IFM CR0452 Programming Manual Download Page 89

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ifm

Programming Manual BasicDisplay CR0452 v03.02

05 / 2018

ifm function elements

ifm function elements for the device CR0452

Function elements: CANopen network management

CANOPEN_GETNMTSTATESLAVE .....................................................................................................90
CANOPEN_NMTSERVICES ..................................................................................................................91

15063

Summary of Contents for CR0452

Page 1: ...Programming Manual BasicDisplay CR0452 Runtime system v03 CODESYS v2 3 English 7391002 04 05 2018 ...

Page 2: ...ce 16 3 4 2 Programming notes for CODESYS projects 19 3 4 3 Operating states 22 3 4 4 Performance limits of the device 25 4 Configurations 32 4 1 Set up the runtime system 32 4 1 1 Reinstall the runtime system 33 4 1 2 Update the runtime system 34 4 1 3 Verify the installation 34 4 2 Set up the programming system 35 4 2 1 Set up the programming system manually 35 4 2 2 Set up the programming syste...

Page 3: ...1939 126 5 2 5 Function elements system 158 5 2 6 Function elements graphics 176 6 Diagnosis and error handling 186 6 1 Diagnosis 186 6 2 Fault 186 6 3 Response to system errors 187 6 3 1 Example process for response to an error message 187 6 4 CAN CANopen errors and error handling 187 7 Appendix 188 7 1 System flags 188 7 2 Error tables 190 7 2 1 Error flags 190 7 2 2 Errors CAN CANopen 190 8 Ter...

Page 4: ...a org CODESYS is the property of the 3S Smart Software Solutions GmbH Germany www codesys com DeviceNet is the property of the ODVA Open DeviceNet Vendor Association USA www odva org EtherNet IP is the property of the ODVA EtherCAT is a registered trade mark and patented technology licensed by Beckhoff Automation GmbH Germany IO Link www io link com is the property of the PROFIBUS Nutzerorganisati...

Page 5: ...ctions 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 a CODESYS project with this device Target settings with CODESYS Programming of the device internal PLC with CODESYS Description of the device specific CODESYS function libraries System manual Know How eco...

Page 6: ...s WARNING Death or serious irreversible injuries may result CAUTION Slight reversible injuries may result NOTICE Property damage is to be expected or may result Important note Non compliance can result in malfunction or interference Information Supplementary note Request for action Reaction result see abc Cross reference 123 0x123 0b010 Decimal number Hexadecimal number Binary number Designation o...

Page 7: ... language of this documentation Thank you very much for your support We reserve the right to make alterations which can result in a change of contents of the documentation You can find the current version on ifm s website www ifm com 1 5 History of the instructions CR0452 15324 What has been changed in this manual An overview Date Theme Change 2014 03 24 Visualisation limits Information concerning...

Page 8: ...al before working on and with this device The acting person must be authorised to work on the machine equipment The acting person must have the qualifications and training required to perform this work Adhere to the technical data of the devices You can find the current data sheet on the ifm website Note the installation and wiring information as well as the functions and features of the devices s...

Page 9: ... was too long Error elimination after an E stop To ensure safe controller behaviour monitor the voltage supply in the application program In case of an error switch off all relevant outputs in the application program Additionally monitor actuators which can cause hazardous movements in the application program feedback Monitor relay contacts which can cause hazardous movements in the application pr...

Page 10: ...040n CR041n CR043n 3 1 1 Accessories 15406 A wide range of accessories is available for the BasicDisplay Examples EC0404 Frame for front panel mounting of CR0452 EC0406 RAMmount set for using CR0452 as a desktop unit EC0452 Cable for power supply and CAN between the display and the BasicController when the cover EC0402 is used EC0454 5 m cable for power supply and CAN between the display and the B...

Page 11: ...2 Hardware description Hardware setup 11 Status LED 14 14081 3 2 1 Hardware setup Available memory 12 Colour display of the CR0452 13 Operating elements of CR0452 13 Key LEDs dimmable 13 Connection on the rear panel of the housing 13 15269 Protection IP 65 on the front panel when mounted Protection IP 67 ...

Page 12: ...urposes SRAM 14027 SRAM volatile fast memory overall existing in the device SRAM indicates here all kinds of volatile and fast memories 592 kByte Thereof the following memory areas are reserved for data reserved by the application program 128 kByte The remaining rest of the memory is reserved for system internal purposes FRAM 2262 FRAM non volatile fast memory overall existing in the device FRAM i...

Page 13: ...itted with the following operating elements 4 function keys F1 F4 backlit with LEDs 1 rocker switch as a combination of 4 independent keys backlit with LEDs 1 OK key backlit with LED 1 ESC key backlit with LED All keys work independently of each other The device detects several simultaneously pressed keys and evaluates them Key LEDs dimmable 8369 All operating elements are backlit with LEDs Night ...

Page 14: ...ication 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 frame 200 ms Red Permanently on Application STOP and FATAL ERROR Cause software watchdog has failed PowerOn reset If without success Goto Bootloader PowerOn reset Reload the BasicSystem into the device Rel...

Page 15: ...Function elements CANopen p 80 CANopen network variables via CODESYS chapter Network variables p 43 SAE J1939 for drive management chapter Function elements SAE J1939 p 126 Bus load detection Error frame counter Download interface 100 bus load without package loss 15272 The following CAN interfaces and CAN protocols are available in this ecomatmobile device CAN interface CAN 1 CAN 2 CAN 3 CAN 4 De...

Page 16: ...time system 17 Application program 17 Libraries 18 14110 The software in this device communicates with the hardware as below software module Can user change the module By means of what tool Application program with libraries yes CODESYS MaintenanceTool Runtime system Upgrade yes Downgrade yes MaintenanceTool Bootloader no Hardware no The runtime system version number must correspond to the target ...

Page 17: ...minimum functions for loading the runtime system among others support of the interfaces e g CAN Normally it is necessary to download the runtime system only once Then the application program can be loaded into the controller also repeatedly without affecting the runtime system The runtime system is provided with this documentation on a separate data carrier In addition the current version can be d...

Page 18: ...zz 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_CANopen_NT_Vxxyyzz LIB optional when a CAN interface of the device is to be operated as CANopen master or CANopen slave ifm_J1939_NT_Vxxyyzz LIB optional when a CAN interface of the device is to communicate w...

Page 19: ...UN in FB FUN function A function can have several inputs but only one output The output is of the same data type as the function itself PRG program A PRG can have several inputs and several outputs A PRG may only be called once in a project Permitted Call PRG FB and FUN in PRG NOTE Function blocks must NOT be called in functions Otherwise During execution the application program will crash All fun...

Page 20: ...rogram the above mentioned recommendations must be complied with and tested If necessary the cycle time must be optimised by restructuring the software and the system set up Important note to program the device 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 not possible Bac...

Page 21: ...ded in the controller several times during the program development for testing In CODESYS Online Login load the new program For each such download via CODESYS 2 3 the source code is translated again The result is that each time a new checksum is formed in the controller memory This process is also permissible for safety controllers until the release of the software Graphics Creation and distributi...

