IFM CR711S Original Programming Manual Download Page 107

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107

ifm

Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n

2017-12-19

ifm function libraries

Library ifmCANopenManager.library

10.2.3

COP_SDOwrite

17128

Function block type:

Function block (FB)

Behaviour model:

EXECUTE

Library:

ifmCANopenManager.library

Symbol in CODESYS:

Description

19833

The FB writes the contents of a Service Data Object (SDO). The SDO is selected via the CAN
interface, the ID of the CANopen node, as well as index and subindex of the object directory.

Input parameters

7011

Parameters

Data type Description

Possible values

xExecute

BOOL

Control execution of the FB

FALSE



TRUE

FB is executed once

Other

No impact on FB processing

eChannel

CAN_
CHANNEL

Identifier of the CAN Interface

→

CAN_CHANNEL (ENUM)

(

→ p.

113

)

usiNode

USINT

ID of the CANopen node

Local device

1 ... 127

ID of the CANopen node

uiIndex

UINT

Index in the object directory

usiSubIndex

USINT

Subindex of the index in the object directory

pData

Pointer to
USINT

Pointer on buffer storage

udiLen

UDINT

Number of received bytes

tTimeout

TIME

Max. response time

E.g.

T#25ms

Summary of Contents for CR711S

Page 1: ...1 Original Programming Manual ecomatController 60 1 CR711S Operating System V2 5 0 n CODESYS V3 5 SP11 English 7391123_02_UK 2017 12 19...

Page 2: ...4 Installation 18 4 1 System requirements 18 4 1 1 Hardware 18 4 1 2 Software 18 4 1 3 Licensing 18 4 2 Carry out installation 19 4 2 1 CODESYS programming software 19 4 2 2 Complete package for ecoma...

Page 3: ...d programming languages 78 8 2 2 Supported variable types 79 8 2 3 Options to access input and output data 80 8 2 4 Configure task processing 80 8 3 Use ifm function libraries 81 8 3 1 Access to input...

Page 4: ...fo GVL 113 10 3 5 SysInfoStruct STRUCT 114 10 3 6 LED_COLOUR ENUM 114 10 3 7 LED_FLASH_FREQ ENUM 114 10 4 ifmFastInput library 115 10 4 1 FastCount 116 10 4 2 IncEncoder 118 10 4 3 Period 120 10 4 4 C...

Page 5: ...176 10 9 9 CAN_Info GVL 178 10 9 10 CAN_BUS_STATE STRUCT 178 11 Troubleshooting 179 11 1 Error classes 179 11 2 Error messages 180 11 3 Messages diagnostic codes of the function blocks 180 12 Appendix...

Page 6: ...ternational Association www as interface net CAN is the property of the CiA CAN in Automation e V Germany www can cia org CODESYS is the property of the 3S Smart Software Solutions GmbH Germany www co...

Page 7: ...mode Firmware update of the device in the recovery mode Configuration of the device using CODESYS Programming of the device internal PLC of the CR711S using the CODESYS programming system Description...

Page 8: ...Know how about the following topics examples Overview Templates and demo programs CAN CANopen Control outputs Visualisations Overview of the files and libraries 1 5 Overview documentation for CODESYS...

Page 9: ...terms Appendix In case of malfunctions or uncertainties please contact the manufacturer at Contact ifm weltweit ifm worldwide ifm l chelle internationale p 205 We want to become even better Each sepa...

Page 10: ...his device is used to control processes in applications For this device 2 contains 2 PLCs that can be programmed independently of each other In the CODESYS software platform these PLCs are called stan...

Page 11: ...y damage or bodily injury ifm electronic gmbh does not assume any liability in this regard The acting person must have read and understood the safety instructions and the corresponding chapters in thi...

Page 12: ...LC programming with IEC 61131 3 To program the PLC the people should also be familiar with the CODESYS software The document is intended for specialists These specialists are people who are qualified...

Page 13: ...electrical electronic programmable electronic safety related systems ISO 13849 Standard Safety of machinery safety related parts of control systems Part 1 General design principles Part 2 Validation...

Page 14: ...o staff members who have the primary responsibility Tasks prepare specifications prepare safety concept and machine specifications prepare functional specifications determine or calculate the reliabil...

Page 15: ...ith the applicable directives and standards adhere to the mechanical and electrical layout of the safety functions when designing the mobile machine document the respective steps of the specification...

Page 16: ...SE in the program A restart can for example be caused by Voltage restoration after power failure Reset after the watchdog responded because the cycle time was too long Error elimination after an E sto...

Page 17: ...serial number 20780 In the user s production facility draw a diagram of the controller network in the machine Enter the serial number of each controller installed into the network diagram Before downl...

Page 18: ...nterface of the CR711S installation instructions 4 1 2 Software 22913 To program the device internal PLC of the CR711S the following software components are required Component of Description version C...

Page 19: ...ing system of the device 24 23077 4 2 1 CODESYSprogramming software 7282 The CODESYS Development System short CODESYS serves as platform for the creation of PLC applications according to the standard...

Page 20: ...omponents Data name path Description CODESYS for ifm R360III Products zip Complete package CODESYS_Package Folder PlugIn Folder CODESYS Safety SIL2 xyz package Package CODESYS Safety SIL2 Plugin ifm S...

Page 21: ...select the required file package and carry out a full installation The Package Manager window shows the installed package Click on Close to quit the Package Manager Save the project Close CoDeSys Sta...

