IFM Electronic Ecomat 100 ecomatmobile SmartController CR2500 System Manual Download Page 129

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ifm

System Manual

ecomat

mobile

SmartController (CR2500, CR2502) V05

CAN in the ecomatmobile controller

ifm CANopen library

129

8.7.8

Library for the CANopen slave

The library

ifm_CRnnnn_CANopenSlave_Vxxyyzz.LIB

provides a number of functions for the

CANopen slave (= CANopen device = CANopen node) which will be explained below.

Summary of Contents for Ecomat 100 ecomatmobile SmartController CR2500

Page 1: ...System Manual SmartController CR2500 CR2502 CoDeSys V2 3 Target V05 7390667 00 03 2009 ...

Page 2: ... 2 Set up programming system via templates 16 4 1 3 ifm demo programs 25 4 2 Function configuration of the inputs and outputs 29 4 2 1 Configure inputs 29 4 2 2 Configure outputs 33 4 3 Hints to wiring diagrams 34 5 Operating states and operating system 35 5 1 Operating states 35 5 1 1 Reset 35 5 1 2 Run state 35 5 1 3 Stop state 35 5 1 4 Fatal error 35 5 1 5 No operating system 36 5 2 Status LED ...

Page 3: ...ssage 55 8 5 2 Error counter 56 8 5 3 Participant error active 56 8 5 4 Participant error passive 56 8 5 5 Participant bus off 57 8 6 Description of the CAN functions 58 8 6 1 Function CAN1_BAUDRATE 59 8 6 2 Function CAN1_DOWNLOADID 61 8 6 3 Function CAN1_EXT 63 8 6 4 Function CAN1_EXT_TRANSMIT 65 8 6 5 Function CAN1_EXT_RECEIVE 67 8 6 6 Function CAN1_EXT_ERRORHANDLER 69 8 6 7 Function CAN2 70 8 6...

Page 4: ...Functions of the library ifm_HYDRAULIC_16bitOS05_Vxxyyzz Lib 182 9 3 5 Function CONTROL_OCC 183 9 3 6 Function JOYSTICK_0 186 9 3 7 Function JOYSTICK_1 190 9 3 8 Function JOYSTICK_2 194 9 3 9 Function NORM_HYDRAULIC 197 10 More functions in the ecomatmobile controller 200 10 1 Counter functions for frequency and period measurement 200 10 1 1 Applications 201 10 1 2 Use as digital inputs 201 10 1 3...

Page 5: ...er functions in the ecomatmobile controller 256 11 1 General 256 11 1 1 Self regulating process 256 11 1 2 Controlled system without inherent regulation 257 11 1 3 Controlled system with delay 257 11 2 Setting rule for a controller 258 11 2 1 Setting control 258 11 2 2 Damping of overshoot 258 11 3 Functions for controllers 259 11 3 1 Function DELAY 260 11 3 2 Function PT1 262 11 3 3 Function PID1...

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Page 7: ...l systems ifm CD Software tools and documentation Nobody is perfect Send us your suggestions for improvements to this manual and you will receive a little gift from us to thank you All rights reserved by ifm electronic gmbh No part of this manual may be reproduced and used without the consent of ifm electronic gmbh All product names pictures companies or other brands used on our pages are the prop...

Page 8: ...tation Refer to the table of contents to select a specific subject At the beginning of a chapter we will give you a brief overview of its contents Abbreviations and technical terms are listed in the glossary The print version of the manual contains a search index in the annex In case of malfunctions or uncertainties please contact the manufacturer at www ifm com Select country language Contact We ...

Page 9: ...t be authorised to work on the machine equipment Adhere to the technical data of the devices You can find the current data sheet on ifm s homepage at www ifm com Select country language Data sheet direct Article no Technical data in PDF format Note the installation and wiring information as well as the functions and features of the devices supplied installation instructions or on ifm s homepage ww...

Page 10: ...now 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 operat...

Page 11: ... and documentation The application software can be easily designed by the user with the programming system CoDeSys Moreover the user must take into account which software version is used in particular for the operating system and the function libraries NOTE The software versions suitable for the selected target must always be used of the operating system CRnnnn_Vxxyyyzz H86 of the PLC configuratio...

Page 12: ...ns according to the national regulations 3 3 PLC configuration The control system ecomatmobile is a device concept for series use This means that the controllers can be configured in an optimum manner for the applications If necessary special functions and hardware solutions can be implemented In addition the current version of the ecomatmobile software can be downloaded from our website at www if...

Page 13: ...odily injury possible due to malfunctions The software functions described in this documentation only apply to the standard configurations In case of use of customer specific devices Note the special hardware versions and additional remarks additional documentation on use of the software Installation of the files and libraries in the device Factory setting the device contains only the boot loader ...

Page 14: ...rther libraries if necessary NOTE The software versions suitable for the selected target must always be used of the operating system CRnnnn_Vxxyyyzz H86 of the PLC configuration CRnnnn_Vxx CFG of the device library CRnnnn_Vxxyyyzz LIB and the further files chapter Overview of the files and libraries used page 275 CRnnnn device article number Vxx 00 99 target version number yy 00 99 release number ...

Page 15: ...ources 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 All important 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...

Page 16: ...rojects with templates have been stored in the program directory of your PC ifm electronic CoDeSys V Projects Template_CDVxxyyzz 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 chapter Set up programming system via templates page 16 How do you set up the ...

Page 17: ...enerated with the following folder structure left Example for CR2500 as CANopen master Another example for CR1051 as CANopen slave via the folder structures in Templates Section About the ifm Templates page 18 Save the new project with file Save as and define suitable directory and project name Configuration of the CAN network in the project Double click the element PLC configuration above the tab...

Page 18: ...oject You want to supplement this project with further elements and functions chapter Supplement project with further functions page 23 About the ifm templates As a rule the following templates are offered for each unit ifm_template_CRnnnnLayer2_Vxxyyzz pro for the operation of the unit with CAN layer 2 ifm_template_CRnnnnMaster_Vxxyyzz pro for the operation of the unit as CAN master ifm_template_...

Page 19: ...peration with layer 2 or as master or slave Contains functions for adjusting the monitor Programs and functions in the folders of the templates The above folders contain the following programs and functions POUs POUs in the folder CAN_OPEN Description CANopen for Controller and PDM CAN operation as master Contains the following parameterised POUs CAN1_MASTER_EMCY_HANDLER Function CANx_MASTER_EMCY_...

Page 20: ...in the folder PDM_COM_LAYER2 Description PLC_TO_PDM for Controller CAN operation with layer 2 or as slave Organises the communication from the Controller to the PDM monitors the transmission time transmits control data for image change input values etc TO_PDM for Controller CAN operation with layer 2 or as slave Organises the signals for LEDs and keys between Controller and PDM Contains the follow...

Page 21: ... created Map these self created variables on the global softkeys Work only with the global softkeys in the program Advantage Adaptations are only required in one place SELECT_PAGE for PDM CAN operation with layer 2 or as master or slave Organises the selection of the visualisations Contains the following parameterised POUs RT_SOFT_KEYS up POUs in the folder PDM_DISPLAY_SETTINGS Description CHANGE_...

Page 22: ... templates Only for PDM The visualisations are structured in folders as follows Folder Image no Description contents START_PAGE P00001 Setting display of node ID CAN baud rate status GuardErrorNode PLC cycle time __MAIN_MENUES P00010 Menu screen Display setup ____MAIN_MENUE_1 ______DISPLAY_SETUP ________1_DISPLAY_SETUP1 P65000 Menu screen Software version brightness contrast display set real time ...

Page 23: ...netController CR2500 as CAN open Master to which an I O CabinetModule CR2011 and an I O compact module are connected as slaves PLC configuration A joystick is connected to the CR2012 which is to trigger a PWM output on the CR2032 How is that achieved in a fast and simple way Save CoDeSys project In CoDeSys use Project Copy to open the project containing the requested function e g CR2500Demo_CR2012...

Page 24: ...th OK In our example project the elements selected in the demo project have been added POUs Resources Insert the program CR2012 in the main program PLC_PRG e g The comments of the POUs and global variables usually contain information on how the individual elements have to be configured included or excluded This information has to be followed Adapt input and output variables as well as parameters a...

Page 25: ...t stated otherwise the demo programs apply to all controllers or to all PDMs The demo programs described here apply for CoDeSys from version 2 3 9 6 on the ecomatmobile CD from version 010500 Demo program for controller Demo program Function CR2500Demo_CanTool_xx pro separate for PDM360 PDM360 compact PDM360 smart and Controller Contains functions to set and analyse the CAN interface CR2500Demo_Cl...

Page 26: ...1 as slave of a Controller CANopen master 8 x PWM output current controlled CR2500Demo_CR2512_xx pro I O smart module CR2512 as slave of a Controller CANopen master 8 x PWM output Display of the current current for each channel pair CR2500Demo_CR2513_xx pro I O smart module CR2513 as slave of a Controller CANopen master 4 x digital input 4 x digital output 4 x analogue input 0 10 V CR2500Demo_Inte...

Page 27: ...ue REAL CR1051Demo_Linear_logging_on_flash _intern_xx pro Writes a CVS data block with the contents of a CAN message in the internal flash memory home project daten csv when F3 is pressed or a CAN message is received on ID 100 When the defined memory range is full the recording of the data is finished POUs used Function WRITE_CSV_8BYTE Function SYNC Figure P35010 Display of data information Figure...

Page 28: ...AD_TEXTLINE Figure P01000 Display of read text CR1051Demo_Real_in_xx pro Simple example for entering a REAL value in the PDM Figure P01000 Enter and display REAL value CR1051Demo_Ringlogging_on_flash _intern_xx pro Writes a CVS data block in the internal flash memory when F3 is pressed or a CAN message is received on ID 100 The file names can be freely defined When the defined memory range is full...

Page 29: ...utput 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 Constants are predefined e g IN_DIGITAL_H in the device libraries e g ifm_CR0020_Vx LIB for the configuration of the inputs and outputs For details annex page 271 4 2 1 Configure inputs Digital inputs Depend...

Page 30: ...ng the application software these faulty signals must be filtered if necessary Furthermore it has to be noted whether the pulse inputs are designed for frequency measurement FRQx and or period measurement CYLx data sheet The following functions for example can be used here On FRQx inputs Frequency measurement with function FREQUENCY page 201 Fast counter with function FAST_COUNT page 212 On CYLx i...

Page 31: ...source as the controller So faulty measurements caused by offset voltage are avoided In case of digital evaluation the higher input resistance must be taken into account UB Analog Eingang Input Input Filter Strommessung Current measurement Spannungsmessung Voltage measurement 0 10 32 V Referenz Spannung Reference Voltage Spannung Voltage Figure block diagram of the analogue inputs Analogue inputs ...

Page 32: ...ndicated via the system flag bit ERROR_Ix The system flag bit DIAGNOSE indicates wire break or short circuit of the input signal as group error Figure non electronic switches To monitor the input signals of non electronic switches they must be equipped with an additional resistor connection Info Sensors with diagnostic capabilities to NAMUR can be used on all inputs In this case no additional resi...

Page 33: ...c functions and no ERROR flags are set This is due to the structure of the outputs The function OUT_OVERLOAD_PROTECTION is not active in this mode NOTE If an output is switched off in case of a fault e g short circuit via the hardware by means of a fuse the logic state created by the application program does not change To set the outputs again after removal of the peripheral fault the outputs must...

Page 34: ...7 Terminal number QX0 3 IEC address for a binary output BH PH Hardware version of the output here Binary High side or PWMHigh side The different abbreviations have the following meaning A Analogue input BH Binary input output high side BL Binary input output low side CYL Input period measurement ENC Input encoder signals FRQ Frequency input H bridge Output with H bridge function PWM Pulse widthmod...

Page 35: ...e carried out This temporary state is replaced by the Run or Stop state The LED lights orange for a short time 5 1 2 Run state This state is reached in the following cases From the reset state autostart From the stop state by the Run command only for the operating mode Test chapter TEST mode page 38 5 1 3 Stop state This state is reached in the following cases From the reset state if no program is...

Page 36: ...no operating voltage green 5 Hz no operating system loaded green 2 Hz RUN state green permanently on STOP state red 2 Hz RUN state with error red permanently on fatal error or stop with error yellow orange briefly on initialisation or reset checks The operating states STOP and RUN can be changed by the programming system For this controller the status LED can also be set by the application program...

Page 37: ...CRnnnn_Vxxyyyzz LIB and the further files chapter Overview of the files and libraries used page 275 CRnnnn device article number Vxx 00 99 target version number yy 00 99 release number zz 00 99 patch number The basic file name e g CR0032 and the software version number xx e g 02 must always have the same value Otherwise the controller goes to the STOP mode The values for yy release number and zz p...

Page 38: ...estruction of the EEPROM possible The test input must not be activated permanently because otherwise the allowed write cycles are exceeded in the EEPROM 5 4 2 SERIAL_MODE The serial interface is available for the exchange of data in the application Debugging the application software is then only possible via the CAN interface For CRnn32 Debugging of the application software is then only possible v...

Page 39: ... 1 x depending on the device Access to this flags requires detailed knowledge of the CAN controller and is normally not required Flag NOT available for CR250n CR0301 CR0302 By setting the ERROR system flag the ERROR output terminal 13 is set to FALSE In the error free state the output ERROR TRUE negative logic Relay NOT available for CR250n and CR030n The following diagnostic messages are only ava...