Page 22: ... be read from the controller and saved on a data carrier using the name project_file RESX Only this process ensures that the application software and its checksums are stored Download of the software To equip all machines of a series production with an identical software only this file may be loaded in the controllers using the ifm Maintenance Tool An error in the data of this file is automaticall...

Page 23: ...g 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 conditions are met The operating voltage has reached a minimum value AND The application program exists From the STOP state via the CODESYS command RUN The operating voltage has reached or exceeded a minim...

Page 24: ...The LED flashed red with 5 Hz A transition 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 memory error RAM Flash exception error runtime system error In the FATAL ERROR state The outputs of the device are switched off The application program is termina...

Page 25: ...nges to the Timeout Error state all processes are stopped reset all outputs are switched off the screen goes black the status LED flashes red at 10 Hz Eliminate the fault Delete application program PowerOn Reset Reload the application program into the device If the watchdog in question fails a second watchdog leads the device to the state Fatal Error the status LED lights red Eliminate the fault P...

Page 26: ...ending on the image content for RLE compression Table specifications for the start image The graphics used in the project may be larger than the specified image size In this case however only a selectable section of the image will be visible 8464 Colours The device supports 28 256 colour nuances Create bitmap BMP with 256 colours Resample scale image 3117 If an image is loaded in the device which ...

Page 27: ...cal objects per visualisation page 20 Number of bitmaps per project 256 depending on the size and the available flash memory for the application Number of character sets per project Character sets are permanently stored and cannot be changed Number of POUs per project 512 POU Program Organization Unit function function block or program block Because of the limited memory avoid grouping of elements...

Page 28: ...lygon Bar graph Create scale as BMP file Represent value as a superposed CoDeSys rectangle Histogram Create scale as BMP file Represent value as a superposed CoDeSys rectangle Graphic file Up to 256 per project possible BMP BMP RLE compressed TIFF JPEG Graphics scaling mode o Supported for circle ellipse rectangle line polyline polygon ActiveX element Not supported Pointer diagram Not supported Ed...

Page 29: ...erwise the visualisation will not be correct any more Elements in the virtual drawing area are not calculated Texts 8436 The smallest font size which is clearly visible on the device is 11 point Permissible fonts Arial standard Lucida Console Permissible font size Pixel and font weight Arial 11 standard 16 24 32 all only normal Lucida Console 16 24 48 all only normal Lucida Console in the font siz...

Page 30: ...0 horizontal edge down vertical edge to the right Shift direction for value 0 horizontal edge up vertical edge to the left Limitations for CAN in this device 17975 FIFO First In First Out Operating principle of the stack memory The data packet that was written into the stack memory first will also be read first Each identifier has such a buffer queue Some Raw CAN function elements enable transmitt...

Page 31: ...ding 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 CR040n CR041n CR043n BasicDisplay CR045n ioControl CR205n SmartController CR253n PDM360 NG CR108n CR120n Criterion max FiFo transmit with FB J1939_TX with FB J1939_TX_ENH 4 messages 16 messages 4 messages 1...

Page 32: ...ponding installation instructions or in the Appendix p 188 to this documentation are used for standard devices stock items They fulfil the requested specifications of most applications Depending on the customer requirements for series use it is however also possible to use other device configurations e g with respect to the inputs outputs and analogue channels 4 1 Set up the runtime system Reinsta...

Page 33: ...ions suitable for the selected target must always be used runtime system ifm_CR0452_Vxxyyzz RESX PLC configuration ifm_CR0452_Vxx CFG device library ifm_CR0452_Vxxyyzz LIB and the further files V xx 00 99 yy 00 99 zz 00 99 version target version number release number patch number The basic file name e g CR0452 and the software version number xx e g 01 must always have the same value Otherwise the ...

Page 34: ...to the controller Check whether the runtime system was transmitted correctly Check whether the correct runtime system is loaded in the controller 1st test Test with the ifm maintenance tool if the correct runtime system version was loaded Read name and version of the runtime system in the device Manually compare this information with the target data 2nd test optional Check in the application progr...

Page 35: ...he programming system 4 2 Set up the programming system Set up the programming system manually 35 Set up the programming system via templates 39 14461 4 2 1 Set up the programming system manually Set up the target 36 Activate the PLC configuration 37 CAN declaration e g CR1080 38 3963 ...

Page 36: ...appropriate device library ifm_CR0452_Vxxyyzz LIB manually 8485 NOTE The software versions suitable for the selected target must always be used runtime system ifm_CR0452_Vxxyyzz RESX PLC configuration ifm_CR0452_Vxx CFG device library ifm_CR0452_Vxxyyzz LIB and the further files V xx 00 99 yy 00 99 zz 00 99 version target version number release number patch number The basic file name e g CR0452 an...

Page 37: ...LC configuration e g CR1080 Click on the tab Resources in CoDeSys Double click on PLC Configuration in the left column Display of the current PLC configuration following figure Based on the configuration the following is available in the program environment for the user System and error flags Depending on the application and the application program these flags must be processed and evaluated Acces...

Page 38: ... Info If the device is operated as a slave the selection CanSlave_Device would also be possible For the simpler configuration as a master all CAN Layer 2 and network variable functions can also be used The CAN parameters of the PLC configuration are displayed Some CAN parameters are already set as default If the device is operated on CAN Layer 2 or as a slave via network variables or CAN_RX CAN_TX...

Page 39: ...m via templates 13745 ifm offers ready to use templates program templates by 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 the program directory of your PC ifm electronic CoDeSys V Projects Template_DVD_V Open the requested template in CODESYS vi...

Page 40: ...y CR0452 v03 02 05 2018 Configurations Function configuration in general 4 3 Function configuration in general 3971 4 3 1 System variables 15576 All system variables chapter System flags p 188 have defined addresses which cannot be shifted ...

Page 41: ...al 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 Globale_Variables Valid in all function elements of this CODESYS project volatile global retain nonvolatile Network In Resources Global Variables declaration list Values are available to all CODESYS projects in ...

Page 42: ...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 data permanently at the end of each cycle they are automatically be saved in the FRAM memory FRAM indicates here all kinds of non volatile and fast memories NOTE In this device do NOT use the following fun...

Page 43: ...iables are used for data exchange between controllers in the network The values of global network variables are available to all CODESYS projects in the whole network if the variables are contained in their declaration lists Integrate the following library libraries into the CODESYS project 3S_CANopenNetVar lib ifm_NetVarLib_NT_Vxxyyzz lib ...

Page 44: ...rary ifm_CR0452_Init_Vxxyyzz LIB 46 Library ifm_PDMsmart_util_Vxxyyzz LIB 46 Library ifm_RAWCan_NT_Vxxyyzz LIB 46 Library ifm_CANopen_NT_Vxxyyzz LIB 47 Library ifm_J1939_NT_Vxxyyzz LIB 48 14235 5 1 1 Required libraries 15300 If you do not want to base the initial programming of this device on an ifm template you should be sure to integrate at least the following libraries into your project ifm_CR0...

