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125 

ifm

 Programming Manual BasicController relay CR0431 v03.03.00 

05 / 2018 

ifm function elements 

ifm function elements for the device CR0431 

Function elements: CANopen emergency 

 

CANOPEN_GETEMCYMESSAGES ....................................................................................................126 
CANOPEN_GETERRORREGISTER ...................................................................................................128 
CANOPEN_SENDEMCYMESSAGE ...................................................................................................130 

15073 

 

 

 

 

Summary of Contents for BasicController CR0431

Page 1: ...1 Programming Manual BasicController relay CR0431 Runtime system V03 03 00 CODESYS v2 3 9 33 v3 0 English 7391039 02 05 2018...

Page 2: ...description 22 3 3 1 CAN interfaces 22 3 4 Software description 23 3 4 1 Software modules for the device 23 3 4 2 Programming notes for CODESYS projects 26 3 4 3 Operating states 29 3 4 4 Performance...

Page 3: ...2 6 Function elements output functions 175 5 2 7 Function elements system 182 6 Diagnosis and error handling 200 6 1 Diagnosis 200 6 2 Fault 200 6 3 Response to system errors 200 6 3 1 Example process...

Page 4: ...an cia org CODESYS is the property of the 3S Smart Software Solutions GmbH Germany www codesys com DeviceNet is the property of the ODVA Open DeviceNet Vendor Association USA www odva org EtherNet IP...

Page 5: ...nstructions are supplied with the device Instructions for installation electrical installation and commissioning Technical data Programming manual Functions of the setup menu of the device Creation of...

Page 6: ...ctions WARNING Death or serious irreversible injuries may result CAUTION Slight reversible injuries may result NOTICE Property damage is to be expected or may result Important note Non compliance can...

Page 7: ...ase of malfunctions or uncertainties please contact the manufacturer at Contact www ifm com We want to become even better Each separate section has an identification number in the top right corner If...

Page 8: ...manual before working on and with this device The acting person must be authorised to work on the machine equipment The acting person must have the qualifications and training required to perform thi...

Page 9: ...time was too long Error elimination after an E stop To ensure safe controller behaviour monitor the voltage supply in the application program In case of an error switch off all relevant outputs in th...

Page 10: ...ion about the device 3 System description Information about the device 10 Hardware description 11 Interface description 22 Software description 23 975 3 1 Information about the device 19587 This manua...

Page 11: ...on 3 2 Hardware description Hardware structure 11 Inputs technology 14 Outputs technology 18 Note on wiring 20 Safety instructions about Reed relays 20 Status LED 21 14081 3 2 1 Hardware structure Sta...

Page 12: ...note to program the device 20763 Applies to the following devices BasicController relay CR0431 For the time of programming interconnect the connections B 1 VBB15 and B 8 VBBs Otherwise programming is...

Page 13: ...rnal purposes SRAM 12269 SRAM volatile fast memory overall existing in the device SRAM indicates here all kinds of volatile and fast memories 208 kByte Thereof the following memory areas are reserved...

Page 14: ...uated without additional reference voltage A fluctuation of the supply voltage has no influence on this measured value As an alternative an analogue channel can also be evaluated binarily In case of r...

Page 15: ...ables diagnosis of the input signals But in the application software the switching signal is directly available as bit information In pin binary input n CR device 1 input filter 2a input minus switchi...

Page 16: ...ss assignment inputs outputs p 204 Configuration of each input is made via the application program FB INPUT p 169 input MODE FBs FASTCOUNT p 165 INC_ENCODER p 167 or PERIOD p 171 If the analogue input...

Page 17: ...ice is not linearly dependent on the resistance value figure Figure resolution dependent on the resistance value 1 resistance value at the input 2 resolution By how many ohms does the measured value c...

Page 18: ...The relay outputs are protected via fuses Adapt the value of the fuses to the load capacity of the relays used to the load capacity of the wiring Output group K0 K5 19678 These outputs are a group of...

Page 19: ...outputs are a group of channels with a single specified function These outputs have the following fixed setting binary output with LED e g diagnostic message The LED outputs can be freely used in the...

Page 20: ...Frequency input H bridge Output with H bridge function PWM Pulse width modulated signal PWMi PWM output with current measurement IH Pulse counter input high side minus switching for negative sensor si...

Page 21: ...Application STOP with error application program is stopped Cause exceeded timeout of the application or visualisation Delete the application PowerOn reset Reload the application into the device time...

Page 22: ...60 CANopen master CANopen slave chapter Function elements CANopen p 86 CANopen network variables via CODESYS chapter Network variables p 52 SAE J1939 for drive management chapter Function elements SAE...

Page 23: ...4 Runtime system 24 Application program 24 Libraries 25 14110 The software in this device communicates with the hardware as below software module Can user change the module By means of what tool Appli...

Page 24: ...der is active in this operating mode It provides the minimum functions for loading the runtime system among others support of the interfaces e g CAN Normally it is necessary to download the runtime sy...

Page 25: ...Vxxyyzz LIB Device specific library Must always be contained in the application program ifm_RawCAN_NT_Vxxyyzz LIB optional when a CAN interface of the device is to be operated with CAN Layer 2 ifm_CAN...

Page 26: ...and FUN in FB FUN function A function can have several inputs but only one output The output is of the same data type as the function itself PRG program A PRG can have several inputs and several outpu...

