IFM CR0403 Programmable controller for mobile machine Owner's Manual

>

>

Programming Manual

BasicController

CR0403

Runtime system v03

CODESYS® v2.3

English

BasicController CR0403

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 CR0403 .................................................................. 4

What do the symbols and formats mean? ........................................................................... 5

How is this documentation structured? ................................................................................ 5

History of the instructions (CR040n) .................................................................................. 6

Safety instructions 7

Please note .......................................................................................................................... 7

What previous knowledge is required? ................................................................................ 7

Start-up behaviour of the controller...................................................................................... 8

Notes: serial number ............................................................................................................ 8

3 System description 9

3.1

3.2

Information about the device ................................................................................................ 9

Hardware description .........................................................................................................10

3.2.1

Hardware setup .......................................................................................................................... 10

3.2.2

Inputs (technology) ..................................................................................................................... 12

3.2.3

Outputs (technology) .................................................................................................................. 17

3.2.4

Note on wiring ............................................................................................................................ 24

3.2.5

Safety instructions about Reed relays ........................................................................................ 24

3.2.6

Status-LED ................................................................................................................................. 25

3.3

Interface description ...........................................................................................................26

3.3.1

CAN interfaces ........................................................................................................................... 26

3.4

Software description ..........................................................................................................27

3.4.1

Software modules for the device ................................................................................................ 27

3.4.2

Programming notes for CODESYS projects ............................................................................... 29

3.4.3

Operating states ......................................................................................................................... 32

3.4.4

Performance limits of the device ................................................................................................ 35

4 Configurations 37

4.1

Set up the runtime system .................................................................................................37

4.1.1

Reinstall the runtime system ...................................................................................................... 38

4.1.2

Update the runtime system ......................................................................................................... 39

4.1.3

Verify the installation .................................................................................................................. 39

4.2

Set up the programming system ........................................................................................40

4.2.1

Set up the programming system manually ................................................................................. 40

4.3

4.2.2

Set up the programming system via templates ........................................................................... 44

Function configuration in general .......................................................................................45

4.3.1

System variables ........................................................................................................................ 45

4.4

Function configuration of the inputs and outputs ...............................................................46

4.4.1

Configuration of the inputs and outputs (default setting) ............................................................ 46

4.4.2

Configure inputs ......................................................................................................................... 47

4.4.3

Configure outputs ....................................................................................................................... 51

4.5

Variables ............................................................................................................................54

4.5.1

Retain variables .......................................................................................................................... 54

4.5.2

Network variables ....................................................................................................................... 55

2

5 ifm function elements 56

5.1

ifm libraries for the device CR0403 ....................................................................................56

5.1.1

Library ifm_CR0403_V03yyzz.LIB .............................................................................................. 56

5.1.2

Library ifm_RAWCan_NT_Vxxyyzz.LIB...................................................................................... 57

9


5.1.3

Library ifm_CANopen_NT_Vxxyyzz.LIB ..................................................................................... 58

5.1.4

Library ifm_J1939_NT_Vxxyyzz.LIB ........................................................................................... 59

5.2

ifm function elements for the device CR0403 ....................................................................61

5.2.1

Function element outputs ........................................................................................................... 62

5.2.2

Function elements: RAW-CAN (Layer 2) .................................................................................... 63

5.2.3

Function elements: CANopen ..................................................................................................... 89

5.2.4

Function elements: SAE J1939 ................................................................................................ 134

5.2.5

Function elements: processing input values ............................................................................. 166

5.2.6

Function elements: output functions ......................................................................................... 176

5.2.7

Function elements: system ....................................................................................................... 183

6 Diagnosis and error handling 201

6.1

6.2

Diagnosis .........................................................................................................................201

Fault .................................................................................................................................201

6.3

Response to system errors ..............................................................................................201

6.3.1

Example process for response to an error message ................................................................ 202

6.4

CAN / CANopen: errors and error handling .....................................................................202

7 Appendix 203

7.1

7.2

System flags .....................................................................................................................203

Address assignment and I/O operating modes ................................................................204

7.2.1

Address assignment inputs / outputs ........................................................................................ 204

7.2.2

Possible operating modes inputs/outputs ................................................................................. 206

7.3

Error tables .......................................................................................................................209

7.3.1

Error flags ................................................................................................................................. 209

7.3.2

Errors: CAN / CANopen............................................................................................................ 209

8 Terms and abbreviations 211

Index 225

3


>

1 About this manual

Content

Copyright .................................................................................................................................................. 4

Overview: documentation modules for CR0403 ....................................................................................... 4

What do the symbols and formats mean? ................................................................................................ 5

How is this documentation structured? .................................................................................................... 5

History of the instructions (CR040n) ...................................................................................................... 6

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

1.2 Overview: documentation modules for CR0403

4

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


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

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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

5

6


1.5 History of the instructions (CR040n)

35812

What has been changed in this manual? An overview:

Date

2012-07-24

2012-10-04

2013-06-24

2013-09-05

2014-01-13

2014-04-28

2014-04-29

2014-05-12

2014-06-30

2014-08-08

2014-08-26

2014-11-12

2015-01-13

2015-03-10

2016-04-27

2017-01-13

2017-11-16

2018-07-09

Theme

Target

FB PWM1000 various

Target

FBs FASTCOUNT, INC_ENCODER, PERIOD

Various function blocks

FB CAN_REMOTE_RESPONSE

Limitations CAN

Name of the documentation

FB PERIOD

Description of inputs, outputs

Chapter "Outputs (technology)"

Structure of documentation for error codes, system flags

Available memory

FBs for fast inputs

Software manual for CODESYS 2.3

Operating modes for inputs IN00...IN03

List of the ifm branch offices

Change upgrade to v02

RESULT corrected new document structure

Upgrade to V03

• permissible frequency areas corrected

• new RESULT for FB PERIOD

More precise description of the function block input

CHANNEL

More precise description of the function block

ENABLE

Limitations added for CAN, CANopen and CAN J1939

"System manual" renamed as "Programming manual" completed by operating mode "phase measurement"

(LZS V03.02.zz or higher) highside / lowside replaced by positive / negative switching

Section "Diagnostics of the binary outputs" supplemented or corrected

• error flags:

now only in the appendix, chapter System flags

• CAN / CANopen errors and error handling:

now only in the system manual "Know-How"

• error codes, EMCY codes:

now in the appendix, chapter Error tables

Description improved

Note in case of higher frequencies added hint to download from the ifm homepage removed no resistance measuring removed


2 Safety instructions

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Content

Please note ............................................................................................................................................... 7

What previous knowledge is required? .................................................................................................... 7

Start-up behaviour of the controller .......................................................................................................... 8

Notes: serial number ................................................................................................................................ 8

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.

7

8


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.


3 System description

>

Content

Information about the device .................................................................................................................... 9

Hardware description ..............................................................................................................................10

Interface description ...............................................................................................................................26

Software description ...............................................................................................................................27

28392

3.1 Information about the device

This manual describes of the ecomatmobile family for mobile machines of ifm electronic gmbh :



BasicController: CR0403

35260

9


>

3.2 Hardware description

Content

Hardware setup ......................................................................................................................................10

Inputs (technology) .................................................................................................................................12

Outputs (technology) ..............................................................................................................................17

Note on wiring .........................................................................................................................................24

Safety instructions about Reed relays ....................................................................................................24

Status-LED .............................................................................................................................................25

28381

3.2.1 Hardware setup

>

Basic device without cover

Protection IP 20

Available memory

>

FLASH memory

35811

28798

35699

1 536 kByte 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

(→ p. 185 )

(files: 128 bytes less for header)

>

The remaining rest of the memory is reserved for system internal purposes.

SRAM

128 kByte

64 kByte

592 kByte

36003

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


128 kByte

10

>


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)


2 kByte

35700

128 Byte

128 Byte

11

12


3.2.2 Inputs (technology)

Content

Analogue inputs ......................................................................................................................................12

Binary inputs ...........................................................................................................................................13

Input group IN0...IN3 ..............................................................................................................................14

Input group IN4...IN7 ..............................................................................................................................14

Input group IN8...IN11 ............................................................................................................................16

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

>


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.

13

>


Input group IN0...IN3

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


• voltage measurement ratiometric 0...1000 ‰

• binary input plus switching (BL) for positive sensor signal (with/without diagnosis)


• fast input for e.g. incremental encoders and frequency or interval measurement

→ chapter Possible operating modes inputs/outputs

(→ p. 206 )

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

(→ p. 204 )

Configuration of each input is made via the application program:

• FB INPUT

(→ p. 171 ) > input MODE

• FBs FASTCOUNT

(→ p. 167 ),

INC_ENCODER

(→ p. 169 ) or

PERIOD

(→ p. 173 )

> 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.

35690


35687



• binary input plus switching (BL) for positive sensor signal

• input for resistance measurement (e.g. temperature sensors or fuel sensors)


(→ p. 206 )


► Configuration of each input is made via the application program:

• FB INPUT


14

>


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



.





.





.





.









.

15

>







(→ p. 206 )


► Configuration of each input is made via the application program:

• FB INPUT


35686

16


>

3.2.3 Outputs (technology)

Content

Protective functions of the outputs .........................................................................................................17

Output group OUT0, OUT1 ....................................................................................................................19

Output group OUT2, OUT3, OUT8, OUT9 .............................................................................................21

Output group OUT4...OUT7 ...................................................................................................................22

Output group OUT10, OUT11 ................................................................................................................22

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.

17

>


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

(→ p. 179 ) > input MODE = 16

This is also the default setting if only the flags in the control configuration are used.

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

(→ p. 179 ) > input MODE):



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

(→ p. 18 ) becomes active.

► 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.

18

>


Output group OUT0, OUT1

36043

>

These outputs are a group of multifunction channels.

These outputs provide several function options (each output separately configurable):

• binary output, plus switching (BH) with diagnostic function and protection

• analogue current-controlled output (PWMi)

• analogue output with Pulse Width Modulation (PWM)


(→ p. 206 )

► Configuration of each output is made via the application program:

→ FB OUTPUT

(→ p. 179 )> input MODE

PWM output: → FB PWM1000

(→ p. 181 )

Current control and load current indication → FB CURRENT_CONTROL

(→ p. 177 )

► 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

19


>

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)


Prerequisite for diagnosis: output = TRUE

Diagnosis = short circuit against GND: the read back channel is pulled to LOW potential (GND)

28852

20

>


Output group OUT2, OUT3, OUT8, OUT9



• binary output, plus switching (BH) with/without diagnostic function



(→ p. 206 )


→ FB OUTPUT



(→ p. 181 )

>


Diagnosis: binary outputs (via voltage measurement)

The diagnostics of these outputs is made via internal voltage measurement in the output:

36031

19403

28859


(1) Output channel

(2) Read back channel for diagnosis

(3) Pin output n

(4) Load

>

Diagnosis: overload

28858

>

The outputs have no current measuring, no overload detection.

>


28853





LOW (logical 0).





28852

21

>


Output group OUT4...OUT7



• binary output, plus switching (BH)


• These outputs are not able for diagnosis.


(→ p. 206 )


→ FB OUTPUT



(→ p. 181 )

>


Output group OUT10, OUT11






(→ p. 206 )


→ FB OUTPUT



(→ p. 181 )


36030

36042

22

>


Diagnosis: binary outputs (via voltage measurement)

The diagnostics of these outputs is made via internal voltage measurement in the output:

19403

28859


(1) Output channel

(2) Read back channel for diagnosis

(3) Pin output n

(4) Load

>

Diagnosis: overload

28858

>

The outputs have no current measuring, no overload detection.

>


28853





LOW (logical 0).





28852

23


3.2.4 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 Analogue input

BH

BL

CYL

ENC

FRQ

H bridge

PWM

PWMi

IH

IL

Binary high side input: minus switching for negative sensor signal

Binary high side output: plus switching for positive output signal

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

3.2.5 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

24

>


3.2.6 Status-LED

35798

The operating states are indicated by the integrated status LED (default setting).

LED colour Display Description

Permanently off No operating voltage

Off

Briefly on Initialisation or reset checks

Orange

Flashing with 5 Hz

(time frame = 200 ms) no runtime system loaded

Green

Flashing with 2 Hz

(time frame = 200 ms)

Application = RUN

Green


Application = STOP or: no application loaded

Green

Permanently on

Flashing with 5 Hz Application = stopped because of undervoltage

Red

Red

Flashing with 10 Hz


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

Red

Permanently on


Application = STOP and FATAL ERROR

Cause: software watchdog has failed



PowerOn reset

If without success:



Goto Bootloader



PowerOn reset

 Reload the BasicSystem into the device

 Reload the application into the device

If without success:

 Hardware error: send device to ifm !

>

The status LED can be changed by the programming system for the operating states STOP and RUN.

Control the LED in the application program

Via SET_LED frequency and color of the status LED can be changed in the application program.

The use of the LED function block in the application program replaces the system setting of the status LED in the RUN state.

35745

25


3.3 Interface description

Content

CAN interfaces .......................................................................................................................................26

28337

>

3.3.1 CAN interfaces

Content

CAN: interfaces and protocols ................................................................................................................26

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) (→ p.

63 ))

• CANopen master / CANopen slave (→ chapter Function elements: CANopen

(→ p. 89 ))

• CANopen network variables (via CODESYS) (→ chapter Network variables

(→ p. 55 ))

• SAE J1939 (for drive management, → chapter Function elements: SAE J1939

(→ p. 134 ))

• 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 ID 127 ID 126 ID 125 ID 124

CAN protocols

CAN Layer 2

CANopen

SAE J1939

CAN Layer 2

CANopen

SAE J1939

Interface does not exist

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!