Page 45: ...r hardware revision production date GET_IDENTITY p 163 Reads the identification of the application stored in the device has previously been saved by means of SET_IDENTITY p 171 GET_SW_INFO p 164 Delivers information about the system software of the device software name software version build number build date GET_SW_VERSION p 165 Delivers information about the software versions stored in the devic...

Page 46: ...rface in case of bus off CAN_REMOTE_REQUEST p 76 Send a corresponding request and return the response of the other device as a result CAN_REMOTE_RESPONSE p 78 Provides data to the CAN controller in the device which is automatically sent as a response to the request of a remote message CAN_RX p 59 Configures a data receive object and reads out the receive buffer of the data object CAN_RX_ENH p 60 C...

Page 47: ...ster has detected an error guarding error heartbeat error The list can be reset by setting the according input CANOPEN_GETGUARDHBSTATSLV p 117 CANopen slave get guard and heartbeat state Signals the following states to the controller in slave operation node guarding monitoring heartbeat monitoring The signalled errors can be reset by setting the respective input CANOPEN_GETNMTSTATESLAVE p 90 CANop...

Page 48: ...153 J1939 Diagnostic Message 1 TX Transmit an active error message to the CAN stack J1939_DM1TX_CFG p 156 J1939 Diagnostic Message 1 TX configurable CAN stack does not send cyclic DM1 zero active faults messages J1939_DM3TX p 157 J1939 Diagnostic Message 3 TX Deletes inactive DTCs DM2 on a device J1939_ENABLE p 127 Initialises the J1939 stack J1939_GETDABYNAME p 129 Get destination arbitrary name ...

Page 49: ... BasicDisplay CR0452 v03 02 05 2018 ifm function elements ifm libraries for the device CR0452 Function element Short description J1939_TX_ENH_MULTI p 148 J1939 TX enhanced Multiframe Message Sends individual multiframe messages ...

Page 50: ...nction elements for the device CR0452 Function element outputs 51 Function elements RAW CAN Layer 2 52 Function elements CANopen 80 Function elements SAE J1939 126 Function elements system 158 Function elements graphics 176 13988 3826 Here you will find the description of the ifm function elements suitable for this device sorted by topic ...

Page 51: ...k 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 messages 12810 255 Global error messages examples 238 EE Error CANopen configuration is too large and cannot be started 239 EF Error CANopen manager could not be started 240 F0 Error several modal inputs are acti...

Page 52: ...ion elements RAW CAN status 52 Function elements receive RAW CAN data 58 Function elements transmit RAW CAN data 68 Function elements RAW CAN remote 75 15051 Here we describe the RAW CAN function blocks CAN Layer 2 of ifm electronic to be used in the application program Function elements RAW CAN status CAN_ENABLE 53 CAN_RECOVER 54 CAN_SETDOWNLOADID 55 CAN_STATUS 56 15049 ...

Page 53: ...nd 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 the inputs 7495 Parameter Data type Description ENABLE BOOL FALSE TRUE enable CAN interface FALSE disable CAN interface CHANNEL BYTE CAN interface 1 n depending on the device BAUDRATE WORD 250 Baudrate kbi...

Page 54: ...the other protocols If CAN_RECOVER is not used ENABLE FALSE in case of a bus off a recovery attempt is automatically made after 1 s after 4 failed recovery attempts in a row the affected CAN interface is deactivated Parameters of the inputs 7514 Parameter Data type Description ENABLE BOOL FALSE TRUE No automatic recovery after CAN bus off FALSE Automatic recovery after CAN bus off CHANNEL BYTE CAN...

Page 55: ...e 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 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 device DOWNLOAD_ID BYTE 1 127 set ...

Page 56: ...hosen 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 FALSE 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 the device CLEAR BO...

Page 57: ...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 stack library BUSLOAD BYTE Current bus load in 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 58: ... BasicDisplay CR0452 v03 02 05 2018 ifm function elements ifm function elements for the device CR0452 Function elements receive RAW CAN data CAN_RX 59 CAN_RX_ENH 60 CAN_RX_ENH_FIFO 62 CAN_RX_RANGE 64 CAN_RX_RANGE_FIFO 66 15050 ...

Page 59: ...NABLE 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 the device ID DWORD Number of the data object identifier normal frame 2 048 IDs 0 2 047 0x0000 0000 0x0000 07FF extended Frame 536 868 864 IDs 2 048 536 870 911 0x0000 0800 0x1FFF FFFF Parameters of the ou...

Page 60: ... the following bit pattern are evaluated 0bxxx1 0000 xxx0 x any i e for this example all in hex 100 102 104 106 108 10A 10C 10E 300 302 304 306 308 30A 30C 30E 500 502 504 506 508 50A 50C 50E 700 702 704 706 708 70A 70C 70E Parameters of the inputs 7609 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Fun...

Page 61: ...entifier 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 following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 function block execution completed without error 5 05 FB is being processed still receiving 9 09 CAN is not active ...

Page 62: ...leted and can be newly filled Description to the filter mask CAN_RX_ENH p 60 chapter Description Parameters of the inputs 7609 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 CAN interface 1 n depending on the device ID DWORD Number of the data object...

Page 63: ...ed 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 function 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 5 05 FB is being processed ...

Page 64: ...vailable 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 block outputs are not specified CHANNEL BYTE CAN interface 1 n depending on the device ID_START DWORD start number of the data object identifier range normal frame 211 0 2 047 0x0000 0000 0x0000 07FF extended ...

Page 65: ...nded 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 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 block execution completed without error 5 05 F...

Page 66: ...te 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 is not executed Function block inputs are not active Function block outputs are not specified CHANNEL BYTE CAN interface 1 n depending on the device ID_START DWORD start number of the data object identifie...

Page 67: ...COUNT 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 further data available in the FiFo 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 block e...

Page 68: ...rogramming Manual BasicDisplay CR0452 v03 02 05 2018 ifm function elements ifm function elements for the device CR0452 Function elements transmit RAW CAN data CAN_TX 69 CAN_TX_ENH 71 CAN_TX_ENH_CYCLIC 73 15055 ...

Page 69: ...X it is determined by means of the ID whether a standard or an extended frame is to be sent With the enhanced versions this is set via the input EXTENDED Therefore extended frames in the ID area 0 2047 cannot be sent via the easy functions Parameters of the inputs 7524 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs ar...

Page 70: ...rs 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 is inactive 1 01 function block execution completed without error 242 F2 Error setting is not possible 250 FA Error FiFo is full data was lost ...

Page 71: ...nce 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 function element Edge enter the new values FALSE unit is not executed reset internal remote values CHANNEL BYTE CAN interface 1 n depending on the device ID DWORD Number of the data object identifier normal frame...

Page 72: ...rs 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 is inactive 1 01 function block execution completed without error 242 F2 Error setting is not possible 250 FA Error FiFo is full data was lost ...

Page 73: ...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 are not active Function block outputs are not specified 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 07...