Page 27: ...ion program the above mentioned recommendations must be complied with and tested If necessary the cycle time must be optimised by restructuring the software and the system set up Important note to pro...

Page 28: ...d loaded in the controller several times during the program development for testing In CODESYS Online Login load the new program For each such download via CODESYS 2 3 the source code is translated ag...

Page 29: ...as to be read from the controller and saved on a data carrier using the name project_file RESX Only this process ensures that the application software and its checksums are stored Download of the soft...

Page 30: ...lowing states is possible RUN ERROR FATAL ERROR INIT after power on reset RUN state 8287 A transition into this state is possible in the following cases from the INIT state autostart if the following...

Page 31: ...ition from this state into one of the following states is possible INIT after power on reset RUN STOP FATAL ERROR FATAL ERROR state 8289 A transition into this state is possible in the following cases...

Page 32: ...e Reload the application program into the device If without success Hardware error send device to ifm Limitations for CAN in this device 17975 FIFO First In First Out Operating principle of the stack...

Page 33: ...guarding error 32 messages 128 messages max SDO data 2 048 bytes 2 048 bytes Limitations for CAN J1939 in this device 17977 The following limitations of the devices are valid Device BasicController C...

Page 34: ...rations described in the corresponding installation instructions or in the Appendix p 202 to this documentation are used for standard devices stock items They fulfil the requested specifications of mo...

Page 35: ...versions suitable for the selected target must always be used runtime system ifm_CR0431_Vxxyyzz RESX PLC configuration ifm_CR0431_Vxx CFG device library ifm_CR0431_Vxxyyzz LIB and the further files V...

Page 36: ...em into the controller Check whether the runtime system was transmitted correctly Check whether the correct runtime system is loaded in the controller 1st test Test with the ifm maintenance tool if th...

Page 37: ...up the programming system 4 2 Set up the programming system Set up the programming system manually 37 Set up the programming system via templates 41 14461 4 2 1 Set up the programming system manually...

Page 38: ...the appropriate device library ifm_CR0431_Vxxyyzz LIB manually 8485 NOTE The software versions suitable for the selected target must always be used runtime system ifm_CR0431_Vxxyyzz RESX PLC configur...

Page 39: ...the PLC configuration e g CR1080 Click on the tab Resources in CoDeSys Double click on PLC Configuration in the left column Display of the current PLC configuration following figure Based on the confi...

Page 40: ...aster Info If the device is operated as a slave the selection CanSlave_Device would also be possible For the simpler configuration as a master all CAN Layer 2 and network variable functions can also b...

Page 41: ...means of which the programming system can be set up quickly easily and completely 970 When installing the ecomatmobile DVD Software tools and documentation projects with templates have been stored in...

Page 42: ...can be monitored and the application program can react in case of a fault Depending on the input and output certain marginal conditions must be taken into account when using the diagnosis It must be...

Page 43: ...utputs p 206 Safety instructions about Reed relays 7348 For use of non electronic switches please note the following 6915 Contacts of Reed relays may be clogged reversibly if connected to the device i...

Page 44: ...0 32 V DC and the output RESULT is set accordingly in the function block INPUT when the final value 23 mA for 40 ms is exceeded After about one second the input automatically switches back to the cur...

Page 45: ...he filter frequency is set with the value entered in FILTER For FILTER values from 0 8 are permitted Table limit frequency software low pass filter at the analogue input FILTER Filter frequency Hz Ste...

Page 46: ...g BL 11 0x0B only for analogue evaluated inputs binary input plus switching BL with diagnosis Namur 12 0x0C binary input minus switching BH 18 0x12 resistance input 16 30 000 Activation of the input d...

Page 47: ...blocks are e g FASTCOUNT p 165 Counter block for fast input pulses INC_ENCODER p 167 Up down counter function for the evaluation of encoders PERIOD p 171 Measures the frequency and the cycle period c...

Page 48: ...measurement set FILTER 0 The current at the output is averaged over a PWM period If dithering is set the current is averaged over the dither period The filter behaves like a low pass filter the limit...

Page 49: ...sheet binary output with relay change over contacts PWM output plus switching BH without diagnostic function Figure Block diagram relay output x 0 n depending on the device Configuration of each outp...

Page 50: ...r local in the declaration part of the function element POU Only valid in the function element POU where it was configured volatile local retain nonvolatile global In Resources Global Variables Global...

Page 51: ...vate the control field RETAIN in the variable declaration window Save retain variables 9853 In the device the data type RETAIN is only stored in the volatile memory RAM during the runtime To save the...

Page 52: ...k variables are used for data exchange between controllers in the network The values of global network variables are available to all CODESYS projects in the whole network if the variables are contain...

Page 53: ...CODESYS function elements FBs PRGs FUNs are stored in libraries Below you will find a list of all the ifm libraries you can use with this device This is followed by a description of the function elem...

Page 54: ...ystem software of the device software name software version build number build date GET_SW_VERSION p 189 Delivers information about the software versions stored in the device BasicSystem version bootl...

Page 55: ...Configures a data receive object and reads out the receive buffer of the data object Frame type and mask can be selected CAN_RX_ENH_FIFO p 70 Configures a data receive object and reads out the receiv...

Page 56: ...nals the network operating status of the node CANOPEN_GETODCHANGEDFLAG p 100 Get object directory changed flag Reports any change of value for a particular object directory entry CANOPEN_GETSTATE p 91...