Page 22: ...Selected package version is uninstalled Click on Close to quit the Package Manager 4 2 3 Check theoperating system version of the device 23560 Check the operating system version of the device 23590 To...

Page 23: ...path of PLC p 61 Copy the fifle info devinfo txt by clicking on to a local PC drive Manage files p 66 Open and check devinfo txt in an editor e g notepad devinfo txt contains the following information...

Page 24: ...vice with the batch file 23825 ATTENTION Strictly follow the instructions on the screen during the entire update process Otherwise the controller may be destroyed To update the operating system of the...

Page 25: ...ntroller Update Start Menu Follow the instructions on the screen The updated process is executed ATTENTION After loading the first file cmd ifm and after the instruction on the screen execute a power...

Page 26: ...ption 26 Interfaces 51 Software description 53 975 5 1 Hardware description Hardware structure 26 Device supply technology 33 Monitoring concept 36 Inputs technology 38 Outputs technology 43 Feedback...

Page 27: ...nality is in preparation At present the device has NO safety functionality Do NOT use the device for safety related functions All devices of this controller family can execute both security levels sim...

Page 28: ...Hardware description System overview 23405 Overview of the system modules Details Module see Power supply Device supply technology p 33 Inputs Inputs technology p 38 Interfaces Interfaces Memory port...

Page 29: ...and outputs are assigned in groups Input groups are required for 2 channel safety related inputs The identifier of an input or output results from the following principle 1 Type IN OUT 2 Group number...

Page 30: ...y functionality is in preparation At present the device has NO safety functionality Do NOT use the device for safety related functions The device features separate controllers for standard functions f...

Page 31: ...specific data in one data format IEC memory bytes permanent storage of application specific data at application specific addresses 23368 WARNING The safety functionality is in preparation At present t...

Page 32: ...ry partitioning The configuration enables optimum separation between safety relevant application and standard application Memory Configuration IEC code safe IEC RAM safe IEC code non safe IEC RAM non...

Page 33: ...e Nominal operating voltage all functions available VBB15 5 V AND VBB30 8 V The controller is booting 32 0 36 0 Overvoltage protected The device is not damaged by the voltage deviation If this conditi...

Page 34: ...s the connection of the controller to the VBB30 potential via solid state switch The controller boots and starts Procedure when switching off the main switch Running tasks will continue till the end I...

Page 35: ...m recognises the applied voltage VBB15 5 V AND VBB30 8 V and activates the connection of the controller to the VBB30 potential via solid state switch The ignition lock is bypassed Latching of the cont...

Page 36: ...tput groups chapter List of outputs p 49 During the program process the output switches are under the user s full software control For further safety the corresponding applicable national regulations...

Page 37: ...to logic 0 Error class A chapter Error classes To eliminate the fault Rebooting the PLC is necessary via voltage on off Configure IEC watchdog 23564 Familiarise yourself with the following CODESYS fun...

Page 38: ...A B 39 Input type IN RESISTOR A 40 Input type IN DIGITAL A 40 Input type IN DIGITAL B 41 23078 We differentiate between the following input types Binary input block diagram plus minus switching 23080...

Page 39: ...asurement 0 20 mA Analogue voltage measurement 0 10 V Analogue voltage measurement 0 32 V Analogue voltage measurement ratiometric to the reference voltage Input type IN FREQUENCY A B 23083 Binary and...

Page 40: ...nput no CR device 1 input filter 2 CSI binary input plus switching 3 measured value analogue Configure input Chapter System configuration Possible operating modes Binary input CSI BL RE 10 k or Namur...

Page 41: ...12 19 System description Hardware description Input type IN DIGITAL B 23089 Binary inputs Block diagram IN DIGITAL B IN Connection of binary input no CR device 1 input filter 2 measured value analogue...

Page 42: ...n A IN0200 IN Multifunction A IN0201 IN Multifunction A IN0202 IN Multifunction A IN0203 IN Multifunction A IN0300 IN Digital B IN0301 IN Digital B IN0400 IN Resistor A IN0401 IN Resistor A IN0500 IN...

Page 43: ...WM n A 44 Output type OUT PWM n B 45 Output type OUT PWM n BRIDGE A 46 Output type OUT Supply A 47 Output type OUT Voltage A 48 23079 We differentiate between the following output types Binary output...

Page 44: ...controlled PWMI Block diagram OUT PWM n A OUT connection of PWM output no CR device 1 measured value analogue 2 measured value binary Configure input Chapter System configuration Possible operating m...

Page 45: ...th modulation PWM Block diagram OUT PWM n B OUT connection of PWM output no CR device 1 measured value binary UADC current mirror Configure input Chapter System configuration Possible operating modes...

Page 46: ...vice 1 measured value analogue 2 measured value binary Configure input Chapter System configuration Possible operating modes Binary output CSO BH Binary output CSI BL analogue output CSO with pulse wi...

Page 47: ...Outputs tab Parameter OUT3000 Activate the required list element in the column Value for 5 V OUT_SENSOR_05 or for 10 V OUT_SENSOR_10 Monitoring of the values at the reference voltage output In the de...

Page 48: ...ion 23424 Setting the reference voltage Select Local_IO Outputs tab Parameter OUT3001 OUT3002 in the device tree Enter the required value V in the column Value permissible 0 10 Monitoring of the value...

