IFM Ecomat 100 Mobile CR0301 Programming Manual Download Page 6

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ifm

Programming Manual

ecomatmobile

CabinetController (CR0301) Runtime System V05

2016-04-21

About this manual

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Death or serious irreversible injuries may result.

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Slight reversible injuries may result.

NOTICE

Property damage is to be expected or may result.

Important notes concerning malfunctions or disturbances

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Summary of Contents for Ecomat 100 Mobile CR0301

Page 1: ...1 Original Programming Manual CabinetController CR0301 Runtime system V05 CODESYS V2 3 9 33 V 3 0 English 7391083_01_UK 2016 04 21 ...

Page 2: ... Inputs technology 17 3 2 4 Outputs technology 21 3 2 5 Note on wiring 24 3 2 6 Safety instructions about Reed relays 24 3 2 7 Status LED 25 3 3 Interface description 26 3 3 1 Serial interface 26 3 3 2 CAN interfaces 27 3 4 Software description 28 3 4 1 Software modules for the device 28 3 4 2 Programming notes for CODESYS projects 31 3 4 3 Operating states 35 3 4 4 Operating modes 39 3 4 5 Perfor...

Page 3: ... 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 Di...

Page 4: ...erty of the AS International 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 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 IO Link www io link com is the property of t...

Page 5: ...erating instructions 4 System manual Know how ecomatmobile Contents Know how about the following topics Overview Templates and demo programs CAN CANopen Control outputs User flash memory Visualisations Overview of the files and libraries used Source www ifm com select your country Data sheet search CR0301 Operating instructions 5 System manual The ISOBUS in the ifm controller Contents Description ...

Page 6: ...rate the notes in our instructions 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 notes concerning malfunctions or disturbances Other remarks Request for action Reaction result see abc Cross reference 123 0x123 0b010 Decimal number Hexadecimal number Binary number Designation o...

Page 7: ... At the beginning of a chapter we will give you a brief overview of its contents Abbreviations and technical terms Appendix In case of malfunctions or uncertainties please contact the manufacturer at www ifm com Select your country Contact We want to become even better Each separate section has an identification number in the top right corner If you want to inform us about any inconsistencies indi...

Page 8: ...ues of the parameters SRC DST corrected 2012 01 09 Memory modules FRAMREAD FRAMWRITE Swapped parameters SRC DST in the table Permissible values 2012 10 04 diverse corrections 2013 06 24 various new document structure 2014 04 28 Various function blocks More precise description of the function block input CHANNEL 2014 06 30 Name of the documentation System manual renamed as Programming manual 2014 0...

Page 9: ...st have read and understood the safety instructions and the corresponding chapters in this manual before working on and with this device The acting person must be authorised to work on the machine equipment The acting person must have the qualifications and training required to perform this work Adhere to the technical data of the devices You can find the current data sheet on ifm s homepage at ww...

Page 10: ...tions 2 3 Start up behaviour of the controller 6827 15233 11575 WARNING Danger due to unintentional and dangerous start of machine or plant sections When creating the program the programmer must ensure that no unintentional and dangerous start of machines or plant sections after a fault e g e stop and the following fault elimination can occur Realise restart inhibit In case of an error set the out...

Page 11: ...f each controller installed into the network diagram Before downloading a software component read out this serial number and check the network diagram to make sure that you are accessing the right controller 2 5 Notes TEST inputs 20781 The TEST inputs of all the controllers in the machine should be wired individually and marked clearly so that they can be properly allocated to the controllers Duri...

Page 12: ...tion 12 Interface description 26 Software description 28 975 3 1 Information about the device 1310 This manual describes of the ecomatmobile family for mobile machines of ifm electronic gmbh CabinetController CR0301 CR0302 3 2 Hardware description Hardware structure 13 Monitoring concept 15 Inputs technology 17 Outputs technology 21 Note on wiring 24 Safety instructions about Reed relays 24 Status...

Page 13: ... 1 Hardware structure Conditions 13 Prinziple block diagram 13 Available memory 14 15332 Conditions 19971 The device does not start until sufficient voltage is applied to the supply connection VBBs A voltage 10 V is deemed sufficient Permissible operating voltage data sheet Prinziple block diagram 20848 Figure Block diagram of the supply ...

Page 14: ...ITE page 168 files 128 bytes less for header 16 kByte The remaining rest of the memory is reserved for system internal purposes SRAM 18705 SRAM volatile fast memory overall existing in the device SRAM indicates here all kinds of volatile and fast memories 256 kByte Thereof the following memory areas are reserved for data reserved by the application program 48 kByte The remaining rest of the memory...

Page 15: ...me system application is running 16 If the TEST pin is not active 16 One time mechanisms 16 3926 For the these devices the following monitoring activities are automatically carried out After application of the supply voltage 3927 After application of the supply voltage controller is in the boot loader the following tests are carried out in the device RAM test one time supply voltage system data co...

Page 16: ...system data monitoring program loaded operating mode RUN STOP runtime system loaded node ID baud rate of CAN and RS232 In the operating mode RUN Cyclical I O diagnosis short circuit wire break overload current of the inputs and outputs cross fault only for SafetyController If the TEST pin is not active 3929 Write protection for system data in FRAM e g runtime system loaded calibration data Impleme...

Page 17: ...atiometrically 0 1000 adjustable via function blocks This means potentiometers or joysticks can be evaluated without additional reference voltage A fluctuation of the supply voltage has no influence on this measured value As an alternative an analogue channel can also be evaluated binarily In case of ratiometric measurement the connected sensors should be supplied with VBBs of the device So faulty...

Page 18: ...age This enables diagnosis of the input signals But in the application software the switching signal is directly available as bit information In pin binary input n CR device 1 input filter 2a input minus switching 2b input plus switching 3 voltage Figure basic circuit of binary input minus switching plus switching for negative and positive sensor signals In pin binary input n S sensor In pin binar...

Page 19: ...switching BL for positive sensor signal with without diagnosis chapter Possible operating modes inputs outputs page 187 Configuration of each input is made via the application program configuration byte INxx_MODE Sensors with diagnostic capabilities to NAMUR can be evaluated Input group IN08 IN11 FRQ00 FRQ03 19979 These inputs are a group of multifunction channels These inputs can be used as follo...

Page 20: ...g BL for positive sensor signal binary input minus switching BH for negative sensor signal chapter Possible operating modes inputs outputs page 187 Sensors with diagnostic capabilities to NAMUR can be evaluated All inputs show the same behaviour concerning function and diagnosis Detailed description chapter Address assignment inputs outputs Configuration of each input is made via the application p...

Page 21: ...s 22 Output group OUT00 OUT03 22 Output group OUT04 OUT07 23 Output group OUT08 OUT10 23 Output group OUT11 OUT17 23 14093 Binary outputs 19986 The following operating modes are possible for the device outputs data sheet binary output plus switching BH short circuit proof overload protected 15451 Qn pin output n L load Basic circuit of output plus switching BH for positive output signal ...

Page 22: ...ve output signal Output group OUT00 OUT03 20860 These outputs are a group of multifunction channels These outputs provide several function options each output separately configurable binary output plus switching BH short circuit proof overload protected analogue output with Pulse Width Modulation PWM chapter Possible operating modes inputs outputs page 187 Configuration of each output is made via ...

Page 23: ...o the data sheet Output group OUT08 OUT10 20865 These outputs are a group of channels with a single specified function These outputs have the following fixed setting binary output with relay change over contacts The outputs have no current measurement no overload detection For the limit values please make sure to adhere to the data sheet Output group OUT11 OUT17 20867 These outputs are a group of ...

Page 24: ...r signals FRQ Frequency input H bridge Output with H bridge function PWM Pulse width modulated signal PWMi PWM output with current measurement IH Pulse counter input high side minus switching for negative sensor signal IL Pulse counter input low side plus switching for positive sensor signal R Read back channel for one output Allocation of the input output channels Catalogue mounting instructions ...

Page 25: ...Flashing with 2 Hz Application RUN time frame 200 ms Green Permanently on Application STOP Red Flashing with 2 Hz Application RUN with error time frame 200 ms Red Briefly on FATAL ERROR time frame 200 ms Red Permanently on TEST TRUE Application STOP and FATAL ERROR TEST FALSE ERROR STOP SYSTEM STOP The status LED can be changed by the programming system for the operating states STOP and RUN To do ...

Page 26: ...he serial interface can generally be used in combination with the following functions program download debugging free use of the application 12998 NOTE The serial interface is not available to the user by default because it is used for program download and debugging The interface can be freely used if the user sets the system flag bit SERIAL_MODE TRUE Debugging of the application program is then o...

Page 27: ...01 Connections and data data sheet Available CAN interfaces and CAN protocols 20872 The following CAN interfaces and CAN protocols are available in this ecomatmobile device CAN interface CAN 1 CAN 2 CAN 3 CAN 4 Default download ID ID 127 ID 126 ID 125 ID 124 CAN protocols CAN Layer 2 Interface does not exist Interface does not exist Interface does not exist CANopen SAE J1939 Standard baud rate 125...