Page 57: ...3 Initialises the J1939 stack J1939_GETDABYNAME p 135 Get destination arbitrary name Determine the target address of one or several participants by means of the name information J1939_NAME p 137 Give...

Page 58: ...e device CR0431 Function element outputs 59 Function elements RAW CAN Layer 2 60 Function elements CANopen 86 Function elements SAE J1939 132 Function elements processing input values 164 Function ele...

Page 59: ...block is active 14 0E FB is active CANopen manager configures devices and sends SDOs 15 0F FB is active CANopen manager is started 3210 63 FB specific return values 6410 127 FB specific error message...

Page 60: ...Function elements RAW CAN status 60 Function elements receive RAW CAN data 66 Function elements transmit RAW CAN data 76 Function elements RAW CAN remote 82 15051 Here we describe the RAW CAN function...

Page 61: ...ace and the CAN protocols running on it Any information available for cyclical transmission is lost as well and must be newly created At renewed ENABLE TRUE the new baud rate is adopted Parameters of...

Page 62: ...s of the other protocols If CAN_RECOVER is not used ENABLE FALSE in case of a bus off a recovery attempt is automatically made after 1 s after 4 failed recovery attempts in a row the affected CAN inte...

Page 63: ...in the PLC program e g using certain inputs The changed ID is also written into the hardware configuration Parameters of the inputs 7519 Parameter Data type Description EXECUTE BOOL FALSE FALSE TRUE e...

Page 64: ...the chosen CAN bus Without hardware initialisation the following flags can be reset to FALSE BUSOFF WARNING_RX WARNING_TX Parameters of the inputs 7502 Parameter Data type Description ENABLE BOOL FALS...

Page 65: ...face WARNING_RX BOOL Warning threshold for receiving is exceeded at the interface WARNING_TX BOOL Warning threshold for transmitting is exceeded at the interface VERSION DWORD Version of the ifm CAN s...

Page 66: ...ontroller relay CR0431 v03 03 00 05 2018 ifm function elements ifm function elements for the device CR0431 Function elements receive RAW CAN data CAN_RX 67 CAN_RX_ENH 68 CAN_RX_ENH_FIFO 70 CAN_RX_RANG...

Page 67: ...ion ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs are not specified CHANNEL BYTE CAN interface 1 n depending on...

Page 68: ...with the following bit pattern are evaluated 0bxxx1 0000 xxx0 x any i e for this example all in hex 100 102 104 106 108 10A 10C 10E 300 302 304 306 308 30A 30C 30E 500 502 504 506 508 50A 50C 50E 700...

Page 69: ...ct identifier DATALENGTHCOUNT BYTE Data Length Count number of the data bytes received DATA ARRAY 0 7 OF BYTE received data 1 8 bytes RESULT BYTE feedback of the function block possible messages follo...

Page 70: ...is deleted and can be newly filled Description to the filter mask CAN_RX_ENH p 68 chapter Description Parameters of the inputs 7609 Parameter Data type Description ENABLE BOOL TRUE execute this functi...

Page 71: ...eceived DATA ARRAY 0 7 OF BYTE received data 1 8 bytes MORE_DATA_AVAILABLE BOOL TRUE further received data available in the FiFo FALSE no further data available in the FiFo RESULT BYTE feedback of the...

Page 72: ...is available Parameters of the inputs 7595 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function bloc...

Page 73: ...extended Frame 536 868 864 IDs 2 048 536 870 911 0x0000 0800 0x1FFF FFFF DATALENGTHCOUNT BYTE Data Length Count number of the data bytes received DATA ARRAY 0 7 OF BYTE received data 1 8 bytes RESULT...

Page 74: ...ctivate and reactivate the function The FiFo is deleted and can be newly filled Parameters of the inputs 7595 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit...

Page 75: ...ENGTHCOUNT BYTE Data Length Count number of the data bytes received DATA ARRAY 0 7 OF BYTE received data 1 8 bytes MORE_DATA_AVAILABLE BOOL TRUE further received data available in the FiFo FALSE no fu...

Page 76: ...ing Manual BasicController relay CR0431 v03 03 00 05 2018 ifm function elements ifm function elements for the device CR0431 Function elements transmit RAW CAN data CAN_TX 77 CAN_TX_ENH 78 CAN_TX_ENH_C...

Page 77: ...nded frames in the ID area 0 2047 cannot be sent via the easy functions Parameters of the inputs 7524 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not e...

Page 78: ...instance of this FB is called several times during a cycle the data is also sent several times Parameters of the inputs 7634 Parameter Data type Description ENABLE BOOL FALSE TRUE execute this functio...

Page 79: ...ameters of the outputs 7527 Parameter Data type Description RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB i...

Page 80: ...the performance of the complete system Parameters of the inputs 7582 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs ar...

Page 81: ...Parameter Data type Description RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 FB executio...

Page 82: ...ramming Manual BasicController relay CR0431 v03 03 00 05 2018 ifm function elements ifm function elements for the device CR0431 Function elements RAW CAN remote CAN_REMOTE_REQUEST 83 CAN_REMOTE_RESPON...

Page 83: ...started is processed CHANNEL BYTE CAN interface 1 n depending on the device ID DWORD Number of the data object identifier normal frame 211 IDs 0 2 047 0x0000 0000 0x0000 07FF extended Frame 229 IDs 0...