Page 74: ...meter 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 execution completed without error data is valid 8 08 function block is active 9 09 CAN is not active 242 F2 Error setting is not possible 250 FA Error FiFo is full data was lost ...

Page 75: ...fm Programming Manual BasicDisplay CR0452 v03 02 05 2018 ifm function elements ifm function elements for the device CR0452 Function elements RAW CAN remote CAN_REMOTE_REQUEST 76 CAN_REMOTE_RESPONSE 78 15057 ...

Page 76: ...se of the other device is sent back as result Parameters of the inputs 7628 Parameter Data type Description 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 the device ID DWORD Number of the data object identifier normal frame 211 IDs 0 2 047 0x0000 0...

Page 77: ...TE 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 following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 function block execution completed without error 5 05 FB is being processed still receiving 9 09 CAN is not active 242 F2 Error setting is not...

Page 78: ...43n 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 function element Edge enter the new values FALSE unit is not executed reset internal remote values CHANNEL BYTE CAN interface 1 n depending on the device ID DWORD Number of the data object identifier normal ...

Page 79: ...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 remote for ID not active 7 07 FB is being processed remote for ID active 8 08 function block is active 10 0A no further remote entrys available 242 F2 Error setting is not possible ...

Page 80: ...ment 89 Function elements CANopen object directory 93 Function elements CANopen SDOs 98 Function elements CANopen SYNC 111 Function elements CANopen guarding 115 Function elements CANopen emergency 119 15059 For CANopen ifm electronic provides a number of function elements which will be explained in the following Function elements CANopen status CANOPEN_ENABLE 81 CANOPEN_GETBUFFERFLAGS 83 CANOPEN_...

Page 81: ...top all other connected nodes also have to be re initialised Without CANOPEN_ENABLE the CANopen master is started automatically as far as this has been selected in the configuration The configured baud rate is only adopted if CAN_ENABLE p 53 has not been activated before Parameters of the inputs 7788 Parameter Data type Description ENABLE BOOL TRUE TRUE Enable CANopen for the selected channel Star...

Page 82: ... 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 manager configures devices and sends SDOs 15 0F FB is active CANopen manager is started 238 EE Error CANopen configuration is too large and cannot be started 239 EF Error CANopen manager could not be started 24...

Page 83: ...ction 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 function element is not active A function element already started is processed CHANNEL BYTE CAN interface 1 n depending on the device ResetRXFlags optional use of the parameter BOOL FALSE TRUE Provide fag status...

Page 84: ...ritical 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 of the TX overflow warning flag TRUE Level in the transmit buffer is critical FALSE Level in the transmit buffer is uncritical RESULT BYTE feedback of the function block possible messages following table ...

Page 85: ...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 device NODE BYTE Node ID ID of the node 0 127 Device as CANopen master Value 0 Only the status information of the device itself is returned at the outputs The outputs with information on the nodes are ...

Page 86: ...artbeat 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 waiting for BOOTUP 2 0x02 after receipt of the BOOTUP message 3 0x03 not yet configured STOPPED 4 0x04 after configuration with SDOs PRE OPERATIONAL 5 0x05 after starting the node OPERATIONAL 97 0x61 optio...

Page 87: ...ifm_CANopen_NT_Vxxyyzz LIB Symbol in CODESYS Description 7860 Via CANOPEN_SETSTATE parameters of the master a slave device or a node in the network can be set The treatment of the NMT state of master node or device is carried out in the CAN stack or via the commands of the FB CANOPEN_NMTSERVICES p 91 At the same time admissibility checks are carried out For reasons of consistency no inputs are pro...

Page 88: ...s value as the new node ID of the device GlobalStart optional use of the parameter BOOL TRUE Requirement FB must be called immediately after starting the IEC program This setting overwrites the setting of the configuration TRUE Start all participants simultaneously FALSE Start all participants one after the other CfgTimeout optional use of the parameter TIME T 0ms set configuration timeout for a n...

Page 89: ...mming Manual BasicDisplay CR0452 v03 02 05 2018 ifm function elements ifm function elements for the device CR0452 Function elements CANopen network management CANOPEN_GETNMTSTATESLAVE 90 CANOPEN_NMTSERVICES 91 15063 ...

Page 90: ...on 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 function element already started is processed CHANNEL BYTE CAN interface 1 n depending on the device Parameters of the outputs 7855 Parameter Data type Description NMTSTATE BYTE Network operating status of th...

Page 91: ...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 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 NODE BYTE CANopen ID of the node permissible...

Page 92: ...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 configuration was not successful 36 24 node was already initialised 37 25 when initialisation was requested the node was not in the PRE OPERATIONAL mode 43 2B master slave is not initialised 241 F1 Error CANopen st...

Page 93: ...asicDisplay CR0452 v03 02 05 2018 ifm function elements ifm function elements for the device CR0452 Function elements CANopen object directory CANOPEN_GETODCHANGEDFLAG 94 CANOPEN_READOBJECTDICT 95 CANOPEN_WRITEOBJECTDICT 96 15065 ...

Page 94: ...UTE 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 device IDX WORD index in object directory SUBIDX BYTE sub index referred to the index in the object directory Parameters of the outputs 7931 Parameter Data type Description DATA DWORD parameter value RE...

Page 95: ...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 device IDX WORD index in object directory SUBIDX BYTE sub index referred to the index in the object directory Parameters of the outputs 7937 Parameter Data type Description DATA DWORD parameter value RESULT...

Page 96: ... 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 7943 Parameter Data type Description 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 ...

Page 97: ...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 function block execution completed without error 8 08 function block not yet executed 40 28 object directory entry is invalid 242 F2 Error setting is not possible ...

Page 98: ...lements for the device CR0452 Function elements CANopen SDOs CANOPEN_SDOREAD 99 CANOPEN_SDOREADBLOCK 101 CANOPEN_SDOREADMULTI 103 CANOPEN_SDOWRITE 105 CANOPEN_SDOWRITEBLOCK 107 CANOPEN_SDOWRITEMULTI 109 2071 Here you will find ifm function elements for CANopen handling of Service Data Objects SDOs ...

Page 99: ...tation 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 Parameter Data type Description 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 interfac...

Page 100: ... 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 completed without error data is valid 5 05 FB is active no data received yet 32 20 SDO transmission aborted by client or server SDO abort code 0x80 33 21 TIMEOUT elapsed 242 F2 Error setting is not possibl...

Page 101: ...d transfer via the input The COB ID for the SDO is calculated from the transmitted node ID The length of multiframe SDOs is generally not limited For systems without a file system e g BasicController CR04nn the following applies transmit an address to the FB which is accessed by the pointer for writing The memory area determined by the start address DATA and the amount of data MAX_LEN must be avai...

Page 102: ...stem 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 transfer Timeout optional use of the parameter TIME T 10ms waiting time of the FB for the response when the time has elapsed the FB stops waiting value 0 use value from the configuration Parameters of the outpu...

Page 103: ...onvention 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 element already started is processed CHANNEL BYTE CAN interface 1 n depending on the device NODE BYTE Node ID ID of the node allowed 1 127 0x01 0x7F The COB ID of the SDO is calculated from the node ID 0x600 IDX...