26


3.4 Software description

Content

Software modules for the device ............................................................................................................27

Programming notes for CODESYS projects ...........................................................................................29

Operating states .....................................................................................................................................32

Performance limits of the device ............................................................................................................35

28396

>

3.4.1 Software modules for the device

Content

Bootloader ..............................................................................................................................................27

Runtime system ......................................................................................................................................28

Application program ................................................................................................................................28

Libraries ..................................................................................................................................................28

28399

The software in this device communicates with the hardware as below: software module Can user change the module?

By means of what tool?

Application program with libraries yes

CODESYS,

MaintenanceTool

Runtime system *)

Bootloader

(Hardware)

Upgrade yes

Downgrade yes 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

(→ p. 41 )

Below we describe this software module:

Bootloader

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.

28807

27

>


Runtime system

28330

Basic program in the device, establishes the connection between the hardware of the device and the application program.

→ chapter Software modules for the device

(→ p. 27 )

On delivery, there is normally no runtime system loaded in the controller (LED flashes green at 5 Hz).

Only the bootloader is active in this operating mode. It provides the minimum functions for loading the runtime system, among others support of the interfaces (e.g. CAN).

Normally it is necessary to download the runtime system only once. Then, the application program can be loaded into the controller (also repeatedly) without affecting the runtime system.

>

The runtime system is provided with this documentation on a separate data carrier. In addition, the current version can be downloaded from the website of ifm electronic gmbh :

→ 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.

Libraries

35719 ifm electronic offers several libraries ( *.LIB

) to match each device containing program modules for the application program. Examples:

Library ifm_CR0403_Vxxyyzz.LIB

Use

Device-specific library

Must always be contained in the application program! ifm_RawCAN_NT_Vxxyyzz.LIB

ifm_CANopen_NT_Vxxyyzz.LIB

(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 ifm_J1939_NT_Vxxyyzz.LIB

(optional) when a CAN interface of the device is to communicate with a motor control

Details: → chapter ifm libraries for the device CR0403

(→ p. 56 )

28


>

3.4.2 Programming notes for CODESYS projects

Content

FB, FUN, PRG in CODESYS .................................................................................................................29

Note the cycle time! ................................................................................................................................30

Important note to program the device ....................................................................................................30

Creating application program .................................................................................................................31

Using ifm maintenance tool ....................................................................................................................32

Distribution of the application program ...................................................................................................32

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.

29

>


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.

Important note to program the device

Applies to the following devices:

• BasicController relay CR0431

► For the time of programming interconnect the connections B:1 (VBB15) and B:8 (VBBs).

Otherwise programming is not possible.

Background:



The controller resets all outputs when programming begins, also SUPPLY_SWITCH.



Without VBB15 the controller would be separated from the voltage supply and is switched off.



When the controller is switched on again, the device is in bootloader mode.

The programmer has to load the Basic System to the device again.

Then reload the application program to the device.

35551

30

>


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

31

>


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.

3.4.3 Operating states

>

After power on the ecomatmobile device can be in one of five possible operating states:

• BOOTLOADER

• INIT

• STOP

• RUN

• SYSTEM STOP

INIT state (Reset)

Premise: a valid runtime system is installed.

This state is passed through after every power on reset:

> The runtime system is initialised.

> Various checks are carried out, e.g. waiting for correctly power supply voltage.

> This temporary state is replaced by the RUN or STOP state.

> The LED lights orange.

Change out of this state possible into one of the following states:

• RUN

• STOP

35979

35554

32

>


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.

> Processing of the application program is stopped.

> The LED lights green.

>

A transition from this state into one of the following states is possible:

• RUN

• ERROR

• FATAL ERROR

• INIT (after power-on-reset)

35797

RUN state


 from the INIT state (autostart) if the following conditions are met:

• The operating voltage has reached a minimum value. AND:

• The application program exists.



From the STOP state:

• via the CODESYS command RUN.

• 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 LED flashes green with 2 Hz.

The LED can be controlled differently by the application program → FB SET_LED

(→ p. 197 ).



• STOP

• ERROR

• FATAL ERROR

35814

33

>


ERROR state


• if the supply voltage is too low.

In the ERROR state:

> The outputs of the device are switched off.

> Processing of the application program is stopped.

>

System parameters are saved.

> The LED flashed red with 5 Hz.

>



• RUN

• STOP

• FATAL ERROR

FATAL ERROR state


• memory error (RAM / Flash)

• exception 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 LED lights red.



35693

35697

34

>


3.4.4 Performance limits of the device

Note the limits of the device! → Data sheet

>

Watchdog behaviour

In this device, a watchdog monitors the program runtime of the CODESYS application.

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 status LED flashes red at 10 Hz

Eliminate the fault:

 Delete application program!



PowerOn reset

 Reload the application program into the device

If the watchdog in question fails:

> a second watchdog leads the device to the state "Fatal Error"

> the status LED lights red

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 to ifm !

28571

35816

35

>


>

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

(→ p. 73 )

- CAN_RX_RANGE_FIFO

(→ p. 77 )

The number of FIFo messages is limited. The following limitations of the devices are valid:

Criterion

Device BasicController: CR040n, CR041n,

CR043n

BasicDisplay: CR045n ioControl: CR204n, 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


SmartController: CR253n max. guarding error max. SDO data

32 messages

2 048 bytes

PDM360 NG: CR108n, CR120n

128 messages

2 048 bytes

Limitations for CAN J1939 in this device

The following limitations of the devices are valid:

Device

Criterion 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

BasicController: CR040n, CR041n,

CR043n


SmartController: CR253n

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

35923

36


4 Configurations

Content

Set up the runtime system ......................................................................................................................37

Set up the programming system ............................................................................................................40

Function configuration in general ...........................................................................................................45

Function configuration of the inputs and outputs ...................................................................................46

Variables .................................................................................................................................................54

28785

The device configurations described in the corresponding installation instructions or in the Appendix

(→ p. 203 ) to this documentation are used for standard devices (stock items). They fulfil the requested

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

Reinstall the runtime system ..................................................................................................................38

Update the runtime system.....................................................................................................................39

Verify the installation ..............................................................................................................................39

28320

37

>


4.1.1 Reinstall the runtime system

14635

35232

On delivery of the ecomatmobile controller no runtime system is normally loaded (LED flashes green at 5 Hz). Only the boot loader is active in this operating mode. It provides the minimum functions for loading the operating system (e.g. RS232, CAN).

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 influencing the runtime system.

The runtime system is provided with this documentation on a separate data carrier. In addition, the current version can be downloaded from the website of ifm electronic gmbh :

→ www.ifm.com

35232

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!

35232

NOTE

The software versions suitable for the selected target must always be used:

• runtime system ( ifm_CR0403_Vxxyyzz.RESX

),

• PLC configuration ( ifm_CR0403_Vxx.CFG

),

• device library ( ifm_CR0403_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. " CR0403 ") 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.

35232

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 .


The runtime system is transferred to the device using the separate program "Maintenance Tool". (The program can be downloaded from ifm's website, if necessary):

→ www.ifm.com

Normally the application program is loaded to the device via the programming system. But it can also be loaded using the "Maintenance Tool" if it was first read from the device.

38

>


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

(→ p. 189 )

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

39


4.2 Set up the programming system

Content

Set up the programming system manually .............................................................................................40

Set up the programming system via templates ......................................................................................44

35802

4.2.1 Set up the programming system manually

Content

Set up the target .....................................................................................................................................41

Activate the PLC configuration ...............................................................................................................42

CAN declaration (e.g. CR1080) ..............................................................................................................43

28307

40

>


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_CR0403_Vxxyyzz.LIB

manually!

35782

NOTE

The software versions suitable for the selected target must always be used:

• runtime system ( ifm_CR0403_Vxxyyzz.RESX

),

• PLC configuration ( ifm_CR0403_Vxx.CFG

),

• device library ( ifm_CR0403_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. " CR0403 ") 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 .


41

>


Activate the PLC configuration

35713

The PLC configuration is automatically loaded with the target system. The PLC configuration maps the contents of the file CR0403.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].

42

>


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].

43


>

► 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 (→ p.

90 ) 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.

44

>


>

4.3 Function configuration in general

28350

4.3.1 System variables

28414

All system variables ( → chapter System flags

(→ p. 203 )) have defined addresses which cannot be

shifted.

45


>

4.4 Function configuration of the inputs and outputs

Content

Configuration of the inputs and outputs (default setting) ........................................................................46

Configure inputs .....................................................................................................................................47

Configure outputs ...................................................................................................................................51

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_CR0403_Vxxyyzz.LIB

) for the configuration of the inputs and outputs.

For details → Possible operating modes inputs/outputs

(→ p. 206 ).

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

46


4.4.2 Configure inputs

>

Content

Safety instructions about Reed relays ....................................................................................................47

Analogue inputs: configuration and diagnosis ........................................................................................47

Binary inputs: configuration and diagnosis .............................................................................................49

Fast inputs ..............................................................................................................................................49

28784

Valid operating modes → chapter Possible operating modes inputs/outputs

(→ p. 206 )

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

Analogue inputs: configuration and diagnosis

35685


• 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

47


Configure the software filters of the inputs

35752

Via the input FILTER in the FB INPUT

(→ p. 171 ) 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

0

Filter frequency [Hz]

Filter deactivated

0…70 %

Step response [ms] for ...

0…90 % 0…99 %

Remarks

6

7

4

5

1

2

3

120

47

22

10

5

2.5

1.2

2

5

10

19

38

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 %

4

9

18

36

73

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

48

>


Binary inputs: configuration and diagnosis

35709

>


• FB INPUT


MODE BYTE operating mode of the input channel:

0 = 0x00 off

3 = 0x03 voltage input

6 = 0x06 voltage input, ratiometric

7 = 0x07 current input


10 = 0x0A

(only for analogue evaluated inputs) binary input, plus switching (BL)

0…10 000 mV

0...1 000 ‰

0…20 000 µA

0…32 000 mV

11 = 0x0B

(only for analogue evaluated inputs) binary input, plus switching (BL) with diagnosis

(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

(→ p. 171 ).

> The FB INPUT (

→ p. 171 ) 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.

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

(→ p. 167 )

Counter block for fast input pulses

INC_ENCODER

(→ p. 169 )

PERIOD

(→ p. 173 )

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.

49

>


Use as binary inputs

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!

3804

50


>

4.4.3 Configure outputs

Content

Configure the software filters of the outputs ...........................................................................................51

Binary outputs: configuration and diagnosis...........................................................................................52

PWM outputs ..........................................................................................................................................53

28788

Valid operating modes → chapter Possible operating modes inputs/outputs

(→ p. 206 )

Configure the software filters of the outputs

36013

Via the input FILTER in the FB OUTPUT

(→ p. 179 ) 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 Filter deactivated

1

2

3

4

5

6

600

233

109

52

26

13

0.8

1.8

3.6

7.2

14.6

29.4

7 6 58.8 76.4

8 4 117.8 153.2

The following statements of the step response are relevant:

• Output current: 0...90 % and 0...99 %

1.0

2.2

4.6

9.4

19.0

38.2

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

51


Binary outputs: configuration and diagnosis

The following operating modes are possible for the device outputs ( → data sheet):


35708

35708

Qn = pin output n

(L) = load

Basic circuit of output plus switching (BH) for positive output signal


→ FB OUTPUT

(→ p. 179 )> input MODE.

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. 179 ) provides the diagnostic messages of the outputs on its RESULT

output.

35744

52

>


PWM outputs

The following operating modes are possible for the device outputs ( → data sheet):

• PWM output, plus switching (BH) without diagnostic function

34798

34798

Qn = pin output n

(L) = load

Basic circuit of output plus switching (BH) for positive output signal

34798

WARNING

Property damage or bodily injury possible due to malfunctions!

For outputs in PWM mode:

• there are no diagnostic functions

• the overload protection OUT_OVERLOAD_PROTECTION is NOT active

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.

Availability of PWM

Device

Number of available

PWM outputs of which current-controlled

(PWMi)

36014

PWM frequency

[Hz]

>

BasicController: CR0403 12 2 20...250

FBs for PWM functions

36001

>

The following function blocks are available for the PWM function of the outputs:

CURRENT_CONTROL

(→ p. 177 )

PWM1000

(→ p. 181 )

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.

