit type = function block (FB)
Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35072
>
Description
>
J1939_TX is the easiest method for transmitting single frame messages.
Parameters of the inputs
Parameter
ENABLE
CHANNEL
DA
PGN
>
DATA
Parameters of the outputs
Data type
BOOL
BYTE
BYTE := 249
DWORD
ARRAY [0..7] OF BYTE
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CAN interface (1...n) depending on the device
DA = Destination Address of the ECU
PGN > 61139: parameter DA is ignored
PGN = Parameter Group Number permissible = 0...262 143 = 0x00000000...0x0003FFFF data to be sent (1...8 bytes)
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
0
1
242
250
00
01
F2
FA
FB is inactive function block execution completed without error
Error: setting is not possible
Error: FiFo is full – data was lost
35350
35218
34988
155
ioControl CR2042, CR2052
J1939_TX_ENH
= J1939 TX enhanced
Unit type = function block (FB)
Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35144
>
Description
>
35353
Additional setting options are provided by J1939_TX_ENH (for: enhanced) for single frame messages:
transmitting priority
data length
Multi frame messages
J1939_TX_ENH_MULTI
Parameters of the inputs
35215
Parameter
ENABLE
CHANNEL
DA
Prio
(optional use of the parameter)
PGN
Len
(optional use of the parameter)
DATA
Data type
BOOL
BYTE
BYTE := 249
BYTE := 3
DWORD
BYTE := 8
ARRAY [0..7] OF BYTE
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CAN interface (1...n) depending on the device
DA = Destination Address of the ECU
PGN > 61139: parameter DA is ignored message priority permissible values = 0…7
PGN = Parameter Group Number permissible = 0...262 143 = 0x00000000...0x0003FFFF number of the bytes to be transmitted permissible values = 0...8 data to be sent (1...8 bytes)
156
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
0
Value dec | hex
00
Description
FB is inactive
1
242
250
01
F2
FA function block execution completed without error
Error: setting is not possible
Error: FiFo is full – data was lost
35051
157
ioControl CR2042, CR2052
J1939_TX_ENH_CYCLIC
= J1939 TX enhanced cyclic
Unit type = function block (FB)
Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35145
>
Description
J1939_TX_ENH_CYCLIC serves for cyclic transmitting of CAN messages.
Otherwise, the FB corresponds to J1939_TX_ENH
► Set the period duration via the parameter PERIOD.
>
If a period is too short, this could lead to a high bus load!
The bus load can affect the performance of the complete system.
Parameters of the inputs
Parameter
ENABLE
CHANNEL
DA
Prio
(optional use of the parameter)
PGN
Len
(optional use of the parameter)
DATA
PERIOD
Data type
BOOL
BYTE
BYTE := 249
BYTE := 3
DWORD
BYTE := 8
ARRAY [0..7] OF BYTE
TIME
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CAN interface (1...n) depending on the device
DA = Destination Address of the ECU
PGN > 61139: parameter DA is ignored message priority permissible values = 0…7
PGN = Parameter Group Number permissible = 0...262 143 = 0x00000000...0x0003FFFF number of the bytes to be transmitted permissible values = 0...8 data to be sent (1...8 bytes) period duration
35351
35225
158
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
RESULT
Data type
BYTE
Possible results for RESULT:
0
Value dec | hex
00
Description
FB is inactive
8
242
08
F2 function block is active
Error: setting is not possible
Description feedback of the function block
(possible messages → following table)
35014
159
ioControl CR2042, CR2052
J1939_TX_ENH_MULTI
= J1939 TX enhanced multiframe message
Unit type = function block (FB)
Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35142
>
Description
35356
>
The transmission of multi-frame messages is carried out via J1939_TX_ENH_MULTI.
The FB corresponds to J1939_TX_ENH
(→ p. 156 ). In addition, it can be determined whether the
transmission shall be executed as BAM ( B roadcast A nnounce M essage).
Parameters of the inputs
Parameter
EXECUTE
CHANNEL
DA
Prio
(optional use of the parameter)
PGN
Len
(optional use of the parameter)
DATA
Bam
(optional use of the parameter)
Data type
BOOL := FALSE
BYTE
BYTE := 249
BYTE := 3
DWORD
BYTE := 8
ARRAY [0..1784] OF BYTE
BOOL := FALSE
35224
Description
FALSE TRUE (edge): execute function element once otherwise: function element is not active
A function element already started is processed.
CAN interface (1...n) depending on the device
DA = Destination Address of the ECU
PGN > 61139: parameter DA is ignored message priority permissible values = 0…7
PGN = Parameter Group Number permissible = 0...262 143 = 0x00000000...0x0003FFFF number of the bytes to be transmitted permissible values = 0...8 data to be sent (1...1785 bytes)
BAM = Broadcast Announce Message = message to all participants
TRUE: multi-frame transmission as BAM message to all participants
FALSE: automatic; message only to target address
160
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
0
Value dec | hex
00
Description
FB is inactive
1
8
65
242
01
08
41
F2 function block execution completed without error function block is active
Error: transmission is not possible
Error: setting is not possible
35011
161
ioControl CR2042, CR2052
Function elements: SAE J1939 diagnosis
Content
35703
162
ioControl CR2042, CR2052
J1939_DM1RX
= J1939 Diagnostic Message 1 RX
Unit type = function block (FB)
Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35299
>
Description
35357
>
J1939_RX_DM1 receives diagnostic messages DM1 or DM2 from other ECUs.
Parameters of the inputs
Parameter
ENABLE
CHANNEL
DA
ACTIVE
Data type
BOOL := FALSE
BYTE
BYTE
BOOL
35000
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CAN interface (1...n) depending on the device
DA = Destination Address of the ECU from where the DTCs are to be retrieved.
DA = 254: read DTCs from the device itself
TRUE: Read active DTCs (DM1)
FALSE: Read previously active DTCs (DM2)
163
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
REDSTOPLAMP
AMBERWARNINGLAMP
PROTECTLAMP
NUMBER
SPN
FMI
SPN_CM
OC
RESULT
MIL_FC
REDSTOPLAMP_FC
AMBERWARNINGLAMP_FC
PROTECTLAMP_FC
Data type
BOOL
BOOL
BOOL
BYTE
WORD
BYTE
BOOL
BYTE
BYTE
BYTE
BYTE
BYTE
BYTE
Possible results for RESULT:
Value dec | hex
Description
0
1
8
242
00
01
08
F2
FB is inactive
FB execution completed without error – data is valid
FB is active – no data was received
Error: setting is not possible
Description red stop lamp (for older projects only)
TRUE: ON
FALSE: OFF
Amber warning lamp (for older projects only)
TRUE: ON
FALSE: OFF protect lamp (for older projects only)
TRUE: ON
FALSE: OFF number of the DTCs received (0...8)
Suspect Parameter Number (→ J1939 specification)
Failure Mode Indicator (→ J1939 specification) permissible values = 0...31 = 0x00...0x1F conversion method (→ J1939 specification) occurrence count feedback of the function block
(possible messages → following table)
Status of the electronic component:
Malfunction indicatation light status and flash code:
0 = off
1 = on
2 = flash slowly
3 = flash quickly
Status of the electronic component: red stop light status and flash code:
0 = off
1 = on
2 = flash slowly
3 = flash quickly
Status of the electronic component:
Yellow warning light status and flash code:
0 = off
1 = on
2 = flash slowly
3 = flash quickly
Status of the electronic component: protection light status and flash mode:
0 = off
1 = on
2 = flash slowly
3 = flash quickly
164
35210
ioControl CR2042, CR2052
J1939_DM1TX
= J1939 Diagnostic Message 1 TX
Unit type = function block (FB)
Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35294
>
Description
35265
With J1939_TX_DM1 (DM = D iagnostic M essage) the controller can only transmit an active error message to the CAN stack.
>
This message is stored in the hardware configuration.
> The message is marked "active" and transmitted once per second as DM1.
> If the error has already occurred, the event counter is incremented.
The event counter is managed by the CAN stack.
> A disjunction of all bits of the trouble codes is executed. As soon as a bit is set in one of the trouble codes, it is equally set in the lamp state.
Upon arrival of a request at DM2, the CAN stack can read the according information from the hardware configuration and transmit it.
>
When a DM3 message arrives, all inactive errors are deleted in the error memory in the hardware configuration.
165
ioControl CR2042, CR2052
>
Parameters of the inputs
Parameter
EXECUTE
CHANNEL
ACTIVE
REDSTOPLAMP
AMBERWARNINGLAMP
PROTECTLAMP
SPN
FMI
SPN_CM
MIL_FC
REDSTOPLAMP_FC
AMBERWARNINGLAMP_FC
PROTECTLAMP_FC
BOOL
BOOL
BOOL
WORD
BYTE
BOOL
BYTE
Data type
BOOL := FALSE
BYTE
BOOL
BYTE
BYTE
BYTE
Description
FALSE TRUE (edge): execute function element once otherwise: function element is not active
A function element already started is processed.
CAN interface (1...n) depending on the device
TRUE: DTC is active
Cyclically transmitted (1x per second) as DM1
FALSE: DTC is no longer active
Saved in the hardware configuration
Transmitted as DM2 when requested red stop lamp (for older projects only)
TRUE: ON
FALSE: OFF
Amber warning lamp (for older projects only)
TRUE: ON
FALSE: OFF protect lamp (for older projects only)
TRUE: ON
FALSE: OFF
Suspect Parameter Number (→ J1939 specification)
Failure Mode Indicator (→ J1939 specification) permissible values = 0...31 = 0x00...0x1F conversion method (→ J1939 specification)
Status of the electronic component:
Malfunction indicatation light status and flash code:
0 = off
1 = on
2 = flash slowly
3 = flash quickly
Status of the electronic component: red stop light status and flash code:
0 = off
1 = on
2 = flash slowly
3 = flash quickly
Status of the electronic component:
Yellow warning light status and flash code:
0 = off
1 = on
2 = flash slowly
3 = flash quickly
Status of the electronic component: protection light status and flash mode:
0 = off
1 = on
2 = flash slowly
3 = flash quickly
35089
166
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
RESULT
Data type
BYTE
Possible results for RESULT:
0
Value dec | hex
00
Description
FB is inactive
1
242
01
F2 data was marked "active" in the error memory
Error: setting is not possible
Description feedback of the function block
(possible messages → following table)
35010
167
ioControl CR2042, CR2052
J1939_DM1TX_CFG
= J1939 Diagnostic Message 1 TX configurable
Unit type = function block (FB)
Unit is contained in the library ifm_J1939_NT_V02.00.02.LIB
or higher
Symbol in CODESYS:
35297
>
>
Description
35313
As from runtime system V03.00.03 the CAN stack automatically sends a DM1 message every second as soon as the FB J1939_ENABLE
(→ p. 139 ) is called for the corresponding CAN interface.
► Use the FB J1939_DM1TX_CFG if you do not want the CAN stack to automatically and cyclically transmit DM1 messages.
The FB offers the following modes for cyclic transmission of DM1 messages:
MODE = 0
(preset)
The CAN stack sends DM1 "zero active faults" messages in compliance with standards every second.
A manual transmission of DM1 messages via the FB
J1939_DM1TX
MODE = 1
MODE = 2
The CAN stack does not send DM1 "zero active faults" messages.
DM2 requests are answered automatically.
A manual transmission of DM1 messages via the FB J1939_DM1TX
The CAN stack does not send cyclic DM1 "zero active faults" messages
Nor does the CAN stack automatically reply to DM2 requests.
Parameters of the inputs
35081
Parameter
ENABLE
CHANNEL
MODE
Data type
BOOL
BYTE
BYTE := 0
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CAN interface (1...n) depending on the device
Operating mode of the function block allowed = 0...2 (→ Description of the FB)
>
Parameters of the outputs
35186
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
0
Value dec | hex
00
Description
FB is inactive
1
242
01
F2 function block execution completed without error
Error: setting is not possible
168
ioControl CR2042, CR2052
J1939_DM3TX
= J1939 Diagnostic Message 3 TX
Unit type = function block (FB)
Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35300
>
Description
>
35319
With J1939_DM3TX (DM = D iagnostic M essage) you can delete the inactive DTCs on another device.
>
As soon as a DM3 message is received, all inactive errors in the error memory are deleted in the hardware configuration.
Parameters of the inputs
35084
Parameter
EXECUTE
CHANNEL
DA
Data type
BOOL := FALSE
BYTE
BYTE
Description
FALSE TRUE (edge): execute function element once otherwise: function element is not active
A function element already started is processed.
CAN interface (1...n) depending on the device
DA = Destination Address of the ECU on which the DTCs are to be deteled.
DA = 254: delete DTCs (DM2) in the device itself
>
Parameters of the outputs
35209
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
0
Value dec | hex
00
Description
FB is inactive
1
242
01
F2 function block execution completed without error
Error: setting is not possible
169
ioControl CR2042, CR2052
5.2.5
Function elements: processing input values
Content
28373
In this chapter we show you ifm FBs which allow you to read and process the analogue or digital signals at the device input.
170
ioControl CR2042, CR2052
FASTCOUNT
= Fast Count
Unit type = function block (FB)
Unit is contained in the library ifm_CR20n2_Vxxyyzz.LIB
Symbol in CODESYS:
35684
>
>
Description
35694
FASTCOUNT operates as counter block for fast input pulses (up to 30 kHz).
This FB detects pulses at the fast input channels (
data sheet).