Page 104: ... 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 00 FB is inactive 1 01 FB execution completed without error data is valid 5 05 FB is active no data received yet 32 20 SDO transmission aborted by client or server SDO abort code 0x80 33 21 TIMEOUT elapse...

Page 105: ... 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 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 NODE BYTE ID of the node permis...

Page 106: ... 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 without error data is valid 8 08 function block is active 32 20 SDO transmission aborted by client or server SDO abort code 0x80 33 21 TIMEOUT elapsed 242 F2 Error setting is not possible ...

Page 107: ...block transfer You can change to segmented transfer via the FB input if required The COB ID for the SDO is calculated from the transmitted node ID The output RESULT provides information on the status of the SDO transmission The length of multiframe SDOs is generally not limited For systems without a file system e g BasicController CR04nn the following applies transmit an address to the FB which is...

Page 108: ...le 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 optional use of the parameter BOOL FALSE TRUE Segmented SDO transfer FALSE SDO block transfer Timeout optional use of the parameter TIME T 10ms waiting time of the FB for the response when the time has elaps...

Page 109: ...ption 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 the device NODE BYTE ID of the node permissible values 1 127 0x01 0x7F IDX WORD index in object directory SUBIDX BYTE sub index referred to the index in the object directory LEN DWORD number of th...

Page 110: ... 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 without error data is valid 8 08 function block is active 32 20 SDO transmission aborted by client or server SDO abort code 0x80 33 21 TIMEOUT elapsed 242 F2 Error setting is not possible ...

Page 111: ...m Programming Manual BasicDisplay CR0452 v03 02 05 2018 ifm function elements ifm function elements for the device CR0452 Function elements CANopen SYNC CANOPEN_GETSYNCSTATE 112 CANOPEN_SETSYNCSTATE 114 15069 ...

Page 112: ...state of the SYNC functionality SyncError If the PLC CAN runs as CANopen slave it is signalled via this FB whether SYNC signals are absent or appear regularly Synchronous PDOS etc are handled in the CAN stack CANOPEN_GETSYNCSTATE however provides the error state so that the application program can react accordingly Parameters of the inputs 7874 Parameter Data type Description EXECUTE BOOL FALSE FA...

Page 113: ...gs 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 error SYNC error message 0 no error 0 SYNC error slave mode RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactiv...

Page 114: ... 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 according to the settings in the configuration and synchronous PDOs are transmitted and received In the slave mode SYNC telegrams are received and accordingly processed FALSE SYNC is not active Parameters of t...

Page 115: ...amming Manual BasicDisplay CR0452 v03 02 05 2018 ifm function elements ifm function elements for the device CR0452 Function elements CANopen guarding CANOPEN_GETGUARDHBERRLIST 116 CANOPEN_GETGUARDHBSTATSLV 117 15071 ...

Page 116: ...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 function element is not executed Parameters of the outputs 7900 Parameter Data type Description N_NODES WORD Number of nodes with heartbeat or guarding error 0 none of the nodes has a guarding or heartbeat e...

Page 117: ...ontroller 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 Parameter Data type Description 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 interfac...

Page 118: ...oducer 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 COB ID of the heartbeat message the consumer heartbeat of the controller is reacting to configuration RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT...

Page 119: ... BasicDisplay CR0452 v03 02 05 2018 ifm function elements ifm function elements for the device CR0452 Function elements CANopen emergency CANOPEN_GETEMCYMESSAGES 120 CANOPEN_GETERRORREGISTER 122 CANOPEN_SENDEMCYMESSAGE 124 15073 ...

Page 120: ...ion of messages The list can be reset by setting the according input A maximum of MAXEMCYMSGS messages is stored Each message contains information from which the node it was sent The most recent message is in index 0 Parameters of the inputs 7924 Parameter Data type Description EXECUTE BOOL FALSE FALSE TRUE edge execute function element once otherwise function element is not active A function elem...

Page 121: ...sages 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 MAXEMCYMSG 10 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 block execution completed wi...

Page 122: ...ntroller 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 already started is processed CHANNEL BYTE CAN interface 1 n depending on the device Reset_1001 optional use of the parameter BOOL FALSE TRUE Reset error register 0x1001 FALSE function element is not execu...

Page 123: ...AY 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 of the function 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 8 08 FB is active no...

Page 124: ... 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 longer given a message that there is no error is sent after a delay of 1 s EEC WORD EEC Emergency Error Code ER optional use of the parameter BYTE 0 0 use value from error register 0x1001 MSEF ARRAY 0 4 O...

Page 125: ...912 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 block execution completed without error 8 08 FB is active not yet processed 39 27 no object 100116 in the configuration 242 F2 Error setting is not possible ...

Page 126: ...us 126 Function elements SAE J1939 request 134 Function elements receive SAE J1939 137 Function elements transmit SAE J1939 142 Function elements SAE J1939 diagnosis 150 2273 For SAE J1939 ifm electronic provides a number of function elements which will be explained in the following Function elements SAE J1939 status J1939_ENABLE 127 J1939_GETDABYNAME 129 J1939_NAME 131 J1939_STATUS 133 15077 ...

Page 127: ...ever several engine controllers are working on the same bus set ACE TRUE In this case the engine controllers must support the address claiming Otherwise you will risk an overlapping of addresses with subsequent system failure Parameters of the inputs 7643 Parameter Data type Description ENABLE BOOL FALSE TRUE Enable J1939 channel Ace TRUE Address claiming effected FALSE Block J1939 channel CHANNEL...

Page 128: ...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 inactive 1 01 function block execution completed without error 8 08 function block is active 9 09 CAN is not active 242 F2 Error setting is not possible ...

Page 129: ...rary 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 specific value is set on the optional inputs the result list will only show the participants with this specific value If no value or the default value is set on the optional inputs this entry is not taken in...

Page 130: ...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 parameter BYTE 0xFF instance of the control device permissible values 0 7 255 0xFF filter for all ManufacturerCode optional use of the parameter WORD 0xFFFF manufacturer code must be requested from SAE permissible...

Page 131: ... 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 address capable 1 bit any desired address available industry group 3 bits industry group of the device vehicle system instance 4 bits instance of the vehicle system vehicle system 7 bits vehicle system reser...

Page 132: ...5 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 ECUInstance optional use of the parameter BYTE 0xFF instance of the control device permissible values 0 7 255 0xFF filter for all ManufacturerCode optional use of the parameter WORD 0xFFFF manufacturer code must be ...

Page 133: ...unction 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 WORD number of the cyclic messages TIMEOUT BYTE source address of the node which did not provided data for the process image in due time 255 0xFF all nodes sent the data in due time VERSION DWORD Version ...

Page 134: ...m Programming Manual BasicDisplay CR0452 v03 02 05 2018 ifm function elements ifm function elements for the device CR0452 Function elements SAE J1939 request J1939_SPEC_REQ 135 J1939_SPEC_REQ_MULTI 136 15079 ...