Page 84: ...n CR043n BasicDisplay CR045n max 40 remote messages PDM360 NG CR108n CR120n max 100 remote messages Parameters of the inputs 7634 Parameter Data type Description ENABLE BOOL FALSE TRUE execute this fu...

Page 85: ...Data type Description RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 6 06 FB is being processed...

Page 86: ...nagement 95 Function elements CANopen object directory 99 Function elements CANopen SDOs 104 Function elements CANopen SYNC 117 Function elements CANopen guarding 121 Function elements CANopen emergen...

Page 87: ...r a stop all other connected nodes also have to be re initialised Without CANOPEN_ENABLE the CANopen master is started automatically as far as this has been selected in the configuration The configure...

Page 88: ...block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 function block execution completed without error 14 0E FB is active CANopen manag...

Page 89: ...e function block returns the state of the overflow flags Parameters of the inputs 7893 Parameter Data type Description EXECUTE BOOL FALSE FALSE TRUE edge execute function element once otherwise functi...

Page 90: ...is critical FALSE level in the input buffer is uncritical TXOVFL BOOL condition of the TX overflow flag TRUE overflow in the transmit buffer FALSE no overflow in transmit buffer TXWARN BOOL Condition...

Page 91: ...n EXECUTE BOOL FALSE FALSE TRUE edge execute function element once otherwise function element is not active A function element already started is processed CHANNEL BYTE CAN interface 1 n depending on...

Page 92: ...or heartbeat error 128 0x80 BUSOFF NODESTATE BYTE Node state internal node state of a slave seen from the master s perspective The input NODEID identifies the node 1 0xFF reset after ResetNode 1 0x01...

Page 93: ...element already started is processed CHANNEL BYTE CAN interface 1 n depending on the device NODE BYTE Node ID ID of the node 0 127 Device as CANopen master Value 0 The changes only refer to the device...

Page 94: ...ated in NODE during initialisation TRUE do not send configuration data FALSE send configured SDOs Parameters of the outputs 7862 Parameter Data type Description RESULT BYTE feedback of the function bl...

Page 95: ...anual BasicController relay CR0431 v03 03 00 05 2018 ifm function elements ifm function elements for the device CR0431 Function elements CANopen network management CANOPEN_GETNMTSTATESLAVE 96 CANOPEN_...

Page 96: ...nsition has been requested Parameters of the inputs 7854 Parameter Data type Description EXECUTE BOOL FALSE FALSE TRUE edge execute function element once otherwise function element is not active A fun...

Page 97: ...can automatically change its CANopen state by means of the FB preoperational operational Parameters of the inputs 7847 Parameter Data type Description EXECUTE BOOL FALSE FALSE TRUE edge execute funct...

Page 98: ...able Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 function block execution completed without error 8 08 function block is active 35 23 at least 1 SDO of the configura...

Page 99: ...oller relay CR0431 v03 03 00 05 2018 ifm function elements ifm function elements for the device CR0431 Function elements CANopen object directory CANOPEN_GETODCHANGEDFLAG 100 CANOPEN_READOBJECTDICT 10...

Page 100: ...EXECUTE BOOL FALSE FALSE TRUE edge execute function element once otherwise function element is not active A function element already started is processed CHANNEL BYTE CAN interface 1 n depending on t...

Page 101: ...CUTE BOOL FALSE FALSE TRUE edge execute function element once otherwise function element is not active A function element already started is processed CHANNEL BYTE CAN interface 1 n depending on the d...

Page 102: ...bject directory of the controller NOTICE This could lead to falsification of important system settings e g guarding times heartbeat times Carefully verify input parameters Parameters of the inputs 794...

Page 103: ...puts 7945 Parameter Data type Description RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 fu...

Page 104: ...ion elements for the device CR0431 Function elements CANopen SDOs CANOPEN_SDOREAD 105 CANOPEN_SDOREADBLOCK 107 CANOPEN_SDOREADMULTI 109 CANOPEN_SDOWRITE 111 CANOPEN_SDOWRITEBLOCK 113 CANOPEN_SDOWRITEM...

Page 105: ...limitation of the data volume to max 4 bytes of user data as this FB only needs to reserve 4 bytes as buffer storage and does not create a large data array itself Parameters of the inputs 7794 Parame...

Page 106: ...eived data value up to 4 bytes RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 FB execution...

Page 107: ...mented transfer via the input The COB ID for the SDO is calculated from the transmitted node ID The length of multiframe SDOs is generally not limited For systems without a file system e g BasicContro...

Page 108: ...le system BasicSystem MAX_LEN DWORD Maximum permitted number of bytes which may be received SegmentedTransfer optional use of the parameter BOOL FALSE TRUE Segmented SDO transfer FALSE SDO block trans...

Page 109: ...pen convention Parameters of the inputs 7809 Parameter Data type Description EXECUTE BOOL FALSE FALSE TRUE edge execute function element once otherwise function element is not active A function elemen...

Page 110: ...TA OF BYTE buffer memory for user data of the SDO data transmission RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0...

Page 111: ...this FB only needs to reserve 4 bytes as buffer storage and does not create a large data array itself Parameters of the inputs 7828 Parameter Data type Description EXECUTE BOOL FALSE FALSE TRUE edge...

Page 112: ...type Description RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 FB execution completed wit...