Overflow or underflow of the counter value is not detected.
35694
NOTE
>
In case of higher frequencies (higher than those guaranteed by ifm ) the following problems may occur:
The switch-on and switch-off times of the outputs become more important.
Undue heating of the components may occur.
The influences mentioned above depend on the components used in the individual case.
These possible influences cannot be exactly predicted.
Parameters of the inputs
23911
Parameter
ENABLE
CHANNEL
MODE
PRESET_VALUE
PRESET
Data type
BOOL
BYTE
BYTE
DWORD
BOOL
Description
TRUE: execute this function element
FALSE: unit is not executed
> initiated processes continue in the background
> FB outputs are not updated number of the fast input channel
0 / 1 / 4 / 5 for the inputs IN00 / IN01 / IN04 / IN05
Operating mode of the function block:
0 = 0x00 = stop counter
21 = 0x15 = up counter, signal = plus-switching
22 = 0x16 = up counter, signal = plus-switching
32 = 0x20 = up counter, signal = minus-switching
33 = 0x21 = down counter, signal = minus-switching counter start value
TRUE (for only 1 cycle): load the start value PRESET_VALUE
FALSE: counter is active
171
ioControl CR2042, CR2052
Parameters of the outputs
Parameter
VALUE
RESULT
Data type
DWORD
BYTE
Description ouput value feedback of the function block
(possible messages → following table)
Possible results for RESULT:
0
Value dec | hex
00
1 01
Description
FB is inactive
FB execution completed without error – data is valid
2
3
130
132
02
03
82
84 function block is active (action not yet completed) function block is active – valid values not yet available channel setting is invalid mode setting is invalid
35954
172
ioControl CR2042, CR2052
INC_ENCODER
= Incremental Encoder
Unit type = function block (FB)
Unit is contained in the library ifm_CR20n2_Vxxyyzz.LIB
Symbol in CODESYS:
35689
>
Description
35695
INC_ENCODER handles up/down counter functions for the evaluation of encoders.
Two frequency inputs form the input pair which is evaluated by means of the FB.
Permissible limit frequency = 0...1 000 Hz
Via PRESET_VALUE the counter can be set to a preset value. The value is adopted if PRESET is set to TRUE. Afterwards, PRESET must be set to FALSE again for the counter to become active again.
The current counter value is available at the output VALUE. The outputs UP and DOWN indicate the last counting direction of the counter. The outputs are TRUE if the counter has counted in the corresponding direction. If the counter was not changed since the last call of the FB, both the outputs are FLASE.
On input RESOLUTION the resolution of the encoder can be evaluated in multiples:
1 = normal resolution (-536 870 912...536 870 911, identical with the resolution of the encoder),
2 = double evaluation of the resolution (-1 073 741 824...1 073 741 823),
4 = 4-fold evaluation of the resolution (-2 147 483 648...2 147 483 647).
All other values on this input mean normal resolution.
RESOLUTION = 1 counts for every fourth edge
(= resolution of the encoder).
RESOLUTION = 2 counts for every second edge
RESOLUTION = 4 counts for every rising and falling edge
173
ioControl CR2042, CR2052
>
Parameters of the inputs
Parameter
ENABLE
CHANNEL
PRESET_VALUE
PRESET
RESOLUTION
Data type
BOOL
BYTE
DINT
BOOL
BYTE
Description
TRUE: execute this function element
FALSE: unit is not executed
> initiated processes continue in the background
> FB outputs are not updated
Number of the input channel pair
0 = channel pair 0 = inputs IN00 + IN01
4 = channel pair 4 = inputs IN04 + IN05 counter start value
TRUE (for only 1 cycle): load the start value PRESET_VALUE
FALSE: counter is active evaluation of the encoder resolution:
01 = counts for every fourth edge (= resolution of the encoder)
02 = counts for every second edge
04 = counts for every rising and falling edge
All other values count as "01".
36734
>
Parameters of the outputs
Parameter
VALUE
UP
DOWN
RESULT
Data type
DINT
BOOL
BOOL
BYTE
Description if RESOLUTION = 1:
VALUE = –536 870 912...536 870 911
(= ¼ area of DINT) if RESOLUTION = 2:
VALUE = –1 073 741 824...1 073 741 823
(= ½ area of DINT) if RESOLUTION = 4:
VALUE = –2 147 483 648…2 147 483 647
(= area of DINT)
TRUE: counter counts upwards in the last cycle
FALSE: counter counts not upwards in the last cycle
TRUE: counter counts downwards in the last cycle
FALSE: counter counts not downwards in the last cycle feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
2
3
0
1
130
138
00
01
02
03
82
8A
FB is inactive
FB execution completed without error – data is valid function block is active (action not yet completed) function block is active – valid values not yet available channel setting is invalid resolution setting is invalid
35952
174
ioControl CR2042, CR2052
INPUT
Unit type = function block (FB)
Unit is contained in the library ifm_CR20n2_Vxxyyzz.LIB
Symbol in CODESYS:
35275
>
Description
INPUT assigns an operating mode to an input channel ( → data sheet).
The FB enables the status detection on the selected channel.
.
The measurement and the output value result from the operating mode indicated via MODE:
• binary input plus switching (BL) for positive sensor signal (with/without diagnosis)
• binary input minus switching (BH) for negative sensor signal
• analogue input 0...20 mA
• analogue input 0...10 V
• analogue input 0...32 V
• analogue input ratiometric 0...32 V
• analogue input Resistance measurement 16...30 000
→ chapter Possible operating modes inputs/outputs
The operating mode should not be changed during operation.
The analogue values are provided as standardised values.
36054
175
ioControl CR2042, CR2052
>
Parameters of the inputs
Parameter
ENABLE
FILTER
CHANNEL
MODE
Data type
BOOL
BYTE
BYTE
BYTE
36730
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
Number of input channel
0...7 for the inputs IN00...IN07
Operating mode of input channel:
0 = 0x00 off
1 = 0x01
(only for inputs with binary evaluation) binary input, plus-switching (BL)
3 = 0x03 voltage input
6 = 0x06 voltage input, ratiometric
7 = 0x07 current input
9 = 0x09 voltage input
0…10 000 mV
0...1 000 ‰
0…20 000 µA
0…32 000 mV
11 = 0x0B
(only for inputs with analogue evaluation) binary input, plus-switching (BL) with diagnostic
(Namur)
12 = 0x0C binary input, minus-switching (BH)
18 = 0x12 Resistance input 16…30 000 Ω filter for the measurement on the input: valid= 0...8 recommended = 4
→ chapter Configure the software filters of the inputs
176
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
VALUE
RESULT
Data type
WORD
BYTE
Description current value or status of the input channel
(according to the selected operating mode MODE) feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
130
132
136
2
3
0
1
141
142
144
82
84
88
00
01
02
03
8D
8E
90
FB is inactive
FB execution completed without error – data is valid function block is active (action not yet completed) function block is active – valid values not yet available channel setting is invalid mode setting is invalid filter setting is invalid wire break occurred short to supply voltage occurred
Current at the input is too high
35049
177
ioControl CR2042, CR2052
PERIOD
Unit type = function block (FB)
Unit is contained in the library ifm_CR20n2_Vxxyyzz.LIB
Symbol in CODESYS:
35733
>
.
Description
36550
PERIOD measures the frequency in [Hz] or the period time (cycle time) in [µs] or the phase shift in [°] on the specified channel, depending on the set operating mode:
MODE dec | hex
Description
0
14
19
20
25
28
29
31
35
00 No measurement
0E Frequency measurement
Signal = plus-switching
Count the positive edges for a certain time.
13 Period duration measurement (better replace by MODE = 20!)
Signal = plus-switching
Measure the time interval between two positive edges.
Specify the average value over a certain number of periods.
14 Period duration and ratio measurement
Signal = plus-switching
Measure the time interval between two positive edges.
Specify the average value over a certain number of periods.
19 Phase shift (0...359°) between channel A and channel B of an input channel pair
Signal = plus-switching
(message makes only sense if no great jumps > 179° can occur in the system)
1C Period duration measurement (better replace by MODE = 29!)
Signal = minus-switching
Measure the time interval between two positive edges.
Specify the average value over a certain number of periods.
1D Period duration and ratio measurement
Signal = minus-switching
Measure the time interval between two positive edges.
Specify the average value over a certain number of periods.
1F Frequency measurement
Signal = minus-switching
Count the positive edges for a certain time.
23 Phase shift (0...359°) between channel A and channel B of an input channel pair
Signal = minus-switching
(message makes only sense if no great jumps > 179° can occur in the system)
The operating mode should not be changed during operation.
If MODE = 19 / 20 / 25 / 28 / 29 / 35:
Permissible input frequency = 0.1...3 000 Hz.
If the load is too high, the cycle time can get unacceptably long.
→ chapter Performance limits of the device
178
ioControl CR2042, CR2052
36550
NOTE
>
In case of higher frequencies (higher than those guaranteed by ifm ) the following problems may occur:
The switch-on and switch-off times of the outputs become more important.
Undue heating of the components may occur.
The influences mentioned above depend on the components used in the individual case.
These possible influences cannot be exactly predicted.
Parameters of the inputs
36732
Parameter
ENABLE
CHANNEL
MODE
PERIODS
TIMEBASE
Data type
BOOL
BYTE
BYTE
BYTE
TIME
Description
TRUE: execute this function element
FALSE: unit is not executed
> initiated processes continue in the background
> FB outputs are not updated
(MODE = 14 / 19 / 20 / 28 / 29 / 31)
Number of the fast input channel
0 / 1 / 4 / 5 for the inputs IN00 / IN01 / IN04 / IN05
(MODE = 25 / 35)
Number of the fast input A channel
0 / 4 for the inputs IN00 / IN04
B channel = A channel + 1
Operating mode of the function block:
0 = 0x00 = no measurement
14 = 0x0E = frequency measurement, plus-switching
19 = 0x13 = period duration measurement, plus-switching
20 = 0x14 = period duration and ratio measurement, plus-switching
25 = 0x19 = phase shift of two signals, plus-switching
28 = 0x1C = period duration measurement, minus-switching
29 = 0x1D = period duration and ratio measurement, minus-switching
31 = 0x1F = frequency measurement, minus-switching
35 = 0x23 = phase shift of two signals, minus-switching
Number of periods to be averaged (1...4)
• if MODE = 19 / 20 / 28 / 29 average arithmetically
• if MODE = 25 / 35 average geometrically
• if PERIODS = 1 no averaging
(only relevant if MODE = 14 / 31) time for counting the edges in [ms] permissible values = 1...2 000
179
ioControl CR2042, CR2052
>
Parameters of the outputs
36523
Parameter
VALUE_CYCLE
VALUE_FREQ
VALUE_TIME
VALUE_RATIO
RESULT
Data type
DWORD
REAL
TIME
WORD
BYTE
Possible results for RESULT:
Value dec | hex
Description
3
130
132
137
146
0
1
2
03
82
84
89
92
00
01
02
FB is inactive
FB execution completed without error – data is valid function block is active (action not yet completed) function block is active
– valid values not yet available channel setting is invalid mode setting is invalid value for PERIODS or TIMEBASE is invalid
Period duration is too long
Description
(MODE = 14 / 19 / 20 / 28 / 29 / 31)
Cycle time in [µs] at the input
(MODE = 25 / 35)
Cycle time in [µs] at the A channel of the input pair
(MODE = 14 / 19 / 20 / 28 / 29 / 31)
Frequency of the detected periods in [Hz] at the input
(MODE = 25 / 35)
Frequency of the detected periods in [Hz] at the A channel of the input pair
(MODE = 14 / 31)
Value = 0 (not detected)
(MODE = 19 / 20 / 28 / 29)
Time elapsed since the last positive edge
(MODE = 25 / 35)
Time elapsed since the last valid measurement
(MODE = 14 / 31)
Value = 0 (not detected)
(MODE = 19 / 20 / 28 / 29)
Mark-to-space ratio of the input signal in [‰]
(MODE = 25 / 35)
Phase shift in [°] feedback of the function block
(possible messages → following table)
180
ioControl CR2042, CR2052
5.2.6
Function elements: output functions
Content
15075
10462
For this device you can set the mode of some or all outputs. Here we show you a couple of function elements to it.
181
ioControl CR2042, CR2052
CURRENT_CONTROL
Unit type = function block (FB)
Unit is contained in the library ifm_CR20n2_Vxxyyzz.LIB
Symbol in CODESYS:
36049
>
Description
36050
CURRENT_CONTROL operates as a current controller for the PWMI outputs.
The controller operates in dependence of the period duration of the PWM signal. The setting parameters KI and KP represent the i ntegral and the p roportional component of the controller.
► It is recommended to set KI=50 and KP=50 as start values so as to determine the best setting of the controller. Depending on the requested controller behaviour the values can gradually be incremented (controller is stronger / faster) or decremented (controller is weaker / slower).
>
At the desired value DESIRED_CURRENT=0 the output is immediately switched to 0 mA and is not adjusted downward to 0 mA in accordance with the set parameters.
The controller has a fast compensation mechanism for voltage drops of the supply voltage. In addition to the controller behaviour of the controller and on the basis of the voltage drop, the ratio of the PWM is increased such that the controller reaches as quickly as possible the desired value.
Depending on the controller hardware used, a different teach performance has to be noted.