Page 40: ... effect that the operation LED if available lights red the ERROR output is set to FALSE and the monitoring relays if available are de energised So the outputs protected via these relays are switched off 6 1 1 Notes on devices with monitoring relay Only available for the following controllers ClassicController CR0020 CR0505 ExtendedController CR0200 SafetyController CR7020 CR7021 CR7200 CR7201 CR75...

Page 41: ...g the corresponding bits The application program switches off outputs If necessary the error bit ERROR can be set additionally via the application program Consequences operation LED flashes red safety relay is de energised supply voltage of all outputs is switched off level of the output ERROR is LOW Rectify the cause of the error The operating system resets the error bit ERROR_TEMPERATURE If set ...

Page 42: ...ication 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 It must also be taken into account which CPU is used in the device Controller family Article no CPU frequency MHz ClassicController 16 bits CR0020 CR0505 40 ExtendedController 16 bits CR0200 40 CabinetController CR030...

Page 43: ...means Each activation prolongs the cycle time of the application program The following indications should be seen as reference values 7 2 Limits of the SmartController Current controller max 1 If possible do not use any other performance affecting functions 1 channel Input frequency 5 kHz CYCLE PERIOD PERIOD_RATIO PHASE 4 channels Input frequency 1 kHz INC_ENCODER max 2 If possible do not use any ...

Page 44: ...tes Physically existing RAM volatile fast memory 256 Kbytes Physically existing EEPROM non volatile slow memory 4 Kbytes Physical memory Physically existing FRAM non volatile fast memory Memory reserved for the code of the IEC application 192 Kbytes Memory for data other than the IEC application that can be written by the user such as files bitmaps fonts 48 Kbytes Use of the FLASH memory Memory fo...

Page 45: ...tion of the machine Programmieren in CoDeSys Programming in CoDeSys ja yes nein no Applikation testen Test application ja yes nein no Downloader Projekt auslesen Downloader Read project Downloader Projekt in SPS schreiben Downloader Write project to PLC R360 PDM360 smart R360 PDM360 smart R360 PDM360 smart R360 PDM360 smart R360 Controller PDM360 smart Projekt Alles übersetzen Project Compile all ...

Page 46: ...pproval of the entire system by the responsible certification body e g TÜV BiA the latest version of the application program loaded in the controller using the ifm downloader has to be read from the controller and saved on a data carrier using the name name_of the_project file H86 Only this process ensures that the application software and its checksums are stored Download of the approved software...

Page 47: ...ture A limited number of spurs is allowed Moreover a ring type bus infotainment area and a star type bus central locking are possible Compared to the line type bus both variants have one disadvantage In the ring type bus all control devices are connected in series so that the complete bus fails if one control device fails The star type bus is mostly controlled by a central processor as all informa...

Page 48: ...er 127 The download system uses this identifier ID for the first communication with a non configured module via CAN The download ID can be set via the PLC browser of the programming system the downloader or the application program As the download mechanism works on the basis of the CANopen SDO service even if the controller is not operated in the CANopen mode all controllers in the network must ha...

Page 49: ...llowing functions function CANx_RECEIVE page 73 receive CAN data and function CANx_TRANSMIT page 71 transmit CAN data Using these functions the following units are combined into a data object RAM address of the useful data data type selected identifier ID These data objects participate in the exchange of data via the CAN bus The transmit and receive objects can be defined from all valid IEC data t...

Page 50: ...n In principle the received data objects are automatically stored in a buffer i e without influence of the user Each identifier has such a buffer queue Depending on the application software this buffer is emptied according to the FIFO principle First In First Out via the function CANx_RECEIVE page 73 8 2 3 Data transmission By calling the function CANx_TRANSMIT page 71 the application program tran...

Page 51: ...re network structure NOTE The line must be terminated at its two ends using a terminating resistor of 120 Ω to prevent corruption of the signal quality The devices of ifm electronic equipped with a CAN interface have no terminating resistors Spurs Ideally no spur should lead to the bus participants node 1 node n because reflections occur depending on the total cable length and the time related pro...

Page 52: ...d generates a difference voltage between the two bus cables The recessive and dominant states are converted into voltages in the bus nodes and detected by the receiver circuits 5 V 3 5 V 2 5 V 1 5 V 0 V U t CAN_H CAN_L rezessiv recessive rezessiv recessive dominant dominant Figure bus level This differential transmission with common return considerably improves the transmission security Noise volt...

Page 53: ...ify matters the following dependence between bus length and baud rate can be assumed 10 0 50 1000 10000 5 10 20 50 100 200 500 1000 Bus Länge Bus length m Baudrate Baud rate kBit s Figure bus cable length Baud rate kBit s Bus length m Bit length nominal µs 1 000 30 1 800 50 1 25 500 100 2 250 250 4 125 500 8 62 5 1 000 20 20 2 500 50 10 5 000 100 Table Dependencies bus length baud rate bit time NO...

Page 54: ...on at 64 nodes mm2 Wire cross section at 100 nodes mm2 100 0 25 0 25 0 25 250 0 34 0 50 0 50 500 0 75 0 75 1 00 Depending on the EMC requirements the bus cables can be laid out as follows in parallel as twisted pair and or shielded 8 3 5 Physical structure of ISO 11992 1 only for the SmartController CR2501 on the 2nd CAN interface The physical layer of the ISO 11992 1 is different from ISO 11898 i...

Page 55: ...CAN network Permanent functionality of the network even in case of a faulty CAN participant Differentiation between temporary and permanent disturbance of a CAN participant Localisation and self deactivation of a faulty participant in 2 steps error passive disconnection from the bus bus off This gives a temporarily disturbed participant a rest To give the interested user an overview of the behavio...

Page 56: ... prevent this participant from disturbing bus communication by active error messages error active it is switched to error passive error passive error active bus off REC 127 or TEC 127 REC 128 and TEC 128 TEC 255 CAN Restart CAN Neustart REC Receive error counter Zähler Empfangsfehler TEC Transmit error counter Zähler Sendefehler Figure mechanism of the error counter error active participant error ...

Page 57: ...ed from the bus bus off after exceeding a maximum count value To indicate this state the flag CANx_BUSOFF is set in the application program NOTE The error CANx_BUSOFF is automatically handled and reset by the operating system If the error is to be handled or evaluated more precisely via the application program the function CANx_ERRORHANDLER page 80 must be used The error CANx_BUSOFF must then be r...

Page 58: ...sion rate baud rate must first be set for all participants of the CAN network For the controller this is done using the function CAN1_BAUDRATE page 58 for the 1st CAN interface or via the function CAN2 page 69 for the 2nd CAN interface Irrespective of whether the devices support one or several CAN interfaces the functions related to the interface are specified by a number in the CAN function e g C...

Page 59: ...sion rate for the bus participant Using this function the transmission rate for the controller is set To do so the corresponding value in kbits s is entered at the function input BAUDRATE After executing the function the new value is stored in the device and will even be available after a power failure ATTENTION Please note for CR250n CR0301 CR0302 and CS0015 The EEPROM memory module may be destro...

Page 60: ...ile controller Description of the CAN functions Parameters of the function inputs Name Data type Description ENABLE BOOL TRUE only 1 cycle function is executed FALSE function is not executed BAUDRATE WORD Baud rate kbits s Permissible values 50 100 125 250 500 1000 Preset value 125 kbits s ...

Page 61: ... identifier for the program download and for debugging can be set The new value is entered when the function input ENABLE is set to TRUE The new download ID will become effective after voltage OFF ON or after a soft reset ATTENTION Please note for CR250n CR0301 CR0302 and CS0015 The EEPROM memory module may be destroyed by the permanent use of this function Only carry out the function once during ...

Page 62: ...2502 V05 CAN in the ecomatmobile controller Description of the CAN functions Parameters of the function inputs Name Data type Description ENABLE BOOL TRUE only 1 cycle ID is set FALSE function is not executed ID BYTE Download identifier Permissible values 1 127 ...

Page 63: ...CR2500 CR2501 CR2502 PDM360 smart CR1070 CR1071 Function symbol CAN1_EXT ENABLE START EXTENDED_MODE BAUDRATE Description The function CAN1_EXT initialises the first CAN interface for the extended identifier 29 bits The function has to be retrieved if the first CAN interface e g with the function libraries for SAE J1939 page 145 is to be used A change of the baud rate will become effective after vo...

Page 64: ...E BOOL TRUE Function is executed FALSE Function is not executed START BOOL TRUE in the 1st cycle interface is initialised FALSE Initialisation cycle completed EXTENDED_MODE BOOL TRUE Identifier of the 1st CAN interface operates with 29 bits FALSE Identifier of the 1st CAN interface operates with 11 bits BAUDRATE WORD Baud rate kbits s Permissible values 50 100 125 250 500 1000 Preset value 125 kbi...

Page 65: ...age to the CAN controller for transmission The function is called for each data object in the program cycle this is done several times in case of long program cycles The programmer must ensure by evaluating the function block output RESULT that his transmit order was accepted To put it simply at 125 kbits s one transmit order can be executed per 1 ms The execution of the function can be temporaril...

Page 66: ...bject identifier Permissible values 11 bit ID 0 2 047 29 bit ID 0 536 870 911 DLC BYTE Number of bytes to be transmitted from the array DATA Permissible values 0 8 DATA ARRAY 0 7 OF BYTE The array contains max 8 data bytes ENABLE BOOL TRUE Function is executed FALSE Function is not executed Parameters of the function outputs Name Data type Description RESULT BOOL TRUE only 1 cycle the function has...

Page 67: ...ta object The function must be called once for each data object during initialisation to inform the CAN controller about the identifiers of the data objects In the further program cycle CAN1_EXT_RECEIVE is called for reading the corresponding receive buffer this is done several times in case of long program cycles The programmer must ensure by evaluating the byte AVAILABLE that newly received data...

Page 68: ...ata buffer queue ID WORD Number of the data object identifier Permissible values normal frame 0 2 047 211 Permissible values extended frame 0 536 870 912 229 Parameters of the function outputs Name Data type Description DATA ARRAY 0 7 OF BYTES The array contains a maximum of 8 data bytes DLC BYTE Number of bytes transmitted in the array DATA Possible values 0 8 RTR BOOL Not supported AVAILABLE BYT...

Page 69: ...the CAN errors If a certain number of transmission errors occurs the CAN participant becomes error passive If the error frequency decreases the participant becomes error active again normal condition If a participant already is error passive and still transmission errors occur it is disconnected from the bus bus off and the error bit CANx_BUSOFF is set Returning to the bus is only possible if the ...

Page 70: ...tion symbol CAN2 ENABLE START EXTENDED_MODE BAUDRATE Description The function CAN2 initialises the 2nd CAN interface The function must be called if the 2nd CAN interface is to be used A change of the baud rate will become effective after voltage OFF ON The baud rates of CAN 1 and CAN 2 can be set differently The input START is only set for one cycle during reboot or restart of the interface For th...

Page 71: ...BOOL TRUE function is executed FALSE function is not executed START BOOL TRUE in the 1st cycle interface is initialised FALSE initialisation cycle completed EXTENDED_MODE BOOL TRUE identifier of the 2nd CAN interface operates with 29 bits FALSE identifier of the 2nd CAN interface operates with 11 bits BAUDRATE WORD Baud rate kbits s Permissible values 50 100 125 250 500 800 1000 Preset value 125 k...

Page 72: ...D RESULT DLC DATA ENABLE Description CANx_TRANSMIT transmits a CAN data object message to the CAN controller for transmission The function is called for each data object in the program cycle also repeatedly in case of long program cycles The programmer must ensure by evaluating the function output RESULT that his transmit order was accepted Simplified it can be said that at 125 kbits s one transmi...

Page 73: ... the data object identifier Permissible values 0 2 047 DLC BYTE Number of bytes to be transmitted from the array DATA Permissible values 0 8 DATA ARRAY 0 7 OF BYTES The array contains a maximum of 8 data bytes ENABLE BOOL TRUE function is executed FALSE function is not executed Parameters of the function outputs Name Data type Description RESULT BOOL TRUE only 1 cycle the function has accepted the...

Page 74: ... CANx_RECEIVE configures a data receive object and reads the receive buffer of the data object The function must be called once for each data object during initialisation in order to inform the CAN controller about the identifiers of the data objects In the further program cycle CANx_RECEIVE is called for reading the corresponding receive buffer also repeatedly in case of long program cycles The p...

Page 75: ...ed CLEAR BOOL TRUE deletes the data buffer queue ID WORD Number of the data object identifier Permissible values 0 2 047 Parameters of the function outputs Name Data type Description DATA ARRAY 0 7 OF BYTES The array contains a maximum of 8 data bytes DLC BYTE Number of bytes transmitted in the array DATA Possible values 0 8 RTR BOOL Not supported AVAILABLE BYTE Number of received messages OVERFLO...

Page 76: ...max 2048 IDs per bit are possible For the second CAN interface max 256 IDs per 11 OR 29 bits are possible The second CAN interface requires a long initialisation time To ensure that the watchdog does not react the process should be distributed to several cycles in the case of bigger ranges Example page 78 The function must be called once for each sequence of data objects during initialisation to i...

Page 77: ...of the first data object identifier of the sequence Permissible values normal frame 0 2 047 211 Permissible values extended frame 0 536 870 912 229 LAST_ID CAN1 WORD CAN2 DWORD Number of the last data object identifier of the sequence Permissible values normal frame 0 2 047 211 Permissible values extended frame 0 536 870 912 229 LAST_ID has to be bigger than FIRST_ID Parameters of the function out...

Page 78: ...78 ifm System Manual ecomatmobile SmartController CR2500 CR2502 V05 CAN in the ecomatmobile controller Description of the CAN functions Example Initialisation of CANx_RECEIVE_RANGE in 4 cycles ...