53


4.5 Variables

Content

Retain variables ......................................................................................................................................54

Network variables ...................................................................................................................................55

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

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 Network retain

→ CODESYS programming manual

4.5.1 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

54

>


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

55


5 ifm function elements

Content

ifm libraries for the device CR0403 ........................................................................................................56

ifm function elements for the device CR0403.........................................................................................61

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 CR0403

>

Content

Library ifm_CR0403_V03yyzz.LIB .........................................................................................................56

Library ifm_RAWCan_NT_Vxxyyzz.LIB .................................................................................................57

Library ifm_CANopen_NT_Vxxyyzz.LIB .................................................................................................58

Library ifm_J1939_NT_Vxxyyzz.LIB ......................................................................................................59

28323

5.1.1 Library ifm_CR0403_V03yyzz.LIB

This is the device library.This ifm library contains the following function blocks:

Function element

CURRENT_CONTROL

(→ p. 177 )

FASTCOUNT

(→ p. 167 )

FLASH_INFO

(→ p. 184 )

FLASH_READ

(→ p. 185 )

GET_APP_INFO

(→ p. 186 )

GET_HW_INFO

(→ p. 187 )

GET_IDENTITY

(→ p. 188 )

GET_SW_INFO

(→ p. 189 )

GET_SW_VERSION

(→ p. 190 )

INC_ENCODER

(→ p. 169 )

Short description

Current controller for a PWMi output channel


Reads the information from the user flash memory:

• name of the memory area (user defined),


• 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

(→ p. 196 ))

Delivers information about the system software of the device:

• software name,


• 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


56

36040



INPUT

(→ p. 171 )

MEM_ERROR

(→ p. 191 )

MEMCPY

(→ p. 192 )

OHC

(→ p. 194 )

OUTPUT

(→ p. 179 )

>

PERIOD

(→ p. 173 )

PWM1000

(→ p. 181 )

SET_IDENTITY

(→ p. 196 )

SET_LED

(→ p. 197 )

SET_PASSWORD

(→ p. 199 )

TIMER_READ_US

(→ p. 200 )


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


Measures the frequency and the cycle period (cycle time) in [µs] at the indicated channel


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 Library ifm_RAWCan_NT_Vxxyyzz.LIB

35715

This ifm library contains the following function blocks:


CAN_ENABLE

(→ p. 64 )

CAN_RECOVER

(→ p. 65 )

CAN_REMOTE_REQUEST

(→ p. 86 )

CAN_REMOTE_RESPONSE

(→ p. 87 )

CAN_RX

(→ p. 70 )

CAN_RX_ENH

(→ p. 71 )

CAN_RX_ENH_FIFO

(→ p. 73 )

CAN_RX_RANGE

(→ p. 75 )

CAN_RX_RANGE_FIFO

(→ p. 77 )

CAN_SETDOWNLOADID

(→ p. 66 )

CAN_STATUS

(→ p. 67 )

CAN_TX

(→ p. 80 )

CAN_TX_ENH

(→ p. 81 )


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


• Several CAN messages per cycle possible

• Configures a range of data receive objects and reads out the receive buffer of the data objects


• Configures a range of data receive objects and reads out the receive buffer of the data objects


• 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

57



CAN_TX_ENH_CYCLIC

(→ p. 83 )


Cyclically transfers a CAN data object (message) to the configured CAN interface for transmission

CAN-specific characteristics can be set

>

5.1.3 Library ifm_CANopen_NT_Vxxyyzz.LIB

35712



CANOPEN_ENABLE

(→ p. 90 )


Initialises the indicated CANopen master interface

Configures the CAN baud rate

CANOPEN_GETBUFFERFLAGS

(→ p. 92 )

= CANopen get buffer flags

Provides information on the buffer flags

The flags can be reset via the optional inputs.

CANOPEN_GETEMCYMESSAGES

(→ p. 129 ) = 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.

CANOPEN_GETERRORREGISTER

(→ p. 131 ) = Get CANopen error register

Reads the error registers 0x1001 and 0x1003 from the controller

The registers can be reset by setting the respective inputs.

CANOPEN_GETGUARDHBERRLIST

(→ p.

125 )

= 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_GETGUARDHBSTATSLV

126 )

(→ p. = 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_GETNMTSTATESLAVE

(→ p. 99 ) = CANopen slave get network management state

Signals the network operating status of the node

CANOPEN_GETODCHANGEDFLAG

(→ p.

103 )

= Get object directory changed flag

Reports any change of value for a particular object directory entry

CANOPEN_GETSTATE

(→ p. 94 )

CANOPEN_GETSYNCSTATE

CANOPEN_NMTSERVICES

(→ p.

(→ p.

CANOPEN_READOBJECTDICT

CANOPEN_SDOREAD

(→ p. 108

CANOPEN_SDOREADBLOCK

)

121

100

(→ p.

(→ p.

)

)

104

110 )

)

= 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_SDOREADMULTI

(→ p. 112 )

CANOPEN_SDOWRITE

(→ p. 114

CANOPEN_SDOWRITEBLOCK

)

(→ p. 116 )

= 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

58


Function element Short description

CANOPEN_SDOWRITEMULTI

(→ p. 118 )

CANOPEN_SENDEMCYMESSAGE

(→ p. 132 ) = CANopen send emergency message

Sends an EMCY message. The message is assembled from the according parameters and entered in register 0x1003

CANOPEN_SETSTATE

(→ p. 96 )

= CANopen write SDO multi

Writes in the indicated entry in the object directory of a node in the network

CANOPEN_SETSYNCSTATE

(→ p. 123 )

= 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_WRITEOBJECTDICT

(→ p. 105 )

= CANopen write object directory

Writes configuration data into the object directory of the device

5.1.4 Library ifm_J1939_NT_Vxxyyzz.LIB

35714



J1939_DM1RX

(→ p. 159 )

J1939_DM1TX

(→ p. 161 )

J1939_DM1TX_CFG

(→ p. 164 )

J1939_DM3TX

(→ p. 165 )

J1939_ENABLE

(→ p. 135 )

J1939_GETDABYNAME

(→ p. 137 )

J1939_NAME

(→ p. 139 )

J1939_RX

(→ p. 146 )

J1939_RX_FIFO

(→ p. 147 )

J1939_RX_MULTI

(→ p. 149 )

J1939_SPEC_REQ

(→ p. 143 )

J1939_SPEC_REQ_MULTI

(→ p. 144 )

J1939_STATUS

(→ p. 141 )

J1939_TX

(→ p. 151 )

J1939_TX_ENH

(→ p. 152 )

J1939_TX_ENH_CYCLIC

(→ p. 154 )

J1939_TX_ENH_MULTI

(→ p. 156 )


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

59


60


5.2 ifm function elements for the device CR0403

Content

Function element outputs .......................................................................................................................62

Function elements: RAW-CAN (Layer 2) ...............................................................................................63

Function elements: CANopen ................................................................................................................89

Function elements: SAE J1939 ............................................................................................................134

Function elements: processing input values ........................................................................................166

Function elements: output functions .....................................................................................................176

Function elements: system ...................................................................................................................183

13988

28309

Here you will find the description of the ifm function elements suitable for this device, sorted by topic.

61

>


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

6

7

8

14

1

4

5

255

1...31

238

239

32

10

...63

64

10

…127

128

10

...255

EE

EF

240 F0

F1

F2

F7

FA

FC

FD

06

07

08

0E

01

04

05

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


– 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

62


5.2.2 Function elements: RAW-CAN (Layer 2)

Content

Function elements: RAW-CAN status ....................................................................................................63

Function elements: receive RAW-CAN data ..........................................................................................69

Function elements: transmit RAW-CAN data .........................................................................................79

Function elements: RAW-CAN remote ...................................................................................................85

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

CAN_ENABLE ........................................................................................................................................64

CAN_RECOVER ....................................................................................................................................65

CAN_SETDOWNLOADID ......................................................................................................................66

CAN_STATUS ........................................................................................................................................67

35750

63


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)


Value dec | hex

Description

0

1

8

9

242

00

01

08

09

F2

FB is inactive

FB execution completed without error

– data is valid function block is active

CAN is not active


64


CAN_RECOVER




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.


35241

Parameter

ENABLE

CHANNEL

RECOVER_EXECUTE

InhibitTime

(optional use of the parameter)

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


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

65


CAN_SETDOWNLOADID

= Set download ID




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.


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.


1...127 = set download ID

0 = read download ID

>


35090

Parameter

RESULT

Data type

BYTE




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


66


CAN_STATUS




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


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


TRUE: Reset the following flags:

• WARNING_RX

• WARNING_TX

• BUSOFF


>


Parameter

BAUDRATE

DOWNLOAD_ID

BUSOFF

WARNING_RX

WARNING_TX

VERSION

BUSLOAD

RESULT

Data type

WORD

BYTE

BOOL

BOOL

BOOL

DWORD

BYTE

BYTE

35367

35228

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


35094

67



Value dec | hex

Description

0

1

8

9

242

00

01

08

09

F2

FB is inactive function block execution completed without error function block is active

CAN is not active


68


Function elements: receive RAW-CAN data

Content

CAN_RX .................................................................................................................................................70

CAN_RX_ENH .......................................................................................................................................71

CAN_RX_ENH_FIFO .............................................................................................................................73

CAN_RX_RANGE ..................................................................................................................................75

CAN_RX_RANGE_FIFO ........................................................................................................................77

35705

69


CAN_RX




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.


35221

Parameter

ENABLE

CHANNEL

ID

Data type

BOOL

BYTE

DWORD

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

>


35096

Parameter

DATA

RESULT

Data type

ARRAY [0..7] OF BYTE

BYTE

Description received data, (1...8 bytes) feedback of the function block



Value dec | hex

Description

0

1

5

9

242

00

01

05

09

F2

FB is inactive function block execution completed without error


CAN is not active


70


CAN_RX_ENH

= CAN RX enhanced




35415

>

>

Description

In addition, CAN_RX_ENH provides the following possibilities (as opposed to CAN_RX

(→ p. 70 )):

• 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


35227

Parameter

ENABLE

CHANNEL

ID

Extended


ID_Mask


Data type

BOOL

BYTE

DWORD

BOOL := FALSE

DWORD := 0

Description







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

71



Parameter

MATCHED_ID

DATALENGTHCOUNT

DATA

RESULT

Data type

DWORD

BYTE


BYTE


Value dec | hex

Description

0

1

5

9

242

00

01

05

09

F2



CAN is not active


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


34987

72


CAN_RX_ENH_FIFO

= CAN RX enhanced with FiFo




35434

>

Description

35359

In addition, CAN_RX_ENH_FIFO provides a FiFo for the received data (as opposed to CAN_RX_ENH

(→ p. 71 )). 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

(→ p. 71 ) > chapter

Description


35227

Parameter

ENABLE

CHANNEL

ID

Extended


ID_Mask


Data type

BOOL

BYTE

DWORD

BOOL := FALSE

DWORD := 0

Description








0...536 870 911 = 0x0000 0000...0x1FFF FFFF


29 -1)


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

73


>


Parameter

MATCHED_ID

DATALENGTHCOUNT

DATA

MORE_DATA_AVAILABLE

RESULT

Data type

DWORD

BYTE


BOOL

BYTE


Value dec | hex

Description

5

9

0

1

242

250

00

01

05

09

F2

FA



– still receiving

CAN is not active


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


34990

74


CAN_RX_RANGE




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.


35226

Parameter

ENABLE

CHANNEL

ID_START

ID_STOP

Extended


Data type

BOOL

BYTE

DWORD

DWORD

BOOL := FALSE

Description





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...536 870 911 = 0x0000 0000...0x1FFF FFFF


29 -1)


11 -1)

75


>


Parameter

ID

DATALENGTHCOUNT

DATA

RESULT

Data type

DWORD

BYTE


BYTE


Value dec | hex

Description

5

9

0

1

242

00

01

05

09

F2



CAN is not active


Description



2 048...536 870 911 = 0x0000 0800...0x1FFF FFFF



34989

76


CAN_RX_RANGE_FIFO

= CAN RX range with FiFo




35066

>

Description

CAN_RX_RANGE_FIFO basically works like CAN_RX_RANGE

(→ p. 75 ).

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.


Parameter

ENABLE

CHANNEL

ID_START

ID_STOP

Extended


Data type

BOOL

BYTE

DWORD

DWORD

BOOL := FALSE

Description





CAN interface (1...n) depending on the device start number of the data object identifier range: normal frame (2 11 ):


0...536 870 911 = 0x0000 0000...0x1FFF FFFF end number of the data object identifier range: normal frame (2 11 ):


0...536 870 911 = 0x0000 0000...0x1FFF FFFF


29 -1)


11 -1)

35370

35226

77


>


Parameter

ID

DATALENGTHCOUNT

DATA

MORE_DATA_AVAILABLE

RESULT

Data type

DWORD

BYTE


BOOL

BYTE


Value dec | hex

Description

5

9

0

1

242

250

00

01

05

09

F2

FA



CAN is not active



Description



2 048...536 870 911 = 0x0000 0800...0x1FFF FFFF

= Data Length Count number of the data bytes received received data, (1...8 bytes)




34984

78


Function elements: transmit RAW-CAN data

Content

CAN_TX..................................................................................................................................................80

CAN_TX_ENH ........................................................................................................................................81

CAN_TX_ENH_CYCLIC .........................................................................................................................83

35711

79


CAN_TX




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.


35243

Parameter

ENABLE

CHANNEL

ID

Data type

BOOL

BYTE

DWORD


Description








2 048...536 870 911 = 0x0000 0800...0x1FFF FFFF data to be sent (1...8 bytes)

>

DATA


35093

Parameter

RESULT

Data type

BYTE




Value dec | hex

Description

0

1

242

250

00

01

F2

FA




80


CAN_TX_ENH

= CAN TX enhanced




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

(→ p. 80 ) is not required.

> If an instance of this FB is called several times during a cycle, the data is also sent several times.


35557

Parameter

ENABLE

CHANNEL

ID

Extended


DATALENGTHCODE

DATA

Data type

BOOL := FALSE

BYTE

DWORD

BOOL := FALSE

BYTE


Description








0...536 870 911 = 0x0000 0000...0x1FFF FFFF


29 -1)


11 -1)

= Data Length Code number of the data bytes to be sent (0...8) data to be sent (1...8 bytes)

81


>


Parameter

RESULT

Data type

BYTE




0

Value dec | hex

00

Description

FB is inactive

1

242

250

01

F2

FA function block execution completed without error



35093

82


CAN_TX_ENH_CYCLIC

= CAN TX enhanced cyclic




35073

>

Description

35346

CAN_TX_ENH_CYCLIC serves for cyclical transmitting of CAN messages.