Page 113: ...SDO block transfer You can change to segmented transfer via the FB input if required The COB ID for the SDO is calculated from the transmitted node ID The output RESULT provides information on the st...

Page 114: ...th file system Linux FILE STRING 80 Path and file name for reading of the data to be transmitted in binary format Input without function for device without file system BasicSystem SegmentedTransfer op...

Page 115: ...escription EXECUTE BOOL FALSE FALSE TRUE edge execute function element once otherwise function element is not active A function element already started is processed CHANNEL BYTE CAN interface 1 n depe...

Page 116: ...type Description RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 FB execution completed wit...

Page 117: ...amming Manual BasicController relay CR0431 v03 03 00 05 2018 ifm function elements ifm function elements for the device CR0431 Function elements CANopen SYNC CANOPEN_GETSYNCSTATE 118 CANOPEN_SETSYNCST...

Page 118: ...rror state of the SYNC functionality SyncError If the PLC CAN runs as CANopen slave it is signalled via this FB whether SYNC signals are absent or appear regularly Synchronous PDOS etc are handled in...

Page 119: ...ettings in the configuration and synchronous PDOs are transmitted and received In the slave mode SYNC telegrams are received and accordingly processed FALSE SYNC is not active SYNCERROR BYTE sync erro...

Page 120: ...ready started is processed CHANNEL BYTE CAN interface 1 n depending on the device SYNC BOOL status of the SYNC functionality TRUE SYNC is activated In the master mode SYNC telegrams are generated acco...

Page 121: ...Manual BasicController relay CR0431 v03 03 00 05 2018 ifm function elements ifm function elements for the device CR0431 Function elements CANopen guarding CANOPEN_GETGUARDHBERRLIST 122 CANOPEN_GETGUAR...

Page 122: ...face 1 n depending on the device ResetList optional use of the parameter BOOL FALSE Reset error list TRUE Provide the error list as well as number of faulty nodes at the output and then reset FALSE fu...

Page 123: ...the controller in slave operation monitoring of node guarding monitoring of heartbeat The controller can either be the heartbeat producer or the heartbeat consumer Parameters of the inputs 7905 Parame...

Page 124: ...at producer 0 0x00 inactive 1 0x01 active CONS_HBSTATE BYTE controller as heartbeat consumer 0 0x00 no fault 1 0x01 timeout configuration 127 0x7F no heartbeat message received yet CONS_HBCOBID WORD C...

Page 125: ...ontroller relay CR0431 v03 03 00 05 2018 ifm function elements ifm function elements for the device CR0431 Function elements CANopen emergency CANOPEN_GETEMCYMESSAGES 126 CANOPEN_GETERRORREGISTER 128...

Page 126: ...deletion of messages The list can be reset by setting the according input A maximum of MAXEMCYMSGS messages is stored Each message contains information from which the node it was sent The most recent...

Page 127: ...y messages The most recent entry is in index 0 Structure of T_EMCY NODEID ID of the node from which the message came EEC Emergency Error Code ER Error register MSEF Manufacturer Specific Error Code MA...

Page 128: ...he controller Parameters of the inputs 7918 Parameter Data type Description EXECUTE BOOL FALSE FALSE TRUE edge execute function element once otherwise function element is not active A function element...

Page 129: ...D ARRAY 0 MAXERR OF DWORD Content of the error register 0x1003 Index 0 number of the stored errors Index 1 MAXERR stored errors The most recent error is in index 1 Preset MAXERR 5 RESULT BYTE feedback...

Page 130: ...ive A function element already started is processed CHANNEL BYTE CAN interface 1 n depending on the device ERRORACTIVE BOOL FALSE TRUE edge sends the next error code TRUE FALSE edge If the error is no...

Page 131: ...uts 7912 Parameter Data type Description RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 fun...

Page 132: ...status 132 Function elements SAE J1939 request 140 Function elements receive SAE J1939 143 Function elements transmit SAE J1939 148 Function elements SAE J1939 diagnosis 156 2273 For SAE J1939 ifm el...

Page 133: ...f however several engine controllers are working on the same bus set ACE TRUE In this case the engine controllers must support the address claiming Otherwise you will risk an overlapping of addresses...

Page 134: ...s of the outputs 8542 Parameter Data type Description RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inac...

Page 135: ...e library ifm_J1939_NT_Vxxyyzz LIB Symbol in CODESYS Description 7665 Via J1939_GETDABYNAME the target address of one or several participants can be determined by means of the name information If a sp...

Page 136: ...FFFF filter for all FunctionInstance optional use of the parameter BYTE 0xFF instance of the function permissible values 0 31 0x00 0x1F 255 0xFF filter for all ECUInstance optional use of the paramete...

Page 137: ...t the optional inputs the preset value is not overwritten The following list shows the composition of the 64 bit NAME information according to SAE J1939 81 Parameter Data type Description arbitrary ad...

Page 138: ...0 255 0x0000 0x00FF 65 535 0xFFFF filter for all FunctionInstance optional use of the parameter BYTE 0xFF instance of the function permissible values 0 31 0x00 0x1F 255 0xFF filter for all ECUInstanc...

Page 139: ...ive Function block outputs are not specified CHANNEL BYTE CAN interface 1 n depending on the device Parameters of the outputs 7674 Parameter Data type Description SA BYTE claimed source address CYCLIC...