NOTE
► When defining the parameter DITHER_VALUE make sure that the resulting PWM ratio in the operating range of the loop control remains between 0...1000 %:
• PWM ratio + DITHER_VALUE < 1000 ‰ and
• PWM ratio - DITHER_VALUE > 0 ‰.
> With PWM frequencies below 100 Hz plus additional dither, the current control can no longer reach the indicated accuracy (
data sheet).
182
ioControl CR2042, CR2052
>
Parameters of the inputs
Parameter
ENABLE
CHANNEL
DESIRED_CURRENT
FREQUENCY
DITHER_FREQUENCY
DITHER_VALUE
KP
>
KI
Parameters of the outputs
Data type
BOOL
BYTE
WORD
WORD
WORD
WORD
BYTE
BYTE
36678
Description
TRUE: execute this function element
FALSE: unit is not executed
> initiated processes continue in the background
> FB outputs are not updated
Number of the current-controlled output channel
0...7 for the outputs OUT00...OUT07 desired current value of the output in [mA]
Permissible PWM frequency at the output in [Hz] allowed = 20...250 = 0x0014...0x00FA dither frequency in [Hz] value range = 0...FREQUENCY / 2
FREQUENCY / DITHER_FREQUENCY must be even-numbered!
The FB increases all other values to the next matching value. peak-to-peak value of the dither in [‰] permissible values = 0...1 000 = 0000...03E8 proportional component of the output signal integral component of the output signal
2
3
128
129
130
131
134
Parameter
PWM_RATIO
CURRENT
RESULT
Data type
WORD
WORD
BYTE
Description for monitoring purposes: display PWM pulse ratio 0...1000 ‰ only available for current controlable outputs: current output current in [mA] feedback of the function block
(possible messages → following table)
Possible results for RESULT:
0
Value dec | hex
00
1 01
Description
FB is inactive
FB execution completed without error – data is valid
82
83
86
02
03
80
81 function block is active (action not yet completed) function block is active – valid values not yet available undervoltage on VBBx overvoltage on VBBx channel setting is invalid value for DESIRED_CURRENT is invalid dither setting is invalid
36011
183
ioControl CR2042, CR2052
OUTPUT
Unit type = function block (FB)
Unit is contained in the library ifm_CR20n2_Vxxyyzz.LIB
Symbol in CODESYS:
35931
.
>
>
Description
36669
OUTPUT assigns an operating mode to an output channel ( → data sheet). The FB enables the status detection on the selected output channel.
.
The measurement and the output value result from the operating mode indicated via MODE:
• binary output, plus switching (BH) with/without diagnostic function
• binary output, plus switching (BH) with diagnostic function and protection
→ chapter Possible operating modes inputs/outputs (
The operating mode should not be changed during operation.
Parameters of the inputs
Parameter
ENABLE
CHANNEL
VALUE
MODE
FILTER
Data type
BOOL
BYTE
BOOL
BYTE
BYTE
36728
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
Number of the output channel
0...7 for the outputs OUT00...OUT07
TRUE: activate output
FALSE: deactivate output
Operating mode of the output:
0 = 0x00 = off
2 = 0x02 = binary output plus switching
15 = 0x0F = binary output plus switching with diagnosis
16 = 0x10 = binary output plus switching with diagnosis
and protection
only for outputs with current feedback: filter for the measurement on the output: valid = 0...8 recommended = 4
→ chapter Configure the software filters of the outputs
For outputs without current feedback:
FILTER = 0 or: do not set the parameter FILTER!
The operating mode should not be changed during operation.
184
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
OUTPUT
CURRENT
RESULT
Data type
BOOL
WORD
BYTE
Description
TRUE: output is activated
FALSE: output is deactivated only available for current controlable outputs: current output current in [mA] feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
128
129
130
132
2
3
0
1
136
141
80
81
82
84
00
01
02
03
88
8D
142
145
8E
91
FB is inactive
FB execution completed without error – data is valid function block is active (action not yet completed) function block is active – valid values not yet available undervoltage on VBBx overvoltage on VBBx channel setting is invalid mode setting is invalid filter setting is invalid a wire break was detected
(for binary output, plus switching (BH) with diagnosis) a short circuit was detected
(for binary output plus switching (BH) with diagnosis) current at the output is too high
(for binary output plus switching (BH) with diagnosis and protection)
35945
185
ioControl CR2042, CR2052
PWM1000
Unit type = function block (FB)
Unit is contained in the library ifm_CR20n2_Vxxyyzz.LIB
Symbol in CODESYS:
35763
>
Description
35328
PWM1000 handles the initialisation and parameter setting of the PWM outputs.
The FB enables a simple use of the PWM FB in the device. For each channel an own PWM frequency, the mark-to-space ratio and the dither can be set.
>
The PWM frequency FREQUENCY can be directly indicated in [Hz] and the mark-to-space ratio
VALUE in steps of 1 ‰.
Parameters of the inputs
Parameter
ENABLE
CHANNEL
FREQUENCY
VALUE
DITHER_FREQUENCY
DITHER_VALUE
Data type
BOOL
BYTE
WORD
WORD
WORD
WORD
36729
Description
TRUE: execute this function element
FALSE: unit is not executed
> initiated processes continue in the background
> FB outputs are not updated
Number of the output channel
0...7 for the outputs OUT00...OUT07
PWM frequency in [Hz] allowed = 20...250 = 0x0014...0x00FA
PWM value (mark-to-space ratio) in [‰] allowed = 0...1 000 = 0x0000...0x03E8
Values > 1 000 are regarded as = 1 000 dither frequency in [Hz] value range = 0...FREQUENCY / 2
FREQUENCY / DITHER_FREQUENCY must be even-numbered!
The FB increases all other values to the next matching value. peak-to-peak value of the dither in [‰] permissible values = 0...1 000 = 0000...03E8
186
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
CURRENT
RESULT
Data type
WORD
BYTE
Description only available for current controlable outputs: current output current in [mA] feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
3
128
130
131
0
1
2
133
134
03
80
82
83
00
01
02
85
86
FB is inactive
FB execution completed without error – data is valid function block is active (action not yet completed) function block is active
– valid values not yet available undervoltage on VBBx channel setting is invalid value for VALUE is invalid value for FREQUENCY is invalid dither setting is invalid
35937
187
ioControl CR2042, CR2052
5.2.7
Function elements: system
Content
35718
Here we show you ifm functions that enable you to
• manage memory contents
• read information from software and hardware
• set or read various data and parameters
188
ioControl CR2042, CR2052
FLASH_INFO
Unit type = function block (FB)
Unit is contained in the library ifm_CR20n2_Vxxyyzz.LIB
Symbol in CODESYS:
35306
>
Description
>
FLASH_INFO reads the information from the user flash memory:
• name of the memory area (user defined),
• software version,
• start address (for simple reading with IEC structure).
Parameters of the inputs
Parameter
ENABLE
Data type
BOOL
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
>
Parameters of the outputs
Parameter
NAME
VERSION
START_ADDR
RESULT
Data type
STRING(24)
STRING(24)
DWORD
BYTE
Description
Name of the memory area (user defined)
Software version
Start address of the data feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
0
1
157
00
01
9D
FB is inactive
FB execution completed without error
– data is valid
Software header invalid (CRC error)
35318
35152
35101
189
ioControl CR2042, CR2052
FLASH_READ
Unit type = function block (FB)
Unit is contained in the library ifm_CR20n2_Vxxyyzz.LIB
Symbol in CODESYS:
35293
>
Description
35325
>
FLASH_READ enables reading of different types of data directly from the flash memory.
The FB reads the contents as from the address of SRC from the flash memory. In doing so, as many bytes as indicated under LEN are transmitted.
► The address resulting from SRC + LEN must be < 65 408.
► To the destination address DST applies:
Determine the address by means of the operator ADR and assigne it to the POU!
Parameters of the inputs
35174
Parameter
ENABLE
DST
SRC
Data type
BOOL
DWORD
DWORD
WORD
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified destination address
Determine the address by means of the operator ADR and assigne it to the POU! relative start address in the memory valid = 0...65 407 = 0x0000 0000...0x0000 FF7F number (> 1) of the data bytes to be transmitted
>
LEN
Parameters of the outputs
35111
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
0
Value dec | hex
00
Description
1
152
01
98
FB is inactive
FB execution completed without error – data is valid inadmissible memory area:
• invalid source address
• invalid destination address
• invalid number of bytes
190
ioControl CR2042, CR2052
GET_APP_INFO
= get application information
Unit type = function block (FB)
Unit is contained in the library ifm_CR20n2_Vxxyyzz.LIB
Symbol in CODESYS:
35291
>
Description
>
GET_APP_INFO provides information about the application software stored in the device:
• name (= file name of the CODESYS project),
• version (= from CODESYS menu [Project] > [Project Info] > [Version]),
• unambiguous CoDeSys build number,
• CoDeSys build date.
Parameters of the inputs
Parameter
ENABLE
Data type
BOOL
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
>
Parameters of the outputs
Parameter
NAME
VERSION
BUILD_NUM
BUILD_DATE
RESULT
Data type
STRING(24)
STRING(24)
STRING(24)
STRING(24)
BYTE
Description
Name of the application
Version of the application program
Unique CODESYS build number (e.g.: "45")
CODESYS build date (e.g.: "20111006123800") feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
0
1
00
01
FB is inactive
FB execution completed without error
– data is valid
35317
35004
35098
191
ioControl CR2042, CR2052
GET_HW_INFO
= get hardware information
Unit type = function block (FB)
Unit is contained in the library ifm_CR20n2_Vxxyyzz.LIB
Symbol in CODESYS:
35270
>
Description
>
GET_HW_INFO provides information about the hardware of the device:
• ifm article number (e.g. CR0403),
• article designation,
• unambiguous serial number,
• hardware revision,
• production date.
Parameters of the inputs
35022
35092
Parameter
ENABLE
Data type
BOOL
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
>
Parameters of the outputs
Parameter
ORDER_NUM
NAME
SERIAL
REVISION
MAN_DATE
RESULT
Data type
STRING(24)
STRING(24)
STRING(24)
STRING(24)
STRING(24)
BYTE
Description ifm article no. (e.g.: CR0403)
Article designation (e.g.: "BasicController 12/12")
Serial number of the device (e.g.: "000045784")
Hardware revision level of the device (e.g.: "V01.00.01")
Date of manufacture of the device (e.g.: "20111007123800") feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
0
1
00
01
FB is inactive
FB execution completed without error
– data is valid
192
35110
ioControl CR2042, CR2052
GET_IDENTITY
Unit type = function block (FB)
Unit is contained in the library ifm_CR20n2_Vxxyyzz.LIB
Symbol in CODESYS:
35249
>
>
Description
35310
GET_IDENTITY reads the identification stored in the device (has previously been saved by means of
SET_IDENTITY
Parameters of the inputs
35172
Parameter
ENABLE
Data type
BOOL
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
>
Parameters of the outputs
35085
Parameter
APP_IDENT
RESULT
Data type
STRING(80)
BYTE
Description identifier of the application as a string of max. 80 characters, e.g.: "Crane1704" feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
0
1
155
00
01
9B
FB is inactive
FB execution completed without error
– data is valid value could not be read
193
ioControl CR2042, CR2052
GET_SW_INFO
= get software information
Unit type = function block (FB)
Unit is contained in the library ifm_CR20n2_Vxxyyzz.LIB
Symbol in CODESYS:
35268
>
Description
>
GET_SW_INFO provides information about the system software of the device:
• software name,
• software version,
• build number,
• build date.
Parameters of the inputs
Parameter
ENABLE
Data type
BOOL
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
>
Parameters of the outputs
Parameter
NAME
VERSION
BUILD_NUM
BUILD_DATE
RESULT
Data type
STRING(24)
STRING(24)
STRING(24)
STRING(24)
BYTE
Description
Name of the system software (e.g.: "BasicSystem")
Version of the system software (e.g.: "V02.00.03")
Build number of the system software (e.g.: "45")
Build date of the system software (e.g.: "20111006123800") feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
0
1
00
01
FB is inactive
FB execution completed without error – data is valid
35324
35003
35099
194
ioControl CR2042, CR2052
GET_SW_VERSION
= get software version
Unit type = function block (FB)
Unit is contained in the library ifm_CR20n2_Vxxyyzz.LIB
Symbol in CODESYS:
35271
>
Description
>
GET_SW_VERSION provides information on the software in the device:
• BasicSystem version
• bootloader version
• SIS version
• IEC application program version
• IEC user flash version
Parameters of the inputs
Parameter
ENABLE
Data type
BOOL
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
>
Parameters of the outputs
Parameter
BS_VERSION
BL_VERSION
SIS_VERSION
IEC_VERSION
USER_VERSION
RESULT
Data type
STRING(24)
STRING(24)
STRING(24)
STRING(24)
STRING(24)
BYTE
Description
Basic system version
Bootloader version
SIS version (SIS = System Information Service)
IEC application program version
IEC user flash version feedback of the function block
(possible messages → following table)
Possible results for RESULT:
0
Value dec | hex
00
1 01
Description
FB is inactive
FB execution completed without error – data is valid
35323
35091
35097
195
ioControl CR2042, CR2052
MEM_ERROR
= Memory Error
Unit type = function block (FB)
Unit is contained in the library ifm_CR20n2_Vxxyyzz.LIB
Symbol in CODESYS:
35126
>
Description
>
MEM_ERROR signals errors in some parameters or in the memory.