Page 49: ...UT PWM 40 Bridge A OUT0007 OUT PWM 40 Bridge A OUT0008 OUT PWM 40 A OUT0100 OUT PWM 25 A OUT0101 OUT PWM 25 B OUT0102 OUT PWM 25 A OUT0103 OUT PWM 25 B OUT0104 OUT PWM 25 A OUT0105 OUT PWM 25 B OUT010...

Page 50: ...e of the group all outputs are switched off all outputs will be switched off the controller reports the error to the IEC application To reboot the device remove the error cause do a power on reset OR...

Page 51: ...download debugging Connections and data data sheet 5 2 2 Ethernet interface 23134 23450 NOTICE Only use the Ethernet interface in a secure network environment e g separate network or VPN Otherwise un...

Page 52: ...CAN based fieldbuses Online help Fieldbus support CAN based fieldbuses The device has 4 CAN interfaces Each CAN interface supports the following protocols RawCAN CAN Layer 2 CANopen Manager CANopen De...

Page 53: ...nt CODESYS Development System is installed in the PC notebook to create and debug both applications The controller supports service and maintenance via CODESYS or via other tools The CODESYS functions...

Page 54: ...g system enables separate execution of the safe and the non safe software components in the controller 23368 WARNING The safety functionality is in preparation At present the device has NO safety func...

Page 55: ...tart program with which the operating system and the application can be reloaded on the device 23561 Only execute the bootloader update when explicitly requested by ifm Operating system 23504 Basic pr...

Page 56: ...nction libraries for the programming of the device under CODESYS 3 5 Name Description ifmCANopenManager Functions for use of the CAN interfaces as CANopen Manager ifmDeviceCR711S Data structures enume...

Page 57: ...with CODESYS 6 1 Start CODESYS 23383 Requirements Software components are correctly installed Installation Start CODESYS Double click on 3 5 SP11 symbol CODESYS starts CODESYS user interface appears...

Page 58: ...R711S project Select File New Project The window New Project appears Set the following values 1 Templates Select the device project template e g CR0721 Project 2 Name Enter the project name 3 Location...

Page 59: ...lled SafetyPLC StandardPLC ifm CR711S Standard Content of the PLC called StandardPLC PLC logic contains the applications of the CR711S Objects of a PLC application p 77 System info provides access to...

Page 60: ...l be used Standard functions and methods of CODESYS will not be described At the beginning of each section there will be a reference to the corresponding chapters of the CODESYS online help To access...

Page 61: ...read or manipulate data or tamper with the functions of the device 6 4 1 Set communicationpath of PLC 13901 To configure the communication path between the programming system CODESYS and the device in...

Page 62: ...th the ifm package The user can add the libraries individually to an application he she needs for the programming By means of the container library ifmR360 3 library the user can add all functions ava...

Page 63: ...e help CODESYS Development System Protect and save project The user can use a password to protect the device from unauthorised access Select Project Project Settings Window Project Settings appears Se...

Page 64: ...Do NOT use the device for safety related functions Further information Memory allocation variants p 32 To allocate the memory partitions to the PLCs 1 Select memory partition In the device tree Double...

Page 65: ...tion In the CODESYS device tree Double click on symbol Device CR711S In the editor window Select I O Assignment tab Editor window shows the PLC allocation of the inputs outputs excerpt Section Element...

Page 66: ...ow shows the file structure on the PC on the left and on the device on the right 2 Transfer file from PC to device Highlight the file on the left Select device target directory on the right Star trans...

Page 67: ...required PLC Element Local_IO Double click on Inputs Outputs Click on Parameters tab The parameter setting view of the inputs outputs appears Select input output from the list Double click in the col...

Page 68: ...8 82 21 UDP port 12345 23450 NOTICE Only use the Ethernet interface in a secure network environment e g separate network or VPN Otherwise unauthorised persons can read or manipulate data or tamper wit...

Page 69: ...her are possible in the network In the same physical network different subnet masks of the participants are allowed They form different groups of participants which cannot communicate with groups of p...

Page 70: ...will find among others the following entries CIA CANopen CIA CANopenManager CANopen_Manager CANopen_Manager_SIL2 CIA Local Device CANopen Device CANopen Device SIL2 SAE J1939 SAE J1939 Manager J1939_...

Page 71: ...ect ifmCANbus Confirm the selection with Add Device Close the window Add Device with the Close button Assign CAN interface In the CODESYS device tree Double click on Communication CAN ifmCANBus Tab Ge...

Page 72: ...ts e g Configure the heartbeat protocol in the section Nodeguarding Click on the field of options in order to activate Heartbeat Producing Set the parameters Node ID and Producer Time ms Configure the...

Page 73: ...tach CANopen device In the CODESYS device tree Right mouse click on Communication CAN ifmCANBus Add Device Select Window Add Device appears Select Vendor All vendors In the list below Select Fieldbuss...

Page 74: ...Network assign this setting with to a CAN interface permissible 0 3 Select the required value for baud rate Baudrate bit s from the list field Attach J1939 manager In the CODESYS device tree Right mo...

Page 75: ...rs In the CODESYS device tree Double click on Communication CAN J1939_Manager J1939_ECU Make the following settings in the tab General in the section General according to the specific application user...

Page 76: ...T Number 1 ETHERNET0 IpV4Address 192 168 82 247 IpV4SubnetMask 255 255 255 0 IpV4Gateway 192 168 82 21 UDPPort 12345 CAN Number 4 CAN0 Baud rate 250000 NodeId 127 CAN1 Baud rate 250000 NodeId 126 CAN2...