Page 140: ...amming Manual BasicController relay CR0431 v03 03 00 05 2018 ifm function elements ifm function elements for the device CR0431 Function elements SAE J1939 request J1939_SPEC_REQ 141 J1939_SPEC_REQ_MUL...

Page 141: ...execute function element once otherwise function element is not active A function element already started is processed CHANNEL BYTE CAN interface 1 n depending on the device PGN DWORD PGN Parameter G...

Page 142: ...unction element is not active A function element already started is processed CHANNEL BYTE CAN interface 1 n depending on the device PGN DWORD PGN Parameter Group Number permissible 0 262 143 0x000000...

Page 143: ...ing Manual BasicController relay CR0431 v03 03 00 05 2018 ifm function elements ifm function elements for the device CR0431 Function elements receive SAE J1939 J1939_RX 144 J1939_RX_FIFO 145 J1939_RX_...

Page 144: ...ts are not active Function block outputs are not specified CHANNEL BYTE CAN interface 1 n depending on the device PGN DWORD PGN Parameter Group Number permissible 0 262 143 0x00000000 0x0003FFFF The P...

Page 145: ...scription 7733 J1939_RX_FIFO enables receipt of all specified messages and their successive reading from a FIFO Parameters of the inputs 7734 Parameter Data type Description ENABLE BOOL TRUE execute t...

Page 146: ...s received 0 8 DATA ARRAY 0 7 OF BYTE received data 1 8 bytes MORE_DATA_AVAILABLE BOOL TRUE further received data available in the FiFo FALSE no further data available in the FiFo RESULT BYTE feedback...

Page 147: ...already started is processed CHANNEL BYTE CAN interface 1 n depending on the device PGN DWORD PGN Parameter Group Number permissible 0 262 143 0x00000000 0x0003FFFF The PGN 0 is not used Parameters o...

Page 148: ...icController relay CR0431 v03 03 00 05 2018 ifm function elements ifm function elements for the device CR0431 Function elements transmit SAE J1939 J1939_TX 149 J1939_TX_ENH 150 J1939_TX_ENH_CYCLIC 152...

Page 149: ...ction block inputs are not active Function block outputs are not specified CHANNEL BYTE CAN interface 1 n depending on the device DA BYTE 249 DA Destination Address of the ECU PGN 61139 parameter DA i...

Page 150: ...154 Parameters of the inputs 7702 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs...

Page 151: ...rameters of the outputs 7969 Parameter Data type Description RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB...

Page 152: ...load can affect the performance of the complete system Parameters of the inputs 7719 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function...

Page 153: ...lements for the device CR0431 Parameters of the outputs 7720 Parameter Data type Description RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Va...

Page 154: ...TE BOOL FALSE FALSE TRUE edge execute function element once otherwise function element is not active A function element already started is processed CHANNEL BYTE CAN interface 1 n depending on the dev...

Page 155: ...outputs 7714 Parameter Data type Description RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01...

Page 156: ...BasicController relay CR0431 v03 03 00 05 2018 ifm function elements ifm function elements for the device CR0431 Function elements SAE J1939 diagnosis J1939_DM1RX 157 J1939_DM1TX 159 J1939_DM1TX_CFG...

Page 157: ...ives diagnostic messages DM1 or DM2 from other ECUs Parameters of the inputs 14979 Parameter Data type Description ENABLE BOOL FALSE TRUE execute this function element FALSE unit is not executed Funct...

Page 158: ...OC BYTE occurrence count RESULT BYTE feedback of the function block possible messages following table MIL_FC BYTE Status of the electronic component Malfunction indicatation light status and flash co...

Page 159: ...k This message is stored in the hardware configuration The message is marked active and transmitted once per second as DM1 If the error has already occurred the event counter is incremented The event...

Page 160: ...Amber warning lamp for older projects only TRUE ON FALSE OFF PROTECTLAMP BOOL protect lamp for older projects only TRUE ON FALSE OFF SPN WORD Suspect Parameter Number J1939 specification FMI BYTE Fai...

Page 161: ...or the device CR0431 Parameters of the outputs 7750 Parameter Data type Description RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec h...

Page 162: ...of DM1 messages via the FB J1939_DM1TX p 159 is possible MODE 1 The CAN stack does not send DM1 zero active faults messages DM2 requests are answered automatically A manual transmission of DM1 message...

Page 163: ...iguration Parameters of the inputs 15006 Parameter Data type Description EXECUTE BOOL FALSE FALSE TRUE edge execute function element once otherwise function element is not active A function element al...

Page 164: ...ts ifm function elements for the device CR0431 5 2 5 Function elements processing input values FASTCOUNT 165 INC_ENCODER 167 INPUT 169 PERIOD 171 STATUS_F_V_EXT 174 1302 In this chapter we show you if...

Page 165: ...r The switch on and switch off times of the outputs become more important Undue heating of the components may occur The influences mentioned above depend on the components used in the individual case...

Page 166: ...E DWORD ouput value RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 FB execution completed w...

Page 167: ...unter to become active again The current counter value is available at the output VALUE The outputs UP and DOWN indicate the last counting direction of the counter The outputs are TRUE if the counter...

Page 168: ...or every second edge 04 counts for every rising and falling edge All other values count as 01 Parameters of the outputs 8138 Parameter Data type Description VALUE DINT if RESOLUTION 1 VALUE 536 870 91...