Otherwise, the FB corresponds to CAN_TX_ENH

(→ p. 81 ).

► 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.


35240

Parameter

ENABLE

CHANNEL

ID

Extended


DataLengthCode


DATA

PERIOD

Data type

BOOL

BYTE

DWORD

BOOL := FALSE

BYTE := 8


TIME

Description








0...536 870 911 = 0x0000 0000...0x1FFF FFFF


29 -1)


11 -1) length of the data to be sent (0...8 bytes) data to be sent (1...8 bytes) period duration

83


>


Parameter

RESULT

Data type

BYTE




0

Value dec | hex

00

Description

1

8

01

08

FB is inactive


– data is valid function block is active

9

242

250

09

F2

FA

CAN is not active



35095

84


Function elements: RAW-CAN remote

Content

CAN_REMOTE_REQUEST ...................................................................................................................86

CAN_REMOTE_RESPONSE.................................................................................................................87

35757

85


CAN_REMOTE_REQUEST




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.


35362

35220

Parameter

EXECUTE

CHANNEL

ID

Data type

BOOL := FALSE

BYTE

DWORD

Description






0...536 870 911 = 0x0000 0000...0x1FFF FFFF


29 -1)


11 -1)

>

Extended



BOOL := FALSE

Parameter

DATALENGTHCOUNT

DATA

RESULT

Data type

BYTE


BYTE


Value dec | hex

Description

0

1

5

9

242

00

01

05

09

F2



CAN is not active


Description



86

34983


CAN_REMOTE_RESPONSE




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

>

PDM360 NG: CR108n, CR120n max. 40 remote messages max. 100 remote messages


35738

Parameter

ENABLE

CHANNEL

ID

Extended


DATALENGTHCODE

DATA

Data type

BOOL := FALSE

BYTE

DWORD

BOOL := FALSE

BYTE


Description


Edge: enter the new values

FALSE: unit is not executed reset internal remote values




0...536 870 911 = 0x0000 0000...0x1FFF FFFF


29 -1)


11 -1)

= Data Length Code number of the data bytes to be sent (0...8) data to be sent (1...8 bytes)

87


>


Parameter

RESULT

Data type

BYTE




0

Value dec | hex

00

Description

6

7

06

07

FB is inactive


– remote for ID not active

FB is being processed – remote for ID active

8

10

242

08

0A

F2 function block is active no further remote entrys available


34996

88


5.2.3 Function elements: CANopen

Content

Function elements: CANopen status ......................................................................................................89

Function elements: CANopen network management .............................................................................98

Function elements: CANopen object directory .....................................................................................102

Function elements: CANopen SDOs ....................................................................................................107

Function elements: CANopen SYNC ...................................................................................................120

Function elements: CANopen guarding ...............................................................................................124

Function elements: CANopen emergency ............................................................................................128

35751

For CANopen, ifm electronic provides a number of function elements which will be explained in the following.

Function elements: CANopen status

Content

CANOPEN_ENABLE ..............................................................................................................................90

CANOPEN_GETBUFFERFLAGS ..........................................................................................................92

CANOPEN_GETSTATE .........................................................................................................................94

CANOPEN_SETSTATE .........................................................................................................................96

35741

89


CANOPEN_ENABLE


Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB


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 (→ p.

90 ) 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. 64 ) has not been activated before.


Parameter

ENABLE

CHANNEL

Baud rate


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


Baud rate [kbits/s] permissible values = 20, 50, 100, 125, 250, 500, 800, 1 000

0 = use setting from the PLC configuration

35162

90


>


Parameters

RESULT

Data type

BYTE




Value dec | hex

Description

0

1

14

15

238

239

242

00

01

0E

0F

EE

EF

F2


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


35009

91


CANOPEN_GETBUFFERFLAGS

= Get buffer flags




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.


Parameter

EXECUTE

CHANNEL

ResetRXFlags


ResetTXFlags


Data type

BOOL := FALSE

BYTE

BOOL := FALSE

BOOL := FALSE

Description




TRUE: Provide fag status at the output and then reset


TRUE: Provide flag status at the output and then reset


35340

35146

92


>


Parameter

RXOVFL

RXWARN

TXOVFL

TXWARN

RESULT

Data type

BOOL

BOOL

BOOL

BOOL

BYTE


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


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


35056

93


CANOPEN_GETSTATE

= Get state




35070

>

Description

35339

>

Via CANOPEN_GETSTATE, parameters of the master, a slave device or a specific node in the network can be set.


Parameter

EXECUTE

CHANNEL

NODE

Data type

BOOL := FALSE

BYTE

BYTE

Description




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

94


>


35057

Parameter

MASTERSTATE

PLCNODEID

PLCBAUDRATE

PLCVERSION

CANSTATE

NODESTATE

LASTNODESTATE

RESULT

Data type

BYTE

BYTE

DWORD

DWORD

BYTE

BYTE

BYTE

BYTE


0

Value dec | hex

00

Description

1

8

242

01

08

F2

FB is inactive


FB is active

– not yet processed


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


95


CANOPEN_SETSTATE

= Set state




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. 100 ). At the same time admissibility checks

are carried out. For reasons of consistency no inputs are provided for this purpose.

96


>


Parameter

EXECUTE

CHANNEL

NODE

GlobalStart


CfgTimeout


InitNoSdos


Data type

BOOL := FALSE

BYTE

BYTE

BOOL := TRUE

TIME := T#0ms

BOOL := FALSE

35165

Description




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

>


Parameter

RESULT

Data type

BYTE




Value dec | hex

Description

0

1

8

242

00

01

08

F2

FB is inactive


FB is active – not yet processed


35060

97


Function elements: CANopen network management

Content

CANOPEN_GETNMTSTATESLAVE .....................................................................................................99

CANOPEN_NMTSERVICES ................................................................................................................100

35754

98


CANOPEN_GETNMTSTATESLAVE

= Get network management state slave




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


35164

Parameter

EXECUTE

Data type

BOOL := FALSE

BYTE

Description




>

CHANNEL


35061

Parameter

NMTSTATE

RESULT

Data type

BYTE

BYTE


0

Value dec | hex

00

Description

FB is inactive

1

8

242

01

08

F2 function block execution completed without error

FB is active



Description

Network operating status of the node

0 = INIT

1 = OPERATIONAL

2 = PRE-OPERATIONAL

3 = STOPPED feedback of the function block


99


CANOPEN_NMTSERVICES

= Network management services




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


35354

35163

Parameter

EXECUTE

CHANNEL

NODE

NMTSERVICE

Timeout


Data type

BOOL := FALSE

BYTE

BYTE

BYTE

TIME := T#0ms

Description




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

100


>


Parameter

RESULT

Data type

BYTE




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


35062

101


Function elements: CANopen object directory

Content

CANOPEN_GETODCHANGEDFLAG .................................................................................................103

CANOPEN_READOBJECTDICT .........................................................................................................104

CANOPEN_WRITEOBJECTDICT .......................................................................................................105

35759

102


CANOPEN_GETODCHANGEDFLAG

= Get object directory changed flag




35071

>

Description

>

CANOPEN_GETODCHANGEDFLAG reports any change of value for a particular object directory entry.

35332


35167

Parameter

EXECUTE

>

CHANNEL

IDX

SUBIDX

Data type

BOOL := FALSE

BYTE

WORD

BYTE

Description



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



Value dec | hex

Description

0

1

8

242

00

01

08

F2




103


CANOPEN_READOBJECTDICT

= Read object directory




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.


35177

Parameter

EXECUTE

>

CHANNEL

IDX

SUBIDX

Data type

BOOL := FALSE

BYTE

WORD

BYTE

Description



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



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


104


CANOPEN_WRITEOBJECTDICT

= Write object directory




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!


35147

Parameter

EXECUTE

CHANNEL

IDX

SUBIDX

DATA

Data type

BOOL := FALSE

BYTE

WORD

BYTE

DWORD

Description



CAN interface (1...n) depending on the device index in object directory sub-index referred to the index in the object directory parameter value

105


>


Parameter

RESULT

Data type

BYTE




0

Value dec | hex

00

Description

FB is inactive

1

8

40

242

01

08

28

F2 function block execution completed without error function block not yet executed object directory entry is invalid


35048

106


Function elements: CANopen SDOs

Content

CANOPEN_SDOREAD ........................................................................................................................108

CANOPEN_SDOREADBLOCK ............................................................................................................110

CANOPEN_SDOREADMULTI .............................................................................................................112

CANOPEN_SDOWRITE ......................................................................................................................114

CANOPEN_SDOWRITEBLOCK ..........................................................................................................116

CANOPEN_SDOWRITEMULTI ...........................................................................................................118

28407

Here you will find ifm function elements for CANopen handling of Service Data Objects (SDOs).

107


CANOPEN_SDOREAD

= SDO read




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.


35161

Parameter

EXECUTE

CHANNEL

NODE

IDX

SUBIDX

Timeout


Data type

BOOL := FALSE

BYTE

BYTE

WORD

BYTE

TIME := T#10ms

Description




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

108


>


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



Value dec | hex

Description

0

1

5

32

33

242

255

21

F2

FF

00

01

05

20

FB is inactive


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 buffer overflow

– too many data bytes were received

35008

109


CANOPEN_SDOREADBLOCK

= SDO Read Block




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.

110


>


Parameter

EXECUTE

CHANNEL

NODE

IDX

SUBIDX

DATA

FILE

MAX_LEN

SegmentedTransfer


Timeout


>


Data type

BOOL := FALSE

BYTE

BYTE

WORD

BYTE

DWORD

STRING(80)

DWORD

BOOL := FALSE

TIME := T#10ms

35002

Description




(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



Value dec | hex

Description

33

64

65

66

242

0

1

5

16

17

32

21

40

41

42

F2

00

01

05

10

11

20

FB is inactive


FB is active – no data received yet

Transmission is active as a segmented download

Transmission is active as a block download



TIMEOUT elapsed

Error: Write pointer outside admissible data range

Error: File could not be opened

Error when writing to file


35204

111


CANOPEN_SDOREADMULTI

= SDO read multi




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.


Parameter

EXECUTE

CHANNEL

NODE

IDX

SUBIDX

Timeout


Data type

BOOL := FALSE

BYTE

BYTE

WORD

BYTE

TIME := T#10ms

35156

Description





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

112


>


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



Value dec | hex

Description

0

1

5

32

33

242

255

21

F2

FF

00

01

05

20

FB is inactive


– data is valid




TIMEOUT elapsed


Error: not enough memory available for the consuming multiframe

35007

113


CANOPEN_SDOWRITE

= SDO write




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.


35157

Parameter

EXECUTE

CHANNEL

NODE

IDX

SUBIDX

LEN

DATA

Timeout


Data type

BOOL := FALSE

BYTE

BYTE

WORD

BYTE

BYTE


TIME := T#10ms

Description




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

114


>


Parameter

RESULT

Data type

BYTE




0

Value dec | hex

00

1 01

Description

FB is inactive


8

32

33

242

08

20

21

F2 function block is active



TIMEOUT elapsed


35087

115


CANOPEN_SDOWRITEBLOCK

= SDO Write Block




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.

116


>


Parameter

EXECUTE

CHANNEL

NODE

IDX

SUBIDX

LEN

DATA

FILE

SegmentedTransfer


Timeout


>


Data type

BOOL := FALSE

BYTE

BYTE

WORD

BYTE

DWORD

DWORD

STRING(80)

BOOL := FALSE

TIME := T#10ms

35005

Description





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




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 is active


Transmission is active as a segmented download

Transmission is active as a block download



TIMEOUT elapsed

Error: File could not be opened


35203

117


CANOPEN_SDOWRITEMULTI

= SDO write multi




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.


35166

Parameter

EXECUTE

CHANNEL

NODE

IDX

SUBIDX

LEN

DATA

Timeout


Data type

BOOL := FALSE

Description



CAN interface (1...n) depending on the device BYTE

BYTE

WORD

BYTE

ID of the node permissible values = 1...127 = 0x01...0x7F index in object directory sub-index referred to the index in the object directory

DWORD 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

118


>


Parameter

RESULT

Data type

BYTE




0

Value dec | hex

00

1 01

Description

FB is inactive


8

32

33

242

08

20

21




TIMEOUT elapsed


35063

119


Function elements: CANopen SYNC

Content

CANOPEN_GETSYNCSTATE .............................................................................................................121

CANOPEN_SETSYNCSTATE .............................................................................................................123

35742

120


CANOPEN_GETSYNCSTATE

= Get SYNC state




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.


35175

Parameter

EXECUTE

CHANNEL

Data type

BOOL := FALSE

BYTE

Description




121


>


35058

Parameter

SYNC

SYNCERROR

RESULT

Data type

BOOL

BYTE

BYTE


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


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


122


CANOPEN_SETSYNCSTATE

= Set SYNC state




35400

>

>

Description

35337

>

With CANOPEN_SETSYNCSTATE, the SYNC functionality is switched on and off.


Parameter

EXECUTE

CHANNEL

SYNC

Data type

BOOL := FALSE

BYTE

BOOL

35176

Description



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


35080

Parameter

RESULT

Data type

BYTE




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


123


Function elements: CANopen guarding

Content

CANOPEN_GETGUARDHBERRLIST .................................................................................................125

CANOPEN_GETGUARDHBSTATSLV ................................................................................................126

35753

124


CANOPEN_GETGUARDHBERRLIST

= Get guard and heartbeat error list




35418

>

>

Description

35335

>

CANOPEN_GETGUARDHBERRLIST lists all nodes in an array for which the master has detected an error:

• guarding error

• heartbeat error


35124

Parameter

EXECUTE

CHANNEL

ResetList


Data type

BOOL := FALSE

BYTE

BOOL := FALSE

Description




Reset error list

TRUE: Provide the error list as well as number of faulty nodes at the output and then reset.