Page 28: ... device Bootloader 29 Runtime system 29 Application program 29 Libraries 30 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 ...

Page 29: ...g mode It provides the minimum functions for loading the runtime system among others support of the interfaces e g CAN Normally it is necessary to download the runtime 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 c...

Page 30: ...lways be contained in the application program ifm_CR0301_CANopenMaster_Vxxyyzz LIB optional if the CAN interface of the device is to be operated as a CANopen master ifm_CR0301_CANopenSlave_Vxxyyzz LIB optional if the CAN interface of the device is to be operated as a CANopen Slave ifm_CAN1_EXT_Vxxyyzz LIB optional if the CAN interface of the device is to operate on 29 bits ifm_CR0301_J1939_1_Vxxyy...

Page 31: ...ay be called several times in a project An instance must be declared for each call Permitted Call FB and FUN in FB FUN function A function can have several inputs but only one output The output is of the same data type as the function itself PRG program A PRG can have several inputs and several outputs A PRG may only be called once in a project Permitted Call PRG FB and FUN in PRG NOTE Function bl...

Page 32: ...e target format In reality however the number is outside the target format because of the internal representation of the real number Example DW REAL_TO_DWORD 4294967295 0 The most accurate representation of 4294967295 in REAL is 4 294967296E9 Therefore the value exceeds the max permissible value of the target format by 1 DWORD is limited to 0 4294967295 Note the cycle time 8006 For the programmabl...

Page 33: ...ng system and loaded in the controller several times during the program development for testing In CODESYS Online Login load the new program For each such download via CODESYS 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 a...

Page 34: ...deleted or invalid CODESYS menu Online Create boot project This is necessary after each change After a reboot the device starts with the boot project last saved If NO boot project was saved The device remains in the STOP operation after reboot The application program is not no longer available The LED lights green Using ifm downloader 8008 The ifm downloader serves for easy transfer of the program...

Page 35: ...ion program is not available 36 Operating states application program is available 37 Bootloader state 38 INIT state Reset 38 STOP state 38 RUN state 38 SYSTEM STOP state 38 14120 After power on the ecomatmobile device can be in one of five possible operating states BOOTLOADER INIT STOP RUN SYSTEM STOP after ERROR STOP Operating states runtime system is not available 19217 Figure operating states h...

Page 36: ...matmobile CabinetController CR0301 Runtime System V05 2016 04 21 System description Software description Operating states application program is not available 19218 Figure operating states here application program is not available ...

Page 37: ... ecomatmobile CabinetController CR0301 Runtime System V05 2016 04 21 System description Software description Operating states application program is available 19219 Figure operating states here application program is available ...

Page 38: ...STOP state The LED lights yellow Change out of this state possible into one of the following states RUN STOP STOP state 1078 This state is reached in the following cases From the RESET state if no program is loaded or the last state before the RESET state was the STOP state From the RUN state by the STOP command only for the operating mode Test chapter TEST mode The LED lights green RUN state 1077...

Page 39: ...ceive commands via one of the interfaces in the RUN or STOP mode and for example communicate with the programming system Only in the TEST mode the software can be downloaded to the controller The state of the application program can be queried via the flag TEST Summary Test input is active Programming mode is enabled Software download is possible Status of the application program can be queried Pr...

Page 40: ...a the flag SERIAL_MODE the state can be controlled and queried via the application program or the programming system chapter Function elements serial interface page 111 DEBUG mode 1086 If the input DEBUG of SET_DEBUG page 174 is set to TRUE the programming system or the downloader for example can communicate with the controller and execute some special system commands e g for service functions via...

Page 41: ...ame time In particular the channels as from 4 are much more time critical INC_ENCODER Many encoder channels at the same time The FBs listed above as examples trigger system interrupts This means each activation prolongs the cycle time of the application program 1509 NOTICE Risk that the controller works too slowly Cycle time must not become too long When the application program is designed the abo...

Page 42: ... device configurations described in the corresponding installation instructions or in the Appendix page 179 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 analog...

Page 43: ...ice library ifm_CR0301_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 CR0301 and the software version number xx e g 02 must always have the same value Otherwise the device goes to the STOP mode The values for yy release number and zz patch number do not have to match 4368 The following files must also...

Page 44: ... runtime system is on the controller 1st check use the ifm downloader or the maintenance tool to verify whether the correct version of the runtime system was loaded read out the name version and CRC of the runtime system in the device Manually compare this information with the target data 2nd check optional verify in the application program whether the correct version of the runtime system was loa...

Page 45: ...rget file corresponding to the device must be loaded Select the requested target file in the dialogue window Target Settings in the menu Configuration The target file constitutes the interface to the hardware for the programming system At the same time several important libraries and the PLC configuration are loaded when selecting the target If necessary in the window Target settings tab Network f...

Page 46: ... window Click on the tab Resources in CODESYS In the left column double click on PLC Configuration Display of the current PLC configuration example following figure Based on the configuration the user can find the following in the program environment all important system and error flags Depending on the application and the application program these flags must be processed and evaluated Access is m...

Page 47: ...ich 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 via File New from template CODESYS creates a new project which shows the basic program str...

Page 48: ...e inputs and outputs So the corresponding input and output signal can be monitored and the application program can react in case of a fault Depending on the input and output certain marginal conditions must be taken into account when using the diagnosis It must be checked by means of the data sheet if the device used has the described input and output groups data sheet Constants are predefined e g...

Page 49: ...odes inputs outputs page 187 Safety instructions about Reed relays 7348 For use of non electronic switches please note the following Contacts of Reed relays may be clogged reversibly if connected to the device inputs without series resistor Remedy Install a series resistor for the Reed relay Series resistor max input voltage permissible current in the Reed relay Example 32 V 500 mA 64 Ohm The seri...

Page 50: ... when the final value 23 mA is exceeded When the value is again below the limit value the input automatically switches back to the current measurement range When the analogue input FBs are used the diagnostic function is automatically activated If for an input channel the limit value is exceeded switching to the safe voltage range is also done in pairs Example ANALOG0 23 mA ANALOG0 and ANALOG4 are...

Page 51: ...nction blocks are e g On FRQx inputs FAST_COUNT page 131 Counter block for fast input pulses FREQUENCY page 132 Measures the frequency of the signal arriving at the selected channel On CYLx inputs PERIOD page 135 Measures the frequency and the cycle period cycle time in µs at the indicated channel PERIOD_RATIO page 137 Measures the frequency and the cycle period cycle time in µs during the indicat...

Page 52: ...ontacts These outputs are not able for diagnosis 15451 Qn pin output n L load Basic circuit of output plus switching BH for positive output signal 13975 WARNING Dangerous restart possible Risk of personal injury Risk of material damage to the machine plant If in case of a fault an output is switched off via the hardware the logic state generated by the application program is not changed Remedy Res...

Page 53: ...el e g in order to increase the max output current The outputs do not operate synchronously Otherwise the entire load current could flow through only one output The current measurement would no longer function Availability of PWM 20889 Device Number of available PWM outputs of which current controlled PWMi PWM frequency Hz CabinetController CR0301 CR0302 4 20 250 FBs for PWM functions 20891 The fo...

Page 54: ...nals FRQ Frequency input H bridge Output with H bridge function PWM Pulse width modulated signal PWMi PWM output with current measurement IH Pulse counter input high side minus switching for negative sensor signal IL Pulse counter input low side plus switching for positive sensor signal R Read back channel for one output Allocation of the input output channels Catalogue mounting instructions or da...

Page 55: ... CODESYS function elements FBs PRGs FUNs are stored in libraries Below you will find a list of all the ifm libraries you can use with this device This is followed by a description of the function elements sorted by topic 5 1 ifm libraries for the device CR0301 Bibliothek ifm_CR0301_V05yyzz LIB 56 Library ifm_CR0301_CANopenMaster_V04yynn LIB 58 Library ifm_CR0301_CANopenSlave_V04yynn LIB 58 Library...

Page 56: ...sfers different data types directly from the serial EEPROM to the RAM E2WRITE page 166 writes different data types directly into the serial EEPROM FAST_COUNT page 131 Counter block for fast input pulses FLASHREAD page 167 transfers different data types directly from the flash memory to the RAM FLASHWRITE page 168 writes different data types directly into the flash memory FREQUENCY page 132 Measure...

Page 57: ...RIAL_RX page 113 Reads a received data byte from the serial receive buffer at each call SERIAL_SETUP page 114 Initialises the serial RS232 interface SERIAL_TX page 115 Transmits one data byte via the serial RS232 interface SET_DEBUG page 174 organises the DEBUG mode or the monitoring mode depending on the TEST input SET_IDENTITY page 175 Sets an application specific program identification SET_INTE...

Page 58: ...used as CANopen master x 1 number of the CAN interface 5 1 3 Library ifm_CR0301_CANopenSlave_V04yynn LIB 18719 This library contains the function blocks for operation of the device as a CANopen slave The library is only permissible for the 1st CAN interface x 1 number of the CAN interface This ifm library contains the following function blocks Function element Short description CANx_SLAVE_EMCY_HAN...