Page 79: ..._EXT_RECEIVE_ALL CONFIG ID CLEAR DATA DLC AVAILABLE OVERFLOW Description CANx_EXT_RECEIVE_ALL configures all data receive objects and reads the receive buffer of the data objects The function must be called once during initialisation to inform the CAN controller about the identifiers of the data objects In the further program cycle CANx_EXT_RECEIVE_ALL is called for reading the corresponding recei...

Page 80: ...ct FALSE Function is not executed CLEAR BOOL TRUE Deletes the data buffer queue Parameters of the function outputs Name Data type Description ID DWORD ID of the transmitted data object DATA ARRAY 0 7 OF BYTE The array contains max 8 data bytes DLC BYTE Number of bytes transmitted in the array DATA Possible values 0 8 AVAILABLE BYTE Number of messages in the buffer OVERFLOW BOOL TRUE Overflow of th...

Page 81: ... monitors the CAN interfaces and evaluates the CAN errors If a certain number of transmission errors occurs the CAN participant becomes error passive If the error frequency decreases the participant becomes error active again normal condition If a participant already is error passive and still transmission errors occur it is disconnected from the bus bus off and the error bit CANx_BUSOFF is set Re...

Page 82: ...ore functions can be used for it If the automatic bus recover function is to be used default setting the function CANx_ERRORHANDLER must not be integrated and instanced in the program Parameters of the function inputs Name Data type Description BUSOFF_RECOVER BOOL TRUE only 1 cycle Remedy bus off status FALSE function is not executed CAN_RESTART BOOL TRUE only 1 cycle Completely reinitialise CAN i...

Page 83: ... differences e g CANOPEN_LED_STATUS are directly described in the corresponding functions It is absolutely necessary to use only the corresponding device specific library The context can be seen from the integrated article number of the device e g CR0020 ifm_CR0020_CANopenMaster_V040003 lib chapter Setup the target page 14 When other libraries are used the device can no longer function correctly 8...

Page 84: ...as periphery of a CoDeSys programmable controller As a result of this an ecomatmobile controller or a PDM360 display is called CAN master in the CAN configurator of CoDeSys This master is an NMT master and configuration master Normally the master ensures that the network is put into operation The master takes the initiative to start the individual nodes network nodes known via the configuration Th...

Page 85: ... are at present supported by the ifm CANopen library Transmitting PDOs master transmits to slaves slave node device Transmitting event controlled i e in case of a change time controlled RepeatTimer or as synchronous PDOs i e always when a SYNC was transmitted by the master An external SYNC source can also be used to initiate transmission of synchronous PDOs Receiving PDOs master receives from slav...

Page 86: ...t Append subelement For controllers with 2 or more CAN interfaces interface 1 is automatically configured for the master The following libraries and software modules are automatically integrated The Standard LIB which provides the standard functions for the controller defined in IEC 61131 The 3S_CanOpenManager LIB which provides the CANopen basic functionalities possibly 3S_CanOpenManagerOptTable ...

Page 87: ...PDM360 compact both CAN interfaces can be used as CANopen master or CAN device For CRnn32 devices you can use all CAN interfaces with all protocols Tab CAN parameters The most important parameters for the master can be set in this dialogue window If necessary the contents of the master EDS file can be viewed via the button EDS This button is only indicated if the EDS file e g CR0020MasterODEntry E...

Page 88: ... after the communication cycle period has elapsed The default value is 128 and should normally not be changed To activate transmission of the SYNC message the checkbox activate must be set NOTE The SYNC message is always generated at the start of a program cycle The inputs are then read the program is processed the outputs are written to and then all synchronous PDOs are transmitted Please note th...

Page 89: ...the cycle time of the application program This means In a network with many slaves the master can process no further time critical tasks e g FB OCC_TASK A network with 27 slaves has a basic cycle time of 30 ms Please note that the maximum time for a PLC cycle of approx 50 ms should not be exceeded watchdog time 100 ms Tab CAN parameters Node ID The node ID is used to clearly identify the CAN modul...

Page 90: ... time must be longer than the SYNC time of the master The optimum value must be determined experimentally if necessary In most cases nodeguarding and heartbeat are sufficient for node monitoring Tab Receive PDO Mapping and Send PDO Mapping With the tabs Receive PDO Mapping and Send PDO Mapping in the configuration dialogue of a CAN module the module mapping assignment between local object director...

Page 91: ...le Index name value type and default are indicated for every object The value can be changed Select the value and press the space bar After the change you can confirm the value with the button Enter or reject it with ESC For the initialisation of the CAN bus the set values are transferred as SDOs Service Data Object to the CAN module thus having direct influence on the object directory of the CAN ...

Page 92: ...uration of the corresponding slave To start the slaves the NMT command Start remote node is normally used As for the reset this command can be replaced by Start All Remote Nodes The service can be called via the function CANx_Master_STATUS with GLOBAL_START TRUE Cyclical transmission of the SYNC message This value can only be set during the configuration Setting of nodeguarding with lifetime monit...

Page 93: ...e responds to the polling for object 100016 with a type other than the configured one in the lower 16 bits it is configured but marked as a wrong type All SDOs are repeated as long as a response of the slave was seen within the monitoring time Here the application can monitor start up of the individual slaves and possibly react by setting the flag SET_TIMEOUT_STATE in the NODE_STATE_SLAVE array of...

Page 94: ...tomatically passed by the master and in the first cycles after a PLC start 3 State 3 of the master is maintained for some time In state 3 the master configures its slaves To do so all SDOs generated by the configurator are transmitted to the slaves one after the other 5 After transmission of all SDOs to the slaves the master goes to state 5 and remains in this state State 5 is the normal operating...

Page 95: ...e slave is then polled again with the upload of the object 100016 Slaves with a problem during the configuration phase remain in state 3 or directly go to an error state state 5 after the configuration phase After passing the configuration phase the slave can go to the following states State Description 4 A node always goes to state 4 except for the following cases it is an optional slave and it w...

Page 96: ...ation determines the instant to start the CANopen slaves To do so the option Automatic startup of the CAN master must be deactivated in the configuration It is then up to the application to start the slaves To start a slave via the application the structure element START_NODE in the array NODE_STATE_SLAVES must be set The array is assigned to the function CANx_MASTER_STATUS via the ADR operator St...

Page 97: ... nodes once at the same time Access to the status of the CANopen master You should poll the status of the master so that the application code is not processed before the IO network is ready The following code fragment example shows one option Variable declaration VAR FB_MasterStatus CR0020_MASTER_STATUS END_VAR program code If FB_MasterStatus NODE_STATE 5 then application code End_if By setting th...

Page 98: ...access authorisation can be freely used by the application of the master On the platform CoDeSys has no editor for this object directory The EDS file only determines the objects used to create the object directory The entries are always generated with length 4 and the flags least significant byte of the component of an object directory entry dwIdxSubIdxF are always given the value 1 This means bot...

Page 99: ...index must be used and for ss the sub index as hex values The number of the array entry is available in I You can now directly access the components of the entry It is sufficient to enter address length and flags so that this entry can be directly transferred to an IEC variable ODMEntries I dwContent ADR variable name ODMEntries I wLen sizeof variable name ODMEntries I dwIdxSubIdxF ODMEntries I dw...

Page 100: ...scribe the CAN device and in addition the objects defined by the parameter manager In the parameter manager only the list types parameters and variables can be used for the CAN device The library manages the access to the object directory i e it acts as SDO server on the bus The library monitors nodeguarding or the heartbeat consumer time always only of one producer and sets corresponding error fl...

Page 101: ...DS file must be activated and the name of a file must be indicated As an option a template file can be indicated whose entries are added to the EDS file of the CAN device In case of overlapping the template definitions are not overwritten Example of an object directory The following entries could for example be in the object directory FileInfo FileName D CoDeSys lib2 plcconf MyTest eds FileVersion...

Page 102: ...18sub2 ParameterName Product Code ObjectType 0x7 DataType 0x7 AccessType ro DefaultValue 0x0 PDOMapping 0 For the meaning of the individual objects please see the CANopen specification DS301 In addition to the prescribed entries the EDS file contains the definitions for SYNC guarding emergency and heartbeat If these objects are not used the values are set to 0 preset But as the objects are present...

Page 103: ...19116 as default value standard IO device and can be freely changed The index of the CAN controller results from the position of the CAN device in the controller configuration The nodeguarding parameters the heartbeat parameters and the emergency COB ID can also be defined in this tab The CAN device can only be configured for the monitoring of a heartbeat We recommend It is better to work with the...

Page 104: ...ry OD editor and PDOs transmitted received by the CAN device can be defined Such an assignment is called mapping In the object directory entries used variable OD the connection to variables of the application is made between object index sub index You only have to ensure that the sub index 0 of an index containing more than one sub index contains the information concerning the number of the sub in...

Page 105: ...in the object directory parameter manager and link an index sub index to the variable PLC_PRG a To do so add a line to the variable list a click on the right mouse button opens the context menu and enter a variable name any name as well as the index and sub index The only allowed access right for a receive PDO is write only Enter PLC_PRG a in the column variable or press F2 and select the variable...

Page 106: ...ansmit PDOs and assign them the variable bytes from the list Changing the standard mapping by the master configuration You can change the default PDO mapping in the CAN device configuration within certain limits by the master The rule applies that the CAN device cannot recreate entries in the object directory which are not yet available in the standard mapping default PDO mapping in the CAN device...

Page 107: ...ect directory which are mapped to variables parameter manager However there are also automatically generated entries of the CAN device which cannot be mapped to the contents of a variable via the parameter manager Via the function CANx_SLAVE_STATUS page 136 these entries are available in the library ifm_CRnnnn_CANopenSlave_Vxxyyzz LIB Change the PDO properties at runtime If the properties of a PDO...

Page 108: ...n to exchange variables This is a 1 to 1 connection using a confirmed protocol The user can check whether the message arrived at the receiver The exchange is not carried out automatically but via the call of functions from the application program chapter The object directory of the CANopen master page 97 Configuration of CAN network variables To use the network variables with CoDeSys you need the ...

Page 109: ...twork variables page 112 Settings in the global variable lists Create a new global variable list In this list the variables to be exchanged with other controllers are defined Open the dialogue with the menu point Object Properties The window Properties appears If you want to define the network properties Click the button Add network If you have configured several network connections you can also c...

Page 110: ...ansmisson unit For CAN the size of a transmission unit is 8 bytes If it is not possible to include all variables of the list in one transmission unit several transmission units are formed for this list If the option is not activated every variable has its own transmission unit If Transmit on change is configured it is checked separately for every transmission unit whether it has been changed and m...

Page 111: ...st is received in one cycle Parts of the variable list can be received in different cycles This is also possible for variables with structure and array types Transmit checksum This option is not supported Acknowledgement This option is not supported Read The variable values of one or several controllers are read Write The variables of this list are transmitted to other controllers NOTE You should ...

Page 112: ...have to create one receive PDO with this identifier Important Please note that the identifier of the network variables and of the receive PDOs must be entered as decimal value ClassicController CR0032 ExtendedController CR0232 Network variables are supported on all CAN interfaces All other informations as above PDM360 smart CR1070 CR1071 Only one interface is available enter value 0 CAN master Tra...

Page 113: ...Y message Under CANopen error states are indicated via a simple standardised mechanism For a CANopen device every occurrence of an error is indicated via a special message which details the error If an error or its cause disappears after a certain time this event is also indicated via the EMCY message The errors occurred last are stored in the object directory object 100316 and can be read via an ...

Page 114: ...The sub index 016 is increased to the number of the stored errors After all errors have been rectified the value 0 is written to the error field of the sub index 116 To delete the error memory the value 0 can be written to the sub index 016 Other values must not be entered Signalling of device errors As described EMCY messages are transmitted if errors occur in a device In contrast to programmable...

Page 115: ... Output voltage error 40xx Temperature error 41xx Ambient temperature error 42xx Device temperature error 50xx Device hardware error 60xx Device software error 61xx Internal software error 62xx User software 63xx Data set error 70xx Additional modules 80xx Monitoring 81xx Communication 8110 CAN overrun objects lost 8120 CAN in error passive mode 8130 Life guard error or heartbeat error 8140 Recove...

Page 116: ...fic information A device manufacturer can indicate additional error information The format can be freely selected Example In a device two errors occur and are signalled via the bus Short circuit of the outputs Error code 230016 the value 0316 0000 00112 is entered in the object 100116 generic error and current error CAN overrun Error code 811016 the value 1316 0001 00112 is entered in the object 1...

Page 117: ...on 00h 21h 03h I0 Diagnosis inputs bits I0 I7 00h 31h 05h Terminal voltage VBBo VBBs 00h 61h 11h Memory error 00h 80h 11h CAN1 monitoring SYNC error only slave 00h 81h 11h CAN1 warning threshold 96 10h 81h 11h CAN1 receive buffer overrun 11h 81h 11h CAN1 transmit buffer overrun 30h 81h 11h CAN1 guard heartbeat error only slave 8 7 7 Library for the CANopen master The library ifm_CRnnnn_CANopenMast...

Page 118: ...CR2500 CR2501 CR2502 PDM360 CR1050 CR1051 CR1060 PDM360 compact CR1052 CR1053 CR1055 CR1056 PDM360 smart CR1070 CR1071 Function symbol CANx_MASTER_EMCY_HANDLER CLEAR_ERROR_FIELD ERROR_REGISTER ERROR_FIELD Description Monitoring device specific error states The function CANx_MASTER_EMCY_HANDLER monitors the device specific error status of the master The function must be called in the following case...