35059

Parameter

N_NODES

NODEID

RESULT

Data type

WORD

ARRAY

[0..MAXGUARDERROR] OF

BYTE

BYTE


Value dec | hex

Description

0

1

8

242

00

01

08

F2




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 (→ p.

36 )

feedback of the function block


125


CANOPEN_GETGUARDHBSTATSLV

= Get guard and heartbeat state slave




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.


35125

Parameter

EXECUTE

CHANNEL

Reset


Data type

BOOL := FALSE

BYTE

BOOL := FALSE

Description




TRUE: Provide the current states at the outputs and then reset to "No error"


126


>


Parameter

GUARDSTATE

PROD_HBSTATE

CONS_HBSTATE

CONS_HBCOBID

RESULT

Data type

BYTE

BYTE

BYTE

WORD

BYTE


Value dec | hex

Description

0

1

8

242

00

01

08

F2


FB is active



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


35050

127


Function elements: CANopen emergency

Content

CANOPEN_GETEMCYMESSAGES ....................................................................................................129

CANOPEN_GETERRORREGISTER ...................................................................................................131

CANOPEN_SENDEMCYMESSAGE ...................................................................................................132

35740

128


CANOPEN_GETEMCYMESSAGES

= Get emergency messages




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.


35170

Parameter

EXECUTE

CHANNEL

RstList


Data type

BOOL := FALSE

BYTE

BOOL := FALSE

Description




TRUE: Provide list with accumulated CAN messages at the output and then delete


129


>


Parameter

N_MSGS

EMCY

RESULT

Data type

DWORD

ARRAY [0..MAXEMCYMSGS]

OF T_EMCY

BYTE


Value dec | hex

Description

0

1

8

242

00

01

08

F2




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


35075

130


CANOPEN_GETERRORREGISTER

= Get error register




35419

>

>

Description

35336

CANOPEN_GETERRORREGISTER reads the error registers 0x1001 and 0x1003 from the controller.


35169

Parameter

EXECUTE

CHANNEL

Reset_1001


Reset_1003


Data type

BOOL := FALSE

BYTE

BOOL := FALSE

BOOL := FALSE

Description




TRUE: Reset error register 0x1001


TRUE: Reset error register 0x1003

Set number of entries to 0


The inputs remain unchanged.

>


35052

Parameter

ER

ERROR_FIELD

RESULT

Data type

BYTE

ARRAY [0..MAXERR] OF

DWORD

BYTE


Value dec | hex

Description

0

1

8

242

00

01

08

F2




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


131


CANOPEN_SENDEMCYMESSAGE

= Send emergency message




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.


35168

Parameter

EXECUTE

CHANNEL

ERRORACTIVE

EEC

ER


MSEF

Data type

BOOL := FALSE

BYTE

BOOL

WORD

BYTE := 0


Description




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


SendSysStatus


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


Send system status

TRUE: The system status is checked and in case of an error state this is transmitted to the network.


132


>


Parameter

RESULT

Data type

BYTE




0

Value dec | hex

00

Description

FB is inactive

1

8

39

242

01

08

27


FB is active

– not yet processed no object 1001

16

in the configuration


35053

133


5.2.4 Function elements: SAE J1939

Content

Function elements: SAE J1939 status .................................................................................................134

Function elements: SAE J1939 request ...............................................................................................142

Function elements: receive SAE J1939 ..............................................................................................145

Function elements: transmit SAE J1939 ..............................................................................................150

Function elements: SAE J1939 diagnosis ............................................................................................158

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

J1939_ENABLE ....................................................................................................................................135

J1939_GETDABYNAME ......................................................................................................................137

J1939_NAME .......................................................................................................................................139

J1939_STATUS ....................................................................................................................................141

35717

134


J1939_ENABLE


Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB


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.


Parameter

ENABLE

Data type

BOOL := FALSE

CHANNEL

Baud rate


PreferredAddress


Ace


BYTE

WORD := 250

BYTE = 252

BOOL := TRUE

Description

TRUE: Enable J1939 channel

Ace=TRUE: Address claiming effected

FALSE: Block J1939 channel


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

135



Parameter

RESULT

Data type

BYTE




0

Value dec | hex

00

Description

FB is inactive

1

8

9

242

01

08

09


CAN is not active


35102

136


J1939_GETDABYNAME

= get destination arbitrary name




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.

137


>


Parameter

ENABLE

CHANNEL

IndustryGroup


VehicleSystemInstance


VehicleSystem

(optional use of the parameter) nFunction


FunctionInstance


ECUInstance


ManufacturerCode


IdentityNumber


>


Data type

BOOL

BYTE

BYTE = 0xFF

BYTE := 0xFF

BYTE := 0xFF

WORD := 0xFFFF

BYTE := 0xFF

BYTE := 0xFF

WORD := 0xFFFF

DWORD := 0xFFFF FFFF

35212

Description





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


BYTE

BYTE

Description

List of found participants

255 = no participant found with this number

Number of found bus participants. feedback of the function block



Value dec | hex

Description

0

1

8

242

00

01

08

F2

FB is inactive

FB execution completed without error – data is valid function block is active


34986

138


J1939_NAME




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

Data type

1 bit

3 bits

4 bits

7 bits

1 bit

Description any desired address available industry group of the device instance of the vehicle system vehicle system reserved function function instance

ECU instance manufacturer code

8 bits

5 bits

3 bits

11 bits function of the device instance of the function 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

139


>


Parameter

ENABLE

CHANNEL

IndustryGroup


VehicleSystemInstance


VehicleSystem

(optional use of the parameter) nFunction


FunctionInstance


ECUInstance


ManufacturerCode


IdentityNumber


>


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




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


34995

140


J1939_STATUS




35259

>

Description

>

Via J1939_STATUS, relevant information can be read back to the J1939 stack.


Parameter

ENABLE

Data type

BOOL

BYTE

Description






>

CHANNEL


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


34985

VERSION

RESULT

DWORD

BYTE


0

Value dec | hex

00

Description

FB is inactive

3

4

1

2

242

01

02

03

04

F2

Protocol is active

Protocol is not active

Source address requested

Address lost


141


Function elements: SAE J1939 request

Content

J1939_SPEC_REQ ..............................................................................................................................143

J1939_SPEC_REQ_MULTI .................................................................................................................144

35704

142


J1939_SPEC_REQ

= J1939 Specific Request




35253

>

Description

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


35321

35083

Parameter

EXECUTE

CHANNEL

PGN

Data type

BOOL := FALSE

BYTE

DWORD

BYTE

Description




PGN = Parameter Group Number permissible = 0...262 143 = 0x00000000...0x0003FFFF

J1939 address of the requested device

>

DA


35206

Parameter

PRIO

LEN

DATA

RESULT

Data type

BYTE

WORD


BYTE

Description message priority (0…7) number of the bytes received (0...8) received data, (1...8 bytes) feedback of the function block



Value dec | hex

Description

0

1

5

64

242

00

01

05

40

F2

FB is inactive



Error: receive multiframe


143


J1939_SPEC_REQ_MULTI

= J1939 Specific Request Multiframe Message




35256

>

Description

>

J1939_SPECIFIC_REQUEST requests and receives a specific multiframe message from another controller.

35315


35082

Parameter

EXECUTE

CHANNEL

PGN

Data type

BOOL := FALSE

BYTE

DWORD

BYTE

Description





J1939 address of the requested device

>

DA


35183

Parameter

PRIO

LEN

DATA

RESULT

Data type

BYTE

WORD


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



Value dec | hex

Description

0

1

5

242

00

01

05

F2

FB is inactive




144


Function elements: receive SAE J1939

Content

J1939_RX .............................................................................................................................................146

J1939_RX_FIFO ...................................................................................................................................147

J1939_RX_MULTI ................................................................................................................................149

35702

145


J1939_RX




35244

>

>

>

Description

35264

J1939_RX is the easiest method for receiving single frame messages. The message read last on the

CAN bus is returned.


35214

Parameter

ENABLE

CHANNEL

PGN

Data type

BOOL

BYTE

DWORD

Description







The PGN = 0 is not used.


35001

Parameter

SA

PRIO

LEN

DATA

RESULT

Data type

BYTE

BYTE

WORD


BYTE


Value dec | hex

Description

5

9

0

1

242

00

01

05

09

F2


FB is active

– no data received yet

CAN is not active


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


146


J1939_RX_FIFO

= J1939 RX with FIFO




35247

>

Description

35267

>

J1939_RX_FIFO enables receipt of all specified messages and their successive reading from a FIFO.


35155

Parameter

ENABLE

CHANNEL

PGN

Data type

BOOL

BYTE

DWORD

Description








147


>


Parameter

SA

PRIO

LEN

DATA

MORE_DATA_AVAILABLE

RESULT

Data type

BYTE

BYTE

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)





0

Value dec | hex

00

Description

1

5

01

05

FB is inactive



242

250

F2

FA


Error: FiFo is full

– data was lost

35012

148


J1939_RX_MULTI

= J1939 RX multiframe message




35258

>

Description

>

J1939_RX_MULTI enables receipt of multi-frame messages.


35352

35158

Parameter

EXECUTE

CHANNEL

PGN

Data type

BOOL := FALSE

BYTE

DWORD

Description






>


Parameter

SA

PRIO

LEN

DATA

RESULT

Data type

BYTE

BYTE

WORD


BYTE


Value dec | hex

Description

0

1

5

242

00

01

05

F2

FB is inactive




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


35013

149


Function elements: transmit SAE J1939

Content

J1939_TX .............................................................................................................................................151

J1939_TX_ENH ....................................................................................................................................152

J1939_TX_ENH_CYCLIC ....................................................................................................................154

J1939_TX_ENH_MULTI .......................................................................................................................156

35706

150


J1939_TX




35072

>

Description

>

J1939_TX is the easiest method for transmitting single frame messages.


Parameter

ENABLE

CHANNEL

DA

PGN

>

DATA


Data type

BOOL

BYTE

BYTE := 249

DWORD


Description






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




Value dec | hex

Description

0

1

242

250

00

01

F2

FA



Error: FiFo is full

– data was lost

35350

35218

34988

151


J1939_TX_ENH

= J1939 TX enhanced




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




(→ p. 156 ).


35215

Parameter

ENABLE

CHANNEL

DA

Prio


PGN

Len


DATA

Data type

BOOL

BYTE

BYTE := 249

BYTE := 3

DWORD

BYTE := 8


Description







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)

152


>


Parameter

RESULT

Data type

BYTE




0

Value dec | hex

00

Description

FB is inactive

1

242

250

01

F2

FA function block execution completed without error



35051

153


J1939_TX_ENH_CYCLIC

= J1939 TX enhanced cyclic




35145

>

Description

J1939_TX_ENH_CYCLIC serves for cyclic transmitting of CAN messages.

Otherwise, the FB corresponds to J1939_TX_ENH

(→ p. 152 ).

► 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.


Parameter

ENABLE

CHANNEL

DA

Prio


PGN

Len


DATA

PERIOD

Data type

BOOL

BYTE

BYTE := 249

BYTE := 3

DWORD

BYTE := 8


TIME

Description








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

154


>


Parameter

RESULT

Data type

BYTE


0

Value dec | hex

00

Description

FB is inactive

8

242

08





35014

155



= J1939 TX enhanced multiframe message




35142

>

Description

>

The transmission of multi-frame messages is carried out via J1939_TX_ENH_MULTI.

The FB corresponds to J1939_TX_ENH

(→ p. 152 ). In addition, it can be determined whether the

transmission shall be executed as BAM ( B roadcast A nnounce M essage).

35356


Parameter

EXECUTE

CHANNEL

DA

Prio


PGN

Len


DATA

Bam


Data type

BOOL := FALSE

BYTE

BYTE := 249

BYTE := 3

DWORD

BYTE := 8


BOOL := FALSE

35224

Description






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

156


>


Parameter

RESULT

Data type

BYTE




0

Value dec | hex

00

Description

FB is inactive

1

8

65

242

01

08

41


Error: transmission is not possible


35011

157


Function elements: SAE J1939 diagnosis

Content

J1939_DM1RX .....................................................................................................................................159

J1939_DM1TX ......................................................................................................................................161

J1939_DM1TX_CFG ............................................................................................................................164

J1939_DM3TX ......................................................................................................................................165

35703

158


J1939_DM1RX

= J1939 Diagnostic Message 1 RX




35299

>

Description

35357

>

J1939_RX_DM1 receives diagnostic messages DM1 or DM2 from other ECUs.


Parameter

ENABLE

CHANNEL

DA

ACTIVE

Data type

BOOL := FALSE

BYTE

BYTE

BOOL

35000

Description






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)

159


>


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


Value dec | hex

Description

0

1

8

242

00

01

08

F2

FB is inactive


– data is valid

FB is active – no data was received


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


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


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

160

35210


J1939_DM1TX

= J1939 Diagnostic Message 1 TX




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.