Page 59: ...9 Transfers a CAN data object message to CAN interface 1 for transmission at each call 5 1 5 Bibliothek ifm_J1939_1_Vxxyyzz LIB 20902 This library contains the function blocks for engine control x 1 number of the CAN interface This ifm library contains the following function blocks Function element Short description J1939_x page 100 CAN interface x protocol handler for the communication profile SA...

Page 60: ...ents counter functions for frequency and period measurement 130 Function elements PWM functions 140 Function elements controllers 149 Function elements software reset 158 Function elements measuring setting of time 160 Function elements saving reading and converting data in the memory 163 Function elements data access and data check 170 13988 3826 Here you will find the description of the ifm func...

Page 61: ... note for CR250n CR0301 CR0302 and CS0015 The EEPROM memory module may be destroyed by the permanent use of this unit Only carry out the unit once during initialisation in the first program cycle Afterwards block the unit again with ENABLE FALSE The new baud rate will become effective on RESET voltage OFF ON or soft reset ExtendedController In the slave module the new baud rate will become effecti...

Page 62: ...ng The new value is entered when the input ENABLE is set to TRUE The new value will become effective on RESET voltage OFF ON or soft reset NOTICE Note for CR250n CR0301 CR0302 and CS0015 The EEPROM memory module may be destroyed if this function is used permanently Only execute this POU once during initialisation in the first program cycle Afterwards disable the POU again ENABLE FALSE Parameters o...

Page 63: ...oltage OFF ON The baud rates of CAN 1 and CAN 2 can be set differently The input START is only set for one cycle during reboot or restart of the interface The FB must be executed before CAN1_EXT_ Parameters of the inputs 4334 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 64: ...participant becomes error active again normal condition If a participant already is error passive and still transmission errors occur it is disconnected from the bus bus off and the error bit CANx_BUSOFF is set Returning to the bus is only possible if the bus off condition has been removed signal BUSOFF_RECOVER Afterwards the error bit CANx_BUSOFF must be reset in the application program If the au...

Page 65: ...ogrammer must ensure by evaluating the byte AVAILABLE that newly received data objects are retrieved from the buffer and further processed Each call of the FB decrements the byte AVAILABLE by 1 If the value of AVAILABLE is 0 there is no data in the buffer By evaluating the output OVERFLOW an overflow of the data buffer can be detected If OVERFLOW TRUE at least 1 data object has been lost If this u...

Page 66: ...ta 1 8 bytes DLC BYTE Number of the bytes of the CAN telegram read from the receive buffer allowed 0 8 RTR BOOL FALSE Received message was a Remote Transmission Request wird hier nicht unterstützt AVAILABLE BYTE Number of the CAN telegrams received but not yet read from the receive buffer before the FB is called Possible values 0 16 0 no valid data available OVERFLOW BOOL TRUE Overflow of the data...

Page 67: ...RECEIVE_ALL is called for reading the corresponding receive buffer also repeatedly in case of long program cycles The programmer must ensure by evaluating the byte AVAILABLE that newly received data objects are retrieved from the buffer and further processed Each call of the FB decrements the byte AVAILABLE by 1 If the value of AVAILABLE is 0 there is no data in the buffer By evaluating the output...

Page 68: ... DWORD Number of the data object identifier DATA ARRAY 0 7 OF BYTE received data 1 8 bytes DLC BYTE Number of bytes received in the DATA array with SRDO allowed 0 8 AVAILABLE BYTE Number of the CAN telegrams received but not yet read from the receive buffer before the FB is called Possible values 0 16 0 no valid data available OVERFLOW BOOL TRUE Overflow of the data buffer loss of data FALSE Data ...

Page 69: ...mple prevent a bus overload Several data objects can be transmitted virtually at the same time if a flag is assigned to each data object and controls the execution of the FB via the ENABLE input If this unit is to be used the 1st CAN interface must first be initialised for the extended ID with CAN1_EXT page 63 Parameters of the inputs 4380 Parameter Data type Description ID DWORD Number of the dat...

Page 70: ...ning to the bus is only possible if the bus off condition has been removed signal BUSOFF_RECOVER The input CAN_RESTART is used for rectifying other CAN errors The CAN interface is reinitialised Afterwards the error bit must be reset in the application program The procedures for the restart of the interfaces are different For CAN interface 1 or devices with only one CAN interface set the input CAN_...

Page 71: ...corresponding receive buffer also repeatedly in case of long program cycles The programmer must ensure by evaluating the byte AVAILABLE that newly received data objects are retrieved from the buffer and further processed Each call of the FB decrements the byte AVAILABLE by 1 If the value of AVAILABLE is 0 there is no data in the buffer By evaluating the output OVERFLOW an overflow of the data buff...

Page 72: ...ta 1 8 bytes DLC BYTE Number of the bytes of the CAN telegram read from the receive buffer allowed 0 8 RTR BOOL FALSE Received message was a Remote Transmission Request wird hier nicht unterstützt AVAILABLE BYTE Number of the CAN telegrams received but not yet read from the receive buffer before the FB is called Possible values 0 16 0 no valid data available OVERFLOW BOOL TRUE Overflow of the data...

Page 73: ... CANx_RECEIVE_RANGE is called for reading the corresponding receive buffer also repeatedly in case of long program cycles The programmer has to ensure by evaluating the byte AVAILABLE that newly received data objects are retrieved from buffer SOFORT and are further processed as the data are only available for one cycle Each call of the FB decrements the byte AVAILABLE by 1 If the value of AVAILABL...

Page 74: ...ata object DATA ARRAY 0 7 OF BYTE received data 1 8 bytes DLC BYTE Number of the bytes of the CAN telegram read from the receive buffer allowed 0 8 AVAILABLE BYTE Number of the CAN telegrams received but not yet read from the receive buffer before the FB is called Possible values 0 16 0 no valid data available OVERFLOW BOOL TRUE Overflow of the data buffer loss of data FALSE Data buffer is without...

Page 75: ...n of the FB can be temporarily blocked ENABLE FALSE via the input ENABLE So for example a bus overload can be prevented Several data objects can be transmitted virtually at the same time if a flag is assigned to each data object and controls the execution of the FB via the ENABLE input If CAN2_TRANSMIT is to be used the second CAN interface must be initialised first using CAN2 Parameters of the in...

Page 76: ... 04 21 ifm function elements ifm function elements for the device CR0301 5 2 2 Function elements CANopen master CANx_MASTER_EMCY_HANDLER 77 CANx_MASTER_SEND_EMERGENCY 78 CANx_MASTER_STATUS 80 1870 ifm electronic provides a number of FBs for the CANopen master which will be explained below ...

Page 77: ...rom the error register index 0x1001 01 and error field index 0x1003 0 5 of the CANopen object directory can be read via the FB If application specific error messages are to be stored in the object directory CANx_MASTER_EMCY_HANDLER must be called after repeatedly calling CANx_MASTER_SEND_EMERGENCY page 78 Parameters of the inputs 2010 Parameter Data type Description CLEAR_ERROR_FIELD BOOL FALSE TR...

Page 78: ...uts are not active Function block outputs are not specified ERROR BOOL Using this input the information whether the error associated to the configured error code is currently present is transmitted FALSE TRUE edge sends the next error code if input was not TRUE in the last second TRUE FALSE edge AND the fault is no longer indicated after a delay of approx 1 s zero error message is sent else this f...

Page 79: ...CANx_MASTER_SEND_EMERGENCY 2018 In this example 3 error messages will be generated subsequently 1 ApplError1 Code 0xFF00 in the error register 0x81 2 ApplError2 Code 0xFF01 in the error register 0x81 3 ApplError3 Code 0xFF02 in the error register 0x81 CAN1_MASTER_EMCY_HANDLER sends the error messages to the error register Object 0x1001 in the error array Object 0x1003 ...

Page 80: ...ifm_CR0301_CANopenMaster_Vxxyyzz LIB Symbol in CODESYS Description 2024 Status indication of the device used with CANopen CANx_MASTER_STATUS shows the status of the device used as CANopen master Further possibilities monitoring the network status monitoring the status of the connected slaves resetting or starting the slaves in the network The FB simplifies the use of the CODESYS CANopen master lib...

Page 81: ...E edge Delete data in the receive buffer else this function is not executed CLEAR_TX_OVERFLOW_FLAG BOOL FALSE TRUE edge Clear error flag TX_OVERFLOW else this function is not executed CLEAR_TX_BUFFER BOOL FALSE TRUE edge Delete data in the transmit buffer else this function is not executed CLEAR_OD_CHANGED_FLAG BOOL FALSE TRUE edge Delete flag OD_CHANGED else this function is not executed CLEAR_ER...

Page 82: ...verflow FALSE no overflow OD_CHANGED BOOL TRUE Data in the object directory of the CANopen master have been changed FALSE no data change ERROR_CONTROL ARRAY 0 7 OF BYTE The array contains the list max 8 of missing network nodes guard or heartbeat error GET_EMERGENCY STRUCT CANx_EMERGENY_MESSAG E At the output the data for the structure CANx_EMERGENCY_MESSAGE are available The last received EMCY me...