The memory areas can be deleted via the corresponding FB inputs.
Parameters of the inputs
Parameter
ENABLE
RESET_RETAIN
RESET_OHC
>
Parameters of the outputs
Data type
BOOL
BOOL
BOOL
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
TRUE: Delete non-volatile retain memory
FALSE: No changes to memory contents
TRUE: Delete non-volatile OHC memory
FALSE: No changes to memory contents
Parameter
COM_ERR
CALIB_ERR
RETAIN_ERR
OHC_ERR
RESULT
Data type
BOOL
BOOL
BOOL
BOOL
BYTE
Description
Download ID and baud rate are set to default values
(download parameters got lost)
Calibration values are invalid
(analogue inputs, PWM outputs, system voltages)
Retain memory is invalid
(e.g. partially deleted due to strong magnetic field)
OHC values are invalid
(e.g. partially deleted due to strong magnetic field) feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
0
1
00
01
FB is inactive
FB execution completed without error
– data is valid
196
35341
35006
35100
ioControl CR2042, CR2052
MEMCPY
= memory copy
Unit type = function block (FB)
Unit is contained in the library ifm_CR20n2_Vxxyyzz.LIB
Symbol in CODESYS:
35127
>
Description
>
MEMCPY enables writing and reading different types of data directly in the memory.
The FB writes the contents of the address of SRC to the address DST.
► To the addresses SRC and DST apply:
Determine the address by means of the operator ADR and assigne it to the POU!
> In doing so, as many bytes as indicated under LEN are transmitted. So it is also possible to transmit exactly one byte of a word variable.
Parameters of the inputs
27777
35171
Parameter
ENABLE
DST
SRC
LEN
SWAP_TYPE
Data type
BOOL
DWORD
DWORD
WORD
BYTE
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified destination address
Determine the address by means of the operator ADR and assigne it to the POU! source address number (> 1) of the data bytes to be transmitted
Swap the byte sequence:
0 = no swapping e.g.: 1A 2B 3C 4D 1A 2B 3C 4D
1 = swap 2 bytes (WORD, INT, ...) e.g.: 1A 2B 3C 4D 2B 1A 4D 3C
LEN must be a multiple of 2!
2 = swap 4 bytes (DWORD, DINT, REAL, TIME, ...) e.g.: 1A 2B 3C 4D 4D 3C 2B 1A
LEN must be a multiple of 4!
197
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
0
Value dec | hex
00
Description
1
152
01
98
FB is inactive
FB execution completed without error – data is valid inadmissible memory area:
• invalid source address
• invalid destination address
• invalid number of bytes
156 9C inadmissible values:
• invalid value for SWAP_TYPE
• LEN does not match SWAP_TYPE
35108
198
ioControl CR2042, CR2052
OHC
= Operating Hours Counter
Unit type = function block (FB)
Unit is contained in the library ifm_CR20n2_Vxxyyzz.LIB
Symbol in CODESYS:
35980
>
Description
OHC provides 4 operating hours counters for universal use.
However, for hardware version < AD: only 2 operating hours counters possible.
Valid counting range: 0:00...4 294 967 295:59 hours (= 490 293 years, 25 days, 15 hours)
>
If hardware version of device < AD: reset the memory area for OHC once:
In the FB MEM_ERROR
(→ p. 196 ), set input RESET_OHC = TRUE!
> Only now can the operating hours counters be used.
Parameters of the inputs
Parameter
ENABLE
OHC_NUM
MODE
PRESET_HOURS
PRESET_MINUTES
Data type
BOOL
BYTE
BYTE
DWORD
BYTE
35692
Description
TRUE: execute this function element
FALSE: unit is not executed
> initiated processes continue in the background
> FB outputs are not updated
Operating Hours Counter
Number of the counter (0...3)
Operating mode of the counter permissible values =
0 = stop counter
1 = continue counting at the last stored value
2 = reset counter
3 = preset counter with the following values
Preset hours
(0...4 294 967 295 = 0x0000 0000...0xFFFF FFFF)
Preset minutes (0...59 = 0x00...0x3B)
35938
199
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
HOURS
MINUTES
RESULT
Data type
DWORD
BYTE
BYTE
Description
Counter value hours
(0...4 294 967 295 = 0x0000 0000...0xFFFF FFFF)
Counter value minutes (0...59 = 0x00...0x3B) feedback of the function block
(possible messages → following table)
Possible results for RESULT:
0
Value dec | hex
00
1 01
Description
FB is inactive
FB execution completed without error – data is valid
130
131
132
158
82
83
84
9E
Counter number in OHC_NUM is invalid
Preset value is invalid mode setting is invalid
Remanent memory is invalid (CRC error)
35942
200
ioControl CR2042, CR2052
SET_BAR
Unit type = function block (FB)
Unit is contained in the library ifm_ioControl_Display_LED_Vxxyyzz.LIB
Symbol in CODESYS:
36586
>
>
Description
36534
With SET_BAR, the application program can control various LEDs on the Multifunction display (→ p.
• MODE
• A
• B
• C
• D
• LOCK
Parameters of the inputs
36490
Parameter
ENABLE
MODE
A
B
C
D
LOCK
Data type
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
TRUE: Switch on LED [M] (Mode)
FALSE: Switch off LED [M] (Mode)
TRUE: Switch on LED [A]
FALSE: Switch off LED [A]
TRUE: Switch on LED [B]
FALSE: Switch off LED [B]
TRUE: Switch on LED [C]
FALSE: Switch off LED [C]
TRUE: Switch on LED [D]
FALSE: Switch off LED [D]
TRUE: Switch on LED [Lock]
FALSE: Switch off LED [Lock]
201
ioControl CR2042, CR2052
Parameters of the outputs
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
0
1
00
01
FB is inactive function block execution completed without error
36524
202
ioControl CR2042, CR2052
SET_DIGIT_TO_ALPHA
Unit type = function block (FB)
Unit is contained in the library ifm_ioControl_Display_LED_Vxxyyzz.LIB
Symbol in CODESYS:
36594
>
Description
36533
SET_DIGIT_TO_ALPHA shows a selectable character on a selectable digit of the 4-digit 10-segment display.
Permissible characters = A...Z, a...z, 0...9, +, -, blank.
The points between the digits can be controlled.
The point in the bottom right corner and the point in the top left corner belong to one digit.
Controlling a non existing point (e.g. to the left of the first digit) ignores the controller without any error message.
>
Selectable display colours = red, green, orange.
Parameters of the inputs
36491
Parameter
ENABLE
DIGIT
ALPHA
POINTS
COLOUR
Data type
BOOL
BYTE
STRING[1]
BYTE
BYTE
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
Number of the display position to be controlled permissible values = 1...4 = 0x01...0x04
1 = to the left, 4 = to the right character to be displayed permissible = A...Z, a...z, 0...9, +, -, blank points to be displayed next to the digit:
0 = switch off both points
1 = only switch on the point in the right bottom corner
2 = only switch on the point in the top felt corner
3 = switch on both points
Display colour:
0 = off
1 = green
2 = rot
3 = orange
203
ioControl CR2042, CR2052
Parameters of the outputs
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
0
1
00
01
FB is inactive function block execution completed without error
36524
204
ioControl CR2042, CR2052
SET_DIGIT_TO_NUM
Unit type = function block (FB)
Unit is contained in the library ifm_ioControl_Display_LED_Vxxyyzz.LIB
Symbol in CODESYS:
36592
>
Description
36535
SET_DIGIT_TO_NUM indicates a selectable character on a selectable digit of the 4-digit 10-segment display.
Permissible characters = 0...9.
The points between the digits can be controlled.
The point in the bottom right corner and the point in the top left corner belong to one digit.
Controlling a non existing point (e.g. to the left of the first digit) ignores the controller without any error message.
>
Selectable display colours = red, green, orange.
Parameters of the inputs
36492
Parameter
ENABLE
DIGIT
NUM
POINTS
COLOUR
Data type
BOOL
BYTE
BYTE
BYTE
BYTE
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
Number of the display position to be controlled permissible values = 1...4 = 0x01...0x04
1 = to the left, 4 = to the right number to be displayed permissible = 0...9 = 0x00...0x09 points to be displayed next to the digit:
0 = switch off both points
1 = only switch on the point in the right bottom corner
2 = only switch on the point in the top felt corner
3 = switch on both points
Display colour:
0 = off
1 = green
2 = rot
3 = orange
205
ioControl CR2042, CR2052
>
Parameters of the outputs
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
0
1
00
01
FB is inactive function block execution completed without error
36524
206
ioControl CR2042, CR2052
SET_DISPLAY_4_DIGIT
Unit type = function block (FB)
Unit is contained in the library ifm_ioControl_Display_LED_Vxxyyzz.LIB
Symbol in CODESYS:
36591
>
Description
SET_DISPLAY_4_DIGIT indicates the first 4 characters (from the left) of a character string on the 4-digit 10-segment display.
Permissible characters = A...Z, a...z, 0...9, +, -, blank.
>
Selectable display colours = red, green, orange.
This function block uses the function block SET_DIGIT_TO_ALPHA
(→ p. 203 ) from the same library.
36537
Parameters of the inputs
36499
Parameter
ENABLE
ALPHA_4_DIGIT
COLOUR
Data type
BOOL
STRING[4]
BYTE
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified character string to be displayed permissible = A...Z, a...z, 0...9, +, -, blank
After the 4th character, the FB ignores all characters of the character string at the input.
Display colour:
0 = off
1 = green
2 = rot
3 = orange
>
Parameters of the outputs
36525
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
0
1
2
131
00
01
02
83
FB is inactive function block execution completed without error function block is active (action not yet completed)
Preset value is invalid
207
ioControl CR2042, CR2052
SET_IDENTITY
Unit type = function block (FB)
Unit is contained in the library ifm_CR20n2_Vxxyyzz.LIB
Symbol in CODESYS:
34994
>
Description
>
SET_IDENTITY sets an application-specific program identification.
Using this FB, a program identification can be created by the application program.
► This identification can be read in order to identify the loaded program:
• via the software "Maintenance Tool"
• in the application program via the FB GET_IDENTITY
Parameters of the inputs
Parameter
ENABLE
APP_IDENT
Data type
BOOL
STRING(80)
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified identifier of the application as a string of max. 80 characters, e.g.: "Crane1704"
Reset with APP_IDENT = ""
>
Parameters of the outputs
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
0
1
00
01
FB is inactive
FB execution completed without error – data is valid
35326
35173
35088
208
ioControl CR2042, CR2052
SET_LED
Unit type = function block (FB)
Unit is contained in the library ifm_CR20n2_Vxxyyzz.LIB
Symbol in CODESYS:
34997
>
Description
With SET_LED the green LED [PWR] and the red LED [DIA] in the application program can be controlled different from the system configuration.
The FB
SET_LED_PWR_DIA_4_10
(→ p. 211 ) uses the function block SET_LED.
COLOR = LED_GREEN means the LED [PWR]
COLOR = LED_RED means the LED [DIA]
COLOR = LED_YELLOW means both LEDs simultaneously
NOTE
This FB overwrites the preset of the system settings.
Only in case of an error, the system controls the display again, e.g.:
• Application program stopped,
• Undervoltage,
• Fatal-Error.
LED display in case of an error:
• the green LED [PWR] is switched off,
• the red LED [DIA] is on according to the error (→ Chapter LED [DIA], diagnostics
36638
209
ioControl CR2042, CR2052
>
Parameters of the inputs
Parameter
ENABLE
COLOR_1
COLOR_2
FREQUENCY
Data type
BOOL
BYTE
BYTE
BYTE
35151
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
LED color for "switched on" color constant from the data structure "System LED Color"; allowed:
00 = LED_BLACK (= LED out)
01 = LED_RED
02 = LED_GREEN
03 = LED_YELLOW
LED color for "switched off" color constant from the data structure "System LED Color"; allowed:
00 = LED_BLACK (= LED out)
01 = LED_RED
02 = LED_GREEN
03 = LED_YELLOW
LED flashing frequency
Frequency constant from the data structure "System LED Frequency"; allowed:
00 = LED_0HZ = permanently ON
01 = LED_05HZ = flashes at 0.5 Hz
02 = LED_1HZ = flashes at 1 Hz
04 = LED_2HZ = flashes at 2 Hz
10 = LED_5HZ = flashes at 5 Hz
>
Parameters of the outputs
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
0
1
2
133
151
00
01
02
85
97
FB is inactive function block execution completed without error function block is active (action not yet completed) value for FREQUENCY is invalid value for color is invalid
35109
210
ioControl CR2042, CR2052
SET_LED_PWR_DIA_4_10
Unit type = function block (FB)
Unit is contained in the library ifm_ioControl_Display_LED_Vxxyyzz.LIB
Symbol in CODESYS:
36581
>
Description
With SET_LED_PWR_DIA_4_10, the application program can control the following LEDs on the
Multifunction display
(→ p. 24 ) simultaneously, by circumventing the system configuration:
• green LED [PWR], power
• red LED [DIA], diagnostic
This function block uses the function block SET_LED
(→ p. 209 ) from the device library.
NOTE
This FB overwrites the preset of the system settings.
Only in case of an error, the system controls the display again, e.g.:
• Application program stopped,
• Undervoltage,
• Fatal-Error.