161


>


Parameter

EXECUTE

Data type

BOOL := FALSE

CHANNEL

ACTIVE

BYTE

BOOL

REDSTOPLAMP

AMBERWARNINGLAMP

PROTECTLAMP

SPN

FMI

SPN_CM

MIL_FC

BOOL

BOOL

BOOL

WORD

BYTE

BOOL

BYTE

REDSTOPLAMP_FC

AMBERWARNINGLAMP_FC

PROTECTLAMP_FC

BYTE

BYTE

BYTE

Description




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)


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


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

162


>


Parameter

RESULT

Data type

BYTE


0

Value dec | hex

00

Description

FB is inactive

1

242

01

F2 data was marked "active" in the error memory




35010

163


J1939_DM1TX_CFG

= J1939 Diagnostic Message 1 TX configurable


Unit is contained in the library ifm_J1939_NT_V02.00.02.LIB

or higher


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. 135 ) 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)

MODE = 1

MODE = 2

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

(→ p.

161 )is possible.

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

(→ p.

161 ) is possible.

The CAN stack does not send cyclic DM1 "zero active faults" messages

Nor does the CAN stack automatically reply to DM2 requests.


35081

Parameter

ENABLE

>

CHANNEL

MODE

Data type

BOOL

BYTE

BYTE := 0

Description






Operating mode of the function block allowed = 0...2 (→ Description of the FB)


35186

Parameter

RESULT

Data type

BYTE




Value dec | hex

Description

0

1

242

00

01

F2



164


J1939_DM3TX

= J1939 Diagnostic Message 3 TX




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.


Parameter

EXECUTE

CHANNEL

DA

Data type

BOOL := FALSE

BYTE

BYTE

35084

Description




DA = Destination Address of the ECU on which the DTCs are to be deteled.

DA = 254: delete DTCs (DM2) in the device itself

>


35209

Parameter

RESULT

Data type

BYTE




0

Value dec | hex

00

Description

FB is inactive

1

242

01



165


5.2.5 Function elements: processing input values

Content

FASTCOUNT ........................................................................................................................................167

INC_ENCODER ...................................................................................................................................169

INPUT ...................................................................................................................................................171

PERIOD ................................................................................................................................................173

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.

166


FASTCOUNT

= Fast Count


Unit is contained in the library ifm_CR0403_Vxxyyzz.LIB


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.


35725

Parameter

ENABLE

CHANNEL

MODE

PRESET_VALUE

PRESET

Data type

BOOL

BYTE

BYTE

DWORD

BOOL

Description



> initiated processes continue in the background

> FB outputs are not updated

Number of the fast input channel

0...3 for the inputs I00...I03

Operating mode of the function block:

0 = 0x00 = stop counter

21 = 0x15 = upwards counter

22 = 0x16 = downwards counter counter start value

TRUE (for only 1 cycle): load the start value PRESET_VALUE

FALSE: counter is active

167

>



Parameter

VALUE

RESULT

Data type

DWORD

BYTE

Description ouput value feedback of the function block



Value dec | hex

Description

3

130

132

0

1

2

03

82

84

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

35954

168


INC_ENCODER

= Incremental Encoder




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

169

>



Parameter

ENABLE

CHANNEL

PRESET_VALUE

PRESET

RESOLUTION

Data type

BOOL

BYTE

DINT

BOOL

BYTE

Description




> Function block outputs are not specified number of the input channel pair:

0 = channel pair 0 = inputs I00 + I01

2 = channel pair 1 = inputs I02 + I03 counter start value

FALSE  TRUE (edge):

PRESET_VALUE is loaded to COUNTER

TRUE: Counter ignores the input pulses

FALSE: Counter counts the input pulses 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".

35731

>


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



Value dec | hex

Description

3

130

138

0

1

2

03

82

8A

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 resolution setting is invalid

35952

170


INPUT




35275

>

Description

INPUT enables determining the state at the input channels ( → data sheet). The FB provides the current state at the selected channel.

.

The measurement and the output value result from the operating mode indicated via MODE:



• analogue input 0...20 mA



• analogue input ratiometric 0...32 V

• analogue input resistance measurement 16...3 600 

(CR04nn from on HW release AD:

16...30 000 Ω)

The operating mode should not be changed during operation.

The analogue values are provided as standardised values.

35748

171

>



Parameter

ENABLE

CHANNEL

MODE

FILTER

Data type

BOOL

BYTE

BYTE

BYTE

35726

Description





Number of input channel

0...11 for the inputs IN0...IN11 operating mode of the input channel:

0 = 0x00 off


6 = 0x06 voltage input, ratiometric

7 = 0x07 current input


0…10 000 mV

0...1 000 ‰

0…20 000 µA

0…32 000 mV

11 = 0x0B

(only for analogue evaluated inputs) binary input, plus switching (BL) with diagnosis

(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

(→ p. 48 )

>


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



Value dec | hex

Description

3

130

132

136

141

0

1

2

142

144

00

01

02

03

82

84

88

8D

8E

90

FB is inactive


– 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

172


PERIOD




35733

>

.

Description

35747

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

00 no measurement

0E Frequency measurement

Count the positive edges for a certain time.

13 Period duration measurement (better replace by MODE = 20!)

Measure the time interval between two positive edges.

Specify the average value over a certain number of periods.

14 Period duration and ratio measurement

Measure the time interval between two positive edges.

Specify the average value over a certain number of periods.

19 (LZS version 03.02.zz or higher)

Phase shift (0...359°) between channel A and channel B of an input channel pair

(message makes only sense if no great jumps > 179° can occur in the system)


If MODE=19 or MODE=20 or MODE=25:

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

(→ p. 35 )

35747

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.

173

MODE

PERIODS

TIMEBASE

>



Parameter

ENABLE

Data type

BOOL

CHANNEL BYTE

BYTE

BYTE

TIME

Description





(MODE = 14 / 19 / 20)

Number of the fast input channel

0...3 for the inputs IN0...IN3

(MODE = 25)

Number of the fast input A channel

0 / 2 for the inputs IN0 / IN2

B channel = A channel + 1

Operating mode of the function block:

0 = 0x00 = no measurement

14 = 0x0E = frequency measurement

19 = 0x13 = interval measurement

20 = 0x14 = invertal and ratio measurement

25 = 0x19 = phase shift of two input signals

Number of periods to be averaged (1...4)

• if MODE = 19 / 20  average arithmetically

• if MODE = 25  average geometrically

• if PERIODS = 1  no averaging

(only relevant if MODE = 14) time for counting the edges in [ms] permissible values = 1...2 000

35724

174

>



35951

Parameter

VALUE_CYCLE

VALUE_FREQ

VALUE_TIME

VALUE_RATIO

RESULT

Data type

DWORD

REAL

TIME

WORD

BYTE


Value dec | hex

Description

130

132

137

146

2

3

0

1

82

84

89

92

00

01

02

03

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)

Cycle time in [µs] at the input

(MODE = 25)

Cycle time in [µs] at the A channel of the input pair

(MODE = 14 / 19 / 20)

Frequency of the detected periods in [Hz] at the input

(MODE = 25)

Frequency of the detected periods in [Hz] at the A channel of the input pair

(MODE = 14)

Value = 0 (not detected)

(MODE = 19 / 20)

Time elapsed since the last positive edge

(MODE = 25)

Time elapsed since the last valid measurement

(MODE = 14)

Value = 0 (not detected)

(MODE = 19 / 20)

Mark-to-space ratio of the input signal in [‰]

(MODE = 25)

Phase shift in [°] feedback of the function block


175


5.2.6 Function elements: output functions

Content

CURRENT_CONTROL ........................................................................................................................177

OUTPUT ...............................................................................................................................................179

PWM1000 .............................................................................................................................................181

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.

176


CURRENT_CONTROL




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).

177

>



Parameter

ENABLE

CHANNEL

DESIRED_CURRENT

FREQUENCY

DITHER_FREQUENCY

Data type

BOOL

BYTE

WORD

WORD

WORD

36041

Description





Number of the current-controlled output channel

0...1 for the outputs OUT0...OUT1 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

DITHER_VALUE WORD

KP

>

KI


BYTE

BYTE

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



Value dec | hex

Description

128

129

130

131

134

2

3

0

1

80

81

82

83

86

00

01

02

03

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 value for DESIRED_CURRENT is invalid dither setting is invalid

36011

178


OUTPUT




35931

>

.

>

Description

35749

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 diagnostic function and protection



Parameter

ENABLE

CHANNEL

VALUE

MODE

FILTER

Data type

BOOL

BYTE

BOOL

BYTE

BYTE

36035

Description





Number of the output channel

0...11 for the outputs OUT0...OUT11

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

(→ p. 51 )

For outputs without current feedback:

FILTER = 0 or: do not set the parameter FILTER!


179

>



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



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

180


PWM1000




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 ‰.


Parameter

ENABLE

CHANNEL

FREQUENCY

VALUE

DITHER_FREQUENCY

DITHER_VALUE

Data type

BOOL

BYTE

WORD

WORD

WORD

WORD

36019

Description





Number of the PWM output channel

0...11 for the outputs OUT0...OUT11

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

181

>



Parameter

CURRENT

RESULT

Data type

WORD

BYTE

Description only available for current controlable outputs: current output current in [mA] feedback of the function block



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

182


5.2.7 Function elements: system

Content

FLASH_INFO .......................................................................................................................................184

FLASH_READ ......................................................................................................................................185

GET_APP_INFO ..................................................................................................................................186

GET_HW_INFO ....................................................................................................................................187

GET_IDENTITY ....................................................................................................................................188

GET_SW_INFO ....................................................................................................................................189

GET_SW_VERSION ............................................................................................................................190

MEM_ERROR ......................................................................................................................................191

MEMCPY ..............................................................................................................................................192

OHC ......................................................................................................................................................194

SET_IDENTITY ....................................................................................................................................196

SET_LED ..............................................................................................................................................197

SET_PASSWORD ................................................................................................................................199

TIMER_READ_US ...............................................................................................................................200

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

183


FLASH_INFO




35306

>

Description

>

FLASH_INFO reads the information from the user flash memory:

• name of the memory area (user defined),


• start address (for simple reading with IEC structure).


Parameter

ENABLE

Data type

BOOL

Description





>


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



0

Value dec | hex

00

Description

1

157

01

9D

FB is inactive


Software header invalid (CRC error)

35318

35152

35101

184


FLASH_READ




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!


35174

Parameter

ENABLE

DST

SRC

>

LEN

Data type

BOOL

DWORD

DWORD

WORD

Description




> 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


35111

Parameter

RESULT

Data type

BYTE




Value dec | hex

Description

0

1

152

00

01

98

FB is inactive


– data is valid inadmissible memory area:

• invalid source address

• invalid destination address

• invalid number of bytes

185


GET_APP_INFO

= get application information




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.


Parameter

ENABLE

Data type

BOOL

Description





>


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



Value dec | hex

Description

0

1

00

01

FB is inactive


35317

35004

35098

186


GET_HW_INFO

= get hardware information




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.


35022

35092

Parameter

ENABLE

Data type

BOOL

Description





>


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



Value dec | hex

Description

0

1

00

01

FB is inactive


35110

187


GET_IDENTITY




35249

>

Description

>

35310

GET_IDENTITY reads the identification stored in the device (has previously been saved by means of

SET_IDENTITY

(→ p. 196 )).


35172

Parameter

ENABLE

Data type

BOOL

Description





>


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



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

188


GET_SW_INFO

= get software information




35268

>

Description

>

GET_SW_INFO provides information about the system software of the device:

• software name,


• build number,

• build date.


35324

35003

Parameter

ENABLE

Data type

BOOL

Description





>


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



0

Value dec | hex

00

1 01

Description

FB is inactive


– data is valid

35099

189


GET_SW_VERSION

= get software version




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


Parameter

ENABLE

Data type

BOOL

Description





>


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



Value dec | hex

Description

0

1

00

01

FB is inactive


190

35323

35091

35097


MEM_ERROR

= Memory Error




35126

>

Description

>

MEM_ERROR signals errors in some parameters or in the memory.

The memory areas can be deleted via the corresponding FB inputs.


Parameter

ENABLE

RESET_RETAIN

Data type

BOOL

BOOL

RESET_OHC

>


BOOL

Description





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



Value dec | hex

Description

0

1

00

01

FB is inactive


35341

35006

35100

191


MEMCPY

= memory copy




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.


27777

35171

Parameter

ENABLE

DST

SRC

LEN

SWAP_TYPE

Data type

BOOL

DWORD

DWORD

WORD

BYTE

Description




> 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!

192

>



Parameter

RESULT

Data type

BYTE




0

Value dec | hex

00

1 01

Description

FB is inactive


152 98

156 9C inadmissible memory area:

• invalid source address

• invalid destination address

• invalid number of bytes inadmissible values:

• invalid value for SWAP_TYPE

• LEN does not match SWAP_TYPE

35108

193


OHC

= Operating Hours Counter




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. 191 ), set input RESET_OHC = TRUE!

> Only now can the operating hours counters be used.


Parameter

ENABLE

OHC_NUM

MODE

PRESET_HOURS

PRESET_MINUTES

Data type

BOOL

BYTE

BYTE

DWORD

BYTE

35692

Description





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

194

>



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



0

Value dec | hex

00

1 01

Description

FB is inactive


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

195


SET_IDENTITY




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

(→ p. 188 )


Parameter

ENABLE

APP_IDENT

Data type

BOOL

STRING(80)

Description




> Function block outputs are not specified identifier of the application as a string of max. 80 characters, e.g.: "Crane1704"

Reset with APP_IDENT = ""

>


Parameter

RESULT

Data type

BYTE




Value dec | hex

Description

0

1

00

01

FB is inactive


35326

35173

35088

196


SET_LED




34997

>

Description

Via SET_LED frequency and color of the status LED can be changed in the application program.

>

If the flashing mode is changed in the application program, the default setting table is no longer valid (



chapter Status-LED

(→ p. 25 )).