Page 83: ...WORD ERROR_REGISTER BYTE MANUFACTURER_ERROR_FIELD ARRAY 0 4 OF BYTE The structure is defined by the global variables of the library ifm_CR0301_CANopenMaster_Vxxyyzz LIB CANx_NODE_STATE STRUCT NODE_ID BYTE NODE_STATE BYTE LAST_STATE BYTE RESET_NODE BOOL START_NODE BOOL PREOP_NODE BOOL SET_TIMEOUT_STATE BOOL SET_NODE_STATE BOOL The structure is defined by the global variables of the library ifm_CR03...

Page 84: ... generated The structures are contained in the library You can see them under Data types in the library manager The number of the array elements is determined by the global variable MAX_NODEINDEX which is automatically generated by the CANopen stack It contains the number of the slaves minus 1 indicated in the network configurator The numbers of the array elements do not correspond to the node ID ...

Page 85: ... runtime you can access the corresponding array element via the global variables of the library and therefore read the status or EMCY messages or reset the node If ResetSingleNodeArray 0 RESET_NODE is set to TRUE for a short time in the example given above the first node is reset in the configuration tree concerning the possible error codes system manual Know How ecomatmobile chapter CAN CANopen e...

Page 86: ...fm function elements ifm function elements for the device CR0301 5 2 3 Function elements CANopen slave CANx_SLAVE_EMCY_HANDLER 87 CANx_SLAVE_NODEID 88 CANx_SLAVE_SEND_EMERGENCY 89 CANx_SLAVE_STATUS 91 1874 ifm electronic provides a number of FBs for the CANopen slave which will be explained below ...

Page 87: ...smitted to the CAN network and the error messages of the application program are to be stored in the object directory Do you want to store the error messages in the object directory After repeated handling of CANx_SLAVE_SEND_EMERGENCY page 89 call CANx_SLAVE_EMCY_HANDLER once Parameters of the inputs 2054 Parameter Data type Description CLEAR_ERROR_FIELD BOOL FALSE TRUE edge transmit content of ER...

Page 88: ...ifm_CR0301_CANopenSlave_Vxxyyzz LIB Symbol in CODESYS Description 2049 CANx_SLAVE_NODEID enables the setting of the node ID of a CANopen slave at runtime of the application program Normally the FB is called once during initialisation of the controller in the first cycle Afterwards the input ENABLE is set to FALSE again Parameters of the inputs 2047 Parameter Data type Description ENABLE BOOL FALSE...

Page 89: ...ock outputs are not specified ERROR BOOL Using this input the information whether the error associated to the configured error code is currently present is transmitted FALSE TRUE edge sends the next error code if input was not TRUE in the last second TRUE FALSE edge AND the fault is no longer indicated after a delay of approx 1 s zero error message is sent else this function is not executed ERROR_...

Page 90: ... CANx_SLAVE_SEND_EMERGENCY 2062 In this example 3 error messages will be generated subsequently 1 ApplError1 Code 0xFF00 in the error register 0x81 2 ApplError2 Code 0xFF01 in the error register 0x81 3 ApplError3 Code 0xFF02 in the error register 0x81 CAN1_SLAVE_EMCY_HANDLER sends the error messages to the error register Object 0x1001 in the error array Object 0x1003 ...

Page 91: ...Unit type function block FB Unit is contained in the library ifm_CR0301_CANopenSlave_Vxxyyzz LIB Symbol in CODESYS Description 2066 CANx_SLAVE_STATUS shows the status of the device used as CANopen slave The FB simplifies the use of the CoDeSys CANopen slave libraries We urgently recommend to carry out the evaluation of the network status via this FB At runtime you can then access the individual ou...

Page 92: ... during network initialisation state OPERATIONAL FALSE The connected network participants are started one after the other CLEAR_RX_OVERFLOW_FLAG BOOL FALSE TRUE edge Clear error flag RX_OVERFLOW else this function is not executed CLEAR_RX_BUFFER BOOL FALSE TRUE edge Delete data in the receive buffer else this function is not executed CLEAR_TX_OVERFLOW_FLAG BOOL FALSE TRUE edge Clear error flag TX_...

Page 93: ...ed SYNC_ERROR BOOL TRUE Error the SYNC signal of the master was not received or received too late after expiration of ComCyclePeriod FALSE no SYNC error GUARD_HEARTBEAT_ERROR BOOL TRUE Error the guarding or heartbeat signal of the master was not received or received too late FALSE no guarding or heartbeat error RX_OVERFLOW BOOL TRUE Error receive buffer overflow FALSE no overflow TX_OVERFLOW BOOL ...

Page 94: ... Runtime System V05 2016 04 21 ifm function elements ifm function elements for the device CR0301 5 2 4 Function elements CANopen SDOs CANx_SDO_READ 95 CANx_SDO_WRITE 97 2071 Here you will find ifm function elements for CANopen handling of Service Data Objects SDOs ...

Page 95: ...ontained in the library ifm_CR0301_Vxxyyzz LIB Symbol in CODESYS Description 624 CANx_SDO_READ reads the SDO page 202 with the indicated indexes from the node Prerequisite Node must be in the mode PRE OPERATIONAL or OPERATIONAL By means of these the entries in the object directory can be read So it is possible to selectively read the node parameters Danger of data loss Allocate enough memory space...

Page 96: ...in the object directory DATA DWORD Addresse of the receive data array valid length 0 255 Determine the address by means of the operator ADR and assigne it to the FB Parameters of the outputs 626 Parameter Data type Description RESULT BYTE feedback of the function block possible messages following table LEN WORD length of the entry in number of bytes The value for LEN must not be greater than the s...

Page 97: ... Unit is contained in the library ifm_CR0301_Vxxyyzz LIB Symbol in CODESYS Description 618 CANx_SDO_WRITE writes the SDO page 202 with the specified indexes to the node Prerequisite the node must be in the state PRE OPERATIONAL or OPERATIONAL Using this FB the entries can be written to the object directory So it is possible to selectively set the node parameters The value for LEN must be lower tha...

Page 98: ...ed to the index in the object directory LEN WORD length of the entry in number of bytes The value for LEN must not be greater than the size of the transmit array Otherwise any data is sent DATA DWORD Address of the transmit data array permissible length 0 255 Determine the address by means of the operator ADR and assigne it to the FB Parameters of the outputs 620 Parameter Data type Description RE...

Page 99: ...m function elements for the device CR0301 5 2 5 Function elements SAE J1939 J1939_x 100 J1939_x_GLOBAL_REQUEST 101 J1939_x_RECEIVE 103 J1939_x_RESPONSE 105 J1939_x_SPECIFIC_REQUEST 107 J1939_x_TRANSMIT 109 2273 For SAE J1939 ifm electronic provides a number of function elements which will be explained in the following ...

Page 100: ...face First initialise the interface via CAN2 To handle the communication the protocol handler must be called in each program cycle To do so the input ENABLE is set to TRUE The protocol handler is started if the input START is set to TRUE for one cycle Using MY_ADDRESS a device address is assigned to the controller It must differ from the addresses of the other J1939 bus participants It can then be...

Page 101: ... Check the amount of received data the value must not exceed the size of the array created to receive data For every requested message use an own instance of the FB To the destination address DST applies Determine the address by means of the operator ADR and assigne it to the FB In addition the priority typically 3 6 or 7 must be assigned Given that the request of data can be handled via several c...

Page 102: ... defined PGN Parameter Group Number PDU2 global 240 255 PS BYTE PDU specific byte Value of defined PGN Parameter Group Number GE Group Extension 0 255 DST DWORD destination address Determine the address by means of the operator ADR and assigne it to the FB Info PGN Page PF PS PDU PRIO PGN J1939 address data Parameters of the outputs 464 Parameter Data type Description RESULT BYTE feedback of the f...

Page 103: ...ation program PG PF PS RPT LIFE DST 13790 NOTICE Risk of inadmissible overwriting of data Create a receiver array with a size of 1 785 bytes This is the maximum size of a J1939 message Check the amount of received data the value must not exceed the size of the array created to receive data To the destination address DST applies Determine the address by means of the operator ADR and assigne it to t...

Page 104: ...f defined PGN Parameter Group Number If PF PDU1 PS DA Destination Address DA J1939 address of external device If PF PDU2 PS GE Group Extension DST DWORD destination address Determine the address by means of the operator ADR and assigne it to the FB RPT TIME Monitoring time Within this time window the messages must be received cyclically Otherwise there will be an error message RPT T 0s no monitori...

Page 105: ... of the operator ADR and assigne it to the FB In addition the number of data bytes to be transmitted is assigned Parameters of the inputs 451 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 CONFIG BOOL TRUE in the 1st cycle configure data object FALSE during furth...

Page 106: ...R0301 Parameters of the outputs 13993 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 transfer completed without errors 2 02 function block is active action not yet completed 3 03 Error data cannot be transmitted ...