Page 77: ...on are listed as sub elements of the node Application in the device tree In the basic configuration a PLC application contains the following objects Application Container for objects of a PLC applicat...

Page 78: ...Application PLC_PRG PRG Editor window shows input mask of the selected programming language Enter program code 8 2 1 Supported programming languages 23454 The following table shows which ifm function...

Page 79: ...U Applies only to the POU in which it has been declared volatile local retain non volatile global in the global variable list GVL applies to all POUs of the project volatile global retain non volatile...

Page 80: ...controlled by parameters The user can set the parameters for each task CODESYS automatically creates the following task when the project is created Name Description Task Task for the processing of the...

Page 81: ...witches ifmOutHBridge Functions to access H bridge outputs ifmOutPWM Functions to access PWM outputs ifmRawCAN Functions for use of the CAN interfaces as CAN Layer 2 ifmSysInfo Functions to set read s...

Page 82: ...be switched on or off HBridge p 148 H bridge on a PWM channel pair PWM1000 p 156 Initialises and configures a PWM capable output channel the mark to space ratio can be indicated in steps of 1 CurrentC...

Page 83: ...O image global variables are coupled to the IEC addresses Ixx Qxx Via symbol names the user has access to the following elements from the application inputs and outputs Functions of the operating ele...

Page 84: ...g direction upwards FALSE not active TRUE active ValueLastCountWasDown BIT r Counting direction downwards FALSE not active TRUE active ValueCycle UDINT r cCcle time 0 4294967295 ValueFreq REAL r Frequ...

Page 85: ...oltage value of the analogue output in mV 0 65535 OutCurrentDiag UINT r Measured current value of the analogue output in mA 0 65535 OutState BIT r w Output status 0 4294967295 Error BIT r w Error FALS...

Page 86: ...current diagnostic data of the device Name Data type Access Description Possible values iTemperature0 INT r Temperature on the system board value in C 32768 32767 iTemperature1 INT r Temperature on t...

Page 87: ...vailable to control a node in a CAN network Function element Short description CAN_Enable p 162 initialises the specified CAN interface configures the CAN baud rate CAN_Recover p 164 controls the proc...

Page 88: ...3 RawCAN Request and send remote CAN messages 23548 The following POUs are available to request remote messages in a CAN network or to send replies to a remote request Function element Short descript...

Page 89: ...n CODESYS libraries from 3S Requirements The device is configured as CANopen manager master via system configuration CANopen Manager p 71 8 6 1 CANopen Send and receive SDO 23537 The following POUs ar...

Page 90: ...Programming Manual ecomatController 60 1 CR711S Operating System V2 5 0 n 2017 12 19 Programming Use SAE J1939 8 7 Use SAE J1939 23802 To use the SAE J1939 network protocol 3S provides the library IoD...

Page 91: ...e following component Application Load the application to the device p 91 Observe notes on the operating modes of the PLC of the device Operating states of CR711S 9 1 1 Load the application to the dev...

Page 92: ...highlight application as active application Use Online Login to establish connection to the device CODESYS is in the online mode 2 Delete application In the editor window Select Device Applications ta...

Page 93: ...ng states 9 2 Operating states 23421 The following figure shows the possible operating modes of the device It contains status of the application status of the process communication inputs outputs CAN...

Page 94: ...terface 1 APPL0 APPL1 APPL2 APPL3 LEDs for free use in the application 9 3 1 Status LED system ifmoperating system SYS0 SYS1 23429 For the status of the ifm operating system both LEDs SYS0 and SYS1 ar...

Page 95: ...RATING Application RUN time frame 200 ms Yellow Flashing with 2 Hz RUNTIME_DEBUG_RUN Application RUN time frame 200 ms Yellow permanently on RUNTIME_DEBUG_STOP Application STOP Red flashes with 10 Hz...

Page 96: ...s follows LED colour Display Description Green permanently on Ethernet connection is established non data traffic Green blinks Ethernet connection is established with data traffic 9 3 5 Controlling LE...

Page 97: ...warm p 97 Reset cold application changes to the STOP state All variables VAR VAR RETAIN of the application are initialised Reset application cold p 98 Reset default application goes to STOP state The...

Page 98: ...de Select Online Reset cold to reset the application Application changes to the STOP state All variables are newly initialised 9 4 4 Reset application origin 22672 To reset the application In the devi...

Page 99: ...s 9 5 1 Transmission of the files with CODESYS 23579 23520 To transfer files between PC and device 1 Select file view In the device tree Double click on symbol Device CR711S In the editor window Selec...

Page 100: ...urce file on the PC Target target file on the device Example tftp i 192 168 82 247 PUT Windows Pfad ifmOS ifm os ifmOS ifm 9 5 3 Files for seriesproduction 23578 The following files must be transferre...

Page 101: ...2 168 0 100 IP Mask Subnet mask of the network E g 255 255 255 0 Gateway Address IP address of the network gateway E g 192 168 0 2 Version Firmware Version of the installed firmware E g V1 4 0 Serial...

Page 102: ...brary 161 7034 This chapter contains the detailed description of the function libraries provided by ifm electronic for programming the device under CODESYS 3 5 10 1 General 23828 General information a...

Page 103: ...ifmCANopenManager library Symbol in CODESYS Description 18445 The FB indicates the current state of a CANopen node Input parameter 18446 Parameter Data type Description Possible values xExecute BOOL...

Page 104: ...ecuted Note diagnostic information eDiagInfo DIAG_INFO Diagnostic information List below diagnostic codes eNMT_State NMT_ STATES State of the CANopen node NMT_STATES ENUM p 111 Diagnostic codes STAT_I...