Page 119: ...ntents of the array ERROR_FIELD FALSE function is not executed Parameters of the function outputs Name Data type Description ERROR_REGISTER BYTE Shows the content of the object directory index 1001h Error Register ERROR_FIELD ARRAY 0 5 OF WORD The array 0 5 shows the contents of the object directory index 1003h Error Field ERROR_FIELD 0 number of stored errors ERROR_FIELD 1 5 stored errors the mos...

Page 120: ...R7232 CR7505 CR7506 SmartController CR2500 CR2501 CR2502 PDM360 CR1050 CR1051 CR1060 PDM360 compact CR1052 CR1053 CR1055 CR1056 PDM360 smart CR1070 CR1071 Function symbol CANx_MASTER_SEND_EMERGENCY ENABLE ERROR ERROR_CODE ERROR_REGISTER MANUFACTURER_ERROR_FIELD Description Transmission of application specific error states The function CANx_MASTER_SEND_EMERGENCY transmits application specific error...

Page 121: ...that there is no error is sent after a delay of approx 1 s ERROR_CODE WORD The error code provides detailed information about the detected fault The values should be entered according to the CANopen specification chapter Overview CANopen error codes page 115 ERROR_REGISTER BYTE This object reflects the general error state of the CANopen network participant The values should be entered according to...

Page 122: ..._EMERGENCY In this example 3 error messages will be generated subsequently 1 ApplError1 Code 16 FF00 in the error register 16 81 2 ApplError2 Code 16 FF01 in the error register 16 81 3 ApplError3 Code 16 FF02 in the error register 16 81 The function CAN1_MASTER_EMCY_HANDLER sends the error messages to the error register Object1001h in the error array Object1003h ...

Page 123: ...ymbol CANx_MASTER_STATUS CANOPEN_LED_STATUS NODE_ID GLOBAL_START BAUDRATE CLEAR_RX_OVERFLOW_FLAG NODE_STATE CLEAR_RX_BUFFER SYNC CLEAR_TX_OVERFLOW_FLAG CLEAR_TX_BUFFER CLEAR_OD_CHANGED_FLAG CLEAR_ERROR_CONTROL RESET_ALL_NODES START_ALL_NODES RX_OVERFLOW TX_OVERFLOW OD_CHANGED ERROR_CONTROL NODE_STATE_SLAVE EMERGENCY_OBJECT_SLAVES GET_EMERGENCY Description Status indication of the device used with ...

Page 124: ...r flag receive buffer overflow FALSE function is not executed CLEAR_RX_BUFFER BOOL FALSE TRUE edge Delete data in the receive buffer FALSE function is not executed CLEAR_TX_OVERFLOW_FLAG BOOL FALSE TRUE edge Delete error flag transmit buffer overflow FALSE function is not executed CLEAR_TX_BUFFER BOOL FALSE TRUE edge Delete data in the transmit buffer FALSE function is not executed CLEAR_OD_CHANGE...

Page 125: ...ve to preoperation mode NodeStateList n SET_TIMEOUT_STATE TRUE set timeout for cancelling the configuration NodeStateList n SET_NODE_STATE TRUE set new node status Example code chapter Example with function CANx_MASTER_STATUS page 127 Further information chapter Master at runtime page 91 EMERGENCY_OBJECT_SLAVES ARRAY 0 MAX_NODEI NDEX STRUCT EMERGENCY_M ESSAGE To obtain a list of the most recent oc...

Page 126: ...rmation chapter Access to the structures at runtime page 128 GET_EMERGENCY STRUCT EMERGENY_MESSAGE At the output the data for the structure EMERGENCY_MESSAGE are available The most recent error message of a network node is always displayed To obtain a list of all occurred errors the array EMERGENCY_OBJECT_SLAVES must be evaluated Parameters of internal structures Below are the structures of the ar...

Page 127: ...ation To be able to access the information of the individual CANopen nodes an array for the corresponding structure must be generated The structures are contained in the library You can see them under Data types in the library manager The number of the array elements is determined by the global variable MAX_NODEINDEX which is automatically generated by the CANopen stack It contains the number of t...

Page 128: ...time you can access the corresponding array element via the global variables of the library and therefore read the status or EMCY messages or reset the node If ResetSingleNodeArray 0 RESET_NODE is set to TRUE for a short time in the example given above the first node is reset in the configuration tree Further information concerning the possible error codes chapter Information on the EMCY and error...

Page 129: ...02 V05 CAN in the ecomatmobile controller ifm CANopen library 129 8 7 8 Library for the CANopen slave The library ifm_CRnnnn_CANopenSlave_Vxxyyzz LIB provides a number of functions for the CANopen slave CANopen device CANopen node which will be explained below ...

Page 130: ... CR7032 CR7200 CR7201 CR7232 CR7505 CR7506 SmartController CR2500 CR2501 CR2502 PDM360 CR1050 CR1051 CR1060 PDM360 compact CR1052 CR1053 CR1055 CR1056 PDM360 smart CR1070 CR1071 Function symbol CANx_SLAVE_NODEID ENABLE NODEID Description The function CANx_SLAVE_NODEID enables the setting of the node ID of a CAN device slave at runtime of the application program Normally the function is called once...

Page 131: ...rtController CR2500 CR2501 CR2502 PDM360 CR1050 CR1051 CR1060 PDM360 compact CR1052 CR1053 CR1055 CR1056 PDM360 smart CR1070 CR1071 Function symbol CANx_SLAVE_EMCY_HANDLER CLEAR_ERROR_FIELD ERROR_REGISTER ERROR_FIELD Description The function CANx_SLAVE_EMCY_HANDLER monitors the device specific error status device operated as slave The function must be called in the following cases the error status...

Page 132: ...edge Delete ERROR FIELD FALSE function is not executed Parameters of the function outputs Name Data type Description ERROR_REGISTER BYTE Shows the contents of the object directory index 1001h Error Register ERROR_FIELD ARRAY 0 5 OF WORD The array 0 5 shows the contents of the object directory index 1003h Error Field ERROR_FIELD 0 Number of stored errors ERROR_FIELD 1 5 stored errors the most recen...

Page 133: ...R2501 CR2502 PDM360 CR1050 CR1051 CR1060 PDM360 compact CR1052 CR1053 CR1055 CR1056 PDM360 smart CR1070 CR1071 Function symbol CANx_SLAVE_SEND_EMERGENCY ENABLE ERROR ERROR_CODE ERROR_REGISTER MANUFACTURER_ERROR_FIELD Description Using the function CANx_SLAVE_SEND_EMERGENCY application specific error states are transmitted These are error messages which are to be sent in addition to the device inte...

Page 134: ... there is no error is sent after a delay of approx 1 s ERROR_CODE WORD The error code provides detailed information about the detected fault The values should be entered according to the CANopen specification chapter Overview of the CANopen error codes page 115 ERROR_REGISTER BYTE This object reflects the general error state of the CANopen network participant The values should be entered according...

Page 135: ..._EMERGENCY In this example 3 error messages will be generated subsequently 1 ApplError1 Code 16 FF00 in the error register 16 81 2 ApplError2 Code 16 FF01 in the error register 16 81 3 ApplError3 Code 16 FF02 in the error register 16 81 The function CAN1_SLAVE_EMCY_HANDLER sends the error messages to the error register Object1001h in the error array Object1003h ...

Page 136: ..._SLAVE_STATUS CANOPEN_LED_STATUS NODE_ID CLEAR_RX_OVERFLOW_FLAG BAUDRATE CLEAR_RX_BUFFER NODE_STATE CLEAR_TX_OVERFLOW_FLAG SYNC CLEAR_TX_BUFFER CLEAR_RESET_FLAGS CLEAR_OD_CHANGED_FLAG SYNC_ERROR GUARD_HEARTBEAT_ERROR RX_OVERFLOW TX_OVERFLOW RESET_NODE RESET_COM OD_CHANGED OD_CHANGED_INDEX Description The function CANx_SLAVE_STATUS shows the status of the device used as CANopen slave The function s...

Page 137: ...tarting the network with GLOBAL_START page 96 CLEAR_RX_OVERFLOW_FLAG BOOL FALSE TRUE edge Delete error flag receive buffer overflow FALSE function is not executed CLEAR_RX_BUFFER BOOL FALSE TRUE edge Delete data in the receive buffer FALSE function is not executed CLEAR_TX_OVERFLOW_FLAG BOOL FALSE TRUE edge Delete error flag transmit buffer overflow FALSE function is not executed CLEAR_TX_BUFFER B...

Page 138: ...er received OR the set SYNC time ComCyclePeriod in the master was exceeded GUARD_HEARTBEAT_ERROR BOOL No guard or heartbeat signal of the master received OR the set times were exceeded RX_OVERFLOW BOOL Error flag receive buffer overflow TX_OVERFLOW BOOL Error flag transmit buffer overflow RESET_NODE BOOL The CAN stack of the slave was reset by the master This flag can be evaluated by the applicati...

Page 139: ...omatmobile SmartController CR2500 CR2502 V05 CAN in the ecomatmobile controller ifm CANopen library 139 8 7 9 Further ifm libraries for CANopen Here we present further ifm functions which are sensible additions for CANopen ...

Page 140: ...rt CR1070 CR1071 Available for the following devices PDM360 CR1050 CR1051 CR1060 PDM360 compact CR1052 CR1053 CR1055 CR1056 Function symbol CANx_SDO_READ ENABLE RESULT NODE IDX SUBIDX DATA LEN Description CANx_SDO_READ reads the SDO page 91 with the indicated indexes from the node By means of these the entries in the object directory can be read So it is possible to selectively read the node param...

Page 141: ...ry SUBIDX BYTE Sub index referred to the index in the object directory DATA DWORD Address of the receive data array Permissible length 0 255 Transmission with ADR operator Parameters of the function outputs Name Data type Description RESULT BYTE 0 function inactive 1 execution of the function completed 2 function active 3 function has not been executed LEN WORD Length of the entry in number of byt...

Page 142: ... compact CR1052 CR1053 CR1055 CR1056 Function symbol CANx_SDO_WRITE ENABLE RESULT NODE IDX SUBIDX LEN DATA Description CANx_SDO_WRITE writes the SDO page 91 with the specified indexes to the node Using this function the entries can be written to the object directory So it is possible to selectively set the node parameters ecomatmobile controller PCB controller PDM360 smart PDM360 compact PDM360 di...

Page 143: ...ry SUBIDX BYTE Sub index referred to the index in the object directory LEN WORD Length of the entry in number of bytes The value for LEN must correspond to the length of the transmit array Otherwise problems with SDO communication will occur DATA DWORD Address of the transmit data array Permissible length 0 255 Transmission with ADR operator Parameters of the function outputs Name Data type Descri...

Page 144: ...iables or CANx_TRANSMIT to several plc cycles using several events Each call of CANx_TRANSMIT or CANx_RECEIVE generates a message packet of 8 bytes In the controller configuration the values for Com Cycle Period and Sync Window Length should be identical These values must be higher than the plc cycle time If Com Cycle Period is selected for a slave the slave searches for a Sync object of the maste...

Page 145: ...he 29 bit identifier consists of two parts an 11 bit ID and an 18 bit ID As for the software protocol the two standards do not differ because ISO 11992 is based on SAE J1939 Concerning the hardware interface however there is one difference higher voltage level for ISO 11992 Therefore controllers with a modified CAN interface are required for the communication of aggregates with the interface ISO 1...

Page 146: ...er s documentation As in the example of the manufacturer all relevant data has already been prepared it can be directly transferred to the functions Meaning Designation in the manufacturer s documentation Function input library function Example value Transmission repetition rate RPT T 10ms Data length LEN 8 PDU format PF 240 PDU specific PS 2 Default priority PRIO 3 Data page PG 0 Source address d...

Page 147: ...entifier 0CF0020316 PRIO reserv PG PF PS SA DA 0 C F 0 0 2 0 3 As these values are hexadecimal numbers of which individual bits are sometimes needed the numbers must be further broken down SA DA Source destination address hexadecimal Source destination address decimal 0 3 00 03 0 3 PF PDU format PF hexadecimal PDU format PF decimal F 0 0F 00 16 0 PS PDU specific PS hexadecimal PDU specific PS deci...

Page 148: ... ENABLE START MY_ADRESS Description J1939_x serves as protocol handler for the communication profile SAE J1939 To handle the communication the protocol handler must be called in each program cycle To do so the input ENABLE is set to TRUE The protocol handler is started if the input START is set to TRUE for one cycle Using MY_ADDRESS a device address is assigned to the controller It must differ fro...

Page 149: ...AN interfaces to SAE J1939 149 Parameters of the function inputs Name Data type Description ENABLE BOOL TRUE function is executed FALSE function is not executed START BOOL TRUE only for 1 cycle protocol handler started FALSE during cyclical processing of the program MY_ADRESS BYTE Device address of the controller ...

Page 150: ...VE serves for receiving one individual message or a block of messages To do so the function must be initialised for one cycle via the input CONFIG During initialisation the parameters PG PF PS RPT LIFE and the memory address of the data array DST are assigned The address must be determined via the function ADR The receipt of data must be evaluated via the RESULT byte If RESULT 1 the data can be re...

Page 151: ...PF BYTE PDU Format Byte PS BYTE PDU Specific Byte DST DWORD Target address of the array in which the received data is stored RPT TIME Monitoring time Within this time window the messages must be received repeatedly Otherwise an error will be signalled If no monitoring is requested RPT must be set to T 0s LIFE BYTE Number of permissible faulty monitoring calls Parameters of the function outputs Nam...

