EMCY codes: I/Os, system. IFM CR0403

>

BasicController CR0403

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

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