Page 105: ...object directory The CANopen node has to reply to the request of the FB within a period of time defined by the user Input parameters 19832 Parameters Data type Description Possible values xExecute BO...

Page 106: ...fo DIAG_INFO Diagnostic information List below diagnostic codes udiLen UDINT Number of received bytes Diagnostic codes STAT_INACTIVE State FB Function is inactive STAT_DONE State FB Function has been...

Page 107: ...ode as well as index and subindex of the object directory Input parameters 7011 Parameters Data type Description Possible values xExecute BOOL Control execution of the FB FALSE TRUE FB is executed onc...

Page 108: ...information eDiagInfo DIAG_INFO Diagnostic information List below diagnostic codes Diagnostic codes STAT_INACTIVE State FB Function is inactive STAT_DONE State FB Function has been successfully execut...

Page 109: ...iption 7001 The FB sends a command for the control of a CANopen node Input parameter 6981 Parameter Data type Description Possible values xExecute BOOL Control execution of the FB FALSE TRUE FB is exe...

Page 110: ...No error occurred or the FB is still being executed TRUE Error occurred Action could not be executed Note diagnostic information eDiagInfo DIAG_INFO Diagnostic information List below diagnostic codes...

Page 111: ...DE Initiate CAN node INT 0 SET_PRE_OPERATIONAL Set preoperational state INT 1 SET_OPERATIONAL Set operational state INT 2 RESET_NODE Reset CAN node INT 3 RESET_COMM Reset communication INT 4 STOP_NODE...

Page 112: ...ifmDeviceCR0721 library 10 3 Library ifmDeviceCR0721 library CAN_BAUDRATE ENUM 113 CAN_CHANNEL ENUM 113 CANconstants GVL 113 SysInfo GVL 113 SysInfoStruct STRUCT 114 LED_COLOUR ENUM 114 LED_FLASH_FRE...

Page 113: ..._500 500 kilobaud INT 500 KBAUD_800 800 kilobaud INT 800 KBAUD_1000 1000 kilobaud INT 1000 10 3 2 CAN_CHANNEL ENUM 17131 Name Description Possible values Data type Value CAN_CHANNEL Identifier of the...

Page 114: ...FW Device 10 3 6 LED_COLOUR ENUM 23232 Name Description Possible values Data type Value LED_COLOUR Colour of the LED RGB code BLACK OFF Off UINT 0x00 0000 WHITE White UINT 0xFF FFFF RED Red UINT 0xFF...

Page 115: ...ary 10 4 ifmFastInput library FastCount 116 IncEncoder 118 Period 120 COUNT_DIRECTION ENUM 122 ENCODER_RESOLUTION ENUM 122 FREQ_SENSE_PERIODS ENUM 122 MODE_FAST_COUNT ENUM 122 MODE_INC_ENCODER ENUM 12...

Page 116: ...FALSE When switching from FALSE TRUE Reset request to the lower level system TRUE uiChannel UINT Input channel Group channel Data sheet Note on wiring p 29 Examples 403 Group 4 channel 3 502 Group 5...

Page 117: ...alueCycle UDINT Cycle time of the input signal in s rValueFreq REAL frequency of the input signal in Hz udiValueTime UDINT Time elapsed since the last edge evaluation in s 0 4 294 967 295 Diagnostic c...

Page 118: ...to the maximum value of the applicable area outside range Input parameter 23300 Parameters Data type Description Possible values xResetError BOOL Reset request for an occurring error FALSE When switc...

Page 119: ...own BOOL Code sequence downwards FALSE No count down since the last call up TRUE Count up or underflow since the last call up udiValueCycle UDINT Cycle time of the input signal in s rValueFreq REAL fr...

Page 120: ...the input channel pair channel A at the input uiChannel In the other operating modes a signal evaluation is carried out at the input channel defined at the uiChannel input Input parameters 23315 Para...

Page 121: ..._RATIO_CSO Phase shift of the input signal at the B channel to the signal at the A channel in IN_PHASE_CSI IN_PHASE_CSO Diagnostic codes Messages diagnostic codes of the function blocks p 180 STAT_PRE...

Page 122: ...ising and falling edge on one channel A EVERY_EDGE Counts each rising and falling edge on al channels A and B 10 4 6 FREQ_SENSE_PERIODS ENUM 23270 Name Description Possible values FREQ_SENSE_PERIODS N...

Page 123: ...ata are not written For applications that are not owners of the resource 10 4 9 MODE_PERIOD ENUM 23272 Name Description Possible values MODE_PERIOD Operating mode of the period input UNCHANGED Setting...

Page 124: ...Library ifmIOcommon library Input 125 Output 128 SetLED 131 SupplySwitch 133 SystemSupply 135 Temperature 137 FILTER_INPUT ENUM 139 FILTER_OUTPUT ENUM 139 MODE_INPUT ENUM 140 MODE_OUTPUT ENUM 141 SYS_...

Page 125: ...nged with a digital low pass filter Configure the filter via the input eFilter Input parameters 23157 Parameters Data type Description Possible values xResetError BOOL Reset request for an occurring e...

Page 126: ...cuted Note diagnostic information eDiagInfo DIAG_INFO Diagnostic information List below diagnostic codes xPrepared BOOL State of the FB outputs FALSE FB outputs still invalid FB is still processed TRU...