Page 152: ...1939_x_TRANSMIT ENABLE RESULT PRIO PG PF PS SRC LEN RPT Description J1939_x_TRANSMIT serves for the transmission of messages The function is responsible for transmitting individual messages or blocks of messages To do so the parameters PG PF PS RPT and the address of the data array SRC are assigned to the function The address must be determined via the function ADR In addition the number of data b...

Page 153: ... Message priority 0 7 PG BYTE Page address normally 0 PF BYTE PDU Format Byte PS BYTE PDU Specific Byte SRC DWORD Memory address of the data array whose content is to be transmitted LEN WORD Number of bytes to be transmitted RPT TIME Repeat time during which the data messages are transmitted cyclically Parameters of the function outputs Name Data type Description RESULT BYTE 0 Not active 1 Data tr...

Page 154: ... CR7201 CR7505 CR7506 SmartController CR2500 CR2502 PDM360 smart CR1070 CR1071 Function symbol J1939_x_RESPONSE ENABLE RESULT CONFIG PG PF PS SRC LEN Description J1939_x_RESPONSE handles the automatic response to a request message This function is responsible for the automatic sending of messages to Global Requests and Specific Requests To do so the function must be initialised for one cycle via t...

Page 155: ...E only for 1 cycle for the configuration of the data object FALSE during further processing of the program PG BYTE Page address normally 0 PF BYTE PDU Format Byte PS BYTE PDU Specific Byte SRC DWORD Memory address of the data array whose content is to be transmitted LEN WORD Number of bytes to be transmitted Parameters of the function outputs Name Data type Description RESULT BYTE 0 Not active 1 D...

Page 156: ...SULT PRIO LEN DA DST PG PF PS Description J1939_x_SPECIFIC_REQUEST handles the request and receipt of data from a specific network participant The function is responsible for the automatic requesting of individual messages from a specific J1939 network participant To do so the logical device address DA the parameters PG PF PS and the address of the array DST in which the received data is stored ar...

Page 157: ...xecuted PRIO BYTE Priority 0 7 DA BYTE Logical address target address of the called device PG BYTE Page address normally 0 PF BYTE PDU Format Byte PS BYTE PDU Specific Byte DST DWORD Target address of the array in which the received data is stored Parameters of the function outputs Name Data type Description RESULT BYTE 0 Not active 1 Data transmission completed 2 Function active data transmission...

Page 158: ...PRIO SA PG LEN PF PS DST Description J1939_x_GLOBAL_REQUEST handles global requesting and receipt of data from the network participants The function is responsible for the automatic requesting of individual messages from all global active J1939 network participants To do so the logical device address DA the parameters PG PF PS and the address of the array DST in which the received data is stored a...

Page 159: ...ted PRIO BYTE Priority 0 7 PG BYTE Page address normally 0 PF BYTE PDU Format Byte PS BYTE PDU Specific Byte DST DWORD Target address of the array in which the received data is stored Parameters of the function outputs Name Data type Description RESULT BYTE 0 Not active 1 Data transmission completed 2 Function active data transmission 3 Error data cannot be sent SA BYTE Logical device address send...

Page 160: ...PWM is available in the following controllers Number of available PWM outputs of which current controlled PWM outputs PWM frequency Hz ClassicController CR0032 16 16 2 2000 ClassicController CR0020 CR0505 12 8 8 8 25 250 ExtendedController CR0232 32 32 2 2000 ExtendedController CR0200 24 16 25 250 SmartController CR2500 CR2501 CR2502 4 4 25 250 SafetyController CR7020 CR7021 CR7200 CR7201 CR7505 C...

Page 161: ...egrated PWM outputs of the controller they must be initialised in the application program and parameterised corresponding to the requested output signal 9 1 1 PWM functions and their parameters general PWM PWM1000 Depending on the application and the requested resolution the function PWM or PWM1000 can be selected for the application programming High accuracy and thus resolution is required when u...

Page 162: ...M channels allow the most flexibility for the parameter setting The PWM channels 0 3 are available in all ecomatmobile controller versions depending on the type they feature a current control or not For each channel an own PWM frequency RELOAD value can be set There is a free choice between the function PWM page 165 and the function PWM1000 page 169 Calculation of the RELOAD value 0000 FFFF 100 0 ...

Page 163: ...e between 000016 und C35016 This results in the following mark to space ratios Mark to space ratio Switch on time Value for mark to space ratio Minimum 0 C35016 Maximum 100 000016 Between minimum and maximum triggering 50 000 intermediate values PWM values are possible PWM channels 4 7 8 11 These 4 8 PWM channels can only be set to one common PWM frequency For programming the functions PWM and PWM...

Page 164: ...es PWM values are possible NOTE for ClassicController and ExtendedController applies If the PWM outputs 4 7 are used regardless of whether current controlled or via one of the PWM functions the same frequency and the corresponding reload value have to be set for the outputs 8 11 This means that the same functions have to be used for these outputs PWM dither For certain hydraulic valve types a so c...

Page 165: ...stems NOTE When installing the ecomatmobile CD Software Tools and Documentation projects with examples have been stored in the program directory of your PC ifm electronic CoDeSys V Projects DEMO_PLC_CDV for controllers or ifm electronic CoDeSys V Projects DEMO_PDM_CDV for PDMs There you also find projects with examples regarding this subject It is strongly recommended to follow the shown procedure...

Page 166: ... Due to their structure PWM values can be very finely graded So this function is suitable for use in controllers The function PWM is called once for each channel during initialisation of the application program When doing so input INIT must be set to TRUE During initialisation the parameter RELOAD is also assigned NOTE The value RELOAD must be identical for the channels 4 7 for the ClassicControll...

Page 167: ... parameters DITHER_FREQUENCY and DITHER_VALUE can be individually set for each channel Parameters of the function inputs Name Data type Description INIT BOOL TRUE in the 1st cycle function PWM is initialised FALSE during cyclical processing of the program RELOAD WORD Value for the determination of the PWM frequency chapter Calculation of the RELOAD value page 162 DIV64 BOOL CPU cycle 64 CHANNEL BY...

Page 168: ...he function enables a simple application of the PWM function in the ecomatmobile controller The PWM frequency can be directly indicated in Hz and the mark to space ratio in steps of 1 This function is not suited for use in controllers due to the relatively coarse grading The function is called once for each channel in the initialisation of the application program For this the input INIT must be se...

Page 169: ...lisation the value FREQUENCY for determining the dither frequency and the dither value VALUE are transmitted Info The parameters DITHER_FREQUENCY and DITHER_VALUE can be individually set for each channel Parameters of the function inputs Name Data type Description INIT BOOL TRUE in the 1st cycle PWM100 is initialised FALSE during cyclical processing of the program FREQUENCY WORD PWM frequency in H...

Page 170: ...ter setting of the PWM outputs The function enables a simple use of the PWM function in the ecomatmobile controller The PWM frequency can be directly indicated in Hz and the mark to space ratio in steps of 1 The function is called once for each channel during initialisation of the application program When doing so input INIT must be set to TRUE During initialisation the parameter FREQUENCY is also...

Page 171: ...lisation the value FREQUENCY for determining the dither frequency and the dither value VALUE are transmitted Info The parameters DITHER_FREQUENCY and DITHER_VALUE can be individually set for each channel Parameters of the function inputs Name Data type Description INIT BOOL TRUE in the 1st cycle PWM1000 is initialised FALSE during cyclical processing of the program FREQUENCY WORD PWM frequency in ...

Page 172: ...utputs are protected against short circuit In the event of overload in which the currents are limited by cable lengths and cross sections to for example between 8 A and 20 A the measuring resistors shunts are thermally overloaded Since the maximum permissible current cannot always be preset the operating mode OUT_OVERLOAD_PROTECTION should always be selected for the outputs in the application prog...

Page 173: ...resents a compensation value which has an influence on the integral and differential components of the controller To determine the best settings of the controller in the MANUAL mode the value 50 is suitable Depending on the requested controller characteristics the value can then be incremented step by step controller becomes more sensitive faster or decremented controller becomes less sensitive sl...

Page 174: ... page 176 must be called The output value of OUTPUT_CURRENT is supplied to the input of ACTUAL CURRENT DESIRED_CURRENT WORD Desired current value in mA PWM_FREQUENCY WORD Permissible PWM frequency for the load connected to the output DITHER_FREQUENCY WORD Dither frequency in Hz DITHER_VALUE BYTE Amplitude of the dither value in MODE BYTE Controller characteristics 0 very slow increase no overshoot...

Page 175: ...lue which has an influence on the integral and differential components of the controller To determine the best settings of the controller in the MANUAL mode the value 50 is suitable Depending on the requested controller characteristics the value can then be incremented step by step controller becomes more sensitive faster or decremented controller becomes less sensitive slower If the function inpu...

Page 176: ...evice DESIRED_CURRENT WORD Desired current value in mA PWM_FREQUENCY WORD Permissible PWM frequency for the load connected to the output DITHER_FREQUENCY WORD Dither frequency in Hz DITHER_VALUE BYTE Amplitude of the dither value in MODE BYTE Controller characteristics 0 very slow increase no overshoot 1 slow increase no overshoot 2 minimum overshoot 3 moderate overshoot permissible MANUAL BYTE If...

Page 177: ...RRENT ENABLE ACTUAL_CURRENT OUTPUT_CHANNEL DITHER_RELATED Description OUTPUT_CURRENT handles the current measurement in conjunction with an active PWM channel The function provides the current output current if the outputs are used as PWM outputs The current measurement is carried out in the device i e no external measuring resistors are required Parameters of the function inputs Name Data type De...

Page 178: ...brary you can fulfil the following tasks Standardise the output signals of a joystick It is not always intended that the whole movement area of the joy stick influences the movement of the machine Often the area around the neutral position of the joy stick is to be spared because the joy stick does not reliably supply 0 V in this neutral position Here in this figure the area between XL and XL is t...

Page 179: ...e following principle In general digital outputs provide a fixed output voltage as soon as they are switched on The value of the output voltage cannot be changed here The PWM outputs however split the voltage into a quick sequence of many square wave pulse trains The pulse duration switched on pulse duration switched off ratio determines the effective value of the requested output voltage This is ...

Page 180: ...ton This effect is reflected in a jerking movement especially at very low manipulating speeds Technology solves this problem by having the valve piston move slightly back and forth dither The piston is continuously vibrating and cannot stick Also a small change in position is now performed without any delay a running start so to speak Advantage The hydraulic cylinder controlled in that way can be ...

Page 181: ...n Figure Too low frequencies of the PWM signal only allow rare jerking movements of the valve piston Each pulse moves the valve piston again from its off position every time the valve piston has to overcome the break away torque again NOTE With a switch on time below 10 and above 90 the dither does not have any measurable effect any longer In such cases it makes sense and it is necessary to superi...

Page 182: ..._16bitOS05_Vxxyyzz Lib contains the following functions Function CONTROL_OCC page 183 This function uses the function OUTPUT_CURRENT_CONTROL page 172 and the function OUTPUT_CURRENT page 176 from the library ifm_CRnnnn_Vxxyyzz Lib Function JOYSTICK_0 page 186 Function JOYSTICK_1 page 190 Function JOYSTICK_2 page 194 Function NORM_HYDRAULIC page 196 OCC stands for Output Current Control The followi...

Page 183: ...he input value X to a specified current range Each instance of the function is called once in each PLC cycle The function uses the function OUTPUT_CURRENT_CONTROL page 172 and function OUTPUT_CURRENT page 176 from the library ifm_CRnnnn_Vxxyyzz Lib The controller is designed as an adaptive controller so that it is self optimising If this self optimising performance is not desired a value 0 can be ...

Page 184: ...rements TIMEBASE 0 without ramp F_RAMP INT Falling edge of the ramp in in increments PLC cycle or increments TIMEBASE 0 without ramp TIMEBASE TIME Reference for rising falling edge of the ramp t 0s rising falling edge in increments PLC cycle else rising falling edge in increments TIMEBASE X WORD Input value in increments Standardised by function NORM_HYDRAULIC XH WORD Max input value in increments...

Page 185: ...ng way Value 0 the self optimising performance of the controller is overwritten typical 50 Parameters of the function outputs Name Data type Description DESIRED_CURRENT WORD Desired current value in mA for OCC for monitoring purposes ACTUAL_CURRENT WORD Actual current on the PWM output in mA for monitoring purposes BREAK BOOL Error wire to the valve interrupted SHORT BOOL Error short circuit in th...

Page 186: ...nction symbol JOYSTICK_0 X OUT1 XH_POS OUT2 ERR1 ERR2 XL_POS OUT3 XH_NEG WRONG_MODE XL_NEG MODE Description JOYSTICK_0 scales signals from a joystick to clearly defined characteristic curves standardised to 0 1000 For this function the characteristic curve values are specified figures Rising edge of the ramp 5 increments PLC cycle Falling edge of the ramp no edge The parameters XL_POS XL XH_POS XH...

Page 187: ... curve linear for the range XL to XH Mode 1 Characteristic curve linear with dead band Values fixed to Dead band 0 10 of 1000 increments Mode 2 2 step linear characteristic curve with dead band Values fixed to Dead band 0 10 of 1000 increments Step X 50 of 1000 increments Y 20 of 1000 increments Characteristic curve mode 3 Curve rising line is fixed ...

Page 188: ...ive values also permissible XL_POS INT Min preset value positive direction in increments negative values also permissible XH_NEG INT Max preset value negative direction in increments negative values also permissible XL_NEG INT Min preset value negative direction in increments negative values also permissible MODE BYTE Mode selection characteristic curve 0 linear 0 0 1000 1000 1 linear with dead ba...