Page 107: ...ess of the array DST in which the received data is stored are assigned to the FB Info PGN Page PF PS PDU PRIO PGN J1939 address data 13790 NOTICE Risk of inadmissible overwriting of data Create a receiver array with a size of 1 785 bytes This is the maximum size of a J1939 message Check the amount of received data the value must not exceed the size of the array created to receive data To the desti...

Page 108: ...ined PGN Parameter Group Number PDU1 specific 0 239 PDU2 global 240 255 PS BYTE PDU specific byte Value of defined PGN Parameter Group Number If PF PDU1 PS DA Destination Address DA J1939 address of external device If PF PDU2 PS GE Group Extension DST DWORD destination address Determine the address by means of the operator ADR and assigne it to the FB Info PGN Page PF PS PDU PRIO PGN J1939 address...

Page 109: ...ages or blocks of messages To do so the parameters PG PF PS RPT and the address of the data array SRC are assigned to the FB Info PGN Page PF PS PDU PRIO PGN J1939 address data To the source address SRC applies Determine the address by means of the operator ADR and assigne it to the FB In addition the number of data bytes to be transmitted and the priority typically 3 6 or 7 must be assigned Given...

Page 110: ...Parameter Group Number If PF PDU1 PS DA Destination Address DA J1939 address of external device If PF PDU2 PS GE Group Extension SRC DWORD start address in source memory Determine the address by means of the operator ADR and assigne it to the FB LEN WORD number of data bytes to be transmitted allowed 1 1 785 0x0001 0x06F9 RPT TIME Repeat time during which the data messages are to be transmitted cy...

Page 111: ...RX 113 SERIAL_SETUP 114 SERIAL_TX 115 1600 NOTE In principle the serial interface is not available for the user because it is used for program download and debugging The interface can be freely used if the user sets the system flag bit SERIAL_MODE to TRUE Then however program download and debugging are only possible via the CAN interface The serial interface can be used in the application program ...

Page 112: ...e contents of the buffer remain unchanged after calling this FB The SERIAL FBs form the basis for the creation of an application specific protocol for the serial interface To do so set the system flag bit SERIAL_MODE TRUE NOTE In principle the serial interface is not available for the user because it is used for program download and debugging The interface can be freely used if the user sets the s...

Page 113: ... FBs form the basis for the creation of an application specific protocol for the serial interface To do so set the system flag bit SERIAL_MODE TRUE NOTE In principle the serial interface is not available for the user because it is used for program download and debugging The interface can be freely used if the user sets the system flag bit SERIAL_MODE to TRUE Then however program download and debug...

Page 114: ...he serial interface is not available for the user because it is used for program download and debugging The interface can be freely used if the user sets the system flag bit SERIAL_MODE to TRUE Then however program download and debugging are only possible via the CAN interface 5020 NOTICE The driver module of the serial interface can be damaged Disconnecting or connecting the serial interface whil...

Page 115: ...creation of an application specific protocol for the serial interface To do so set the system flag bit SERIAL_MODE TRUE NOTE In principle the serial interface is not available for the user because it is used for program download and debugging The interface can be freely used if the user sets the system flag bit SERIAL_MODE to TRUE Then however program download and debugging are only possible via t...

Page 116: ...LC cycle 1599 The PLC cyclically processes the stored application program in its full length The cycle time can vary due to program branchings which depend e g on external events conditional jumps This can have negative effects on certain functions By means of systematic interrupts of the cyclic program it is possible to call time critical processes independently of the cycle in fixed time periods...

Page 117: ...l part of the application is integrated by the user in a block of the type PROGRAM PRG This block is declared as the interrupt routine by calling SET_INTERRUPT_I once during initialisation As a consequence this program block will always be executed if an edge is detected on the input CHANNEL If inputs and outputs are used in this program part these are also read and written in the interrupt routin...

Page 118: ...e PRG is then no longer called and no longer provides data 971 NOTE The uniqueness of the inputs and outputs in the cycle is affected by the interrupt routine Therefore only part of the inputs and outputs is serviced If initialised in the interrupt program the following inputs and outputs will be read or written Inputs digital IX0 0 IX0 7 Controller CR0n3n CR7n3n IX0 12 IX0 15 IX1 4 IX1 8 all othe...

Page 119: ...h triggers the interrupt 1 rising edge standard value 2 falling edge 3 rising and falling edge 3 standard value READ_INPUTS BOOL TRUE read the inputs 8 11 before calling the program and write to the input flags IN08 IN11 FALSE only read the channel indicated under CHANNEL and write to the corresponding input flag INnn WRITE_OUTPUTS BOOL TRUE write the current values of the output flags Q00 Q03 to ...

Page 120: ... part of the application is integrated by the user in a block of the type PROGRAM PRG This block is declared as the interrupt routine by calling SET_INTERRUPT_XMS once during initialisation As a consequence this program block is always processed after the REPEATTIME has elapsed every x ms If inputs and outputs are used in this program part they are also read and written in the defined cycle Readin...

Page 121: ...ller CS0015 Global variants too are no longer unique if they are accessed simultaneously in the cycle and by the interrupt routine This problem applies in particular to larger data types e g DINT All other inputs and outputs are processed once in the cycle as usual Parameters of the inputs 20095 Parameter Data type Description ENABLE BOOL TRUE only for 1 cycle initialisation of the function block ...

Page 122: ...1302 In this chapter we show you ifm FBs which allow you to read and process the analogue or digital signals at the device input NOTE The analogue raw values shown in the PLC configuration of CODESYS directly come from the ADC They are not yet corrected Therefore different raw values can appear in the PLC configuration for identical devices Error correction and normalisation are only carried out b...

Page 123: ...voltage input 0 32 000 mV IN_RATIO voltage input ratiometric 0 1 000 For parameter setting of the operating mode the indicated global system variables should be used The analogue values are provided as standardised values When using this FB you must set the system variable RELAIS Otherwise the internal reference voltages are missed for the current measurement Relay exists only in the following dev...

Page 124: ...ontroller CR0301 Runtime System V05 2016 04 21 ifm function elements ifm function elements for the device CR0301 Parameters of the outputs 524 Parameter Data type Description OUT WORD Output value according to MODE in case of an invalid setting OUT 0 ...

Page 125: ...ent in µA at the analogue current inputs Info INPUT_CURRENT is a compatibility FB for older programs In new programs the more powerful INPUT_ANALOG page 123 should be used Parameters of the inputs 517 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 INPUT_CHANNEL B...

Page 126: ...measurement refers to the voltage range defined via MODE_10V_32V 10 000 mV or 32 000 mV Info INPUT_VOLTAGE is a compatibility FB for older programs In new programs the more powerful INPUT_ANALOG page 123 should be used Parameters of the inputs 511 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function ...

Page 127: ...me System V05 2016 04 21 ifm function elements ifm function elements for the device CR0301 5 2 9 Function elements adapting analogue values NORM 128 1603 If the values of analogue inputs or the results of analogue functions must be adapted the following FBs will help you ...

Page 128: ...ed for generating PWM values from analogue input values NOTE The value for X must be in the defined input range between XL and XH There is no internal plausibility check of the value X 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 an inverted manner Parameters of the inputs 405 Parameter Dat...

Page 129: ...nput lower limit value output upper limit value output 0 100 0 2000 XL XH YL YH then the FB converts the input signal for example as follows from X 50 0 100 75 to Y 1000 0 2000 1500 Example NORM 2 408 lower limit value input upper limit value input lower limit value output upper limit value output 2000 0 0 100 XL XH YL YH then the FB converts the input signal for example as follows from X 1000 0 2...

Page 130: ...evaluation Function element Permissible values Explanation FAST_COUNT 0 30 000 Hz Counting of fast pulses FREQUENCY 0 1 30 000 Hz Measurement of the frequency on the indicated channel Measurement error is reduced in case of high frequencies INC_ENCODER 0 30 000 Hz Up down counter function for the evaluation of encoders PERIOD 0 5 000 Hz Measurement of frequency and period duration cycle time on th...

Page 131: ...up counter The channels 1 3 can be used as up and down counters Parameters of the inputs 17812 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed counter stopped INIT BOOL FALSE TRUE edge unit is initialised FALSE during further processing of the program CHANNEL BYTE Number of the fast input channel 0 3 for the inputs IN08 IN11 MODE_UP_DOWN BO...

Page 132: ...uire a short time base low frequencies a correspondingly longer time base The frequency is provided directly in Hz For FREQUENCY only the inputs FRQ0 FRQ3 can be used Parameters of the inputs 17814 Parameter Data type Description INIT BOOL FALSE TRUE edge unit is initialised FALSE during further processing of the program CHANNEL BYTE Number of the fast input channel 0 3 for the inputs IN08 IN11 TI...

Page 133: ... FALSE The function block counts the pulses at the inputs as long as INIT FALSE and PRESET FALSE The current counter value is available at the output COUNTER The outputs UP and DOWN indicate the current counting direction of the counter The outputs are TRUE if the counter has counted in the corresponding direction in the preceding program cycle If the counter stops the direction output in the foll...