Page 127: ...ror Reference voltage exceeded For outputs Error Voltage of the corresponding output groups supply or at VBB30 VBB15 not reached DIAG_INVALID_VALUE At least one input parameter is invalid or exceeds t...

Page 128: ...g from FALSE TRUE Reset request to the lower level system TRUE uiChannel UINT Output channel Group channel Data sheet Note on wiring p 29 Examples 703 Group 7 channel 3 1203 Group 12 channel 3 eMode M...

Page 129: ...the FB outputs FALSE FB outputs still invalid FB is still processed TRUE FB outputs valid FB has been processed xOutState BOOL Return value activation state of the selected output The state may devia...

Page 130: ...erence voltage exceeded For outputs Error Voltage of the corresponding output groups supply or at VBB30 VBB15 not reached DIAG_INVALID_VALUE At least one input parameter is invalid or exceeds the perm...

Page 131: ...on library Symbol in CODESYS Description 23221 The FB is used to configure and control an LED Input parameters 23222 Parameters Data type Description Possible values uiChannel UINT Output channel of t...

Page 132: ...s diagnostic codes of the function blocks p 180 STAT_INACTIVE State FB Function is inactive STAT_BUSY State FB Function is currently executed STAT_DONE State FB Function has been successfully executed...

Page 133: ...applications and switches off the voltage supply latching terminal 30 in order to shut down the device safely The voltage supply latching is only deactivated if the following conditions are met Volta...

Page 134: ...codes xPrepared BOOL State of the FB outputs FALSE FB outputs still invalid FB is still processed TRUE FB outputs valid FB has been processed Diagnostic codes Messages diagnostic codes of the function...

Page 135: ...OLTAGE_CHANNEL ENUM p 141 Output parameters 23239 Parameters Data type Description Possible values xError BOOL Indication if an error occurred during the FB execution FALSE No error occurred or the FB...

Page 136: ...d For outputs Error The voltage of the corresponding output group supply or at VBB30 VBB15 is not reached ERR_OVERVOLTAGE_VBBX For inputs Error Reference voltage exceeded For outputs Error Voltage of...

Page 137: ...e 23245 Function block type Function block FB Library ifmIOcommon library Symbol in CODESYS Description 23247 The FB indicates the value of the system temperature Input parameters 23246 Parameters Dat...

Page 138: ...s valid FB has been processed iTemperatureC INT Measured temperature in C e g 35 iTemperatureF INT Measured temperature in F e g 95 Diagnostic codes Messages diagnostic codes of the function blocks p...

Page 139: ...filter is set FILTER_1 0 9 ms 3 3 ms FILTER_2 2 1 ms 7 0 ms FILTER_3 4 0 ms 14 1 ms FILTER_4 7 6 ms 28 9 ms FILTER_5 15 2 ms 58 4 ms FILTER_6 30 8 ms 117 2 ms FILTER_7 61 6 ms 235 2 ms FILTER_8 123 2...

Page 140: ...CSI IN_VOLTAGE_10 Input for analogue current measurement 0 10 V CSI IN_VOLTAGE_32 Input for analogue current measurement 0 32 V CSI IN_VOLTAGE_RATIO Input for ratiometric current measurement in relat...

Page 141: ...diagnostics Generated with the help of a filtered PWM signal CSO OUT_SENSOR_05 Output with fixed output voltage 5 V for the sensor supply without diagnostics and without protection CSO OUT_SENSOR_10 O...

Page 142: ...erating System V2 5 0 n 2017 12 19 ifm function libraries Library ifmOutGroup 10 6 Library ifmOutGroup OutputGroup 143 FILTER_OUTPUT_GROUP ENUM 146 MODE_OUTPUT_GROUP ENUM 146 23341 The library contain...

Page 143: ...nput parameters 23328 Parameter Data type Description Possible values xResetError BOOL Reset request for an occurring error FALSE When switching from FALSE TRUE Reset request to the lower level system...

Page 144: ...utputs FALSE FB outputs still invalid FB is still processed TRUE FB outputs valid FB has been processed xGroupState BOOL Return value activation state of the selected output group The state may deviat...

Page 145: ...30 VBB15 not reached DIAG_INVALID_VALUE At least one input parameter is invalid or exceeds the permissible area DIAG_INTERNAL Internal system error DIAG_ACCESS FB Function cannot access the required r...

Page 146: ...0 1 7 ms FILTER_1 1 8 ms FILTER_2 2 4 ms FILTER_3 3 9 ms FILTER_4 7 4 ms FILTER_5 14 7 ms FILTER_6 29 3 ms FILTER_7 58 8 ms FILTER_8 117 7 ms FILTER_9 235 6 ms FILTER_10 471 4 ms FILTER_11 943 0 ms FI...

Page 147: ...CR711S Operating System V2 5 0 n 2017 12 19 ifm function libraries Library ifmOutHBridge 10 7 Library ifmOutHBridge HBridge 148 MODE_BRAKE ENUM 151 23467 The library contains function blocks POU to c...

Page 148: ...3 1203 Group 12 channel 3 uiFrequency UINT PWM frequency of the output signal in Hz Data sheet xDirection BOOL The direction in which the current flows via the bridge connections Determines the direct...

Page 149: ...ill being executed TRUE Error occurred Action could not be executed Note diagnostic information eDiagInfo DIAG_INFO Diagnostic information List below diagnostic codes xPrepared BOOL State of the FB ou...