Page 189: ...es 0 to 10 increments e g for valve right OUT3 INT Standardised output value pairs of values 0 to 10 increments e g for valve on output module e g CR2011 or CR2031 WRONG_MODE BOOL Error invalid mode ERR1 BYTE Error code for rising edge 0 no error 1 error in array wrong sequence 2 initial value IN not contained in value range of array 4 invalid number N for array ERR2 BYTE Error code for falling ed...

Page 190: ...0200 SafetyController CR7020 CR7021 CR7200 CR7201 CR7505 CR7506 SmartController CR2500 CR2501 CR2502 Function symbol JOYSTICK_1 X OUT1 XH_POS OUT2 ERR1 ERR2 XL_POS OUT3 XH_NEG WRONG_MODE XL_NEG R_RAMP F_RAMP TIMEBASE MODE DEAD_BAND CHANGE_POINT_X CHANGE_POINT_Y Description JOYSTICK_1 scales signals from a joystick to configurable characteristic curves standardised to 0 1000 For this function the c...

Page 191: ...the dead band DB can be set in of 1000 increments 100 1000 increments DB Dead_Band Mode 2 2 step linear characteristic curve with dead band Values can be configured to Dead band 0 DB in of 1000 increments Step X CPX in of 1000 increments Y CPY in of 1000 increments 100 1000 increments DB Dead_Band CPX Change_Point_X CPY Change_Point_Y Characteristic curve mode 3 Curve rising line is fixed ...

Page 192: ... values also permissible R_RAMP INT Rising edge of the ramp in increments PLC cycle or increments TIMEBASE 0 without ramp F_RAMP INT Falling edge of the ramp in in increments PLC cycle or increments TIMEBASE 0 without ramp TIMEBASE TIME Reference for rising falling edge of the ramp t 0s rising falling edge in increments PLC cycle else rising falling edge in increments TIMEBASE MODE BYTE Mode selec...

Page 193: ...es 0 to 10 increments e g for valve right OUT3 INT Standardised output value pairs of values 0 to 10 increments e g for valve on output module e g CR2011 or CR2031 WRONG_MODE BOOL Error invalid mode ERR1 BYTE Error code for rising edge 0 no error 1 error in array wrong sequence 2 initial value IN not contained in value range of array 4 invalid number N for array ERR2 BYTE Error code for falling ed...

Page 194: ...edController CR0200 SafetyController CR7020 CR7021 CR7200 CR7201 CR7505 CR7506 SmartController CR2500 CR2501 CR2502 Function symbol JOYSTICK_2 X OUT1 XH_POS OUT2 XL_POS OUT3 XH_NEG ERR1 XL_NEG R_RAMP F_RAMP TIMEBASE ERR1 VARIABLE_GAIN N_POINT Description JOYSTICK_2 scales the signals from a joystick to a configurable characteristic curve Free selection of the standardisation For this function the ...

Page 195: ...ing edge of the ramp in increments PLC cycle or increments TIMEBASE 0 without ramp F_RAMP INT Falling edge of the ramp in in increments PLC cycle or increments TIMEBASE 0 without ramp TIMEBASE TIME Reference for rising and falling edge of the ramp t 0s rising falling edge in increments PLC cycle else rising falling edge in increments TIMEBASE VARIABLE_GAIN ARRAY 0 10 OF POINT Pairs of values descr...

Page 196: ...alue pairs of values 0 to 10 increments e g for valve right OUT3 INT Standardised output value pairs of values 0 to 10 increments e g for valve on output module e g CR2011 or CR2031 ERR1 BYTE Error code for rising edge 0 no error 1 error in array wrong sequence 2 initial value IN not contained in value range of array 4 invalid number N for array ERR2 BYTE Error code for falling edge 0 no error 1 e...

Page 197: ...ymbol NORM_HYDRAULIC X Y XH XL YH YL X_OUT_OF_RANGE Description NORM_HYDRAULIC standardises input values with fixed limits to values with new limits Please note This function corresponds to the 3S function NORM_DINT from the CoDeSys library UTIL Lib The function standardises a value of type DINT within the limits of XH and XL to an output value within the limits of YH and YL Due to rounding errors...

Page 198: ...a type Description X DINT Desired value input XH DINT Max input value increments XL DINT Min input value increments YH DINT Max output value increments e g valve current mA flow l min YL DINT Min output value increments e g valve current mA flow l min Parameters of the function outputs Name Data type Description Y DINT Standardised output value X_OUT_OF_RANGE BOOL Error X is beyond the limits XH a...

Page 199: ... limit value output YL 0 2000 0 Non standardised value X 20 20 20 Standardised value Y 400 1600 1 Case 1 Input with relatively coarse resolution Output with high resolution 1 X increment results in 20 Y increments Case 2 Input with relatively coarse resolution Output with high resolution 1 X increment results in 20 Y increments Output signal is inverted as compared to the input signal Case 3 Input...

Page 200: ...ing on the controller up to 16 fast inputs are supported which can process input frequencies of up to 30 kHz Further to the pure frequency measurement at the inputs FRQ the inputs ENC can be also used to evaluate incremental encoders counter function with a maximum frequency of 10 kHz The inputs CYL are used for period measurement of slow signals Input Frequency kHz Description FRQ 0 ENC 0 30 10 f...

Page 201: ...function PERIOD page 203 carries out a period measurement It is thus suitable for frequencies lower than 1000 Hz In principle it can also measure higher frequencies but this has a significant impact on the cycle time This must be taken into account when setting up the application software 10 1 2 Use as digital inputs If the fast inputs FRQx CYLx are used as normal digital inputs the increased sens...

Page 202: ...als use function SAFE_FREQUENCY_OK together with function PERIOD page 203 SmartController CR2500 CR2501 CR2502 PDM360 smart CR1071 Function symbol FREQUENCY INIT F CHANNEL TIMEBASE Description FREQUENCY measures the signal frequency at the indicated channel Maximum input frequency data sheet This function measures the frequency of the signal at the selected CHANNEL To do so the positive edge is ev...

Page 203: ...e Description INIT BOOL TRUE only 1 cycle function initialised FALSE during cyclical processing of the program CHANNEL BYTE Number of the input 0 x value depending on the device TIMEBASE TIME Time base NOTE The function may provide wrong values before initialisation Do not evaluate the output before the function has been initialised Parameters of the function outputs Name Data type Description F R...

Page 204: ... CR2500 CR2501 CR2502 PDM360 smart CR1071 Function symbol PERIOD INIT C CHANNEL F PERIODS ET Description PERIOD measures the frequency and the cycle period cycle time in µs at the indicated channel Maximum input frequency data sheet This function measures the frequency and the cycle time of the signal at the selected CHANNEL To calculate all positive edges are evaluated and the average value is de...

Page 205: ...on the device PERIODS BYTE Number of periods to be compared NOTE The function may provide wrong values before initialisation Do not evaluate the output before the function has been initialised We urgently recommend to initialise all required instances of this function at the same time Otherwise wrong values may be provided Parameters of the function outputs Name Data type Description C DWORD Cycle...

Page 206: ...In addition the mark to space ratio is indicated in per mill Maximum input frequency data sheet This function measures the frequency and the cycle time of the signal at the selected CHANNEL To calculate all positive edges are evaluated and the average value is determined by means of the number of indicated PERIODS In addition the mark to space ratio is indicated in For example In case of a signal ...

Page 207: ...ber of periods to be compared NOTE The function may provide wrong values before initialisation Do not evaluate the output before the function has been initialised We urgently recommend to initialise all required instances of this function at the same time Otherwise wrong values may be provided Parameters of the function outputs Name Data type Description C DWORD Cycle time of the detected periods ...

Page 208: ...SafetyController CR7020 CR7021 CR7032 CR7200 CR7201 CR7232 CR7505 CR7506 SmartController CR2500 CR2501 CR2502 PDM360 smart CR1071 Function symbol PHASE INIT C CHANNEL P ET Description PHASE reads a pair of channels with fast inputs and compares the phase position of the signals Maximum input frequency data sheet This function compares a pair of channels with fast inputs so that the phase position ...

Page 209: ...NNEL BYTE Channel pair 0 or 1 NOTE The function may provide wrong values before initialisation Do not evaluate the output before the function has been initialised We urgently recommend to program an own instance of this function for each channel to be evaluated Otherwise wrong values may be provided Parameters of the function outputs Name Data type Description C DWORD Cycle period in μs P INT Angl...

Page 210: ...nter functions for the evaluation of encoders The function is designed as up down counter Two frequency inputs form the input pair which is evaluated by means of the function The following table shows the permissible limit frequencies and the max number of incremental encoders that can be connected Device Limit frequency max number of encoders ClassicController CR0020 CR0505 10 kHz 4 ClassicContro...

Page 211: ... in the corresponding direction in the preceding program cycle If the counter stops the direction output in the following program cycle is also reset On input RESOLUTION the resolution of the encoder can be evaluated in multiples 1 normal resolution identical with the resolution of the encoder 2 double evaluation of the resolution 4 4 fold evaluation of the resolution All other values on this inpu...

Page 212: ...gram CHANNEL BYTE Number of the input pair 0 3 PRESET_VALUE DINT Preset value of the counter PRESET BOOL TRUE preset value is adopted FALSE counter active RESOLUTION BYTE Factor of the encoder resolution 1 2 4 1 normal resolution 2 double resolution 4 4 fold resolution All other values count as 1 Parameters of the function outputs Name Data type Description COUNTER DINT Current counter value UP BO...

Page 213: ... PCB controller CS0015 SafetyController CR7020 CR7021 CR7032 CR7200 CR7201 CR7232 CR7505 CR7506 SmartController CR2500 CR2501 CR2502 PDM360 smart CR1071 Function symbol FAST_COUNT ENABLE CV INIT CHANNEL MODE_UP_DOWN LOAD PV Description FAST_COUNT operates as counter block for fast input pulses This function detects fast pulses at the FRQ input channels 0 3 With the FRQ input channel 0 FAST_COUNT o...

Page 214: ...initialised FALSE during cyclical processing of the program CHANNEL BYTE number of the input 0 3 MODE_UP_DOWN BOOL TRUE counter counts downwards FALSE counter counts upwards LOAD BOOL TRUE start value PV being loaded FALSE start value 0 being loaded PV WORD Start value preset value NOTE After setting the parameter ENABLE the counter counts as from the indicated start value The counter does NOT con...

Page 215: ...7020 CR7021 CR7032 CR7200 CR7201 CR7232 CR7505 CR7506 SmartController CR2500 CR2501 CR2502 PDM360 smart CR1070 CR1071 Function symbol SOFTRESET ENABLE Description SOFTRESET leads to a complete reboot of the controller The function can for example be used in conjunction with CANopen if a node reset is to be carried out The behaviour of the controller after a SOFTRESET corresponds to that after swit...

Page 216: ...ored manually via function calls in integrated memories from where they can also be read Depending on the controller the following memories are available EEPROM memory Only for SmartController CabinetController CR0301 CR0302 PCB controller Slow writing and reading Limited writing and reading frequency Any memory area can be selected Storing data with the function E2WRITE page 220 Reading data with...

Page 217: ...5 CR7506 SmartController CR2500 CR2501 CR2502 PDM360 smart CR1070 CR1071 Function symbol MEMCPY DST SRC LEN Description MEMCPY enables writing and reading different types of data directly in the memory The function writes the contents of the address of SRC to the address DST In doing so as many bytes as indicated under LEN are transmitted So it is also possible to transmit exactly one byte of a wo...

Page 218: ...ymbol FLASHWRITE ENABLE DST LEN SRC Description WARNING Danger due to uncontrollable process operations The status of the inputs outputs is frozen during execution of FLASHWRITE Do not execute this function when the machine is running FLASHWRITE enables writing of different data types directly into the flash memory The function writes the contents of the address SRC must be determined by means of ...

Page 219: ...ta in the memory 219 Parameters of the function inputs Name Data type Description ENABLE BOOL TRUE function is executed FALSE function is not executed DST INT Relative start address in the memory Memory access only word by word permissible values 0 2 4 6 8 LEN INT Number of data bytes max 65 536 bytes SRC DWORD Address of the source variables ...

Page 220: ...ler CR2500 CR2501 CR2502 PDM360 smart CR1070 CR1071 Function symbol FLASHREAD ENABLE SRC LEN DST Description FLASHREAD enables reading of different types of data directly from the flash memory The function 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 NOTE The address for DST must be determined using the functio...

Page 221: ...ntents as from the address of SRC to the serial EEPROM The execution of the function takes some time therefore it must be monitored via the function output RESULT If RESULT 1 the input ENABLE must be set to FALSE again NOTE The address for SRC must be determined using the function ADR and assigned to E2WRITE Parameters of the function inputs Name Data type Description ENABLE BOOL TRUE function is ...

Page 222: ...from the address of SRC from the serial EEPROM Given that the processing of the function takes some time it must be monitored via the function output RESULT If RESULT 1 the input ENABLE must be set to FALSE again NOTE The address for DST must be determined using the function ADR and assigned to E2READ Parameters of the function inputs Name Data type Description ENABLE BOOL TRUE function is execute...

Page 223: ...2 CR7505 CR7506 SmartController CR2500 CR2501 CR2502 Function symbol SET_DEBUG ENABLE DEBUG Description SET_DEBUG handles the DEBUG mode without active test input chapter TEST mode page 38 If the input DEBUG of the function is set to TRUE the programming system or the downloader for example can communicate with the controller and execute system commands e g for service functions via the GSM modem ...