Page 134: ...ocessing of the program CHANNEL BYTE Number of the input channel pair 0 channel pair 0 inputs IN08 IN09 1 channel pair 1 inputs IN10 IN11 PRESET_VALUE DINT counter start value PRESET BOOL FALSE TRUE edge PRESET_VALUE is loaded to COUNTER TRUE Counter ignores the input pulses FALSE Counter counts the input pulses RESOLUTION BYTE evaluation of the encoder resolution 01 counts for every fourth edge r...

Page 135: ... frequencies there will be inaccuracies when using FREQUENCY To avoid this PERIOD can be used The cycle time is directly indicated in µs The maximum measuring range is approx 71 min NOTE For PERIOD only the inputs CYL0 CYL3 can be used For PDM360smart CR1071 all inputs Frequencies 0 5 Hz are no longer clearly indicated Parameters of the inputs 17818 Parameter Data type Description INIT BOOL FALSE ...

Page 136: ...n elements for the device CR0301 Parameters of the outputs 375 Parameter Data type Description C DWORD Cycle time of the detected periods in µs allowed 200 10 000 000 0xC8 0x989680 10 seconds F REAL frequency of the input signal in Hz ET TIME time elapsed since the last rising edge on the input can be used for very slow signals ...

Page 137: ...ms low level the value RATIO1000 is provided as 250 In case of low frequencies there will be inaccuracies when using FREQUENCY To avoid this PERIOD_RATIO can be used The cycle time is directly indicated in µs The maximum measuring range is approx 71 min NOTE For PERIOD_RATIO only the inputs CYL0 CYL3 can be used For PDM360smart CR1071 all inputs The output RATIO1000 provides the value 0 for a mark...

Page 138: ... type Description C DWORD Cycle time of the detected periods in µs allowed 200 10 000 000 0xC8 0x989680 10 seconds F REAL frequency of the input signal in Hz ET TIME Time passed since the last change of state on the input can be used in case of very slow signals RATIO1000 WORD Mark to space ratio in permissible 1 999 0x1 0x3E7 Preconditions for measuring the interval pulse duration 100 µs frequenc...

Page 139: ... a cycle period or phase shift of 0 is indicated Parameters of the inputs 528 Parameter Data type Description INIT BOOL FALSE TRUE edge unit is initialised FALSE during further processing of the program CHANNEL BYTE Number of the input channel pair 0 channel pair 0 inputs IN08 IN09 1 channel pair 1 inputs IN10 IN11 8406 The FB may provide wrong values before initialisation Do not evaluate the outp...

Page 140: ... System V05 2016 04 21 ifm function elements ifm function elements for the device CR0301 5 2 11 Function elements PWM functions PWM 141 PWM100 145 PWM1000 147 13758 Here you will find ifm function blocks that allow you to operate the outputs with Pulse Width Modulation PWM ...

Page 141: ...al for all PWM channels For these channels PWM and PWM100 page 145 and PWM1000 page 147 must not be mixed The PWM frequency and so the RELOAD value is internally limited to 5 kHz Depending on whether a high or a low PWM frequency is required the input DIV64 must be set to FALSE 0 or TRUE 1 During cyclical processing of the program INIT is set to FALSE The FB is called and the new PWM value is assi...

Page 142: ...ORD Dither frequency PWM frequency DIVIDER 2 PWM frequency 1529 Depending on the valve type a corresponding PWM frequency is required For the PWM function the PWM frequency is transmitted via the reload value PWM or directly as a numerical value in Hz PWM1000 Depending on the controller the PWM outputs differ in their operating principle but the effect is the same The PWM frequency is implemented ...

Page 143: ... 1 In case of frequencies below 305 Hz respectively 152 Hz according to the controller DIV64 must be set to 1 to ensure that the RELOAD value is not greater than 0xFFFF Calculation examples RELOAD value 1532 CabinetController CR0303 ClassicController CR0020 CR0505 ExtendedController CR0200 SafetyController CR7020 CR7021 CR7200 CR7201 CR7505 CR7506 CabinetController CR0301 CR0302 SmartController CR...

Page 144: ...DITHER_DIVIDER 2 of the PWM frequency Ramp function 1535 In order to prevent abrupt changes from one PWM value to the next e g from 15 ON to 70 ON it is possible to delay the increase by using PT1 page 157 The ramp function used for PWM is based on the CODESYS library UTIL LIB This allows a smooth start e g for hydraulic systems 964 NOTE When installing the ecomatmobile DVD Software tools and docu...

Page 145: ...program For this the input INIT must be set to TRUE During initialisation the parameter FREQUENCY is also assigned NOTE The value FREQUENCY must be identical for all PWM channels For these channels PWM page 141 and PWM100 and PWM1000 page 147 must not be mixed The PWM frequency is limited to 5 kHz internally During cyclical processing of the program INIT is set to FALSE The FB is called and the ne...

Page 146: ...x0014 0x00FA CHANNEL BYTE Number of the PWM output channel 0 3 for the outputs OUT00 OUT03 VALUE BYTE current PWM value CHANGE BOOL TRUE Adopting new value from VALUE after the current PMW period DITHER_VALUE after the current Dither period FALSE the changed PWM value has no influence on the output DITHER_VALUE BYTE peak to peak value of the dither in permissible values 0 100 0x00 0x64 DITHER_FREQ...

Page 147: ...he parameter FREQUENCY is also assigned NOTE The value FREQUENCY must be identical for all PWM channels For these channels PWM page 141 and PWM100 page 145 and PWM1000 must not be mixed Die PWM Frequenz ist intern auf 5 kHz begrenzt During cyclical processing of the program INIT is set to FALSE The FB is called and the new PWM value is assigned The value is adopted if the input CHANGE TRUE A curre...

Page 148: ...T03 VALUE WORD PWM value mark to space ratio in allowed 0 1 000 0x0000 0x03E8 Values 1 000 are regarded as 1 000 CHANGE BOOL TRUE adoption of the new value of FREQUENCY after the current PWM period VALUE after the current PWM period DITHER_VALUE after the current dither period DITHER_FREQUENCY after the current dither period FALSE the changed PWM value has no influence on the output DITHER_VALUE W...

Page 149: ...ast controlled system a small TN should be selected Afterwards the gain KP is increased until the control deviation and the adjustment deviation perform steady oscillation at a constant amplitude at KP KPcritical Then the stability limit has been reached Then the time period Tcritical of the steady oscillation has to be determined Add a differential component only if necessary TV should be approx ...

Page 150: ...cs of DELAY The dead time is influenced by the duration of the PLC cycle The dead time my not exceed 100 PLC cycle time memory limit In case a longer delay is set the resolution of the values at the output of the FB will be poorer which may cause that short value changes will be lost To ensure that the FB works correctly FB must be called in each cycle Parameters of the inputs 589 Parameter Data t...

Page 151: ...rnally divided by 10 So a finer grading can be obtained e g KP 17 which corresponds to 1 7 The manipulated variable referred to the greater actual value is increased accordingly The manipulated variable referred to the smaller actual value corresponds to the reference variable Reference variable 65 536 XS XMAX 65 536 NOTE The manipulated variables Y1 and Y2 are already standardised to the PWM FB R...

Page 152: ...preset value XMAX WORD maximum preset value KP Byte constant of the proportional component 10 positive values only TN TIME integral action time integral component KD BYTE differential component 10 positive values only TV TIME derivative action time differential component RESET BOOL TRUE reset the function element FALSE function element is not executed Parameters of the outputs 536 Parameter Data t...

Page 153: ...the input value D component After the end of the derivative action time the manipulated variable returns to the value corresponding to the proportional range and changes in accordance with the reset time NOTE The manipulated variable Y is already standardised to the PWM FB RELOAD value 65 535 Note the reverse logic 65 535 minimum value 0 maximum value Note that the input values KI and KD depend on...

Page 154: ...TE proportional component of the output signal KI BYTE integral component of the output signal KD BYTE differential component of the output signal Parameters of the outputs 356 Parameter Data type Description Y WORD Manipulated variable 0 1000 Recommended settings 357 KP 50 KI 30 KD 5 With the values indicated above the controller operates very quickly and in a stable way The controller does not f...

Page 155: ...to the value corresponding to the proportional component and changes in accordance with the reset time TN The values entered at the inputs KP and KD are internally divided by 10 So a finer grading can be obtained e g KP 17 which corresponds to 1 7 NOTE The manipulated variable Y is already standardised to the PWM FB RELOAD value 65 535 Note the reverse logic 65 535 minimum value 0 maximum value No...

Page 156: ...acteristics of the system fast system small TN slow system large TN Slowly increment KP gradually up to a value at which still definitely no fluctuation will occur Readjust TN if necessary Add differential component only if necessary Select a TV value approx 2 10 times smaller than TN Select a KD value more or less similar to KP Note that the maximum control deviation is 127 For good control chara...

Page 157: ...lay This FB is a proportional controlled system with a time delay It is for example used for generating ramps when using the PWM FBs The output of the FB can become instable if T1 is shorter than the SPS cycle time The output variable Y of the low pass filter has the following time characteristics unit step Figure Time characteristics of PT1 Parameters of the inputs 342 Parameter Data type Descrip...