LED display in case of an error:
• the green LED [PWR] is switched off,
• the red LED [DIA] is on according to the error (→ Chapter LED [DIA], diagnostics
36536
211
ioControl CR2042, CR2052
>
Parameters of the inputs
Parameter
ENABLE
GREEN_ON
GREEN_INVERT
RED_ON
RED_INVERT
FREQUENCY
Data type
BOOL
BOOL
BOOL
BOOL
BOOL
BYTE
36500
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
TRUE: the green LED [PWR] is active
FALSE: the green LED [PWR] is not active
TRUE: LED [PWR] is on during the second time of the flashing period
FALSE: LED [PWR] is on during the first half of the flashing period
Prerequisite:
GREEN_ON = TRUE;
FREQUENCY is NOT LED_0HZ
TRUE: the red LED [DIA] is active
FALSE: the red LED [DIA] is not active
TRUE: LED [DIA] is on during the second half of the flashing period
FALSE: LED [DIA] is on during the first half of the flashing period
Prerequisite:
RED_ON = TRUE;
FREQUENCY is NOT LED_0HZ
LED flashing frequency
Frequency constant from the data structure "System LED Frequency"; allowed:
00 = LED_0HZ = permanently ON
01 = LED_05HZ = flashes at 0.5 Hz
02 = LED_1HZ = flashes at 1 Hz
04 = LED_2HZ = flashes at 2 Hz
10 = LED_5HZ = flashes at 5 Hz
>
Parameters of the outputs
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
0
Value dec | hex
00
Description
FB is inactive
1
133
151
01
85
97 function block execution completed without error value for FREQUENCY is invalid value for color is invalid
36520
212
ioControl CR2042, CR2052
SET_PASSWORD
Unit type = function block (FB)
Unit is contained in the library ifm_CR20n2_Vxxyyzz.LIB
Symbol in CODESYS:
34992
>
>
Description
35327
SET_PASSWORD sets a user password for program and memory upload via the maintenance tool.
If the user password is active, reading of the application program or the data memory via the maintenance tool is only possible if the correct password has been entered.
If an empty string (default condition) is assigned to the PASSWORD input, the password is reset. Than an upload of the application software or of the data memory is possible at any time.
The password is reset when loading a new application program.
Parameters of the inputs
35154
Parameter
ENABLE
PASSWORD
Data type
BOOL
STRING(16)
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified password
If PASSWORD = "", than access is possible without enter of a password
>
Parameters of the outputs
35107
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
0
Value dec | hex
00
1 01
Description
FB is inactive
FB execution completed without error – data is valid
213
ioControl CR2042, CR2052
TIMER_READ_US
Unit type = function block (FB)
Unit is contained in the library ifm_CR20n2_Vxxyyzz.LIB
Symbol in CODESYS:
35040
>
Description
27793
TIMER_READ_US reads the current system time in [µs].
When the supply voltage is applied, the device generates a clock pulse which is counted upwards in a register. This register can be read by means of the FB call and can for example be used for time measurement.
Info
>
The system timer runs up to the counter value 4 294 967 295 µs at the maximum and then starts again from 0.
4 294 967 295 µs = 1h 11min 34s 967ms 295µs
Parameters of the outputs
35086
Parameter
TIME_US
RESULT
Data type
DWORD
BYTE
Description current system time [ s] feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
0
1
00
01
FB is inactive
FB execution completed without error – data is valid
214
ioControl CR2042, CR2052
>
6 Diagnosis and error handling
Content
28855
The runtime-system (RTS) checks the device by internal error checks:
• during the boot phase (reset phase)
• during executing the application program
→ chapter O perating states
In so doing a high operating reliability is provided, as much as possible.
6.1
Diagnosis
During the diagnosis, the "state of health" of the device is checked. It is to be found out if and what
→faults are given in the device.
>
Depending on the device, the inputs and outputs can also be monitored for their correct function.
- wire break,
- short circuit,
- value outside range.
For diagnosis, configuration and log data can be used, created during the "normal" operation of the device.
The correct start of the system components is monitored during the initialisation and start phase.
Errors are recorded in the log file.
For further diagnosis, self-tests can also be carried out.
28856
6.2
Fault
28834
A fault is the state of an item characterized by the inability to perform the requested function, excluding the inability during preventive maintenance or other planned actions, or due to lack of external resources.
A fault is often the result of a failure of the item itself, but may exist without prior failure.
In →ISO 13849-1 "fault" means "random fault".
215
> ioControl CR2042, CR2052
6.3
Response to system errors
>
35831
In principle, the programmer is responsible to react to the error messages in the application program.
An error description is provided via the error message.
> The system resets the error message as soon as the error causing state is not present anymore.
6.3.1
Example process for response to an error message
35698
>
The runtime system cyclically writes the system flag TEMPERATURE.
The application program detects the device temperature by retrieving the INT variable.
If permissible values for the application are exceeded or not reached:
> The application program deactivates the outputs.
► Rectify the cause of the error.
>
The application program detects the temperature value which has returned to normal:
The machine / system can be restarted or operation can be continued.
6.4
CAN / CANopen: errors and error handling
→ System manual "Know-How ecomat mobile "
→ chapter CAN / CANopen: errors and error handling
28808
216
ioControl CR2042, CR2052
7 Appendix
Content
28796
Additionally to the indications in the data sheets you find summary tables in the appendix.
>
7.1
System flags
Content
36632
The addresses of the system flags can change if the PLC configuration is extended.
► While programming only use the symbol names of the system flags!
7.1.1
System flags: voltages
36621
System flags (symbol name)
VBB2
VBBS
>
VU
7.1.2
System flags: system
Type
WORD
WORD
WORD
Description
Supply voltage on VBB2 in [mV]
Supply voltage on VBBS in [mV]
Internal supply voltage in [mV]
36616
System flags (symbol name)
>
TEMP
7.1.3
System flags: keys
Type
INT
Description
Temperature in the device in [°C]
36608
System flags (symbol name)
Switch_S1
Switch_S2
Switch_S3
Type
BOOL
BOOL
BOOL
Description
Key [
] is pressed
Key [ ] is pressed
Key [ ] is pressed
217
ioControl CR2042, CR2052
7.2
Address assignment and I/O operating modes
Content
28801
→ also data sheet
>
7.2.1
Address assignment inputs / outputs
Content
28800
Inputs: address assignment
36731
>
Abbreviations →chapter Note on wiring
Operating modes of the inputs/outputs →chapter Possible operating modes inputs/outputs
IEC address Symbolic address
%IB0 IN00
%IB1
%IB02
%IB3
IN01
IN02
IN03
%IB4
%IB5
%IB6
%IB7
IN04
IN05
IN06
IN07
%IB8
%IB9
%IB10
Switch_S1
Switch_S2
Switch_S3
%IW6
%IW7
%IW8
VBBS
VU
VBB2
%IW9 TEMP
Outputs: address assignment
36717
Abbreviations →chapter Note on wiring
Operating modes of the inputs/outputs
→chapter Possible operating modes inputs/outputs
IEC address Symbolic address
%QB0
%QB1
%QB2
OUT00
OUT01
OUT02
218
ioControl CR2042, CR2052
IEC address
%QB3
%QB4
%QB5
%QB6
%QB7
%QB16
%QB17
%QB18
%QB19
%QB20
%QB21
%QB22
%QB23
%QB8
%QB9
%QB10
%QB11
%QB12
%QB13
%QB14
%QB15
%QB24
%QB25
%QB26
%QB27
%QB28
%QB29
%QB30
%QB31
%QB32
Symbolic address
OUT03
OUT04
OUT05
OUT06
OUT07
LED_IN00
LED_OUT00
LED_IN01
LED_OUT01
LED_IN02
LED_OUT02
LED_IN03
LED_OUT03
LED_IN04
LED_OUT04
LED_IN05
LED_OUT05
LED_IN06
LED_OUT06
LED_IN07
LED_OUT07
DISP_D1L
DISP_D1H
DISP_D2L
DISP_D2H
DISP_D3L
DISP_D3H
DISP_D4L
DISP_D4H
DISP_BAR
219
ioControl CR2042, CR2052
>
7.2.2
Possible operating modes inputs/outputs
Content
28584
Inputs: operating modes
36696
= this configuration value is default
inputs Possible operating mode Set with function block FB input
dec
Value
hex
0 00
IN00, IN01,
IN04, IN05 off
Binary input (digital)
Voltage input
Voltage input, ratiometric
Current input
Voltage input
Binary input
Binary input with diagnostics
(Namur)
Binary input
Binary input (digital) plus-switching
0…10 000 mV
0…1 000 ‰
0…20 000 µA
0…32 000 mV plus-switching plus-switching
INPUT
INPUT
INPUT
INPUT
INPUT
INPUT
INPUT
INPUT
MODE
MODE minus-switching minus-switching
INPUT
INPUT
MODE
MODE
Frequency measurement
Interval measurement
Period duration and ratio measurement
Phase shift
0…30 000 Hz
0.1...3 000 Hz
0.1...3 000 Hz
0...359°
PERIOD
PERIOD
PERIOD
PERIOD
MODE
MODE
MODE
MODE
IN02, IN03,
IN06, IN07
Up counter
Down counter
Detect encoder values off
Binary input
Binary input with diagnostics
(Namur)
Resistance measurement 16…30 000 Ohm
Set operating modes with the following function block:
INPUT
plus-switching INPUT
INPUT
Assigns an operating mode to an input channel
Provides the current state of the selected channel
FASTCOUNT
INC_ENCODER
0…30 000 Hz
0…1 000 Hz plus-switching
FASTCOUNT
INC_ENCODER
INPUT
INPUT
MODE
MODE
MODE
MODE
MODE
Counter block for fast input pulses
Up/down counter function for the evaluation of encoders
MODE
MODE
MODE
MODE
MODE
MODE
0
10
11
18
00
0A
0B
12
20
25
21
22
12
37
14
19
1
7
9
3
6
10
11
14
19
15
16
0C
25
0E
13
01
03
06
07
09
0A
0B
220
ioControl CR2042, CR2052
PERIOD
• measures at the indicated channel:
the frequency and the period length (cycle time) in [µs],
• measures at the indicated channel pair:
the phase shift in [°] between channel A and channel B
>
Outputs: operating modes
Outputs
= this configuration value is default
Possible operating mode Set with function block FB input
OUT00
…OUT07 off
Binary output plus-switching
Binary output with diagnostics plus-switching
Binary output with diagnostics and protection plus-switching
OUTPUT
OUTPUT
OUTPUT
OUTPUT
MODE
MODE
MODE
MODE analogue output with pulse-width modulation
Analogue current-controlled output
Set operating modes with the following function block:
CURRENT_CONTROL
OUTPUT
PWM1000
PWM1000
CURRENT_CONTROL
Current controller for a PWMi output channel
Assigns an operating mode to an output channel
Provides the current state of the selected channel
Initialises and configures a PWM-capable output channel the mark-to-space ratio can be indicated in steps of 1 ‰
36714
2
15
16
dec
Value
hex
0 00
02
0F
10
221
ioControl CR2042, CR2052
>
7.3
Error tables
Content
28817
7.3.1
Error flags
>
→ chapter System flags
7.3.2
Errors: CAN / CANopen
28818
19610
28819
>
→ System manual "Know-How ecomat mobile "
→ chapter CAN / CANopen: errors and error handling
EMCY codes: CANx
28825
>
The indications for CANx also apply to each of the CAN interfaces.
EMCY code
object 0x1003
Byte 0
[hex]
00
Byte 1
[hex]
80
Object
0x1001
Byte 2
[hex]
11
Byte 3
--
--
Manufactor specific information
Byte 4
--
--
Byte 5
--
--
Byte 6
--
-- 00
10
11
30
81
81
81
81
11
11
11
11
--
--
--
--
--
--
--
--
--
--
--
--
Byte 7 Description
--
--
--
--
--
CANx monitoring SYNC error (only slave)
CANx warning threshold (> 96)
CANx receive buffer overrun
CANx transmit buffer overrun
CANx guard/heartbeat error (only slave)
EMCY codes: I/Os, system
08
00
00
08
08
10
00
EMCY code
object 0x1003
Byte 0
[hex]
00
Byte 1
[hex]
21
23
31
33
33
21
21
23
Object
0x1001
Byte 2
[hex]
03
03
03
03
03
05
05
05
Manufactor specific information
Byte 3 Byte 4
I0 LSB
I0 LSB
I0 MSB
I0 MSB
I0 LSB I0 MSB
Q0 LSB Q0 MSB
Q0 LSB Q0 MSB
Byte 5 Byte 6
Byte 7 Description
Inputs interruption
Inputs short circuit
Excess current 4…20 mA
Outputs interruption
Outputs short circuit
Power supply VBBS
Terminal voltage VU
Output voltage VBB1, VBB2
35746
222
ioControl CR2042, CR2052
EMCY code
object 0x1003
Byte 0
[hex]
Byte 1
[hex]
Object
0x1001
Byte 2
[hex]
Byte 3
Manufactor specific information
Byte 4 Byte 5 Byte 6
Byte 7 Description
00 42 09 Excess temperature
>
In the CANopen stack none of these EMCY codes are fix implemented. Advice:
► Make these EMCY codes with CANOPEN_SENDEMCYMESSAGE.
