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3
ifm
Programming Manual
ecomatmobile
CabinetController (CR0301) Runtime System V05
2016-04-21
Contents
5
ifm function elements
55
5.1
ifm libraries for the device CR0301 ....................................................................................55
5.1.1
Bibliothek ifm_CR0301_V05yyzz.LIB ......................................................................................... 56
5.1.2
Library ifm_CR0301_CANopenMaster_V04yynn.LIB ................................................................. 58
5.1.3
Library ifm_CR0301_CANopenSlave_V04yynn.LIB ................................................................... 58
5.1.4
Library ifm_CAN1_EXT_Vxxyyzz.LIB ......................................................................................... 59
5.1.5
Bibliothek ifm_J1939_1_Vxxyyzz.LIB ......................................................................................... 59
5.2
ifm function elements for the device CR0301 ....................................................................60
5.2.1
Function elements: CAN layer 2 ................................................................................................. 60
5.2.2
Function elements: CANopen master ......................................................................................... 76
5.2.3
Function elements: CANopen slave ........................................................................................... 86
5.2.4
Function elements: CANopen SDOs .......................................................................................... 94
5.2.5
Function elements: SAE J1939 .................................................................................................. 99
5.2.6
Function elements: serial interface ........................................................................................... 111
5.2.7
Function elements: Optimising the PLC cycle via processing interrupts .................................. 116
5.2.8
Function elements: processing input values ............................................................................. 122
5.2.9
Function elements: adapting analogue values ......................................................................... 127
5.2.10
Function elements: counter functions for frequency and period measurement ........................ 130
5.2.11
Function elements: PWM functions .......................................................................................... 140
5.2.12
Function elements: controllers .................................................................................................. 149
5.2.13
Function elements: software reset ............................................................................................ 158
5.2.14
Function elements: measuring / setting of time ........................................................................ 160
5.2.15
Function elements: saving, reading and converting data in the memory .................................. 163
5.2.16
Function elements: data access and data check ...................................................................... 170
6
Diagnosis and error handling
177
6.1
Diagnosis .........................................................................................................................177
6.2
Fault .................................................................................................................................177
6.3
Reaction in case of an error .............................................................................................178
6.4
Reaction in case of a system error ..................................................................................178
6.5
CAN / CANopen: errors and error handling .....................................................................178
7
Appendix
179
7.1
System flags .....................................................................................................................179
7.1.1
System flags: CAN ................................................................................................................... 180
7.1.2
System flags: error flags ........................................................................................................... 180
7.1.3
System flags: status LED ......................................................................................................... 181
7.1.4
System flags: voltages.............................................................................................................. 181
7.1.5
System flags: inputs and outputs .............................................................................................. 182
7.1.6
System flags: system ............................................................................................................... 182
7.2
Address assignment and I/O operating modes ................................................................183
7.2.1
Addresses / variables of the I/Os .............................................................................................. 183
7.2.2
Possible operating modes inputs/outputs ................................................................................. 187
7.3
Error tables .......................................................................................................................190
7.3.1
Error flags ................................................................................................................................. 190
7.3.2
Errors: CAN / CANopen............................................................................................................ 190
8
Glossary of Terms
191
9
Index
204
10
Notizen • Notes • Notes
208
11
ifm weltweit • ifm worldwide • ifm à l’échelle internationale
213
Summary of Contents for Ecomat 100 Mobile CR0301
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