Page 158: ...troller CR0301 Runtime System V05 2016 04 21 ifm function elements ifm function elements for the device CR0301 5 2 13 Function elements software reset SOFTRESET 159 1594 Using this FB the control can be restarted via an order in the application program ...

Page 159: ...nction with CANopen if a node reset is to be carried out FB SOFTRESET executes an immediate reboot of the controller The current cycle is not completed Before reboot the retain variables are stored The reboot is logged in the error memory In case of active communication the long reset period must be taken into account because otherwise guarding errors will be signalled Parameters of the inputs 264...

Page 160: ... function elements ifm function elements for the device CR0301 5 2 14 Function elements measuring setting of time TIMER_READ 161 TIMER_READ_US 162 1601 Using the following function blocks of ifm electronic you can measure time and evaluate it in the application program change time values if required ...

Page 161: ...SYS Description 239 TIMER_READ reads the current system time When the supply voltage is applied the device generates a clock pulse which is counted upwards in a register This register can be read using the FB call and can for example be used for time measurement The system timer goes up to 0xFFFF FFFF at the maximum corresponds to 49d 17h 2min 47s 295ms and then starts again from 0 Parameters of t...

Page 162: ...READ_US reads the current system time in µs When the supply voltage is applied the device generates a clock pulse which is counted upwards in a register This register can be read by means of the FB call and can for example be used for time measurement Info The system timer runs up to the counter value 4 294 967 295 µs at the maximum and then starts again from 0 4 294 967 295 µs 1h 11min 34s 967ms ...

Page 163: ... 13805 The device provides the following memory types EEPROM memory 13807 Features slow writing reading limited writing reading frequency any memory area can be selected saving data with E2WRITE reading data with E2READ Flash memory 13803 Properties non volatile memory writing is relatively slow and only block by block before re writing memory content must be deleted fast reading limited writing a...

Page 164: ...a storage E2READ 165 E2WRITE 166 FLASHREAD 167 FLASHWRITE 168 MEMCPY 169 13801 Besides the possibility to store data automatically user data can be stored manually via function block calls in integrated memories from where they can also be read By means of the storage partitioning chapter Available memory page 14 the programmer can find out which memory area is available ...

Page 165: ...st be set to FALSE again Parameters of the inputs 583 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 SRC INT Source start address in the memory permissible 0 767 0x0000 0x02FF and 832 EEPROM size 0x0340 EEPROM size LEN INT Number of data bytes to be transmitted D...

Page 166: ...SULT 1 the input ENABLE must be set to FALSE again Parameters of the inputs 577 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 INT Target start address in the memory permissible 0 767 0x0000 0x02FF LEN INT Number of data bytes to be transmitted SRC DINT start...

Page 167: ...read completely during the cycle in which the FB is called up Please make sure that the target memory area in the RAM is sufficient To the destination address DST applies Determine the address by means of the operator ADR and assigne it to the FB Parameters of the inputs 20054 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block i...

Page 168: ...Always delete everything first Otherwise traps or watchdog errors occur Do not delete the flash memory area more often than 100 times Otherwise the data consistency in other flash memory areas is no longer guaranteed During each SPS cycle FLASHWRITE may only be started once To the source start address SRC applies Determine the address by means of the operator ADR and assigne it to the FB The FB wr...

Page 169: ... address of SRC to the address DST To the addresses SRC and DST apply Determine the address by means of the operator ADR and assigne it to the FB In doing so as many bytes as indicated under LEN are transmitted So it is also possible to transmit exactly one byte of a word variable Parameters of the inputs 413 Parameter Data type Description DST DWORD destination address Determine the address by me...

Page 170: ... 04 21 ifm function elements ifm function elements for the device CR0301 5 2 16 Function elements data access anddata check CHECK_DATA 171 GET_IDENTITY 173 SET_DEBUG 174 SET_IDENTITY 175 SET_PASSWORD 176 1598 The FBs described in this chapter control the data access and enable a data check ...

Page 171: ... data in the memory is changed inadvertently then RESULT FALSE The result can then be used for further actions e g deactivation of the outputs Desired change Data changes in the memory e g of the application program or ecomatmobile device are only permitted if the output UPDATE is set to TRUE The value of the checksum is then recalculated The output RESULT is permanently TRUE again Parameters of t...

Page 172: ...binetController CR0301 Runtime System V05 2016 04 21 ifm function elements ifm function elements for the device CR0301 Example CHECK_DATA 4168 In the following example the program determines the checksum and stores it in the RAM via pointer pt ...

Page 173: ...me of the application has previously been saved by means of SET_IDENTITY page 175 Parameters of the inputs 2609 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 2610 Parameter Data type Description DEVICENAME STRING 31 hardware name as a s...

Page 174: ...ing system or the downloader for example can communicate with the device and execute some special system commands e g for service functions via the GSM modem CANremote In this operating mode a software download is not possible because the test input is not connected to supply voltage Only read access is possible Parameters of the inputs 294 Parameter Data type Description ENABLE BOOL TRUE execute ...

Page 175: ... loaded program The following figure shows the correlations of the different identifications as indicated by the different software tools Example ClassicController CR0020 Boot loader Identity BOOTLD_H 020923 Extended identity CR0020 00 00 01 Runtime system Identity CR0020 V2 0 0 041004 Hardware version CR0020 00 00 01 Software version Nozzle in front Application SET_IDENTITY Nozzle in front Downlo...

Page 176: ... a user password for the program and memory upload with the DOWNLOADER If the password is activated reading of the application program or the data memory with the software tool DOWNLOADER is only possible if the correct password has been entered If an empty string default condition is assigned to the input PASSWORD an upload of the application software or of the data memory is possible at any time...

Page 177: ...e 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 initialisation and start phase Err...

Page 178: ...the application software Process the specific error flags in the application program An error description is provided via the error flag These error flags can be further processed if necessary In case of serious errors the system sets the flag bit ERROR At the same time ERROR TRUE leads to the following set all relevant outputs to FALSE via the application program the operation LED lights red the ...

Page 179: ...heets you find summary tables in the appendix 7 1 System flags System flags CAN 180 System flags error flags 180 System flags status LED 181 System flags voltages 181 System flags inputs and outputs 182 System flags system 182 12167 The addresses of the system flags can change if the PLC configuration is extended While programming only use the symbol names of the system flags System manual Know Ho...

Page 180: ... a dominant bit but a recessive level was read OR a sequence of 11 recessive bits was read during bus off recovery 6 CRC error checksum of the received message was wrong CANx_WARNING BOOL CAN interface x warning threshold reached 96 A reset of the flag is possible via write access DOWNLOADID WORD CAN interface x set download identifier x 1 number of the CAN interface 7 1 2 System flags error flags...

Page 181: ...ion SERIAL_MODE BOOL Activate serial interface RS232 for use in the application TRUE The RS232 interface can be used in the application but no longer for programming debugging or monitoring of the device FALSE The RS232 interface cannot be used in the application Programming debugging or monitoring of the device is possible SERIAL_BAUDRATE WORD Baud rate of the RS232 interface SUPPLY_VOLTAGE WORD ...

Page 182: ...inputs ANALOG1 ANALOG5 xy 2_6 inputs ANALOG2 ANALOG6 xy 3_7 inputs ANALOG3 ANALOG7 chapter Possible operating modes inputs outputs page 187 INxx xx 00 15 BOOL Status on binary input xx Requirement input configured as binary input MODE IN_DIGITAL_H or IN_DIGITAL_L TRUE Voltage on binary input 70 of VBBs FALSE Voltage on binary input 30 of VBBs or not configured as binary input or not correctly conf...

Page 183: ... Address assignment and I O operating modes 7 2 Address assignment and I O operating modes Addresses variables of the I Os 183 Possible operating modes inputs outputs 187 1656 also data sheet 7 2 1 Addresses variables ofthe I Os Inputs addresses and variables 184 Outputs addresses and variables 186 2376 ...

Page 184: ...t 12 IX0 13 IN13 Binary input 13 IX0 14 IN14 Binary input 14 IX0 15 IN15 Binary input 15 IX1 0 DIP0 Status DIP switch 0 IX1 1 DIP1 Status DIP switch 1 IX1 2 DIP2 Status DIP switch 2 IX1 3 DIP3 Status DIP switch 3 IX1 4 DIP4 Status DIP switch 4 IX1 5 DIP5 Status DIP switch 5 IX1 6 DIP6 Status DIP switch 6 IX1 7 DIP7 Status DIP switch 7 IW2 ANALOG0 Analogue input 0 IW3 ANALOG1 Analogue input 1 IW4 A...

Page 185: ...luation IW21 ANALOG19 Binary input IN11 analogue evaluation IW22 ANALOG20 Binary input IN12 analogue evaluation IW23 ANALOG21 Binary input IN13 analogue evaluation IW24 ANALOG22 Binary input IN14 analogue evaluation IW25 ANALOG23 Binary input IN15 analogue evaluation IW26 ANALOG24 DIP switch 0 analogue evaluation IW27 ANALOG25 DIP switch 1 analogue evaluation IW28 ANALOG26 DIP switch 2 analogue ev...

