IFM ecomat 100 R 360 Series, System Manual

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page 3
1. General 5
1.1. Safety instructions 5
1.2. Function and features 6
1.3. Controller configuration 7
1.4. Technical data 8
1.5. Mounting of the modules 12
1.6. Electrical connection of the modules 12
1.7. Fusing of the controller modules 12
2. The monitoring function 15
2.1. Hardware setup 15
2.2. Function of the monitoring concept 16
3. Unit I/O configuration 17
3.1. Bidirectional and diagnostic I/O channels 17
3.1.1. Bidirectional inputs/outputs 17
3.1.2. Outputs with diagnostic functions 18
3.2. Fast inputs 19
3.3. The software control configuration 19
3.4. Wiring 19
4. States and operating system 21
4.1. Operating modes 21
4.2. Status LED 22
4.3. Loading the operating sytem 22
4.3. Operating modes 25
5. Error codes and error classes 27
5.1. Reaction to system error 27
6. CAN in the ecomat R 360 29
6.1. Technical specifications 29
6.2. Exchange of data via CAN 29
6.3. CAN errors and error handling 31
6.4. The physical CAN link 33
6.5. General remarks on the CAN utilization 36
6.6. Description of the CAN function blocks 38
6.7. CANopen in the ecomat R 360 44
6.8. The ecomat R 360 as CANopen slave 48
6.9. The ecomat R 360 as CANopen master 59
6.10. Functions for CANopen I/O modules from ifm electronic 78