Page 150: ...VBBX For inputs Error Reference voltage exceeded For outputs Error Voltage of the corresponding output groups supply or at VBB30 VBB15 not reached DIAG_INVALID_VALUE At least one input parameter is in...

Page 151: ...uiValue 0 UNCHANGED Setting remains unchanged BRAKE_OFF No braking The voltage direction is changed immediately BRAKE_EMCY Emergency brakes In case of change of direction Braking only during tBrakeTi...

Page 152: ...2017 12 19 ifm function libraries Library ifmOutPWM 10 8 Library ifmOutPWM CurrentControl 153 PWM1000 156 MODE_CURRENT_CONTROL ENUM 160 MODE_PWM ENUM 160 23381 The library function blocks POU and enu...

Page 153: ...E When switching from FALSE TRUE Reset request to the lower level system TRUE uiChannel UINT Output channel Group channel Data sheet Note on wiring p 29 Examples 703 Group 7 channel 3 1203 Group 12 ch...

Page 154: ...nt of the output signal 0 255 uiDesiredCurrent UINT Default value at the output channel When 0 is set the output is immediately deactivated 0 65535 Output parameters 23358 Parameters Data type Descrip...

Page 155: ...t VBB30 VBB15 not reached DIAG_INVALID_VALUE At least one input parameter is invalid or exceeds the permissible area DIAG_INTERNAL Internal system error DIAG_ACCESS FB Function cannot access the requi...

Page 156: ...stem V2 5 0 n 2017 12 19 ifm function libraries Library ifmOutPWM 10 8 2 PWM1000 23343 Function block type Function block FB Library ifmIOutPWM library Symbol in CODESYS Description 23344 The FB is us...

Page 157: ...lse pause ration of the PWM output signal in permissible 0 1 uiDitherFrequency UNIT Frequency for the dither signal at the PWM output in Hz permissible 0 uiFrequency 2 The value at uiDitherFrequency m...

Page 158: ...formation eDiagInfo DIAG_INFO Diagnostic information List below diagnostic codes xPrepared BOOL State of the FB outputs FALSE FB outputs still invalid FB is still processed TRUE FB outputs valid FB ha...

Page 159: ...t VBB30 VBB15 not reached DIAG_INVALID_VALUE At least one input parameter is invalid or exceeds the permissible area DIAG_INTERNAL Internal system error DIAG_ACCESS FB Function cannot access the requi...

Page 160: ...ontrol with diagnostics and protection CSO MONITOR No parameters or process data are written Only the FB output data is updated For use in a PLC application to which the resource does not belong 10 8...

Page 161: ...9 Library ifmRawCAN library CAN_Enable 162 CAN_Recover 164 CAN_RemoteRequest 166 CAN_RemoteResponse 168 CAN_Rx 170 CAN_RxMask 172 CAN_RxRange 174 CAN_Tx 176 CAN_Info GVL 178 CAN_BUS_STATE STRUCT 178 8...

Page 162: ...erface into the global variable CAN State Changes of the transmission rate or of the CAN interface are applied at once All existing reception and send buffer storages are deleted The FB does not have...

Page 163: ...mation List below diagnostic codes Diagnostic codes STAT_INACTIVE State FB Function is inactive STAT_DONE State FB Function has been successfully executed and completed There are valid results on the...

Page 164: ...nd rebooted All buffer storages are emptied If the CAN channel keeps failing after the maximum number of recovery attempts has been exceeded the CAN bus remains in the error state Call FB again to rep...

Page 165: ...ion could not be executed Note diagnostic information eDiagInfo DIAG_INFO Diagnostic information List below diagnostic codes usiRetryCount USINT Counter for retries carried out since the last activati...

Page 166: ...nded frames Input parameter 10888 Parameter Data type Description Possible values xExecute BOOL Control execution of the FB FALSE TRUE FB is executed once Other No impact on FB processing eChannel CAN...

Page 167: ...FO Diagnostic information List below diagnostic codes aData ARRAY 0 7 OF USINT Array for storage of the data received Diagnostic data STAT_INACTIVE State FB Function is inactive STAT_DONE State FB Fun...

Page 168: ...matic reply Several FB calls are possible during one PLC cycle Input parameter 9237 Parameter Data type Description Possible values xEnable BOOL Control activity of the FB FALSE FB is deactivated TRUE...

Page 169: ..._Cnt UINT Number of received remote requests after the last FB call Diagnostic code STAT_INACTIVE State FB Function is inactive STAT_DONE State FB Function has been successfully executed and completed...

Page 170: ...buffer storage The number of the received CAN messages is displayed The CAN message received first is always provided on the output Input parameter 11784 Parameter Data type Description Possible value...

Page 171: ...t 0 7 0 bytes 7 bytes uiAvailable UINT Number of received CAN messages since the last FB call Current CAN message is taken into account 0 No CAN messages received between 2 FB calls n n CAN messages r...

Page 172: ...Result xxx 0010 0000 All CAN messages with an identifier whose 8 least significant bits have the value 0010 0000 are received E g 110 0010 0000 000 0010 0000 001 0010 0000 General behaviour of the FB...

Page 173: ...ince the last FB call Current CAN message is taken into account 0 No CAN messages received between 2 FB calls n n CAN messages received udiID UDINT Identifier of the CAN message for Standard Frame 11...

Page 174: ...limit must be the value of the upper limit Example Lower limit 000 0000 0010 Upper limit 000 0000 1000 Result All CAN messages with an identifier whose 4 least significant bits have a value between 0...