Page 186: ...changeover contact QX0 14 OUT14 Relay output channel 14 changeover contact QX0 15 OUT15 Relay output channel 15 changeover contact QX0 16 OUT16 Relay output channel 16 changeover contact QX0 17 OUT17 Relay output channel 17 changeover contact QX2 0 LED0 Status LED output 0 QX2 1 LED1 Status LED output 1 QX2 2 LED2 Status LED output 2 QX2 3 LED3 Status LED output 3 QX2 4 LED4 Status LED output 4 QX...

Page 187: ...l ecomatmobile CabinetController CR0301 Runtime System V05 2016 04 21 Appendix Address assignment and I O operating modes 7 2 2 Possible operating modes inputs outputs Inputs operating modes 188 Outputs operating modes 189 2386 ...

Page 188: ... FBs INxx_MODE 128 80 Frequency measurement 0 30 000 Hz FB FREQUENCY FB description Period measurement 0 1 5 000 Hz FB PERIOD FB description Period duration and ratio measurement 0 1 5 000 Hz FB PERIOD_RATIO FB description Counter 0 50 Hz FB FAST_COUNT FB description Detect encoder values 0 30 000 Hz FB INC_ENCODER FB description IN12 15 IN_DIGITAL_H plus INxx_MODE 1 01 IN_DIGITAL_L minus INxx_MOD...

Page 189: ... and configures a PWM capable output channel Definition of the PWM frequency via RELOAD PWM100 page 145 Initialises and configures a PWM capable output channel Indicate PWM frequency in Hz Indicate mark to space ratio in steps of 1 PWM1000 page 147 Initialises and configures a PWM capable output channel the mark to space ratio can be indicated in steps of 1 Outputs OUT00 OUT17 permitted operating ...

Page 190: ...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 I Os system 2671 The following EMCY messages are sent automatically in the following cases as CANopen master if CANx_MASTER_EMCY_HANDLER page 7...

Page 191: ... 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 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 th...

Page 192: ...e 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 device profile for encoders CiA DS 407 DS Draft Standard CANopen application profil...

Page 193: ...3 3 This results in the following CSV file 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 Cycle time This is the time for a cycle The PLC program performs one complete run Depending on event controlled branchings in the program this can take longer or shorter D Data type Depending on the data type values of different sizes ca...

Page 194: ... superimposed by a certain frequency of the PWM frequency This dither frequency must be an integer part of the PWM frequency DLC Data Length Code in CANopen the number of the data bytes in a message For SDO DLC 8 DRAM DRAM Dynamic Random Access Memory Technology for an electronic memory module with random access Random Access Memory RAM The memory element is a capacitor which is either charged or ...

Page 195: ...led optimum data transmission on a non exclusive transmission medium The concept was developed in 1972 and specified as IEEE 802 3 in 1985 EUC EUC Equipment Under Control EUC is equipment machinery apparatus or plant used for manufacturing process transportation medical or other activities IEC 61508 4 section 3 2 3 Therefore the EUC is the set of all equipment machinery apparatus or plant that giv...

Page 196: ...on EEPROMs but access time approx 100 ns nearly unlimited access cycles possible H Heartbeat The participants regularly send short signals In this way the other participants can verify if a participant has failed HMI HMI Human Machine Interface I ID ID Identifier Name to differentiate the devices participants connected to a system or the message packets transmitted between the participants IEC 611...

Page 197: ...pendent interface Part 4 Time triggered communication Part 5 High speed medium access unit with low power mode ISO 11992 Standard Interchange of digital information on electrical connections between towing and towed vehicles Part 1 Physical and data link layers Part 2 Application layer for brakes and running gear Part 3 Application layer for equipment other than brakes and running gear Part 4 Diag...

Page 198: ...on MMI HMI page 196 MRAM MRAM Magnetoresistive Random Access Memory The information is stored by means of magnetic storage elements The property of certain materials is used to change their electrical resistance when exposed to magnetic fields Advantages of MRAM as compared to conventional RAM memories non volatile like FRAM but access time only approx 35 ns unlimited number of access cycles possi...

Page 199: ...sferred P PC card PCMCIA card PCMCIA card PCMCIA Personal Computer Memory Card International Association a standard for expansion cards of mobile computers Since the introduction of the cardbus standard in 1995 PCMCIA cards have also been called PC card PDM PDM Process and Dialogue Module Device for communication of the operator with the machine plant PDO PDO Process Data Object The time critical ...

Page 200: ...er consists of the following parts P proportional part I integral part D differential part but not for the controller CR04nn CR253n PLC configuration Part of the CODESYS user interface The programmer tells the programming system which hardware is to be programmed CODESYS loads the corresponding libraries Reading and writing the periphery states inputs outputs is possible Pre Op Pre Op PRE OPERATIO...

Page 201: ... 2 The CAN protocol is international defined according to ISO 11898 1 and garantees in ISO 16845 the interchangeability of CAN chips in addition remanent Remanent data is protected against data loss in case of power failure The runtime system for example automatically copies the remanent data to a flash memory as soon as the voltage supply falls below a critical value If the voltage supply is avai...

Page 202: ...SD memory card short for Secure Digital Memory Card is a digital storage medium that operates to the principle of flash storage SDO SDO Service Data Object The SDO is used for access to objects in the CANopen object directory Clients ask for the requested data from servers The SDOs always consist of 8 bytes Examples Automatic configuration of all slaves via SDOs at the system start reading error m...

Page 203: ... protocol which belongs to the transport layer of the internet protocol family The task of UDP is to ensure that data which is transmitted via the internet is passed to the right application At present network variables based on CAN and UDP are implemented The values of the variables are automatically exchanged on the basis of broadcast messages In UDP they are implemented as broadcast messages in...

Page 204: ... CANopen errors and error handling 178 CAN interfaces 27 CAN stack 191 CAN1_BAUDRATE 61 CAN1_DOWNLOADID 62 CAN1_EXT 63 CAN1_EXT_ERRORHANDLER 64 CAN1_EXT_RECEIVE 65 CAN1_EXT_RECEIVE_ALL 67 CAN1_EXT_TRANSMIT 69 CANx_ERRORHANDLER 70 CANx_MASTER_EMCY_HANDLER 77 CANx_MASTER_SEND_EMERGENCY 78 CANx_MASTER_STATUS 80 CANx_RECEIVE 71 CANx_RECEIVE_RANGE 73 CANx_SDO_READ 95 CANx_SDO_WRITE 97 CANx_SLAVE_EMCY_H...

Page 205: ...e instructions CR030n 8 HMI 196 How is this documentation structured 7 I ID 196 IEC 61131 196 IEC user cycle 196 If runtime system application is running 16 If the TEST pin is not active 16 ifm function elements 55 ifm function elements for the device CR0301 60 ifm libraries for the device CR0301 55 ifm weltweit ifm worldwide ifm à l échelle internationale 213 INC_ENCODER 133 Information about the...

Page 206: ...erating modes inputs outputs 187 Pre Op 200 Previous knowledge 10 Prinziple block diagram 13 Process image 200 Process input values 122 Programming notes for CODESYS projects 31 PT1 157 PWM 141 201 PWM dither 144 PWM frequency 142 PWM outputs 22 53 PWM100 145 PWM1000 147 R Ramp function 144 ratiometric 201 RAW CAN 201 Reaction in case of a system error 178 Reaction in case of an error 178 Recommen...

Page 207: ...ription 12 System flags 179 CAN 180 error flags 180 inputs and outputs 182 status LED 181 system 182 voltages 181 SYSTEM STOP state 38 System time 160 System variable 203 T Target 203 TCP 203 Template 203 TEST mode 39 TIMER_READ 161 TIMER_READ_US 162 U UDP 203 Update the runtime system 44 Use as binary inputs 51 Use intended 203 Using ifm downloader 34 V Verify the installation 44 W watchdog 41 20...

Page 208: ...208 ifm Programming Manual ecomatmobile CabinetController CR0301 Runtime System V05 2016 04 21 Notizen Notes Notes 10 Notizen Notes Notes ...

Page 209: ...209 ifm Programming Manual ecomatmobile CabinetController CR0301 Runtime System V05 2016 04 21 Notizen Notes Notes ...

Page 210: ...210 ifm Programming Manual ecomatmobile CabinetController CR0301 Runtime System V05 2016 04 21 Notizen Notes Notes ...

Page 211: ...211 ifm Programming Manual ecomatmobile CabinetController CR0301 Runtime System V05 2016 04 21 Notizen Notes Notes ...

Page 212: ......

Page 213: ... Helsinki Tel 358 75 329 5000 ifm electronic Ltd Hampton Middlesex TW12 2HD Tel 44 208 213 0000 ifm electronic Monoprosopi E P E 15125 Amaroussio Tel 30 210 6180090 ifm electronic kft 9028 Györ Tel 36 96 518 397 ifm electronic s a 20041 Agrate Brianza MI Tel 39 039 68 99 982 Astragal Ltd Azur 58001 Tel 972 3 559 1660 ifm electronic India Branch Office Kolhapur 416234 Tel 91 231 267 27 70 efector c...

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