Page 135: ...ute 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 Group Number permissible 0 262 143 0x00000000 0x0003FFFF DA BYTE J1939 address of the requested device Parameters of the outputs 15029 Parameter Data type Description PRIO BYTE message priority 0 7 LEN WORD...

Page 136: ...on 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 0x00000000 0x0003FFFF DA BYTE J1939 address of the requested device Parameters of the outputs 15038 Parameter Data type Description PRIO BYTE message priority 0 7 LEN WORD number of data bytes to be transmitted al...

Page 137: ...rogramming Manual BasicDisplay CR0452 v03 02 05 2018 ifm function elements ifm function elements for the device CR0452 Function elements receive SAE J1939 J1939_RX 138 J1939_RX_FIFO 139 J1939_RX_MULTI 141 15081 ...

Page 138: ...e 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 PGN 0 is not used Parameters of the outputs 7727 Parameter Data type Description SA BYTE Source address of the transmitter PRIO BYTE message priority 0 7 LEN WORD number of the bytes received 0 8 DATA ARRAY...

Page 139: ...tion 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 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 the device PGN DWORD PGN Parameter ...

Page 140: ...eived 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 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 is valid 5 05 FB is active ...

Page 141: ...ady 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 of the outputs 7744 Parameter Data type Description SA BYTE Source address of the transmitter PRIO BYTE message priority 0 7 LEN WORD number of the bytes received permissible values 0 1 785 0x0000 0000 0x00...

Page 142: ...ual BasicDisplay CR0452 v03 02 05 2018 ifm function elements ifm function elements for the device CR0452 Function elements transmit SAE J1939 J1939_TX 143 J1939_TX_ENH 144 J1939_TX_ENH_CYCLIC 146 J1939_TX_ENH_MULTI 148 15083 ...

Page 143: ... 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 is ignored PGN DWORD PGN Parameter Group Number permissible 0 262 143 0x00000000 0x0003FFFF DATA ARRAY 0 7 OF BYTE data to be sent 1 8 bytes Parameters of the outputs 7693 Parameter Data type Description RE...

Page 144: ...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 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 is ignored Prio optional use of the parameter BYTE 3 message p...

Page 145: ...ers 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 is inactive 1 01 function block execution completed without error 242 F2 Error setting is not possible 250 FA Error FiFo is full data was lost ...

Page 146: ...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 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 is ignored P...

Page 147: ...ts for the device CR0452 Parameters of the outputs 7720 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 8 08 function block is active 242 F2 Error setting is not possible ...

Page 148: ...OL 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 device DA BYTE 249 DA Destination Address of the ECU PGN 61139 parameter DA is ignored Prio optional use of the parameter BYTE 3 message priority permissible values 0 7 PGN DWORD PGN Parameter Group Number pe...

Page 149: ...ts 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 function block execution completed without error 8 08 function block is active 65 41 Error transmission is not possible 242 F2 Error setting is not possible ...

Page 150: ... Manual BasicDisplay CR0452 v03 02 05 2018 ifm function elements ifm function elements for the device CR0452 Function elements SAE J1939 diagnosis J1939_DM1RX 151 J1939_DM1TX 153 J1939_DM1TX_CFG 156 J1939_DM3TX 157 15085 ...

Page 151: ...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 Function block inputs are not active Function block outputs are not specified CHANNEL BYTE CAN interface 1 n depending on the device DA BYTE DA Destination Address of the ECU from where the DTCs are to be retri...

Page 152: ...YTE 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 code 0 off 1 on 2 flash slowly 3 flash quickly REDSTOPLAMP_FC BYTE Status of the electronic component red stop light status and flash code 0 off 1 on 2 flash slowly 3 flash quickly AMBERWARNINGLAMP_FC BYTE S...

Page 153: ...s message is stored in the hardware configuration The message is marked active and transmitted once per second as DM1 If the error has already occurred the event counter is incremented The event counter is managed by the CAN stack A disjunction of all bits of the trouble codes is executed As soon as a bit is set in one of the trouble codes it is equally set in the lamp state Upon arrival of a requ...

Page 154: ...r 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 Failure Mode Indicator J1939 specification permissible values 0 31 0x00 0x1F SPN_CM BOOL conversion method J1939 specification MIL_FC BYTE Status of the electronic component Malfunction indicatation light sta...

Page 155: ...e device CR0452 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 hex Description 0 00 FB is inactive 1 01 data was marked active in the error memory 242 F2 Error setting is not possible ...

Page 156: ...1 messages via the FB J1939_DM1TX p 153 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 messages via the FBJ1939_DM1TX p 153 is possible MODE 2 The CAN stack does not send cyclic DM1 zero active faults messages Nor does the CAN stack automatically reply to DM2 requests Parameters of the inputs 15427...

Page 157: ...tion 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 already started is processed CHANNEL BYTE CAN interface 1 n depending on the device DA BYTE DA Destination Address of the ECU on which the DTCs are to be deteled DA 254 delete DTCs DM2 in the device itself P...

Page 158: ...NFO 159 FLASH_READ 160 GET_APP_INFO 161 GET_HW_INFO 162 GET_IDENTITY 163 GET_SW_INFO 164 GET_SW_VERSION 165 MEM_ERROR 166 MEMCPY 167 OHC 169 SET_IDENTITY 171 SET_LED 172 SET_PASSWORD 174 TIMER_READ_US 175 15067 Here we show you ifm functions that enable you to manage memory contents read information from software and hardware set or read various data and parameters ...

Page 159: ...f 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 specified Parameters of the outputs 11590 Parameter Data type Description NAME STRING 24 Name of the memory area user defined VERSION STRING 24 Software version START_ADDR DWORD Start address of the data RES...

Page 160: ...o 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 block outputs are not specified DST DWORD destination address Determine the address by means of the operator ADR and assigne it to the POU SRC DWORD relative start address in the memory valid 0 65 407 0x0000 ...

Page 161: ...oDeSys 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 Function block outputs are not specified Parameters of the outputs 11595 Parameter Data type Description NAME STRING 24 Name of the application VERSION STRING 24 Version of the application program BUILD_NUM S...

Page 162: ...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 Data type Description ORDER_NUM STRING 24 ifm article no e g CR0403 NAME STRING 24 Article designation e g BasicController 12 12 SERIAL STRING 24 Serial number of the device e g 000045784 REVISION STRING 24...

Page 163: ...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 specified Parameters of the outputs 8168 Parameter Data type Description APP_IDENT STRING 80 identifier of the application as a string of max 80 characters e g Crane1704 RESULT BYTE feedback of the function blo...

Page 164: ... 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 Data type Description NAME STRING 24 Name of the system software e g BasicSystem VERSION STRING 24 Version of the system software e g V02 00 03 BUILD_NUM STRING 24 Build number of the system software e g 4...

Page 165: ...ameter 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 the outputs 14767 Parameter Data type Description BS_VERSION STRING 24 Basic system version BL_VERSION STRING 24 Bootloader version SIS_VERSION STRING 24 SIS version SIS System Information Service IEC_VERS...