Page 169: ...FB provides the current state at the selected channel The measurement and the output value result from the operating mode indicated via MODE binary input plus switching BL for positive sensor signal w...

Page 170: ...t plus switching BL with diagnosis Namur 12 0x0C binary input minus switching BH 18 0x12 resistance input 16 30 000 FILTER BYTE filter for the measurement on the input valid 0 8 recommended 4 chapter...

Page 171: ...uration and ratio measurement Measure the time interval between two positive edges Specify the average value over a certain number of periods 25 19 LZS version 03 02 zz or higher Phase shift 0 359 bet...

Page 172: ...fast input channel 0 3 for the inputs IN0 IN3 MODE 25 Number of the fast input A channel 0 2 for the inputs IN0 IN2 B channel A channel 1 MODE BYTE Operating mode of the function block 0 0x00 no measu...

Page 173: ...e 0 not detected MODE 19 20 Time elapsed since the last positive edge MODE 25 Time elapsed since the last valid measurement VALUE_RATIO WORD MODE 14 Value 0 not detected MODE 19 20 Mark to space ratio...

Page 174: ...LIB Symbol in CODESYS Description 19739 The program STATUS_F_V_EXT determines the status of the fuse for the potential V_EXT The calculation basis is the measured VBBs value SUPPLY_VOLTAGE_VBBS voltag...

Page 175: ...2018 ifm function elements ifm function elements for the device CR0431 5 2 6 Function elements output functions OUTPUT 176 PWM1000 178 RELAY 180 15075 10462 For this device you can set the mode of som...

Page 176: ...7 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs are not specified CHANNEL BYTE N...

Page 177: ...RESULT Value dec hex Description 0 00 FB is inactive 1 01 FB execution completed without error data is valid 2 02 function block is active action not yet completed 3 03 function block is active valid...

Page 178: ...Parameters of the inputs 19709 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed initiated processes continue in the background FB outputs are...

Page 179: ...RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 FB execution completed without error data i...

Page 180: ...f REF_VOLTAGE 32 000 value is not adopted error message RESULT 140 For the status messages the measured voltage the status message STAT xx exceeds 70 of the reference voltage changes to TRUE falls bel...

Page 181: ...UPPLY_VOLTAGE_VBBS VOLTAGE optional use of the parameter WORD 0 Required relay coil voltage in mV permissible 0 32 000 0 not used SUPPLY_VOLTAGE_VBBS_SW 400 mV Parameters of the outputs 19725 Paramete...

Page 182: ...ASH_INFO 183 FLASH_READ 184 GET_APP_INFO 185 GET_HW_INFO 186 GET_IDENTITY 187 GET_SW_INFO 188 GET_SW_VERSION 189 MEM_ERROR 190 MEMCPY 191 OHC 193 SET_IDENTITY 195 SET_LED 196 SET_PASSWORD 198 TIMER_RE...

Page 183: ...ers of the inputs 11589 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs are not sp...

Page 184: ...it to the POU Parameters of the inputs 8148 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function blo...

Page 185: ...ber CoDeSys build date Parameters of the inputs 11594 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Fun...

Page 186: ...tion ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs are not specified Parameters of the outputs 11601 Parameter D...

Page 187: ...s of the inputs 8167 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs are not speci...

Page 188: ...ption ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs are not specified Parameters of the outputs 11598 Parameter...

Page 189: ...6 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs are not specified Parameters of...

Page 190: ...ecified RESET_RETAIN BOOL TRUE Delete non volatile retain memory FALSE No changes to memory contents RESET_OHC BOOL TRUE Delete non volatile OHC memory FALSE No changes to memory contents Parameters o...

Page 191: ...tes as indicated under LEN are transmitted So it is also possible to transmit exactly one byte of a word variable Parameters of the inputs 8162 Parameter Data type Description ENABLE BOOL TRUE execute...

Page 192: ...on RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 FB execution completed without error data...

Page 193: ...0 293 years 25 days 15 hours Parameters of the inputs 19713 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed initiated processes continue in th...

Page 194: ...94 967 295 0x0000 0000 0xFFFF FFFF MINUTES BYTE Counter value minutes 0 59 0x00 0x3B RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec...

Page 195: ...via the software Maintenance Tool in the application program via the FB GET_IDENTITY p 187 Parameters of the inputs 8175 Parameter Data type Description ENABLE BOOL TRUE execute this function element...

Page 196: ...pe Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs are not specified COLOR_1 BYTE LED color for switch...

Page 197: ...227 Parameter Data type Description RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 function...

Page 198: ...signed to the PASSWORD input the password is reset Than an upload of the application software or of the data memory is possible at any time The password is reset when loading a new application program...

Page 199: ...which is counted upwards in a register This register can be read by means of the FB call and can for example be used for time measurement Info The system timer runs up to the counter value 4 294 967 2...

Page 200: ...alue outside range For diagnosis configuration and log data can be used created during the normal operation of the device The correct start of the system components is monitored during the initialisat...

Page 201: ...detects the device temperature by retrieving the INT variable If permissible values for the application are exceeded or not reached The application program deactivates the outputs Rectify the cause of...

Page 202: ...e indications in the data sheets you find summary tables in the appendix 7 1 System flags System flags voltages 203 System flags inputs and outputs 203 System flags system 203 12167 The addresses of t...