35329


Parameter

ENABLE

COLOR_1

COLOR_2

FREQUENCY

Data type

BOOL

BYTE

BYTE

BYTE

35151

Description





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



197

>



Parameter

RESULT

Data type

BYTE




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

198


SET_PASSWORD




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.


35154

Parameter

ENABLE

PASSWORD

Data type

BOOL

STRING(16)

Description




> Function block outputs are not specified password

If PASSWORD = "", than access is possible without enter of a password


35107

Parameter

RESULT

Data type

BYTE




0

Value dec | hex

00

1 01

Description

FB is inactive


199


TIMER_READ_US




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


35086

Parameter

TIME_US

RESULT

Data type

DWORD

BYTE

Description current system time [  s] feedback of the function block



Value dec | hex

Description

0

1

00

01

FB is inactive


– data is valid

200


>

6 Diagnosis and error handling

Content

Diagnosis ..............................................................................................................................................201

Fault ......................................................................................................................................................201

Response to system errors...................................................................................................................201

CAN / CANopen: errors and error handling..........................................................................................202

28855

The runtime-system (RTS) checks the device by internal error checks:

• during the boot phase (reset phase)

• during executing the application program

→ chapter Operating states

(→ p. 32 )

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".

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.

201

>


6.3.1 Example process for response to an error message

>

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

35698

28808

202


7 Appendix

Content

System flags .........................................................................................................................................203

Address assignment and I/O operating modes ....................................................................................204

Error tables ...........................................................................................................................................209

28796

Additionally to the indications in the data sheets you find summary tables in the appendix.

7.1 System flags

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!

System flags (symbol name)

SUPPLY_VOLTAGE_VBBx

SUPPLY_VOLTAGE_VBBS

SUPPLY_VOLTAGE_VU

Type

WORD

WORD

WORD

INT

Description supply voltage on VBBx in [mV]

CR040n: x = 1, 2

CR041n: x = 1, 2

CR253n: x = 1, 2 supply voltage on VBBs in [mV] internal supply voltage in [mV]

Temperature in the device in [°C] TEMPERATURE

35784

203


7.2 Address assignment and I/O operating modes

Content

Address assignment inputs / outputs ...................................................................................................204

Possible operating modes inputs/outputs .............................................................................................206

28801

→ also data sheet

>

7.2.1 Address assignment inputs / outputs

Content

Inputs: address assignment..................................................................................................................204

Outputs: address assignment ...............................................................................................................205

28800

Inputs: address assignment

Abbreviations →chapter Note on wiring

(→ p. 24 )

Operating modes of the inputs/outputs →chapter Possible operating modes inputs/outputs

(→ p. 206 )

IEC address Symbolic address

%IB00 IN00

%IB01

%IB02

%IB03

IN01

IN02

IN03

%IB04

%IB05

%IB06

%IB07

IN04

IN05

IN06

IN07

%IB08

%IB09

%IB10

%IB11

IN08

IN09

IN10

IN11

35682

204

>


Outputs: address assignment

Abbreviations →chapter Note on wiring

(→ p. 24 )

Operating modes of the inputs/outputs →chapter Possible operating modes inputs/outputs

(→ p. 206 )

IEC address Symbolic address

%QB0

%QB1

OUT00

OUT01

%QB2

%QB3

OUT02

OUT03

%QB4

%QB5

%QB6

%QB7

OUT04

OUT05

OUT06

OUT07

%QB8

%QB9

%QB10

%QB11

OUT08

OUT09

OUT10

OUT11

36033

205


7.2.2 Possible operating modes inputs/outputs

Content

Inputs: operating modes .......................................................................................................................207

Outputs: operating modes ....................................................................................................................208

28584

206

>


Inputs: operating modes

35683

= this configuration value is default

Inputs Possible operating mode Set with function block

IN00…IN03 Off voltage input 0…10 000 mV

INPUT

INPUT

MODE

MODE voltage input ratiometric current input voltage input binary input

FASTCOUNT

(→ p. 167 )

INC_ENCODER

(→ p. 169 )

PERIOD

(→ p. 173 )

0…1 000 ‰

0…20 000 µA

0…32 000 mV plus switching

INPUT

INPUT

INPUT

INPUT binary input with diagnosis

(Namur) binary input frequency measurement plus switching minus switching

0…30 000 Hz period duration measurement 0.1...3 000 Hz period and ratio measurement 0.1...3 000 Hz upwards counter downwards counter

0…30 000 Hz

Phase difference detect encoder

IN04…IN07 off

0...359°

0…1 000 Hz

INPUT

INPUT

PERIOD

PERIOD

PERIOD

FASTCOUNT

PERIOD

INC_ENCODER binary input binary input with diagnosis

(Namur) resistance input

IN08…IN11 off plus switching plus switching

16...30 000 ohms

INPUT

INPUT

INPUT

INPUT

INPUT binary input plus switching binary input with diagnosis

(Namur) plus switching

Set operating modes with the following function block:

INPUT

(→ p. 171 )

INPUT

INPUT

Assigns an operating mode to an input channel


MODE

MODE

MODE

MODE

MODE

MODE

MODE

MODE

MODE

MODE

MODE

MODE

MODE

MODE

MODE

MODE

MODE

MODE



• 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

Function block input

11

20

21

22

25

12

14

19

0

10

11

18

0

10

11

9

10

6

7

dec

0

3

Value

hex

00

03

06

07

09

0A

0B

14

15

16

19

0C

0E

13

00

0A

0B

12

00

0A

0B

207

>


Outputs: operating modes

Outputs

= this configuration value is default

Possible operating mode Set with FB FB input

OUT00

…OUT01

OUT02

…OUT03

OUT04

…OUT07 off binary output plus switching binary output with diagnosis plus switching binary output with diagnosis and protection plus switching analogue output with pulse-width modulation analogue current-controlled output off binary output binary output with diagnosis plus switching plus switching binary output with diagnosis and protection plus switching analogue output with pulse-width modulation off

OUTPUT

OUTPUT

OUTPUT

OUTPUT

PWM1000

CURRENT_CONTROL

OUTPUT

OUTPUT

OUTPUT

OUTPUT

PWM1000

OUTPUT

MODE

MODE

MODE

MODE

MODE

MODE

MODE

MODE

MODE binary output plus switching OUTPUT MODE

OUT08

…OUT11

PWM1000 analogue output with pulse-width modulation off

(→ p. 181 )

binary output binary output with diagnosis binary output with diagnosis and protection plus switching analogue output with pulse-width modulation

Set operating modes with the following function block:

OUTPUT

(→ p. 179 )

plus switching plus switching

PWM1000

OUTPUT

OUTPUT

OUTPUT

OUTPUT

PWM1000

MODE

MODE

MODE

MODE

Assigns an operating mode to an output channel



Current controller for a PWMi output channel CURRENT_CONTROL

(→ p. 177 )

36036

0

2

15

16

0

2

15

16

dec

Value

hex

0

2

15

16

00

02

0F

10

00

02

0F

10

0

2

00

02

00

02

0F

10

208


>

7.3 Error tables

Content

Error flags .............................................................................................................................................209

Errors: CAN / CANopen ........................................................................................................................209

28817

7.3.1 Error flags

>

→ chapter System flags

(→ p. 203 )

28818

7.3.2 Errors: CAN / CANopen

19610

28819

>

→ System manual "Know-How ecomat mobile "

→ chapter CAN / CANopen: errors and error handling

EMCY codes: CANx

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)

28825

209

>


EMCY codes: I/Os, system

EMCY code

object 0x1003

Byte 0

[hex]

Byte 1

[hex]

08

00

00

00

08

10

00

08

00

23

31

33

21

21

21

23

33

42

03

05

05

05

09

Object

0x1001

Byte 2

[hex]

03

03

03

03

Byte 3

Manufactor specific information

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

Excess temperature

>

In the CANopen stack none of these EMCY codes are fix implemented. Advice:

► Make these EMCY codes with CANOPEN_SENDEMCYMESSAGE.

35746

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

Bit

I0 LSB

Q0 LSB

7

IN07

OUT07

6

IN06

OUT06

5

IN05

OUT05

BYTE 3

4

IN04

OUT04

3

IN03

OUT03

2

IN02

OUT02

1

IN01

0

IN00

OUT01 OUT00

Byte

Bit

I0 MSB

7

IN15

6

IN14

5

IN13

BYTE 4

4

IN12

3

IN11

2

IN10

1

IN09

0

IN08

Q0 MSB OUT15 OUT14 OUT13 OUT12 OUT11 OUT10 OUT09 OUT08

210


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.

211

>


>

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


CANopen device profile for binary and analogue I/O modules

>

CiA DS 402


CANopen device profile for drives

>

CiA DS 403


CANopen device profile for HMI

CiA DS 404

>


CANopen device profile for measurement and control technology

CiA DS 405

>


CANopen specification of the interface to programmable controllers (IEC 61131-3)

CiA DS 406

>


CANopen device profile for encoders

>

CiA DS 407


CANopen application profile for local public transport

Clamp 15

In vehicles clamp 15 is the plus cable switched by the ignition lock.

212

>


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.

>

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

value 1.2

value 2.2

value 3.2

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 1.3

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.

213


>

D

>

Data type

Depending on the data type, values of different sizes can be stored.

Data type

BOOL

BYTE

WORD

DWORD

SINT

USINT

INT

UINT

DINT

UDINT

REAL

ULINT

STRING

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

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

>

DC

D irect C urrent

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

214

>


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.

>

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.

215

>


>

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).

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

216


>

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

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

217

>


>

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.

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

(→ p. 216 )

218

>


>

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.

>

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.

219

>


>

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.

>

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.

220

>


>

Pictogram

Pictograms are figurative symbols which convey information by a simplified graphic representation.

( → chapter What do the symbols and formats mean?

(→ p. 5 ))

>

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.

>

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.

221

>


>

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

(→ p. 27 )

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.

222

>


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.

>

Symbols

Pictograms are figurative symbols which convey information by a simplified graphic representation.

( → chapter What do the symbols and formats mean?

(→ p. 5 ))

>

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.

223


>

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.

224


9 Index

A

About this manual .................................................................................... 5

Activate the PLC configuration .............................................................. 40

Activation of the input diagnosis ............................................................ 47

Address ................................................................................................ 222

Address assignment and I/O operating modes ................................... 215

Address assignment inputs / outputs .................................................. 216

Analogue inputs ..................................................................................... 13 configuration and diagnosis .......................................................................... 45

Appendix .............................................................................................. 213

Application program ............................................................................... 27

Application software............................................................................. 222

Architecture .......................................................................................... 222

Availability of PWM ................................................................................ 50

Available memory .................................................................................. 11

B

Baud ..................................................................................................... 222

Binary inputs .......................................................................................... 14 configuration and diagnosis .......................................................................... 46

Binary outputs configuration and diagnosis .......................................................................... 49

Boot loader .......................................................................................... 222

Bootloader.............................................................................................. 27

Bus ....................................................................................................... 222

C

CAN ..................................................................................................... 222 interfaces and protocols ................................................................................ 25

CAN / CANopen errors and error handling............................................................................. 212

CAN declaration (e.g. CR1080) ............................................................. 41

CAN interfaces ....................................................................................... 25

CAN stack ............................................................................................ 222

CAN_ENABLE ....................................................................................... 62

CAN_RECOVER ................................................................................... 63

CAN_REMOTE_REQUEST .................................................................. 85

CAN_REMOTE_RESPONSE................................................................ 87

CAN_RX ................................................................................................ 68

CAN_RX_ENH ....................................................................................... 69

CAN_RX_ENH_FIFO ............................................................................ 71

CAN_RX_RANGE ................................................................................. 73

CAN_RX_RANGE_FIFO ....................................................................... 75

CAN_SETDOWNLOADID ..................................................................... 64

CAN_STATUS ....................................................................................... 65

CAN_TX ................................................................................................. 78

CAN_TX_ENH ....................................................................................... 80

CAN_TX_ENH_CYCLIC ........................................................................ 82

CANOPEN_ENABLE ............................................................................. 91

CANOPEN_GETBUFFERFLAGS ......................................................... 93

CANOPEN_GETEMCYMESSAGES ................................................... 131

CANOPEN_GETERRORREGISTER .................................................. 133

CANOPEN_GETGUARDHBERRLIST ................................................ 126

CANOPEN_GETGUARDHBSTATSLV ............................................... 128

CANOPEN_GETNMTSTATESLAVE .................................................. 100

CANOPEN_GETODCHANGEDFLAG ................................................ 104

CANOPEN_GETSTATE ........................................................................ 95

CANOPEN_GETSYNCSTATE ............................................................ 122

225


CANOPEN_NMTSERVICES ............................................................... 101

CANOPEN_READOBJECTDICT ........................................................ 105

CANOPEN_SDOREAD ....................................................................... 109

CANOPEN_SDOREADBLOCK ........................................................... 111

CANOPEN_SDOREADMULTI ............................................................ 113

CANOPEN_SDOWRITE ..................................................................... 115

CANOPEN_SDOWRITEBLOCK ......................................................... 117

CANOPEN_SDOWRITEMULTI........................................................... 119

CANOPEN_SENDEMCYMESSAGE .................................................. 135

CANOPEN_SETSTATE ........................................................................ 97

CANOPEN_SETSYNCSTATE ............................................................ 124

CANOPEN_WRITEOBJECTDICT ...................................................... 106

CiA ....................................................................................................... 222

CiA DS 304 .......................................................................................... 223

CiA DS 401 .......................................................................................... 223

CiA DS 402 .......................................................................................... 223

CiA DS 403 .......................................................................................... 223

CiA DS 404 .......................................................................................... 223