Page 224: ...CR0505 ExtendedController CR0200 CR0232 PCB controller CS0015 SafetyController CR7020 CR7021 CR7032 CR7200 CR7201 CR7232 CR7505 CR7506 SmartController CR2500 CR2501 CR2502 PDM360 smart CR1070 CR1071 Function symbol SET_IDENTITY ID Description SET_IDENTITY sets an application specific program identification Using this function a program identification can be created by the application program This ...

Page 225: ...BOOTLD_H 020923 Extended identity CR0020 00 00 01 Operating system Identity CR0020 V2 0 0 041004 Hardware version CR0020 00 00 01 Software version Nozzle in front Application Machine SET_IDENTITY Nozzle in front Downloader reads BOOTLD_H 020923 CR0020 00 00 01 Downloader reads CR0020 V2 0 0 041004 ifm electronic gmbh Nozzle in front CANopen tool reads Hardware version OBV 1009 CR0020 00 00 01 Para...

Page 226: ...Y reads the application specific program identification stored in the controller With this function the stored program identification can be read by the application program The following information is available Hardware name and version e g CR0032 00 00 01 Name of the runtime system e g CR0032 Version and build of the runtime system e g V00 00 01 071128 Name of the application e g Crane1704 The n...

Page 227: ...scription DEVICENAME STRING 31 Hardware name and version as string of max 31 characters e g CR0032 00 00 01 FIRMWARE STRING 31 Name of the runtime system as string of max 31 characters e g CR0032 RELEASE STRING 31 Version and build of the runtime system as string of max 31 characters e g V00 00 01 071128 APPLICATION STRING 79 Name of the application as string of max 79 characters e g Crane1704 ...

Page 228: ...ORD Description SET_PASSWORD sets a user password for the program and memory upload with the DOWNLOADER If the password is activated reading of the application program or the data memory with the software tool DOWNLOADER is only possible if the correct password has been entered If an empty string default condition is assigned to the input PASSWORD an upload of the application software or of the da...

Page 229: ...2 V05 More functions in the ecomatmobile controller Data access and data check 229 Parameters of the function inputs Name Data type Description ENABLE BOOL TRUE only 1 cycle ID set FALSE function is not executed PASSWORD STRING Password maximum string length 16 ...

Page 230: ...om MW0 for unintended changes to data in safety critical applications To do so the function determines a CRC checksum of the indicated data range If the input UPDATE FALSE and data in the memory are changed inadvertently RESULT FALSE The result can then be used for further actions e g deactivation of the outputs Data changes in the memory e g by the application program or ecomatmobile device are o...

Page 231: ...ss as from MW0 LENGTH WORD Length of the monitored data memory in byte UPDATE BOOL TRUE changes to data permissible FALSE changes to data not permitted Parameters of the function outputs Name Data type Description RESULT BOOL TRUE CRC checksum ok FALSE CRC checksum faulty data modified Example for CHECK_DATA In the following example the program determines the checksum and stores it in the RAM via ...

Page 232: ... The cycle time can vary due to program branchings which depend e g on external events conditional jumps This can have negative effects on certain functions By means of systematic interrupts of the cyclic program it is possible to call time critical processes independently of the cycle in fixed time periods or in case of certain events Since interrupt functions are principally not permitted for Sa...

Page 233: ...ns in one single block which cannot be changed A possible solution would be to keep the cycle time as short as possible This often leads to splitting the application up to several control cycles This however makes programming complex and difficult Another possibility is to call a certain program part at fixed intervals every x ms independently of the control cycle The time critical part of the app...

Page 234: ... affected by the interrupt routine Therefore only part of the inputs and outputs is serviced If initialised in the interrupt program the following inputs and outputs will be read or written Inputs digital IX0 0 IX0 7 CRnn32 IX0 12 IX0 15 IX1 4 IX1 8 all other ClassicController ExtendedController SafetyController IX0 0 IX0 8 SmartController IN08 IN11 CabinetController IN0 IN3 PCB controller Inputs ...

Page 235: ...uring which the interrupt is triggered READ_INPUTS BOOL TRUE inputs integrated into the routine are read if necessary set inputs to IN_FAST FALSE inputs integrated into the routine are not read WRITE_OUTPUTS BOOL TRUE outputs integrated into the routine are written to FALSE outputs integrated into the routine are not written to ANALOG_INPUTS BOOL TRUE Analogue inputs integrated into the routine ar...

Page 236: ...l PLC the cycle time is decisive for real time monitoring So the PLC is at a disadvantage as compared to customer specific controllers Even a real time operating system does not change this fact when the whole application program runs in one single block which cannot be changed A possible solution would be to keep the cycle time as short as possible This often leads to splitting the application up...

Page 237: ...FAST otherwise the interrupts cannot be read NOTE The uniqueness of the inputs and outputs in the cycle is affected by the interrupt routine Therefore only part of the inputs and outputs is serviced If initialised in the interrupt program the following inputs and outputs will be read or written Inputs digital IX0 0 IX0 7 CRnn32 IX0 12 IX0 15 IX1 4 IX1 8 all other ClassicController ExtendedControll...

Page 238: ...iggers the interrupt 1 rising edge 2 falling edge 3 rising and falling edge READ_INPUTS BOOL TRUE inputs integrated into the routine are read if necessary set inputs to IN_FAST FALSE inputs integrated into the routine are not read WRITE_OUTPUTS BOOL TRUE outputs integrated into the routine are written FALSE outputs integrated into the routine are not written ANALOG_INPUTS BYTE only for devices wit...

Page 239: ...he user because it is used for program download and debugging The interface can be freely used if the user sets the system flag bit SERIAL_MODE to TRUE Then however program download and debugging are only possible via the CAN interface For CRnn32 Debugging of the application software is then only possible via all 4 CAN interfaces or via USB The serial interface can be used in the application progr...

Page 240: ...ETUP sets the serial interface to the indicated parameters Using the function input ENABLE the function is activated for one cycle The SERIAL functions form the basis for the creation of an application specific protocol for the serial interface NOTE In principle the serial interface is not available for the user because it is used for program download and debugging The interface can be freely used...

Page 241: ...e Description ENABLE BOOL TRUE only 1 cycle interface is initialised FALSE running operation BAUDRATE BYTE Baud rate permissible values 9 600 19 200 28 800 57 600 preset value data sheet DATABITS BYTE Data bits permissible values 7 or 8 preset value 8 PARITY BYTE Parity permissible values 0 none 1 even 2 uneven preset value 0 STOPBITS BYTE Stop bits permissible values 1 or 2 preset value 1 ...

Page 242: ...ne data byte via the serial RS232 interface Using the function input ENABLE the transmission can be enabled or blocked The SERIAL functions form the basis for the creation of an application specific protocol for the serial interface NOTE In principle the serial interface is not available for the user because it is used for program download and debugging The interface can be freely used if the user...

Page 243: ...al receive buffer at each call Then the value of AVAILABLE is decremented by 1 If more than 1000 data bytes are received the buffer overflows and data is lost This is indicated by the bit OVERFLOW The SERIAL functions form the basis for the creation of an application specific protocol for the serial interface NOTE In principle the serial interface is not available for the user because it is used f...

Page 244: ...WORD Number of data bytes received 0 no valid data available OVERFLOW BOOL Overflow of the data buffer loss of data Example 3 bytes are received 1st call of SERIAL_RX 1 valid value at output RX AVAILABLE 3 2nd call of SERIAL_RX 1 valid value at output RX AVAILABLE 2 3rd call of SERIAL_RX 1 valid value at output RX AVAILABLE 1 4th call of SERIAL_RX invalid value at the output RX AVAILABLE 0 If AVAI...

Page 245: ...s the number of data bytes stored in the serial receive buffer In contrast to the function SERIAL_RX page 242 the contents of the buffer remain unchanged after calling this function The SERIAL functions form the basis for the creation of an application specific protocol for the serial interface NOTE In principle the serial interface is not available for the user because it is used for program down...

Page 246: ...2 CR0505 ExtendedController CR0200 CR0232 PCB controller CS0015 SafetyController CR7020 CR7021 CR7032 CR7200 CR7201 CR7232 CR7505 CR7506 SmartController CR2500 CR2501 CR2502 PDM360 smart CR1070 CR1071 Function symbol TIMER_READ T Description TIMER_READ reads the current system time When the supply voltage is applied the controller generates a clock pulse which is counted upwards in a register This...

Page 247: ...R7506 SmartController CR2500 CR2501 CR2502 PDM360 smart CR1070 CR1071 Function symbol TIMER_READ_US TIME_US Description TIMER_READ_US reads the current system time in µs When the supply voltage is applied the controller generates a clock pulse which is counted upwards in a register This register can be read by means of the function call and can for example be used for time measurement Info The sys...

Page 248: ...2 V05 More functions in the ecomatmobile controller Processing analogue input values 10 8 Processing analogue input values In this chapter we show you functions which allow you to read and process the values of analogue voltages or currents at the controller input ...

Page 249: ...oltage measurements at the analogue channels The function provides the current analogue value at the selected analogue channel The measurement and the output value result from the operating mode specified via MODE digital input 0 20 mA 0 10 V 0 30 V For parameter setting of the operating mode the indicated global system variables should be used The analogue values are provided as standardised valu...

Page 250: ...Manual ecomatmobile SmartController CR2500 CR2502 V05 More functions in the ecomatmobile controller Processing analogue input values Parameters of the function outputs Name Data type Description OUT WORD Output value ...

Page 251: ..._VOLTAGE processes analogue voltages measured on the analogue channels The function returns the current input voltage in mV on the selected analogue channel The measurement refers to the voltage range defined via MODE_10V_32V 10 000 mV or 32 000 mV Info INPUT_VOLTAGE is a compatibility function for older programs In new programs the more powerful function INPUT_ANALOG page 248 should be used Param...

Page 252: ...ol INPUT_CURRENT ENABLE ACTUAL_CURRENT INPUT_CHANNEL Description INPUT_CURRENT processes analogue currents measured at the analogue channels The function returns the actual input current in µA at the analogue current inputs Info INPUT_CURRENT is a compatibility function for older programs In new programs the more powerful function INPUT_ANALOG page 248 should be used Parameters of the function inp...

Page 253: ... CR2500 CR2502 V05 More functions in the ecomatmobile controller Adapting analogue values 253 10 9 Adapting analogue values If the values of analogue inputs or the results of analogue functions must be adapted the following functions will help you ...

Page 254: ...roller CR2500 CR2501 CR2502 Function symbol NORM X Y XH XL YH YL Description NORM normalises a value within defined limits to a value with new limits The function normalises a value of type WORD within the limits of XH and XL to an output value within the limits of YH and YL This function is for example used for generating PWM values from analogue input values NOTE The value for X must be in the d...

Page 255: ...t value range Parameters of the function outputs Name Data type Description Y WORD normalised value Example 1 lower limit value input upper limit value input lower limit value output upper limit value output 0 100 0 2000 XL XH YL YH then the function converts the input signal for example as follows from X 50 0 100 75 to Y 1000 0 2000 1500 Example 2 lower limit value input upper limit value input l...

Page 256: ...le x Führungsgröße w Reference variable w Stellgröße y Manipulated variable y Figure Principle of controlling The selection of a suitable control device and its optimum setting require exact indication of the steady state behaviour and the dynamic behaviour of the controlled system In most cases these characteristic values can only be determined by experiments and can hardly be influenced Three ty...

Page 257: ...thout inherent regulation 11 1 3 Controlled system with delay Most controlled systems correspond to series systems of P systems systems with compensation and one or several T1 systems systems with inertia A controlled system of the 1st order is for example made up of the series connection of a throttle point and a subsequent memory Figure PT system controlled system with delay For controlled syste...

Page 258: ...mplitude at KP KPcritical Then the stability limit has been reached Then the time period Tcritical of the steady oscillation has to be determined Add a differential component only if necessary TV should be approx 2 10 times smaller than TN KP should be equal to KD Idealised setting of the controlled system Control unit KP KD TN TV P 2 0 KPcritical PI 2 2 KPcritical 0 83 Tcritical PID 1 7 KPcritica...

Page 259: ...bile controller Functions for controllers 259 11 3 Functions for controllers The section below describes in detail the functions that are provided for set up by software controllers in the ecomatmobile controller The functions can also be used as basis for the development of your own control functions ...

Page 260: ...Controller CR0020 CR0032 CR0505 ExtendedController CR0200 CR0232 PCB controller CS0015 SafetyController CR7020 CR7021 CR7032 CR7200 CR7201 CR7232 CR7505 CR7506 SmartController CR2500 CR2501 CR2502 Function symbol DELAY X Y T Description DELAY delays the output of the input value by the time T dead time element The function is used to delay an input value by the time T Tt 1 y t t 0 Figure Time char...

Page 261: ...nctions in the ecomatmobile controller Functions for controllers 261 Parameters of the function inputs Name Data type Description X WORD Input value T TIME Time delay dead time Parameters of the function outputs Name Data type Description Y WORD Input value delayed by the time T ...

Page 262: ...Controller CR0200 CR0232 PCB controller CS0015 SafetyController CR7020 CR7021 CR7032 CR7200 CR7201 CR7232 CR7505 CR7506 SmartController CR2500 CR2501 CR2502 Function symbol PT1 X Y T1 Description PT1 handles a controlled system with a first order time delay This function is a proportional controlled system with a time delay It is for example used for generating ramps when using the PWM functions T...