Manufacturer-specific information (detail)
35560
The EMCY codes of the manufacturer-specific information for the inputs and outputs (if available) are distributed as follows:
Byte BYTE 3
Bit 7 6 5 4 3 2 1 0
I0 LSB IN07 IN06 IN05 IN04 IN03 IN02 IN01 IN00
Q0 LSB OUT07 OUT06 OUT05 OUT04 OUT03 OUT02 OUT01 OUT00
Byte BYTE 4
Bit 7 6 5 4 3 2 1 0
I0 MSB
Q0 MSB
IN15
OUT15
IN14
OUT14
IN13
OUT13
IN12
OUT12
IN11
OUT11
IN10
OUT10
IN09 IN08
OUT09 OUT08
223
ifm Programming Manual ioControl
Terms and abbreviations
2018-11-20
8
A
Terms and abbreviations
Address
>
This is the "name" of the bus participant. All participants need a unique address so that the signals can be exchanged without problem.
Application software
>
Software specific to the application, implemented by the machine manufacturer, generally containing logic sequences, limits and expressions that control the appropriate inputs, outputs, calculations and decisions.
Architecture
>
Specific configuration of hardware and/or software elements in a system.
B
Baud
>
Baud, abbrev.: Bd = unit for the data transmission speed. Do not confuse baud with "bits per second"
(bps, bits/s). Baud indicates the number of changes of state (steps, cycles) per second over a transmission length. But it is not defined how many bits per step are transmitted. The name baud can be traced back to the French inventor J. M. Baudot whose code was used for telex machines.
1 MBd = 1024 x 1024 Bd = 1 048 576 Bd
>
Boot loader
On delivery ecomatmobile controllers only contain the boot loader.
The boot loader is a start program that allows to reload the runtime system and the application program on the device.
The boot loader contains basic routines...
• for communication between hardware modules,
• for reloading the operating system.
The boot loader is the first software module to be saved on the device.
Bus
>
Serial data transmission of several participants on the same cable.
C
CAN
>
CAN = C ontroller A rea N etwork
CAN is a priority-controlled fieldbus system for large data volumes. There are several higher-level protocols that are based on CAN, e.g. 'CANopen' or 'J1939'.
CAN stack
CAN stack = software component that deals with processing CAN messages.
224
ifm Programming Manual ioControl
Terms and abbreviations
2018-11-20
>
CiA
>
CiA = CAN in Automation e.V.
User and manufacturer organisation in Germany / Erlangen. Definition and control body for CAN and
CAN-based network protocols.
Homepage → www.can-cia.org
CiA DS 304
>
DS = D raft S tandard
CANopen device profile for safety communication
>
CiA DS 401
DS = D raft S tandard
CANopen device profile for binary and analogue I/O modules
>
CiA DS 402
DS = D raft S tandard
CANopen device profile for drives
>
CiA DS 403
DS = D raft S tandard
CANopen device profile for HMI
>
CiA DS 404
DS = D raft S tandard
CANopen device profile for measurement and control technology
>
CiA DS 405
DS = D raft S tandard
CANopen specification of the interface to programmable controllers (IEC 61131-3)
>
CiA DS 406
DS = D raft S tandard
CANopen device profile for encoders
CiA DS 407
>
DS = D raft S tandard
CANopen application profile for local public transport
Clamp 15
>
In vehicles clamp 15 is the plus cable switched by the ignition lock.
COB ID
COB = C ommunication Ob ject
ID = Id entifier
ID of a CANopen communication object
Corresponds to the identifier of the CAN message with which the communication project is sent via the
CAN bus.
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>
>
CODESYS
CODESYS ® is a registered trademark of 3S – Smart Software Solutions GmbH, Germany.
'CODESYS for Automation Alliance' associates companies of the automation industry whose hardware devices are all programmed with the widely used IEC 61131-3 development tool CODESYS ®
Homepage → www.codesys.com
.
CSV file
CSV = C omma S eparated V alues (also: C haracter S eparated V alues)
A CSV file is a text file for storing or exchanging simply structured data.
The file extension is .csv
.
Example: Source table with numerical values: value 1.0
value 2.0
value 3.0
value 1.1
value 2.1
value 3.1
This results in the following CSV file:
.
> value 1.0;value 1.1;value 1.2;value 1.3
value 2.0;value 2.1;value 2.2;value 2.3
value 3.0;value 3.1;value 3.2;value 3.3
value 1.2
value 2.2
value 3.2
value 1.3
value 2.3
value 3.3
Cycle time
>
This is the time for a cycle. The PLC program performs one complete run.
Depending on event-controlled branchings in the program this can take longer or shorter.
D
INT
UINT
DINT
UDINT
REAL
ULINT
>
STRING
Data type
BOOL
BYTE
WORD
DWORD
SINT
USINT
Data type
Depending on the data type, values of different sizes can be stored.
min. value
FALSE
0
0
0
-128
0
-32 768
0
-2 147 483 648
0
-3.402823466 • 10 38
0
max. value
TRUE
255
65 535
4 294 967 295
127
255
32 767
65 535
2 147 483 647
4 294 967 295
3.402823466 • 10 38
18 446 744 073 709 551 615
DC
D irect C urrent
size in the memory
8 bits = 1 byte
8 bits = 1 byte
16 bits = 2 bytes
32 bits = 4 bytes
8 bits = 1 byte
8 bits = 1 byte
16 bits = 2 bytes
16 bits = 2 bytes
32 bits = 4 bytes
32 bits = 4 bytes
32 bits = 4 bytes
64 Bit = 8 Bytes number of char. + 1
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Diagnosis
During the diagnosis, the "state of health" of the device is checked. It is to be found out if and what
→faults are given in the device.
Depending on the device, the inputs and outputs can also be monitored for their correct function.
- wire break,
- short circuit,
- value outside range.
>
For diagnosis, configuration and log data can be used, created during the "normal" operation of the device.
The correct start of the system components is monitored during the initialisation and start phase.
Errors are recorded in the log file.
For further diagnosis, self-tests can also be carried out.
>
Dither
Dither is a component of the →PWM signals to control hydraulic valves. It has shown for electromagnetic drives of hydraulic valves that it is much easier for controlling the valves if the control signal (PWM pulse) is superimposed by a certain frequency of the PWM frequency. This dither frequency must be an integer part of the PWM frequency.
DLC
>
D ata L ength C ode = in CANopen the number of the data bytes in a message.
For →SDO: DLC = 8
>
DRAM
DRAM = D ynamic R andom A ccess M emory.
Technology for an electronic memory module with random access (Random Access Memory, RAM).
The memory element is a capacitor which is either charged or discharged. It becomes accessible via a switching transistor and is either read or overwritten with new contents. The memory contents are volatile: the stored information is lost in case of lacking operating voltage or too late restart.
>
DTC
DTC = D iagnostic T rouble C ode = error code
In the protocol J1939 faults and errors well be managed and reported via assigned numbers – the
DTCs.
E
ECU
>
(1) E lectronic C ontrol U nit = control unit or microcontroller
(2) E ngine C ontrol U nit = control device of a engine
EDS-file
EDS = E lectronic D ata S heet, e.g. for:
• File for the object directory in the CANopen master,
• CANopen device descriptions.
Via EDS devices and programs can exchange their specifications and consider them in a simplified way.
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>
Embedded software
System software, basic program in the device, virtually the →runtime system.
The firmware establishes the connection between the hardware of the device and the application program. The firmware is provided by the manufacturer of the controller as a part of the system and cannot be changed by the user.
EMC
>
EMC = E lectro M agnetic C ompatibility.
According to the EC directive (2004/108/EEC) concerning electromagnetic compatibility (in short EMC directive) requirements are made for electrical and electronic apparatus, equipment, systems or components to operate satisfactorily in the existing electromagnetic environment. The devices must not interfere with their environment and must not be adversely influenced by external electromagnetic interference.
EMCY
>
Abbreviation for emergency
Message in the CANopen protocol with which errors are signalled.
Ethernet
>
Ethernet is a widely used, manufacturer-independent technology which enables data transmission in the network at a speed of 10...10 000 million bits per second (Mbps). Ethernet belongs to the family of so-called "optimum data transmission" on a non exclusive transmission medium. The concept was developed in 1972 and specified as IEEE 802.3 in 1985.
EUC
>
EUC = E quipment U nder C ontrol.
EUC is equipment, machinery, apparatus or plant used for manufacturing, process, transportation, medical or other activities ( → IEC 61508-4, section 3.2.3). Therefore, the EUC is the set of all equipment, machinery, apparatus or plant that gives rise to hazards for which the safety-related system is required.
If any reasonably foreseeable action or inaction leads to →hazards with an intolerable risk arising from the EUC, then safety functions are necessary to achieve or maintain a safe state for the EUC. These safety functions are performed by one or more safety-related systems.
F
FiFo
FIFO ( F irst I n, F irst O ut) = Operating principle of the stack memory: The data packet that was written into the stack memory first, will also be read first. Each identifier has such a buffer (queue).
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Flash memory
Flash ROM (or flash EPROM or flash memory) combines the advantages of semiconductor memory and hard disks. Similar to a hard disk, the data are however written and deleted blockwise in data blocks up to 64, 128, 256, 1024, ... bytes at the same time.
Advantages of flash memories
The stored data are maintained even if there is no supply voltage.
Due to the absence of moving parts, flash is noiseless and insensitive to shocks and magnetic fields.
>
Disadvantages of flash memories
A storage cell can tolerate a limited number of write and delete processes:
• Multi-level cells: typ. 10 000 cycles
• Single level cells: typ. 100 000 cycles
Given that a write process writes memory blocks of between 16 and 128 Kbytes at the same time, memory cells which require no change are used as well.
FRAM
>
FRAM, or also FeRAM, means Fe rroelectric R andom A ccess M emory. The storage operation and erasing operation is carried out by a polarisation change in a ferroelectric layer.
Advantages of FRAM as compared to conventional read-only memories:
• non-volatile,
• compatible with common EEPROMs, but:
• access time approx. 100 ns,
• nearly unlimited access cycles possible.
H
Heartbeat
>
The participants regularly send short signals. In this way the other participants can verify if a participant has failed.
>
HMI
HMI = H uman M achine I nterface
I
ID
>
ID = Id entifier
Name to differentiate the devices / participants connected to a system or the message packets transmitted between the participants.
IEC 61131
Standard: Basics of programmable logic controllers
• Part 1: General information
• Part 2: Production equipment requirements and tests
• Part 3: Programming languages
• Part 5: Communication
• Part 7: Fuzzy Control Programming
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IEC user cycle
>
IEC user cycle = PLC cycle in the CODESYS application program.
>
Instructions
Superordinate word for one of the following terms: installation instructions, data sheet, user information, operating instructions, device manual, installation information, online help, system manual, programming manual, etc.
Intended use
>
Use of a product in accordance with the information provided in the instructions for use.
IP address
>
IP = I nternet P rotocol.
The IP address is a number which is necessary to clearly identify an internet participant. For the sake of clarity the number is written in 4 decimal values, e.g. 127.215.205.156.
>
ISO 11898
Standard: Road vehicles – Controller area network
• Part 1: Data link layer and physical signalling
• Part 2: High-speed medium access unit
• Part 3: Low-speed, fault-tolerant, medium dependent interface
• Part 4: Time-triggered communication
• Part 5: High-speed medium access unit with low-power mode
ISO 11992
>
Standard: Interchange of digital information on electrical connections between towing and towed vehicles
• Part 1: Physical and data-link layers
• Part 2: Application layer for brakes and running gear
• Part 3: Application layer for equipment other than brakes and running gear
• Part 4: Diagnostics
>
ISO 16845
Standard: Road vehicles – Controller area network (CAN) – Conformance test plan
J
>
J1939
→ SAE J1939
L
LED
LED = L ight E mitting D iode.
Light emitting diode, also called luminescent diode, an electronic element of high coloured luminosity at small volume with negligible power loss.
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Link
>
A link is a cross-reference to another part in the document or to an external document.
LSB
>
L east S ignificant B it/Byte
M
>
MAC-ID
MAC = M anufacturer‘s A ddress C ode
= manufacturer's serial number.
→ID = Id entifier
Every network card has a MAC address, a clearly defined worldwide unique numerical code, more or less a kind of serial number. Such a MAC address is a sequence of 6 hexadecimal numbers, e.g.
"00-0C-6E-D0-02-3F".
Master
>
Handles the complete organisation on the bus. The master decides on the bus access time and polls the →slaves cyclically.
Misuse
>
The use of a product in a way not intended by the designer.
The manufacturer of the product has to warn against readily predictable misuse in his user information.
>
MMI
→ HMI
MRAM
>
MRAM = M agnetoresistive R andom A ccess M emory
The information is stored by means of magnetic storage elements. The property of certain materials is used to change their electrical resistance when exposed to magnetic fields.
Advantages of MRAM as compared to conventional RAM memories:
• non volatile (like FRAM), but:
• access time only approx. 35 ns,
• unlimited number of access cycles possible.
MSB
>
M ost S ignificant B it/Byte
N
NMT
>
NMT = N etwork M anagemen t = (here: in the CANopen protocol).
The NMT master controls the operating states of the NMT slaves.
Node
This means a participant in the network.
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Node Guarding
>
Node = here: network participant
Configurable cyclic monitoring of each →slave configured accordingly. The →master verfies if the slaves reply in time. The slaves verify if the master regularly sends requests. In this way failed network participants can be quickly identified and reported.
O
Obj / object
>
Term for data / messages which can be exchanged in the CANopen network.