CiA DS 405 .......................................................................................... 223

CiA DS 406 .......................................................................................... 223

CiA DS 407 .......................................................................................... 223

Clamp 15.............................................................................................. 223

COB ID ................................................................................................. 223

CODESYS ........................................................................................... 223

Configuration of the inputs and outputs (default setting) ...................... 44

Configuration of the output diagnosis .................................................... 49

Configurations ........................................................................................ 36

Configure inputs ..................................................................................... 45

Configure outputs .................................................................................. 48

Configure the software filters of the inputs ............................................ 46

Configure the software filters of the outputs .......................................... 48

Control the LED in the application program .......................................... 23

Copyright.................................................................................................. 5

Creating application program ................................................................ 30

CSV file ................................................................................................ 224

Current control with PWM (= PWMi) ..................................................... 50

CURRENT_CONTROL ....................................................................... 185

Cycle time ............................................................................................ 224

D

Data type.............................................................................................. 224

DC ........................................................................................................ 224

Definition overload ......................................................................................................... 17 short circuit .................................................................................................... 17

Description 62, 63, 64, 65, 68, 69, 71, 73, 75, 78, 80, 82, 85, 87, 91, 93,

95, 97, 100, 101, 104, 105, 106, 109, 111, 113, 115, 117, 119, 122, 124,

126, 128, 131, 133, 135, 139, 141, 143, 145, 147, 149, 151, 153, 155,

158, 159, 161, 163, 166, 168, 170, 172, 174, 176, 179, 181, 185, 187,

189, 192, 193, 195, 196, 197, 198, 199, 200, 202, 204, 206, 207, 209,

210

Diagnosis ............................................................................................. 211 binary outputs (via current and voltage measurement) ................................ 18 binary outputs (via voltage measurement) ............................................. 19, 20 overload ................................................................................................... 20, 21 overload (via current measurement) ............................................................. 19 short circuit (via voltage measurement) ............................................ 19, 20, 21 wire break (via voltage measurement) ............................................. 19, 20, 21

Diagnosis ............................................................................................. 224

Diagnosis and error handling............................................................... 211

Distribution of the application program .................................................. 32

226


Dither ................................................................................................... 225

DLC ...................................................................................................... 225

DRAM .................................................................................................. 225

DTC ...................................................................................................... 225

E

ECU ..................................................................................................... 225

EDS-file ................................................................................................ 225

Embedded software ............................................................................. 225

EMC ..................................................................................................... 225

EMCY ................................................................................................... 226

EMCY codes

CANx ........................................................................................................... 220

I/Os, system................................................................................................. 220

Error flags ............................................................................................ 220

ERROR state ......................................................................................... 33

Error tables .......................................................................................... 220

Errors

CAN / CANopen .......................................................................................... 220

Ethernet ............................................................................................... 226

EUC ..................................................................................................... 226

Example process for response to an error message .......................... 211

F

Fast inputs ............................................................................................. 47

FASTCOUNT ....................................................................................... 174

FATAL ERROR state ............................................................................. 33

Fault ..................................................................................................... 211

FB, FUN, PRG in CODESYS ................................................................ 29

FBs for PWM functions .......................................................................... 50

FiFo ...................................................................................................... 226

Flash memory ...................................................................................... 226

FLASH memory ..................................................................................... 11

FLASH_INFO ....................................................................................... 192

FLASH_READ ..................................................................................... 193

FRAM .............................................................................................11, 226

Function configuration in general .......................................................... 43

Function configuration of the inputs and outputs .................................. 44

Function element outputs ...................................................................... 58

Function elements

CANopen ....................................................................................................... 89

CANopen emergency .................................................................................. 130

CANopen guarding ...................................................................................... 125

CANopen network management ................................................................... 99

CANopen object directory ........................................................................... 103

CANopen SDOs .......................................................................................... 108

CANopen status ............................................................................................ 90

CANopen SYNC .......................................................................................... 121 output functions ........................................................................................... 184 processing input values............................................................................... 173

RAW-CAN (Layer 2) ...................................................................................... 60

RAW-CAN remote ......................................................................................... 84

RAW-CAN status ........................................................................................... 61 receive RAW-CAN data ................................................................................ 67 receive SAE J1939 ...................................................................................... 150

SAE J1939 ................................................................................................... 137

SAE J1939 diagnosis .................................................................................. 165

SAE J1939 request ..................................................................................... 146

SAE J1939 status ........................................................................................ 138 system ......................................................................................................... 191 transmit RAW-CAN data ............................................................................... 77 transmit SAE J1939 .................................................................................... 157

227


G

GET_APP_INFO .................................................................................. 195

GET_HW_INFO ................................................................................... 196

GET_IDENTITY ................................................................................... 197

GET_SW_INFO ................................................................................... 198

GET_SW_VERSION ........................................................................... 199

H

Hardware description ............................................................................. 11

Hardware setup ..................................................................................... 11

Heartbeat ............................................................................................. 227

History of the instructions (CR040n) ..................................................... 7

HMI ...................................................................................................... 227

How is this documentation structured? ................................................... 6

I

ID ......................................................................................................... 227

IEC 61131 ............................................................................................ 227

IEC user cycle ...................................................................................... 227 ifm BasicController CR0403 online help.................................................. 3 ifm function elements ............................................................................. 53 ifm function elements for the device CR0403 ....................................... 58 ifm libraries for the device CR0403 ....................................................... 54

Important note to program the device ................................................... 30

INC_ENCODER ................................................................................... 176

Information about the device ................................................................. 10

INIT state (Reset) .................................................................................. 32

INPUT .................................................................................................. 179

Input group IN0...IN3 ............................................................................. 14

Input group IN4...IN7 ............................................................................. 15

Input group IN8...IN11 ........................................................................... 16

Inputs address assignment .................................................................................... 216 operating modes .......................................................................................... 217

Inputs (technology) ................................................................................ 13

Instructions .......................................................................................... 227

Intended use ........................................................................................ 227

Interface description .............................................................................. 24

IP address ............................................................................................ 227

ISO 11898 ............................................................................................ 227

ISO 11992 ............................................................................................ 228

ISO 16845 ............................................................................................ 228

J

J1939 ................................................................................................... 228

J1939_DM1RX .................................................................................... 166

J1939_DM1TX ..................................................................................... 168

J1939_DM1TX_CFG ........................................................................... 170

J1939_DM3TX ..................................................................................... 172

J1939_ENABLE ................................................................................... 139

J1939_GETDABYNAME ..................................................................... 141

J1939_NAME ....................................................................................... 143

J1939_RX ............................................................................................ 151

J1939_RX_FIFO .................................................................................. 153

J1939_RX_MULTI ............................................................................... 155

J1939_SPEC_REQ ............................................................................. 147

J1939_SPEC_REQ_MULTI ................................................................ 149

J1939_STATUS ................................................................................... 145

J1939_TX............................................................................................. 158

228


J1939_TX_ENH ................................................................................... 159

J1939_TX_ENH_CYCLIC ................................................................... 161

J1939_TX_ENH_MULTI ...................................................................... 163

L

LED ...................................................................................................... 228

Libraries ................................................................................................. 28

Library ifm_CANopen_NT_Vxxyyzz.LIB................................................ 55

Library ifm_CR0403_V03yyzz.LIB ........................................................ 54

Library ifm_J1939_NT_Vxxyyzz.LIB ..................................................... 57

Library ifm_RAWCan_NT_Vxxyyzz.LIB ................................................ 55

Limitations for CAN in this device .......................................................... 34

Limitations for CAN J1939 in this device ............................................... 35

Limitations for CANopen in this device.................................................. 35

Link ...................................................................................................... 228

LSB ...................................................................................................... 228

M

MAC-ID ................................................................................................ 228

Manufacturer-specific information (detail) ........................................... 221

Master .................................................................................................. 228

MEM_ERROR ..................................................................................... 200

MEMCPY ............................................................................................. 202

Misuse .................................................................................................. 228

MMI ...................................................................................................... 228

MRAM .................................................................................................. 229

MSB ..................................................................................................... 229

N

Network variables .................................................................................. 52

NMT ..................................................................................................... 229

Node .................................................................................................... 229

Node Guarding .................................................................................... 229

Note on wiring ........................................................................................ 22

Note the cycle time! ............................................................................... 30

Notes serial number ................................................................................................... 9

Notizen • Notes • Notes ....................................................................... 239

O

Obj / object ........................................................................................... 229

Object directory .................................................................................... 229

OBV ..................................................................................................... 229

OHC ..................................................................................................... 204

OPC ..................................................................................................... 229

Operating states .................................................................................... 32

Operational .......................................................................................... 229

OUTPUT .............................................................................................. 187

Output group OUT0, OUT1 ................................................................... 18

Output group OUT10, OUT11 ............................................................... 20

Output group OUT2, OUT3, OUT8, OUT9 ............................................ 19

Output group OUT4...OUT7 .................................................................. 20

Outputs address assignment .................................................................................... 216 operating modes .......................................................................................... 218

Outputs (technology) ............................................................................. 17

Overview documentation modules for CR0403 .............................................................. 5

229


P

Parameters of the inputs ... 62, 63, 64, 65, 68, 69, 71, 78, 80, 82, 85, 87,

91, 93, 95, 97, 100, 101, 104, 105, 106, 109, 111, 113, 115, 117, 119,

122, 124, 126, 128, 131, 133, 135, 139, 141, 143, 145, 147, 149, 151,

153, 155, 158, 159, 161, 163, 166, 168, 170, 172, 174, 177, 179, 182,

185, 187, 189, 192, 193, 195, 196, 197, 198, 199, 200, 202, 204, 206,

207, 209

Parameters of the inputs ....................................................................... 73

Parameters of the inputs ....................................................................... 75

Parameters of the outputs . 62, 64, 65, 68, 70, 71, 73, 75, 78, 80, 83, 85,

87, 91, 93, 95, 98, 100, 101, 104, 105, 106, 109, 112, 113, 115, 118,

119, 122, 124, 126, 128, 131, 133, 135, 139, 142, 144, 145, 147, 149,

151, 153, 155, 158, 159, 161, 163, 166, 169, 170, 172, 175, 177, 180,

182, 186, 188, 189, 192, 193, 195, 196, 197, 198, 199, 200, 202, 204,

206, 207, 209, 210

PC card ................................................................................................ 230

PCMCIA card ....................................................................................... 230

PDM ..................................................................................................... 230

PDO ..................................................................................................... 230

PDU ..................................................................................................... 230

Performance limits of the device ........................................................... 34

PERIOD ............................................................................................... 181

PES ...................................................................................................... 230

PGN ..................................................................................................... 230

Pictogram ............................................................................................. 230

PID controller ....................................................................................... 230

PLC configuration ................................................................................ 231

Please note .............................................................................................. 8

Possible operating modes inputs/outputs ........................................... 217

Pre-Op ................................................................................................. 231

Process image ..................................................................................... 231

Programming notes for CODESYS projects ......................................... 29

Protective functions of the outputs ........................................................ 17

PWM .................................................................................................... 231

PWM outputs ......................................................................................... 49

PWM1000 ............................................................................................ 189

R

ratiometric ............................................................................................ 231

RAW-CAN ............................................................................................ 231

Reaction according to the operating mode of the output ...................... 17

Reaction of the outputs to overload or short circuit ............................... 17

Reaction when using PWM or CURRENT_CONTROL ........................ 18

Read back retain variables .................................................................... 52

Reinstall the runtime system ................................................................. 37 remanent .............................................................................................. 231

Resistance measurement ...................................................................... 15

Response to system errors .................................................................. 211

Retain variables ..................................................................................... 51 ro .......................................................................................................... 231

RTC ...................................................................................................... 232

RUN state .............................................................................................. 33

Runtime system .............................................................................27, 232 rw ......................................................................................................... 232

S

SAE J1939 ........................................................................................... 232

Safety instructions ................................................................................... 8

Safety instructions about Reed relays .............................................22, 45

230


Save retain variables ............................................................................. 51

SD card ................................................................................................ 232

SDO ..................................................................................................... 232

Self-protection of the output .................................................................. 17

Self-test ................................................................................................ 232

Set up the programming system ........................................................... 39

Set up the programming system manually ............................................ 40

Set up the programming system via templates ..................................... 43

Set up the runtime system ..................................................................... 37

Set up the target .................................................................................... 40

SET_IDENTITY ................................................................................... 206

SET_LED ............................................................................................. 207

SET_PASSWORD ............................................................................... 209

Slave .................................................................................................... 233

Software description .............................................................................. 26

Software modules for the device ........................................................... 27

SRAM ..................................................................................................... 11

Start-up behaviour of the controller ......................................................... 9

Status-LED ............................................................................................ 22

STOP state ............................................................................................ 32 stopped ................................................................................................ 233

Symbols ............................................................................................... 233

System description ................................................................................ 10

System flags ........................................................................................ 214

System variable ................................................................................... 233

System variables ................................................................................... 43

T

Target ................................................................................................... 233

TCP ...................................................................................................... 233

Template .............................................................................................. 233

TIMER_READ_US............................................................................... 210

U

UDP ..................................................................................................... 233

Update the runtime system .................................................................... 38

Use as binary inputs .............................................................................. 47

Use, intended ....................................................................................... 233

Using ifm maintenance tool ................................................................... 31

V

Variables ................................................................................................ 51

Verify the installation ............................................................................. 38

W

Watchdog ............................................................................................. 234

Watchdog behaviour .............................................................................. 34

What do the symbols and formats mean? ............................................... 6

What previous knowledge is required? ................................................... 8

231