Page 263: ...oller functions in the ecomatmobile controller Functions for controllers 263 Parameters of the function inputs Name Data type Description X INT Input value T1 TIME Delay time time constant Parameters of the function outputs Name Data type Description Y INT Output variable ...

Page 264: ...ulated variable of a PID controller has a proportional integral and differential component The manipulated variable changes first by an amount which depends on the rate of change of the input value D component After the end of the derivative action time the manipulated variable returns to the value corresponding to the proportional range and changes in accordance with the reset time NOTE The manip...

Page 265: ...RD Actual value XS WORD Desired value XMAX WORD Maximum value of the target value KP BYTE Constant of the proportional component KI BYTE Integral value KD BYTE Proportional component of the differential component Parameters of the function outputs Name Data type Description Y WORD Manipulated variable Recommended setting KP 50 KI 30 KD 5 With the values indicated above the controller operates very...

Page 266: ...e of a PID controller has a proportional integral and differential component The manipulated variable changes first by an amount which depends on the rate of change of the input value D component After the end of the derivative action time TV the manipulated variable returns to the value corresponding to the proportional component and changes in accordance with the reset time TN The values entered...

Page 267: ...racteristics y t TV TN KI Xd KP Xd KD Figure Typical step response of a PID controller Parameters of the function inputs Name Data type Description X WORD Actual value XS WORD Desired value XMAX WORD Maximum value of the desired value KP BYTE Constant of the Proportional component 10 TN TIME Reset time Integral component KD BYTE Proportional component of the Differential component 10 TV TIME Deriv...

Page 268: ...slow system large TN Slowly increment KP gradually up to a value at which still definitely no fluctuation will occur Readjust TN if necessary Add differential component only if necessary Select a TV value approx 2 10 times smaller than TN Select a KD value more or less similar to KP Note that the maximum control deviation is 127 For good control characteristics this range should not be exceeded bu...

Page 269: ...synchro controller is a controller with PID characteristics The values entered at the function inputs KP and KD are internally divided by 10 So a finer grading can be obtained e g KP 17 which corresponds to 1 7 The manipulated variable referred to the greater actual value is increased accordingly The manipulated variable referred to the smaller actual value corresponds to the reference variable Re...

Page 270: ...ual value channel 2 XS WORD desired value reference variable XMAX WORD maximum value of the desired value KP BYTE constant of the proportional component 10 TN TIME reset time integral component KD BYTE proportional component of the differential component 10 TV TIME derivative action time differential component Parameters of the function outputs Name Data type Description Y1 WORD manipulated variab...

Page 271: ...0 CR2502 V05 Annex Functions for controllers 271 12 Annex Address assignment and I O operating modes 272 System flags 274 Overview of the files and libraries used 275 Additionally to the indications in the data sheets you find summary tables in the annex ...

Page 272: ...Q2 output byte 0 QX0 00 QX0 07 flag byte ERROR_SHORT_Q1Q2 error byte ports 1 2 short circuit QX0 00 QX0 07 flag byte ERROR_BREAK_Q1Q2 error byte ports 1 2 interruption QX0 00 QX0 07 IEC addresses can vary according to the control configuration 12 1 2 Address assignment inputs outputs IEC address Name IO variable Configuration with variable Default value Possible configuration IX0 0 IW2 I0 ANALOG0 ...

Page 273: ...M description chapter PWM signal processing page 161 PWMI description chapter Current control with PWM page 172 FRQ CYL description chapter Counter functions for frequency and period measurement page 200 12 1 3 Possible operating modes inputs outputs Inputs Operating mode Config value Outputs Operating mode Config value I0 I3 IN_DIGITAL 0 default IN_DIAGNOSIC 4 I0 I1 IN_DIGITAL_FAST 5 I4 I7 IN_CUR...

Page 274: ...ipheral error on input group x ERROR_MEMORY BOOL Memory error ERROR_POWER BOOL Undervoltage overvoltage error ERROR_SHORT_Qx BYTE Short circuit error on output group x ERROR_VBBR BOOL Supply voltage error VBBR LED_MODE WORD Flashing frequency from the data structure LED_MODES SERIAL_MODE BOOL Switch on of serial communication SERIALBAUDRATE WORD Baud rate of the RS 232 interface SUPPLY_VOLTAGE WOR...

Page 275: ...and memory location ifm_CRnnnn_Vxxyyzz CFG ifm_CRnnnn_Vxx CFG PLC configuration per device only 1 device specific file inlcudes IEC and symbolic addresses of the inputs and outputs the flag bytes as well as the memory allocation CoDeSys V Targets ifm ifm_CRnnnncfg Vxxyyzz CAA CHM Online help per device only 1 device specific file inlcudes online help for this device CoDeSys V Targets ifm Help lang...

Page 276: ...rsion up to V01 all other devices up to V04 valid for CRnn32 target version from V02 onwards all other devices from V05 onwards memory location of the files System drive C D program folder ifm electronic NOTE The software versions suitable for the selected target must always be used of the operating system CRnnnn_Vxxyyyzz H86 of the PLC configuration CRnnnn_Vxx CFG of the device library CRnnnn_Vxx...

Page 277: ...ors ifm_Browser_CRnnnn INI CoDeSys browser commands all ecomatmobile controllers all PDM360 monitors ifm_Errors_CRnnnn INI CoDeSys error file all ecomatmobile controllers all PDM360 monitors Target file File name Function Available for ifm_CRnnnn_Vxx TRG Target file all ecomatmobile controllers all PDM360 monitors PLC configuration file File name Function Available for ifm_CRnnnn_Vxxyyzz CFG PLC c...

Page 278: ...rt CR1070 CR1071 3S_CanDrv LIB CANopen driver PDM360 CR1050 CR1051 CR1060 PDM360 compact CR1052 CR1053 CR1055 CR1056 3S_CANopenDeviceOptTable LIB 3S_CANopenDeviceOptTableEx LIB all ecomatmobile controllers PDM360 smart CR1070 CR1071 3S_CANopenDevice LIB CANopen slave driver PDM360 CR1050 CR1051 CR1060 PDM360 compact CR1052 CR1053 CR1055 CR1056 3S_CANopenManagerOptTable LIB 3S_CANopenManagerOptTabl...

Page 279: ...m target V05 CabinetController CR0303 ClassicController CR0020 CR0505 ExtendedController CR0200 SafetyController CR7020 CR7021 CR7200 CR7201 CR7505 CR7506 SmartController CR2500 CR2502 PDM360 smart CR1070 CR1071 ifm_CRnnnn_J1939_Vxxyyzz LIB J1939 communication functions ClassicController CR0032 ExtendedController CR0232 ifm_PDM_J1939_Vxxyyzz LIB J1939 communication functions PDM360 CR1050 CR1051 C...

Page 280: ...ller CR0200 SafetyController CR7020 CR7200 CR7505 SmartController CR2500 CR2501 CR2502 ifm_Hydraulic_16bitOS05_Vxxyyzz LI B hydraulic functions for R360 controllers from target V05 ClassicController CR0020 CR0505 ExtendedController CR0200 SafetyController CR7020 CR7021 CR7200 CR7201 CR7505 CR7506 SmartController CR2500 CR2501 CR2502 ifm_Hydraulic_32bit_Vxxyyzz LIB hydraulic functions for R360 cont...

Page 281: ...on Available for Instrumente_x LIB predefined display instruments all PDM360 monitors Symbols_x LIB predefined symbols PDM360 CR1050 CR1051 CR1060 PDM360 compact CR1052 CR1053 CR1055 CR1056 Segment_x LIB predefined 7 segment displays PDM360 CR1050 CR1051 CR1060 PDM360 compact CR1052 CR1053 CR1055 CR1056 Further libraries on request ...

Page 282: ......

Page 283: ...k to the French inventor J M Baudot whose code was used for telex machines 1 MBd 1024 x 1024 Bd 1 048 576 Bd Bus Serial data transmission of several participants on the same cable C CAN CAN Controller Area Network CAN is a priority controlled fieldbus system for larger data volumes It is available in different variants e g CANopen or CAN in Automation CiA Category CAT Classification of the safety ...

Page 284: ...lutions 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 http www 3s software com 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 sho...

Page 285: ...ations are used intentionally and not any individual systems of the same design It is assumed that systems of the same performance however of different implementation are sensitive or insensitive to different interference and will therefore not fail simultaneously The actual implementation may vary according to the application and the requested safety use of components of several manufacturers use...

Page 286: ...n state Whether or not the potential is realized can depend on the channel architecture of the system in redundant systems a dangerous hardware failure is less likely to lead to the overall dangerous or fail to function state Failure systematic A systematic failure is a failure related in a deterministic way not coincidental to a certain cause The systematic failure can only be eliminated by a mod...

Page 287: ... unhealthy posture noise emission high temperature or the hazard may appear unexpectedly e g explosion crushing hazard as a consequence of an unintended unexpected start up ejection as a consequence of a breakage fall as a consequence of acceleration deceleration Heartbeat The participants regularly send short signals In this way the other participants can verify if a participant has failed No mas...

Page 288: ... the product has to warn against readily predictable misuse in his user information Monitoring Safety function which ensures that a protective measure is initiated if the ability of a component or an element to perform its function is diminished if the process conditions are changed in such a way that the resulting risk increases MTBF Mean Time Between Failures MTBF Is the expected value of the op...

Page 289: ...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 PDO PDO Process Data Object The time critical process data is transferred by means of the process data objec...

Page 290: ...s mode only NMT commands are transferred Programming language safety related Only the following programming languages shall be used for safety related applications Limited variability language LVL that provides the capability of combining predefined application specific library functions In CoDeSys these are LD ladder diagram and FBD function block diagram Full variability language FVL provides th...

Page 291: ... of a failure of one component the others ensure the task In addition it is tried to separate redundant systems from each other with regard to space Thus the risk that they are affected by a common interference is minimised Finally components from different manufacturers are sometimes used to avoid that a systematic fault causes all redundant systems to fail diverse redundancy The software of redu...

Page 292: ...achine into a safe state in time in the event of a failure of the safety function Safety standard types The safety standards in the field of machines are structured as below Type A standards basic safety standards giving basic concepts principles for design and general aspects that can be applied to all machinery Examples basic terminology methodology ISO 12100 1 technical principles ISO 12100 2 r...

Page 293: ...the safety related input signals are initiated including for example the actuating cam and the roller of the position switch and end at the output of the power control elements including for example the main contacts of a contactor SRVT The SRVT Safety Related Object Validation Time ensures with CANopen safety that the time between the SRDO message pairs is adhered to Only if the redundant inverte...

Page 294: ...N as PDOs These services are not confirmed by the protocol i e it is not checked whether the message is received Exchange of network variables corresponds to a 1 to n connection 1 transmitter to n receivers Uptime mean Mean Time Between Failures MTBF Is the expected value of the operating time between two consecutive failures of items that are maintained NOTE For items that are NOT maintained the ...

Page 295: ...alue 163 Calculation of the RELOAD value 162 CAN 283 CAN device 83 100 CAN device configuration 101 CAN errors and error handling 51 55 CAN in the ecomatmobile controller 47 CAN interfaces 48 CAN network variables 48 83 108 CAN ID 49 50 CANopen master 83 85 127 CANopen support by CoDeSys 83 CANopen terms and implementation 84 Category CAT 283 CCF 283 Change the PDO properties at runtime 107 Changi...

Page 296: ...a system error 41 Example with function CANx_MASTER_SEND_EMERGENCY 122 Example with function CANx_MASTER_STATUS 127 Example with function CANx_SLAVE_SEND_EMERGENCY 135 Examples NORM_HYDRAULIC 199 Exchange of CAN data 49 51 Failure 286 Failure dangerous 286 Failure systematic 286 Fast inputs 30 Fatal error 35 Fault 286 Fault tolerance time 286 Files for the operating system runtime system 277 Firmw...

Page 297: ...ion NORM_HYDRAULIC 182 197 Function OCC_TASK 175 182 Function OUTPUT_CURRENT 33 167 169 171 177 182 183 Function OUTPUT_CURRENT_CONTROL 173 182 183 Function PERIOD 30 201 204 Function PERIOD_RATIO 30 206 Function PHASE 30 208 Function PID1 264 Function PID2 266 Function PT1 258 262 Function PWM 161 162 166 Function PWM100 168 Function PWM1000 161 162 168 170 Function SERIAL_PENDING 245 Function SE...

Page 298: ...96 Notes on devices with monitoring relay 40 Obj object 289 Object directory 289 OBV 289 Operating modes 37 Operating states 35 Operating states and operating system 35 Operating system 289 Operational 289 Output group Q0 Q4 QX0 0 QX1 8 33 Overview CANopen EMCY codes 117 Overview of CANopen error codes 114 115 Overview of the files and libraries used 275 Parameters of internal structures 126 Parti...

Page 299: ...ramming system manually 14 Set up programming system via templates 16 Setting control 258 Setting of the node numbers and the baud rate of a CAN device 107 Setting rule for a controller 258 Settings in the global variable lists 109 Settings in the target settings 108 Setup the target 14 86 Signalling of device errors 114 SIL 293 Slave 293 Slave information 127 Software for CAN and CANopen 55 Softw...

Page 300: ... An introduction 178 Topology 47 Transmit emergency messages via the application program 107 UDP 294 Uptime mean 294 Use as digital inputs 201 Use of the CAN interfaces to SAE J1939 48 63 70 145 Use of the serial interface 38 239 Use intended 294 Watchdog 294 Watchdog behaviour 44 286 What are the individual files and libraries used for 277 What do the symbols and formats mean 7 290 293 What does ...

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