Object directory
>
Contains all CANopen communication parameters of a device as well as device-specific parameters and data.
OBV
>
Contains all CANopen communication parameters of a device as well as device-specific parameters and data.
OPC
>
OPC = O LE for P rocess C ontrol
Standardised software interface for manufacturer-independent communication in automation technology
OPC client (e.g. device for parameter setting or programming) automatically logs on to OPC server
(e.g. automation device) when connected and communicates with it.
>
Operational
Operating state of a CANopen participant. In this mode →SDOs, →NMT commands and →PDOs can be transferred.
P
>
PC card
→PCMCIA card
>
PCMCIA card
PCMCIA = Personal Computer Memory Card International Association, a standard for expansion cards of mobile computers.
Since the introduction of the cardbus standard in 1995 PCMCIA cards have also been called PC card.
PDM
PDM = P rocess and D ialogue M odule.
Device for communication of the operator with the machine / plant.
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>
PDO
PDO = P rocess D ata O bject.
The time-critical process data is transferred by means of the "process data objects" (PDOs). The
PDOs can be freely exchanged between the individual nodes (PDO linking). In addition it is defined whether data exchange is to be event-controlled (asynchronous) or synchronised. Depending on the type of data to be transferred the correct selection of the type of transmission can lead to considerable relief for the →CAN bus.
According to the protocol, these services are unconfirmed data transmission: it is not checked whether the receiver receives the message. Exchange of network variables corresponds to a "1 to n connection" (1 transmitter to n receivers).
PDU
>
PDU = P rotocol D ata U nit = protocol data unit.
The PDU is a term from the →CAN protocol →SAE J1939. It refers to a component of the target address (PDU format 1, connection-oriented) or the group extension (PDU format 2, message-oriented).
PES
>
P rogrammable E lectronic S ystem ...
• for control, protection or monitoring,
• dependent for its operation on one or more programmable electronic devices,
• including all elements of the system such as input and output devices.
PGN
>
PGN = P arameter G roup N umber
PGN = 6 zero bits + 1 bit reserved + 1 bit data page + 8 bit PDU Format (PF) + 8 PDU Specific (PS)
The parameter group number is a term from the →CAN protocol →SAE J1939.
Pictogram
>
Pictograms are figurative symbols which convey information by a simplified graphic representation.
( → chapter What do the symbols and formats mean?
>
PID controller
The PID controller (proportional –integral–derivative controller) consists of the following parts:
• P = proportional part
• I = integral part
• D = differential part (but not for the controller CR04nn, CR253n).
>
PLC configuration
Part of the CODESYS user interface.
► The programmer tells the programming system which hardware is to be programmed.
> CODESYS loads the corresponding libraries.
>
Reading and writing the periphery states (inputs/outputs) is possible.
Pre-Op
Pre-Op = PRE-OPERATIONAL mode.
Operating status of a CANopen participant. After application of the supply voltage each participant automatically passes into this state. In the CANopen network only →SDOs and →NMT commands can be transferred in this mode but no process data.
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>
Process image
Process image is the status of the inputs and outputs the PLC operates with within one →cycle.
At the beginning of the cycle the PLC reads the conditions of all inputs into the process image.
During the cycle the PLC cannot detect changes to the inputs.
During the cycle the outputs are only changed virtually (in the process image).
At the end of the cycle the PLC writes the virtual output states to the real outputs.
PWM
>
PWM = pulse width modulation
The PWM output signal is a pulsed signal between GND and supply voltage.
Within a defined period (PWM frequency) the mark-to-space ratio is varied. Depending on the mark-to-space ratio, the connected load determines the corresponding RMS current.
R
ratiometric
>
Measurements can also be performed ratiometrically. If the output signal of a sensor is proportional to its suppy voltage then via ratiometric measurement (= measurement proportional to the supply) the influence of the supply's fluctuation can be reduced, in ideal case it can be eliminated.
→ analogue input
>
RAW-CAN
RAW-CAN means the pure CAN protocol which works without an additional communication protocol on the CAN bus (on ISO/OSI layer 2). The CAN protocol is international defined according to
ISO 11898-1 and garantees in ISO 16845 the interchangeability of CAN chips in addition.
remanent
>
Remanent data is protected against data loss in case of power failure.
The →runtime system for example automatically copies the remanent data to a →flash memory as soon as the voltage supply falls below a critical value. If the voltage supply is available again, the runtime system loads the remanent data back to the RAM memory.
The data in the RAM memory of a controller, however, is volatile and normally lost in case of power failure.
ro
>
RO = read only for reading only
Unidirectional data transmission: Data can only be read and not changed.
RTC
>
RTC = R eal T ime C lock
Provides (batter-backed) the current date and time. Frequent use for the storage of error message protocols.
Runtime system
Basic program in the device, establishes the connection between the hardware of the device and the application program.
→ chapter Software modules for the device
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rw
>
RW = read/ write
Bidirectional data transmission: Data can be read and also changed.
S
>
SAE J1939
The network protocol SAE J1939 describes the communication on a →CAN bus in commercial vehicles for transmission of diagnosis data (e.g.engine speed, temperature) and control information.
Standard: Recommended Practice for a Serial Control and Communications Vehicle Network
• Part 2: Agricultural and Forestry Off-Road Machinery Control and Communication Network
• Part 3: On Board Diagnostics Implementation Guide
• Part 5: Marine Stern Drive and Inboard Spark-Ignition Engine On-Board Diagnostics Implementation
Guide
• Part 11: Physical Layer – 250 kBits/s, Shielded Twisted Pair
• Part 13: Off-Board Diagnostic Connector
• Part 15: Reduced Physical Layer, 250 kBits/s, Un-Shielded Twisted Pair (UTP)
• Part 21: Data Link Layer
• Part 31: Network Layer
• Part 71: Vehicle Application Layer
• Part 73: Application Layer – Diagnostics
• Part 81: Network Management Protocol
SD card
>
An SD memory card (short for S ecure D igital Memory Card) is a digital storage medium that operates to the principle of →flash storage.
SDO
>
SDO = S ervice D ata O bject.
The SDO is used for access to objects in the CANopen object directory. 'Clients' ask for the requested data from 'servers'. The SDOs always consist of 8 bytes.
Examples:
• Automatic configuration of all slaves via →SDOs at the system start,
• reading error messages from the →object directory.
Every SDO is monitored for a response and repeated if the slave does not respond within the monitoring time.
Self-test
>
Test program that actively tests components or devices. The program is started by the user and takes a certain time. The result is a test protocol (log file) which shows what was tested and if the result is positive or negative.
>
Slave
Passive participant on the bus, only replies on request of the →master. Slaves have a clearly defined and unique →address in the bus.
stopped
Operating status of a CANopen participant. In this mode only →NMT commands are transferred.
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>
Symbols
Pictograms are figurative symbols which convey information by a simplified graphic representation.
( → chapter What do the symbols and formats mean?
System variable
>
Variable to which access can be made via IEC address or symbol name from the PLC.
T
Target
>
The target contains the hardware description of the target device for CODESYS, e.g.: inputs and outputs, memory, file locations.
Corresponds to an electronic data sheet.
TCP
>
The T ransmission C ontrol P rotocol is part of the TCP/IP protocol family. Each TCP/IP data connection has a transmitter and a receiver. This principle is a connection-oriented data transmission. In the
TCP/IP protocol family the TCP as the connection-oriented protocol assumes the task of data protection, data flow control and takes measures in the event of data loss. (compare: →UDP)
Template
>
A template can be filled with content.
Here: A structure of pre-configured software elements as basis for an application program.
U
>
UDP
UDP ( U ser D atagram P rotocol) is a minimal connectionless network protocol which belongs to the transport layer of the internet protocol family. The task of UDP is to ensure that data which is transmitted via the internet is passed to the right application.
At present network variables based on →CAN and UDP are implemented. The values of the variables are automatically exchanged on the basis of broadcast messages. In UDP they are implemented as broadcast messages, in CAN as →PDOs.
According to the protocol, these services are unconfirmed data transmission: it is not checked whether the receiver receives the message. Exchange of network variables corresponds to a "1 to n connection" (1 transmitter to n receivers).
Use, intended
>
Use of a product in accordance with the information provided in the instructions for use.
W
Watchdog
In general the term watchdog is used for a component of a system which watches the function of other components. If a possible malfunction is detected, this is either signalled or suitable program branchings are activated. The signal or branchings serve as a trigger for other co-operating system components to solve the problem.
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9 Index
4
4-digit 10-segment display ..................................................................... 26
A
About this manual .................................................................................... 4
Activate the PLC configuration .............................................................. 46
Activation of the input diagnosis ............................................................ 53
Address ................................................................................................ 241
Address assignment and I/O operating modes ................................... 234
Address assignment inputs / outputs .................................................. 235
Analogue inputs ..................................................................................... 15 configuration and diagnosis .......................................................................... 51
Appendix .............................................................................................. 232
Application program ............................................................................... 32
Application software............................................................................. 241
Architecture .......................................................................................... 241
Availability of PWM ................................................................................ 56
Available memory .................................................................................. 14
B
Baud ..................................................................................................... 241
Bibliothek ifm_CR20n2_V01yyzz.LIB .................................................... 61
Bibliothek ifm_ioControl_Display_LED_Vxxyyzz.LIB ............................ 62
Binary inputs .......................................................................................... 16 configuration and diagnosis .......................................................................... 52
Binary outputs configuration and diagnosis .......................................................................... 55
Boot loader .......................................................................................... 241
Bootloader.............................................................................................. 31
Bus ....................................................................................................... 241
C
CAN ..................................................................................................... 241 interfaces and protocols ................................................................................ 29
CAN / CANopen errors and error handling............................................................................. 230
CAN declaration (e.g. CR1080) ............................................................. 47
CAN interfaces ....................................................................................... 29
CAN stack ............................................................................................ 241
CAN_ENABLE ....................................................................................... 70
CAN_RECOVER ................................................................................... 71
CAN_REMOTE_REQUEST .................................................................. 93
CAN_REMOTE_RESPONSE................................................................ 95
CAN_RX ................................................................................................ 76
CAN_RX_ENH ....................................................................................... 77
CAN_RX_ENH_FIFO ............................................................................ 79
CAN_RX_RANGE ................................................................................. 81
CAN_RX_RANGE_FIFO ....................................................................... 83
CAN_SETDOWNLOADID ..................................................................... 72
CAN_STATUS ....................................................................................... 73
CAN_TX ................................................................................................. 86
CAN_TX_ENH ....................................................................................... 88
CAN_TX_ENH_CYCLIC ........................................................................ 90
CANOPEN_ENABLE ............................................................................. 99
CANOPEN_GETBUFFERFLAGS ....................................................... 101
CANOPEN_GETEMCYMESSAGES ................................................... 139
CANOPEN_GETERRORREGISTER .................................................. 141
CANOPEN_GETGUARDHBERRLIST ................................................ 134
CANOPEN_GETGUARDHBSTATSLV ............................................... 136
CANOPEN_GETNMTSTATESLAVE .................................................. 108
CANOPEN_GETODCHANGEDFLAG ................................................ 112
CANOPEN_GETSTATE ...................................................................... 103
CANOPEN_GETSYNCSTATE ............................................................ 130
CANOPEN_NMTSERVICES ............................................................... 109
CANOPEN_READOBJECTDICT ........................................................ 113
CANOPEN_SDOREAD ....................................................................... 117
CANOPEN_SDOREADBLOCK ........................................................... 119
CANOPEN_SDOREADMULTI ............................................................ 121
CANOPEN_SDOWRITE ..................................................................... 123
CANOPEN_SDOWRITEBLOCK ......................................................... 125
CANOPEN_SDOWRITEMULTI........................................................... 127
CANOPEN_SENDEMCYMESSAGE .................................................. 143
CANOPEN_SETSTATE ...................................................................... 105
CANOPEN_SETSYNCSTATE ............................................................ 132
CANOPEN_WRITEOBJECTDICT ...................................................... 114
CiA ....................................................................................................... 241
CiA DS 304 .......................................................................................... 242
CiA DS 401 .......................................................................................... 242
CiA DS 402 .......................................................................................... 242
CiA DS 403 .......................................................................................... 242
CiA DS 404 .......................................................................................... 242
CiA DS 405 .......................................................................................... 242
CiA DS 406 .......................................................................................... 242
CiA DS 407 .......................................................................................... 242
Clamp 15.............................................................................................. 242
COB ID ................................................................................................. 242
CODESYS ........................................................................................... 242
Conditions .............................................................................................. 13
Configuration of the inputs and outputs (default setting) ...................... 50
Configuration of the output diagnosis .................................................... 55
Configurations ........................................................................................ 41
Configure inputs ..................................................................................... 51
Configure outputs .................................................................................. 54
Configure the software filters of the inputs ............................................ 52
Configure the software filters of the outputs .......................................... 54
Copyright.................................................................................................. 4
Creating application program ................................................................ 34
CSV file ................................................................................................ 243
Current control with PWM (= PWMi) ..................................................... 56
CURRENT_CONTROL ....................................................................... 193
Cycle time ............................................................................................ 243
D
Data type.............................................................................................. 243
DC ........................................................................................................ 243
Definition overload ......................................................................................................... 19 short circuit .................................................................................................... 19
Description ...... 70, 71, 72, 73, 76, 77, 79, 81, 83, 86, 88, 90, 93, 95, 99,
101, 103, 105, 108, 109, 112, 113, 114, 117, 119, 121, 123, 125, 127,
130, 132, 134, 136, 139, 141, 143, 147, 149, 151, 153, 155, 157, 159,
161, 163, 166, 167, 169, 171, 174, 176, 178, 180, 182, 184, 187, 189,
193, 195, 197, 200, 201, 203, 204, 205, 206, 207, 208, 210, 212, 214,
216, 218, 220, 221, 222, 224, 226, 227
Diagnosis ............................................................................................. 229 binary outputs (via current and voltage measurement) .......................... 20, 21 overload (via current measurement) ....................................................... 20, 22 short circuit (via voltage measurement) .................................................. 21, 22 wire break (via voltage measurement).................................................... 21, 22
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ioControl CR2042, CR2052
Diagnosis ............................................................................................. 243
Diagnosis and error handling............................................................... 229
Distribution of the application program .................................................. 35
Dither ................................................................................................... 244
DLC ...................................................................................................... 244
DRAM .................................................................................................. 244
DTC ...................................................................................................... 244
E
ECU ..................................................................................................... 244
EDS-file ................................................................................................ 244
Embedded software ............................................................................. 244
EMC ..................................................................................................... 245
EMCY ................................................................................................... 245
EMCY codes
CANx ........................................................................................................... 239
I/Os, system................................................................................................. 239
Error flags ............................................................................................ 239
ERROR state ......................................................................................... 37
Error tables .......................................................................................... 239
Errors
CAN / CANopen .......................................................................................... 239
Ethernet ............................................................................................... 245
EUC ..................................................................................................... 245
Example process for response to an error message .......................... 229
F
Fast inputs ............................................................................................. 53
FASTCOUNT ....................................................................................... 182
FATAL ERROR state ............................................................................. 37
Fault ..................................................................................................... 229
FB, FUN, PRG in CODESYS ................................................................ 33
FBs for PWM functions .......................................................................... 56
FiFo ...................................................................................................... 245
Flash memory ...................................................................................... 245
FLASH memory ..................................................................................... 14
FLASH_INFO ....................................................................................... 200
FLASH_READ ..................................................................................... 201
FRAM .............................................................................................14, 246