Page 203: ...name Type Description INnn BOOL Status on binary input nn Requirement input is configured as binary input MODE IN_DIGITAL_H or IN_DIGITAL_L TRUE Voltage on binary input 70 of VBBS FALSE Voltage on bin...

Page 204: ...g modes inputs outputs 206 1656 also data sheet 7 2 1 Address assignment inputs outputs Inputs address assignment 204 Outputs address assignment 205 2371 Inputs address assignment 16654 Abbreviations...

Page 205: ...odes Outputs address assignment 19798 Abbreviations chapter Note on wiring p 20 Operating modes of the inputs outputs chapter Possible operating modes inputs outputs p 206 IEC address Symbolic address...

Page 206: ...0 30 000 Hz PERIOD MODE 14 0E period duration measurement 0 1 3 000 Hz PERIOD MODE 19 13 period and ratio measurement 0 1 3 000 Hz PERIOD MODE 20 14 upwards counter downwards counter 0 30 000 Hz FAST...

Page 207: ...MODE 0 00 Binary output plus switching OUTPUT MODE 2 02 analogue output with pulse width modulation PWM1000 LED00 LED06 Off OUTPUT MODE 0 00 Binary output plus switching OUTPUT MODE 2 02 Set operatin...

Page 208: ...pter CAN CANopen errors and error handling EMCY codes CANx 13094 The indications for CANx also apply to each of the CAN interfaces EMCY code object 0x1003 Object 0x1001 Manufactor specific information...

Page 209: ...circuit 00 31 05 Power supply VBBS 00 33 05 Terminal voltage VU 08 33 05 Output voltage VBB1 VBB2 00 42 09 Excess temperature In the CANopen stack none of these EMCY codes are fix implemented Advice M...

Page 210: ...econd over a transmission length But it is not defined how many bits per step are transmitted The name baud can be traced back to the French inventor J M Baudot whose code was used for telex machines...

Page 211: ...e profile for binary and analogue I O modules CiA DS 402 DS Draft Standard CANopen device profile for drives CiA DS 403 DS Draft Standard CANopen device profile for HMI CiA DS 404 DS Draft Standard CA...

Page 212: ...EC 61131 3 development tool CODESYS Homepage www codesys com CSV file CSV Comma Separated Values also Character Separated Values A CSV file is a text file for storing or exchanging simply structured d...

Page 213: ...the device is checked It is to be found out if and what faults are given in the device Depending on the device the inputs and outputs can also be monitored for their correct function wire break short...

Page 214: ...edded software System software basic program in the device virtually the runtime system The firmware establishes the connection between the hardware of the device and the application program The firmw...

Page 215: ...y and hard disks Similar to a hard disk the data are however written and deleted blockwise in data blocks up to 64 128 256 1024 bytes at the same time Advantages of flash memories The stored data are...

Page 216: ...stem manual programming manual etc Intended use Use of a product in accordance with the information provided in the instructions for use IP address IP Internet Protocol The IP address is a number whic...

Page 217: ...external document LSB Least Significant Bit Byte M MAC ID MAC Manufacturer s Address Code manufacturer s serial number ID Identifier Every network card has a MAC address a clearly defined worldwide u...

Page 218: ...ding Node here network participant Configurable cyclic monitoring of each slave configured accordingly The master verfies if the slaves reply in time The slaves verify if the master regularly sends re...

Page 219: ...onous or synchronised Depending on the type of data to be transferred the correct selection of the type of transmission can lead to considerable relief for the CAN bus According to the protocol these...

Page 220: ...and outputs the PLC operates with within one cycle At the beginning of the cycle the PLC reads the conditions of all inputs into the process image During the cycle the PLC cannot detect changes to the...

Page 221: ...apter Software modules for the device p 23 rw RW read write Bidirectional data transmission Data can be read and also changed S SAE J1939 The network protocol SAE J1939 describes the communication on...

Page 222: ...ue address in the bus stopped Operating status of a CANopen participant In this mode only NMT commands are transferred Symbols Pictograms are figurative symbols which convey information by a simplifie...

Page 223: ...ey are implemented as broadcast messages in CAN as PDOs According to the protocol these services are unconfirmed data transmission it is not checked whether the receiver receives the message Exchange...

Page 224: ...ECTDICT 101 CANOPEN_SDOREAD 105 CANOPEN_SDOREADBLOCK 107 CANOPEN_SDOREADMULTI 109 CANOPEN_SDOWRITE 111 CANOPEN_SDOWRITEBLOCK 113 CANOPEN_SDOWRITEMULTI 115 CANOPEN_SENDEMCYMESSAGE 130 CANOPEN_SETSTATE...

Page 225: ...tbeat 215 History of the instructions CR043n 7 HMI 215 How is this documentation structured 7 I ID 216 IEC 61131 216 IEC user cycle 216 ifm function elements 53 ifm function elements for the device CR...

Page 226: ...163 166 168 170 173 177 179 181 183 184 185 186 187 188 189 190 192 194 195 197 198 199 PC card 219 PCMCIA card 219 PDM 219 PDO 219 PDU 219 Performance limits of the device 31 PERIOD 171 PES 219 PGN 2...

Page 227: ...222 System variables 41 T Target 222 TCP 222 Template 222 TIMER_READ_US 199 U UDP 223 Update the runtime system 36 Use as binary inputs 47 Use intended 223 Using ifm maintenance tool 29 V Variables 5...

Page 228: ...228 10 Notizen Notes Notes...

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