Page 166: ...ed 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 of the outputs 14774 Parameter Data type Description COM_ERR BOOL Download ID and baud rate are set to default values download parameters got lost CALIB_ERR BOOL Calibration values are invalid analogue inpu...

Page 167: ...s 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 this function element FALSE unit is not executed Function block inputs are not active Function block outputs are not specified DST DWORD destination address Determine the address by means of the operator ...

Page 168: ...SULT 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 is valid 152 98 inadmissible memory area invalid source address invalid destination address invalid number of bytes 156 9C inadmissible values invalid value for SWAP_TYPE LEN does not match SWAP_TYPE ...

Page 169: ...evice AD reset the memory area for OHC once In the FB MEM_ERROR p 166 set input RESET_OHC TRUE Only now can the operating hours counters be used Parameters of the inputs 14779 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 not updated OHC_NUM BYTE Operating Hours Counter Number ...

Page 170: ...7 295 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 hex Description 0 00 FB is inactive 1 01 FB execution completed without error data is valid 130 82 Counter number in OHC_NUM is invalid 131 83 Preset value is invalid 132 84 mode setting is invalid 158 9E ...

Page 171: ...the software Maintenance Tool in the application program via the FB GET_IDENTITY p 163 Parameters of the inputs 8175 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 APP_IDENT STRING 80 identifier of the application as a string of max 80 characters e g Crane1704 Re...

Page 172: ...scription 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 switched on color constant from the data structure System LED Color allowed 00 LED_BLACK LED out 01 LED_RED 02 LED_GREEN 03 LED_YELLOW COLOR_2 BYTE LED color for switched off color constant from the data structu...

Page 173: ...arameter 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 block execution completed without error 2 02 function block is active action not yet completed 133 85 value for FREQUENCY is invalid 151 97 value for color is invalid ...

Page 174: ...d to the PASSWORD input the password is reset Than an upload of the application software or of the data memory is possible at any time The password is reset when loading a new application program Parameters of the inputs 8180 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 ...

Page 175: ... is counted upwards in a register This register can be read by means of the FB call and can for example be used for time measurement Info The system timer runs up to the counter value 4 294 967 295 µs at the maximum and then starts again from 0 4 294 967 295 µs 1h 11min 34s 967ms 295µs Parameters of the outputs 8220 Parameter Data type Description TIME_US DWORD current system time s RESULT BYTE fe...

Page 176: ...2 6 Function elements graphics Function elements graphics help 176 Function elements graphical visualisation 182 15294 Function elements graphics help GET_TEXT_FROM_FLASH 177 NORM_DINT 179 NORM_REAL 180 TOGGLE 181 15296 Here you will find further ifm function elements that will support you while programming the graphical interface ...

Page 177: ...g resetting of the ENABLE input are made in GET_TEXT_FROM_FLASH The texts in the memory must be organised according to the rules below Text length The text length should be the same for all texts and is limited to max 30 characters because of the display size of the device Text creation The texts should be created using a spreadsheet program e g Excel and then saved in CSV format This CSV file can...

Page 178: ...N BOOL edge FALSE TRUE read previous text TEXT_MIN WORD lower limit for MESSAGE_NO TEXT_MAX WORD upper limit for MESSAGE_NO TEXT_LENGTH BYTE text length MESSAGE_NO WORD text number NULL_TERMINATE BOOL TRUE string has null termination FALSE string has no null termination Parameters of the outputs 15596 Parameter Data type Description READ BOOL Read command Set this signal to the input ENABLE of the...

Page 179: ...en XL and XH There is no internal plausibility check of the value X Outside this value range the output X_OUT_OF_RANGE is set The result of the calculation XH XL YH YL must remain in the value range of data type DINT 2 147 483 648 2 147 483 647 Due to rounding errors the normalised value can deviate by 1 If the limits XH XL or YH YL are defined in an inverted manner normalisation is also done in a...

Page 180: ...XL and XH There is no internal plausibility check of the value X Outside this value range the output X_OUT_OF_RANGE is set The result of the calculation XH XL YH YL must remain in the value range of data type REAL 3 402823466 1038 3 402823466 1038 Due to rounding errors the normalised value can deviate by 1 If the limits XH XL or YH YL are defined in an inverted manner normalisation is also done i...

Page 181: ...3304 TOGGLE enables the setting and resetting of a Boolean variable via only one input bit The first rising edge on the input IN sets the output OUT to TRUE The next rising edge resets the output back to FALSE etc Parameters of the inputs 3305 Parameter Data type Description IN BOOL edge FALSE TRUE setting resetting of the output Parameters of the outputs 3306 Parameter Data type Description OUT B...

Page 182: ...nction elements ifm function elements for the device CR0452 Function elements graphical visualisation BASICDISPLAY_INIT 183 PDM_PAGECONTROL 184 15298 Here you will find ifm function elements for the following purposes initialise device screen invoke visualisation pages ...

Page 183: ...INIT initialises the screen of the BasicDisplay in the first PLC cycle Without this initialisation the screen remains dark The function requires no parameter setting Call the function only in the first PLC cycle Then skip the call the following example Example BasicDisplay_Init 9314 Generate the program PRG INIT_DISPLAY Call the function FUN BASICDISPLAY_INIT so that it is only executed in the fir...

Page 184: ...isation names correspond to the same pattern i e a combination of a basename followed by a 5 digit number library version V04 00 07 or higher before 3 digit Example BASENAME PAGE Visualisation name PAGE00001 PAGE00002 PAGE00003 etc For the basename 1 35 capital letters no special characters are allowed The visualisations should be numbered consecutively The program creates the final visualisation ...

Page 185: ...UE increments the visualisation number PAGE_DOWN BOOL edge FALSE TRUE decrements the visualisation number PAGE_EXTERN WORD The indicated visualisati p is directly opened independent of PAGE_UP PAGE_DOWN if PAGE_EXTERN ACT_PAGE then PAGE_EXTERN is reset 0 PAGE_MAX WORD maximum number of selectable visualisation pages BASENAME STRING 35 Common part of the name of the visualisati p Visualisation page...

Page 186: ...n in the device Depending on the device the inputs and outputs can also be monitored for their correct function wire break short circuit value outside range For diagnosis configuration and log data can be used created during the normal operation of the device The correct start of the system components is monitored during the initialisation and start phase Errors are recorded in the log file For fu...

Page 187: ...ess for response to an error message 8505 The runtime system cyclically writes the system flag TEMPERATURE The application program detects the device temperature by retrieving the INT variable If permissible values for the application are exceeded or not reached The application program deactivates the outputs Rectify the cause of the error The application program detects the temperature value whic...

Page 188: ...OOL navigation key KEY_OK BOOL navigation key OK KEY_ESC BOOL Navigation key ESC KEY_CHANGED BOOL Pulse Key status changed a button was pressed or released KEY_PRESSED BOOL A button was pressed KEY_BACKLIGHT BYTE key background illumination 0 100 preset 100 RT_F1 BOOL pulse function key 1 actuated RT_F2 BOOL pulse function key 2 actuated RT_F3 BOOL pulse function key 3 actuated RT_F4 BOOL pulse fu...