Page 175: ...ince the last FB call Current CAN message is taken into account 0 No CAN messages received between 2 FB calls n n CAN messages received udiID UDINT Identifier of the CAN message for Standard Frame 11...

Page 176: ...es during a PLC cycle The repeated call of the FB during a PLC cycle triggers a repeated transmission of the CAN message within the PLC cycle Input parameters 14057 Parameters Data type Description Po...

Page 177: ...on List below diagnostic codes Diagnostic codes STAT_INACTIVE State FB Function is inactive STAT_DONE State FB Function has been successfully executed and completed There are valid results on the outp...

Page 178: ...ntRx Error counter Rx receive UINT 0 65535 uiErrorCntTx Error counter Tx send UINT 0 65535 xWarningRx Warning signal for error counter Rx BOOL FALSE uiErrorCntRx 96 TRUE uiErrorcntRx 96 xWarningTx War...

Page 179: ...ed PLC The controller saves the information in the error log B Serious error One or several PLCs can no longer be executed The controller deactivates components allocated to the PLC The controller dea...

Page 180: ...ic codes of the function blocks 23460 Status diagnostic error messages of the function blocs are defined in the global Enum DIAG_INFO They have one of the following prefixes depending on the type of m...

Page 181: ...rd app Application non safe safe app Application safe os Folder ifmOS ifm ifmOS boot Folder boot ifm Bootloader sis Folder sissys ifm SIS SYS cfg Folder comconf cfg Communication configuration memconf...

Page 182: ...BLE 23705 Function blocks that use the behaviour model ENABLE are cyclically processed as long as the status at the input is xEnable TRUE If xEnable FALSE the function block will not be executed All f...

Page 183: ...ut If the function block has executed its function successfully the output is set xDone TRUE Response to errors 23827 In case of an error xError is set to TRUE and eDiagInfo indicates the error status...

Page 184: ...indicates the number of changes of state steps cycles per second over a transmission length But it is not defined how many bits per step are transmitted The name baud can be traced back to the French...

Page 185: ...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...

Page 186: ...Sourcing Input In connection of binary input n S Sensor Current Sourcing Output Qn connection of output n L load Binary input block diagram minus switching for negative sensor signal Input open Signa...

Page 187: ...th of the device is checked It is to be found out if and what faults are given in the device Depending on the device the inputs and outputs can also be monitored for their correct function wire break...

Page 188: ...way Embedded software System software basic program in the device virtually the runtime system The firmware establishes the connection between the hardware of the device and the application program Th...

Page 189: ...r memory and hard disks Similar to a hard disk the data are however written and deleted blockwise in data blocks up to 64 128 256 1024 bytes at the same time Advantages of flash memories The stored da...

Page 190: ...help system manual programming manual etc Intended use Use of a product in accordance with the information provided in the instructions for use IP address IP Internet Protocol The IP address is a numb...

Page 191: ...r to an 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 worl...

Page 192: ...e Guarding Node here network participant Configurable cyclic monitoring of each slave configured accordingly The master verfies if the slaves reply in time The slaves verify if the master regularly se...

Page 193: ...of the process data objects PDOs The PDOs can be freely exchanged between the individual nodes PDO linking In addition it is defined whether data exchange is to be event controlled asynchronous or syn...

Page 194: ...n of the supply voltage each participant automatically passes into this state In the CANopen network only SDOs and NMT commands can be transferred in this mode but no process data Process image Proces...

Page 195: ...es batter backed the current date and time Frequent use for the storage of error message protocols rw RW read write Bidirectional data transmission Data can be read and also changed S SAE J1939 The ne...

Page 196: ...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...

Page 197: ...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 Exc...

Page 198: ...operating system version of the device 22 CiA 184 CiA DS 304 185 CiA DS 401 185 CiA DS 402 185 CiA DS 403 185 CiA DS 404 185 CiA DS 405 185 CiA DS 406 185 CiA DS 407 185 Clamp 15 185 COB ID 185 CODES...

Page 199: ...CTION A 39 Input type IN RESISTOR A 40 Inputs technology 38 Install CODESYS Development System 19 Install package PC laptop 21 Installation 18 Instructions 190 Intended use 190 Interface configuration...

Page 200: ...CAN messages 88 Send and receive CAN messages 87 RAW CAN 195 Read device information 82 Read diagnostic data of the device 86 remanent 195 Reset 97 Reset application cold 98 Reset application origin 9...

Page 201: ...ge PC laptop 22 Update package PC laptop 21 Update the operating system of the device 24 Update the operating system of the device with the batch file 24 Use CANopen 89 Use CODESYS user manual 60 Use...

Page 202: ...202 ifm Programming Manual ecomatController 60 1 CR711S Operating System V2 5 0 n 2017 12 19 Notizen Notes Notes 15 Notizen Notes Notes...

Page 203: ...203 ifm Programming Manual ecomatController 60 1 CR711S Operating System V2 5 0 n 2017 12 19 Notizen Notes Notes...

Page 204: ...204 ifm Programming Manual ecomatController 60 1 CR711S Operating System V2 5 0 n 2017 12 19 Notizen Notes Notes...

Page 205: ...mpton Middlesex TW12 2HD Tel 44 208 213 0000 ifm electronic Monoprosopi E P E 15125 Amaroussio Tel 30 210 6180090 ifm electronic kft 9028 Gy r Tel 36 96 518 397 ifm electronic s a 20041 Agrate Brianza...

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IFM CR711S, Original Programming Manual

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