Function configuration in general .......................................................... 49
Function configuration of the inputs and outputs .................................. 50
Function element outputs ...................................................................... 66
Function elements
CANopen ....................................................................................................... 97
CANopen emergency .................................................................................. 138
CANopen guarding ...................................................................................... 133
CANopen network management ................................................................. 107
CANopen object directory ........................................................................... 111
CANopen SDOs .......................................................................................... 116
CANopen status ............................................................................................ 98
CANopen SYNC .......................................................................................... 129 output functions ........................................................................................... 192 processing input values............................................................................... 181
RAW-CAN (Layer 2) ...................................................................................... 68
RAW-CAN remote ......................................................................................... 92
RAW-CAN status ........................................................................................... 69 receive RAW-CAN data ................................................................................ 75 receive SAE J1939 ...................................................................................... 158
SAE J1939 ................................................................................................... 145
SAE J1939 diagnosis .................................................................................. 173
SAE J1939 request ..................................................................................... 154
SAE J1939 status ........................................................................................ 146 system ......................................................................................................... 199
238 transmit RAW-CAN data ............................................................................... 85 transmit SAE J1939..................................................................................... 165
G
GET_APP_INFO .................................................................................. 203
GET_HW_INFO ................................................................................... 204
GET_IDENTITY ................................................................................... 205
GET_SW_INFO ................................................................................... 206
GET_SW_VERSION ........................................................................... 207
H
Hardware description ............................................................................. 12
Hardware structure ................................................................................ 13
Heartbeat ............................................................................................. 246
History of the instructions ........................................................................ 6
HMI ...................................................................................................... 246
How is this documentation structured? ................................................... 5
I
ID ......................................................................................................... 246
IEC 61131 ............................................................................................ 246
IEC user cycle ...................................................................................... 246 ifm function elements ............................................................................. 60 ifm function elements for the device CR20n2 ....................................... 66 ifm libraries for the device CR20n2 ....................................................... 61
INC_ENCODER ................................................................................... 184
Indicators ............................................................................................... 24
Information about the device ................................................................. 11
INIT status (reset) .................................................................................. 36
INPUT .................................................................................................. 187
Input group IN00, IN01, IN04, IN05 ....................................................... 16
Input group IN02, IN03, IN06, IN07 ....................................................... 17
Inputs address assignment .................................................................................... 235 operating modes .......................................................................................... 237
Inputs (technology) ................................................................................ 15
Install the runtime system ...................................................................... 42
Instructions .......................................................................................... 246
Intended use ........................................................................................ 246
Interface description .............................................................................. 28
IP address ............................................................................................ 246
ISO 11898 ............................................................................................ 247
ISO 11992 ............................................................................................ 247
ISO 16845 ............................................................................................ 247
J
J1939 ................................................................................................... 247
J1939_DM1RX .................................................................................... 174
J1939_DM1TX ..................................................................................... 176
J1939_DM1TX_CFG ........................................................................... 178
J1939_DM3TX ..................................................................................... 180
J1939_ENABLE ................................................................................... 147
J1939_GETDABYNAME ..................................................................... 149
J1939_NAME ....................................................................................... 151
J1939_RX ............................................................................................ 159
J1939_RX_FIFO .................................................................................. 161
J1939_RX_MULTI ............................................................................... 163
J1939_SPEC_REQ ............................................................................. 155
J1939_SPEC_REQ_MULTI ................................................................ 157
J1939_STATUS ................................................................................... 153
ioControl CR2042, CR2052
J1939_TX............................................................................................. 166
J1939_TX_ENH ................................................................................... 167
J1939_TX_ENH_CYCLIC ................................................................... 169
J1939_TX_ENH_MULTI ...................................................................... 171
L
LED ...................................................................................................... 247
LED [A]...[D] ........................................................................................... 26
LED [DIA], diagnostics ........................................................................... 26
LED [Lock] ............................................................................................. 26
LED [M], mode ....................................................................................... 26
LED [PWR], power................................................................................. 25
LEDs for input and output status ........................................................... 24
Libraries ................................................................................................. 32
Library ifm_CANopen_NT_Vxxyyzz.LIB................................................ 63
Library ifm_J1939_NT_Vxxyyzz.LIB ..................................................... 64
Library ifm_RAWCan_NT_Vxxyyzz.LIB ................................................ 62
Limitations for CAN in this device .......................................................... 38
Limitations for CAN J1939 in this device ............................................... 39
Limitations for CANopen in this device.................................................. 39
Link ...................................................................................................... 247
LSB ...................................................................................................... 247
M
MAC-ID ................................................................................................ 247
Manufacturer-specific information (detail) ........................................... 240
Master .................................................................................................. 247
MEM_ERROR ..................................................................................... 208
MEMCPY ............................................................................................. 210
Misuse .................................................................................................. 248
MMI ...................................................................................................... 248
MRAM .................................................................................................. 248
MSB ..................................................................................................... 248
Multifunction display .............................................................................. 25
N
Network variables .................................................................................. 58
NMT ..................................................................................................... 248
Node .................................................................................................... 248
Node Guarding .................................................................................... 248
Note on wiring ........................................................................................ 23
Note the cycle time! ............................................................................... 33
Notes serial number ................................................................................................... 9
O
Obj / object ........................................................................................... 248
Object directory .................................................................................... 248
OBV ..................................................................................................... 248
OHC ..................................................................................................... 212
OPC ..................................................................................................... 249
Operating elements ............................................................................... 27
Operating states .................................................................................... 36
Operational .......................................................................................... 249
OUTPUT .............................................................................................. 195
Output group OUT00...OUT03 .............................................................. 20
Output group OUT04...OUT07 .............................................................. 21
Outputs address assignment .................................................................................... 235 operating modes .......................................................................................... 238
Outputs (technology) ............................................................................. 19
Overview documentation modules for CR2042, CR2052 ............................................... 4
Overview device family ioControl .......................................................... 11
P
Parameters of the inputs ... 70, 71, 72, 73, 76, 77, 79, 86, 88, 90, 93, 95,
99, 101, 103, 105, 108, 109, 112, 113, 114, 117, 119, 121, 123, 125,
127, 130, 132, 134, 136, 139, 141, 143, 147, 149, 151, 153, 155, 157,
159, 161, 163, 166, 167, 169, 171, 174, 176, 178, 180, 182, 185, 187,
190, 193, 195, 197, 200, 201, 203, 204, 205, 206, 207, 208, 210, 212,
214, 216, 218, 220, 221, 222, 224, 226
Parameters of the inputs ....................................................................... 81
Parameters of the inputs ....................................................................... 83
Parameters of the outputs . 70, 72, 73, 76, 78, 79, 81, 83, 86, 88, 90, 93,
95, 99, 101, 103, 106, 108, 109, 112, 113, 114, 117, 120, 121, 123,
126, 127, 130, 132, 134, 136, 139, 141, 143, 147, 150, 152, 153, 155,
157, 159, 161, 163, 166, 167, 169, 171, 174, 177, 178, 180, 183,
185,188, 190, 194, 196, 197, 200, 201, 203, 204, 205, 206, 207, 208,
210, 212, 214, 216, 218, 220, 221, 223, 225, 226, 227
PC card ................................................................................................ 249
PCMCIA card ....................................................................................... 249
PDM ..................................................................................................... 249
PDO ..................................................................................................... 249
PDU ..................................................................................................... 249
Performance limits of the device ........................................................... 38
PERIOD ............................................................................................... 189
PES ...................................................................................................... 249
PGN ..................................................................................................... 250
Pictogram ............................................................................................. 250
PID controller ....................................................................................... 250
PLC configuration ................................................................................ 250
Please note .............................................................................................. 8
Possible operating modes inputs/outputs ........................................... 237
Pre-Op ................................................................................................. 250
Principle block diagram ......................................................................... 14
Process image ..................................................................................... 250
Programming notes for CODESYS projects ......................................... 33
Protective functions of the outputs ........................................................ 19
PWM .................................................................................................... 250
PWM outputs ......................................................................................... 55
PWM1000 ............................................................................................ 197
R ratiometric ............................................................................................ 250
RAW-CAN ............................................................................................ 251
Reaction according to the operating mode of the output ...................... 19
Reaction of the outputs to overload or short circuit ............................... 19
Reaction when using PWM or CURRENT_CONTROL ........................ 20
Read back retain variables .................................................................... 58 remanent .............................................................................................. 251
Resistance measurement ...................................................................... 17
Response to system errors .................................................................. 229
Retain variables ..................................................................................... 57 ro .......................................................................................................... 251
RTC ...................................................................................................... 251
RUN state .............................................................................................. 37
Runtime system .............................................................................32, 251 rw ......................................................................................................... 251
S
SAE J1939 ........................................................................................... 251
239
ioControl CR2042, CR2052
Safety instructions ................................................................................... 8
Safety instructions about Reed relays .............................................23, 51
Save retain variables ............................................................................. 57
SD card ................................................................................................ 252
SDO ..................................................................................................... 252
Self-protection of the output .................................................................. 19
Self-test ................................................................................................ 252
Set up the programming system ........................................................... 45
Set up the programming system manually ............................................ 46
Set up the programming system via templates ..................................... 49
Set up the runtime system ..................................................................... 42
Set up the target .................................................................................... 46
SET_BAR............................................................................................. 214
SET_DIGIT_TO_ALPHA ..................................................................... 216
SET_DIGIT_TO_NUM ......................................................................... 218
SET_DISPLAY_4_DIGIT ..................................................................... 220
SET_IDENTITY ................................................................................... 221
SET_LED ............................................................................................. 222
SET_LED_PWR_DIA_4_10 ................................................................ 224
SET_PASSWORD ............................................................................... 226
Slave .................................................................................................... 252
Software description .............................................................................. 30
Software modules for controller function ............................................... 31
Software modules for the device ........................................................... 31
Software modules on delivery as IO module ......................................... 31
SRAM ..................................................................................................... 14
Start-up behaviour of the controller ......................................................... 9
STOP state ............................................................................................ 36 stopped ................................................................................................ 252
Symbols ............................................................................................... 252
System description ................................................................................ 11
System flags ........................................................................................ 233 keys ............................................................................................................. 233 system ......................................................................................................... 233 voltages ....................................................................................................... 233
System variable ................................................................................... 252
System variables ................................................................................... 49
T
Target ................................................................................................... 252
TCP ...................................................................................................... 252
Template .............................................................................................. 253
TIMER_READ_US............................................................................... 227
U
UDP ..................................................................................................... 253
Update the runtime system .................................................................... 43
Use as binary inputs .............................................................................. 53
Use, intended ....................................................................................... 253
Using ifm maintenance tool ................................................................... 35
V
Variables ................................................................................................ 57
Verify the installation ............................................................................. 43
W
Watchdog ............................................................................................. 253
Watchdog behaviour .............................................................................. 38
What do the symbols and formats mean? ............................................... 5
What previous knowledge is required? ................................................... 8
240
advertisement
Key Features
- Compact size, DIN rail mountable for easy installation
- 8 digital inputs, 4 digital outputs for versatile I/O handling
- 2 CAN interfaces for flexible communication options
- Wide operating temperature range (-25 to +60 °C) for harsh environments
- Software configurable I/O functionality for customized applications
- Supports CODESYS programming for user-friendly development
- LED indicators for clear status monitoring