Page 189: ... released FT_LEFT BOOL pulse navigation key released FT_RIGHT BOOL pulse navigation key released FT_OK BOOL pulse navigation key OK released SCREEN_BACKLIGHT BYTE LCD background illumination 0 100 preset 100 SUPPLY_VOLTAGE_VBBS WORD supply voltage on VBBs in mV SUPPLY_VOLTAGE_VU WORD internal supply voltage in mV TEMPERATURE INT Temperature in the device in C ...

Page 190: ...AN interfaces EMCY code object 0x1003 Object 0x1001 Manufactor specific information Byte 0 hex Byte 1 hex Byte 2 hex Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Description 00 80 11 CANx monitoring SYNC error only slave 00 81 11 CANx warning threshold 96 10 81 11 CANx receive buffer overrun 11 81 11 CANx transmit buffer overrun 30 81 11 CANx guard heartbeat error only slave EMCY codes system 8413 EMCY code...

Page 191: ... over a transmission length But it is not defined how many bits per step are transmitted The name baud can be traced back to the French inventor J M Baudot whose code was used for telex machines 1 MBd 1024 x 1024 Bd 1 048 576 Bd Boot loader On delivery ecomatmobile controllers only contain the boot loader The boot loader is a start program that allows to reload the runtime system and the applicati...

Page 192: ...file 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 CANopen device profile for measurement and control technology CiA DS 405 DS Draft Standard CANopen specification of the interface to programmable controllers IEC 61131 3 CiA DS 406 DS Draft Standard CANopen ...

Page 193: ...131 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 data The file extension is csv Example Source table with numerical values value 1 0 value 1 1 value 1 2 value 1 3 value 2 0 value 2 1 value 2 2 value 2 3 value 3 0 value 3 1 value 3 2 value 3 3 This results...

Page 194: ...evice is checked It is to be found out if and what faults are given in the device Depending on the device the inputs and outputs can also be monitored for their correct function wire break short circuit value outside range For diagnosis configuration and log data can be used created during the normal operation of the device The correct start of the system components is monitored during the initial...

Page 195: ... software System software basic program in the device virtually the runtime system The firmware establishes the connection between the hardware of the device and the application program The firmware is provided by the manufacturer of the controller as a part of the system and cannot be changed by the user EMC EMC Electro Magnetic Compatibility According to the EC directive 2004 108 EEC concerning ...

Page 196: ... hard disks Similar to a hard disk the data are however written and deleted blockwise in data blocks up to 64 128 256 1024 bytes at the same time Advantages of flash memories The stored data are maintained even if there is no supply voltage Due to the absence of moving parts flash is noiseless and insensitive to shocks and magnetic fields Disadvantages of flash memories A storage cell can tolerate...

Page 197: ...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 which is necessary to clearly identify an internet participant For the sake of clarity the number is written in 4 decimal values e g 127 215 205 156 ISO 11898 Standard Road vehicles Controller area network Par...

Page 198: ...rnal 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 unique numerical code more or less a kind of serial number Such a MAC address is a sequence of 6 hexadecimal numbers e g 00 0C 6E D0 02 3F Master Handles the complete organisation on the bus The master deci...

Page 199: ...Node here network participant Configurable cyclic monitoring of each slave configured accordingly The master verfies if the slaves reply in time The slaves verify if the master regularly sends requests In this way failed network participants can be quickly identified and reported O Obj object Term for data messages which can be exchanged in the CANopen network Object directory Contains all CANopen...

Page 200: ... or synchronised Depending on the type of data to be transferred the correct selection of the type of transmission can lead to considerable relief for the CAN bus According to the protocol these services are unconfirmed data transmission it is not checked whether the receiver receives the message Exchange of network variables corresponds to a 1 to n connection 1 transmitter to n receivers PDU PDU ...

Page 201: ...nly SDOs and NMT commands can be transferred in this mode but no process data Process image Process image is the status of the inputs and outputs the PLC operates with within one cycle At the beginning of the cycle the PLC reads the conditions of all inputs into the process image During the cycle the PLC cannot detect changes to the inputs During the cycle the outputs are only changed virtually in...

Page 202: ...te and time Frequent use for the storage of error message protocols Runtime system Basic program in the device establishes the connection between the hardware of the device and the application program chapter Software modules for the device p 16 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 ...

Page 203: ...ositive or negative Slave Passive participant on the bus only replies on request of the master Slaves have a clearly defined and unique address in the bus stopped Operating status of a CANopen participant In this mode only NMT commands are transferred Symbols Pictograms are figurative symbols which convey information by a simplified graphic representation chapter What do the symbols and formats me...

Page 204: ...atically exchanged on the basis of broadcast messages In UDP they are implemented as broadcast messages in CAN as PDOs According to the protocol these services are unconfirmed data transmission it is not checked whether the receiver receives the message Exchange of network variables corresponds to a 1 to n connection 1 transmitter to n receivers Use intended Use of a product in accordance with the...

Page 205: ...101 CANOPEN_SDOREADMULTI 103 CANOPEN_SDOWRITE 105 CANOPEN_SDOWRITEBLOCK 107 CANOPEN_SDOWRITEMULTI 109 CANOPEN_SENDEMCYMESSAGE 124 CANOPEN_SETSTATE 87 CANOPEN_SETSYNCSTATE 114 CANOPEN_WRITEOBJECTDICT 96 CiA 192 CiA DS 304 192 CiA DS 401 192 CiA DS 402 192 CiA DS 403 192 CiA DS 404 192 CiA DS 405 192 CiA DS 406 192 CiA DS 407 192 Clamp 15 192 COB ID 193 CODESYS 193 CODESYS visualisation elements 28 ...

Page 206: ...red 7 I ID 197 IEC 61131 197 IEC user cycle 197 ifm function elements 44 ifm function elements for the device CR0452 50 ifm libraries for the device CR0452 44 Important note to program the device 20 Information about the device 10 INIT state Reset 22 Instructions 197 Intended use 197 Interface description 15 IP address 197 ISO 11898 197 ISO 11992 197 ISO 16845 198 J J1939 198 J1939_DM1RX 151 J1939...

Page 207: ...rformance limits of the device 25 PES 200 PGN 200 Pictogram 201 PID controller 201 PLC configuration 201 Please note 8 Pre Op 201 Process image 201 Programming notes for CODESYS projects 19 PWM 201 R ratiometric 201 RAW CAN 202 Read back retain variables 42 Reinstall the runtime system 33 remanent 202 Required libraries 44 Resample scale image 26 Response to system errors 187 Retain variables 42 r...

Page 208: ...208 ifm Programming Manual BasicDisplay CR0452 v03 02 05 2018 Index Watchdog behaviour 25 What do the symbols and formats mean 6 What previous knowledge is required 8 ...

Page 209: ...209 ifm Programming Manual BasicDisplay CR0452 v03 02 05 2018 Notizen Notes Notes Error tables 10 Notizen Notes Notes ...

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