IFM ecomat 100 R 360 Series System Manual Download Page 59 | Manualshive

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6.9. The ecomat R 360 as CANopen master

A typical CANopen network has a network master. The
functions which will be described below provide all fundamental
services to design a master software for the plc ecomat R 360.
By using the functions the slave nodes can be integrated into
the CAN network, configured and monitored. For a simple
introduction to CANopen (especially in applications which "only"
require a decentralized extension of the input/output level) the
two functions COP_MSTR_BOOTUP and COP_MSTR_MAIN
were created in the programming language ST. They use the
functions presented below. Details will be given in section 6.10.

To ensure that the ecomat R 360 operates as CANopen
master the flag CAN_OPEN must be set to TRUE at the
program start (during the initialization) and the function
NMM_SET_NMT_MASTER must be called once.

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Summary of Contents for ecomat 100 R 360 Series

Page 1: ...System manual ecomat 100 type R 360 ...

Page 2: ...ritten with the utmost care However we cannot assume any guarantee for the contents Since errors cannot be avoided despite all efforts we appreciate any comment We reserve the right to make technical alterations to the product which might result in a change of contents of the manual ...

Page 3: ...st 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 ...

Page 4: ...134 11 3 The unit status and the LEDs 137 11 4 Unit control 144 Annex 1 Address allocation ecomat R 360 147 Annex 1 1 Complete overview 147 Annex 1 2 Inputs 149 Annex 1 3 Outputs 150 Annex 1 4 Allocation outputs short circuit and wire break bits 151 Annex 1 5 The flag range in the ecomat R 360 152 Annex 1 6 CANopen unit interface ecomat R 360 153 Annex 1 7 Object list of the ecomat R 360 154 Annex...

Page 5: ... low voltage SELV as this is supplied without further measures to the connected controller the sensors and the actuators The wiring of all signals in connection with the SELV circuit of the unit must also comply with the SELV criteria safe extra low voltage safe electrical separation from other electric circuits If the supplied SELV voltage as an external connection to ground SELV becomes PELV the...

Page 6: ...re integrated in the operating system and the application software The final classification and the release of the system hardware and software can only be done by the proper supervisory organisations The programmer has to obtain information about the special characteristics of the hardware and software in the additional documentation which can be obtained on request ifm electronic gmbh Teichstr 4...

Page 7: ...l modules have the optimum configuration to the application If necessary special functions and special hardware solutions can be accomplished In general All descriptions and explanations in this manual are generally applicable to the controller system ecomat R 360 The appropriate controller configuration for the unit in use is to be loaded in the programming system article number of the unit CRnnn...

Page 8: ...ough connector residual ripple 1 5 Vpp f 50Hz reset in case of undervoltage 12 V unit 9 6 V reset in case of undervoltage 24 V unit 12 0 V overvoltage 12 V unit 17 5 V for t 10s overvoltage 24 V unit 36 0 V for t 10s Power consumption 400 mA without external load Processor CMOS microcontroller C 167C Display two colour LED red green for indication of status and error Device monitoring 8 bit microc...

Page 9: ...el 0 4 UB 0 2 UB I 1 7 mA input frequency 50 Hz Pulse inputs IX0 12 IX0 15 input frequency 50 kHz Pulse inputs IX0 20 IX0 23 input frequency 50 kHz Binary input High Side NPN Inputs IX0 8 IX0 39 switch on level 0 05 UB 0 04 UB I 7 7 mA switch off level 0 30 UB 0 40 UB I 5 1 mA input frequency 50 Hz Analog input Low Side Inputs IW9 IW16 input voltage 0 10 V input impedance 50 kΩ resolution 10 Bit a...

Page 10: ...00 Hz depending on the load Outputs QX0 00 QX0 07 special specification as PWM output output frequency max 1000 Hz PWM mark space ratio 1 99 resolution depending on the PWM frequency Binary output Low Side NPN Outputs QX0 0 QX0 23 semiconductor output short circuit and overload protection diagnostic capability as an option switching voltage 10 17 V 12 V DC 11 32 V 24 V DC switching current 50 mA 2...

Page 11: ...d protection switching voltage 10 17 V 12 V DC 11 32 V 24 V DC switching current 10 mA 100 mA overload current 0 5 A Relay output internal relay output used in series with max 12 outputs the power supply of which is interrupted on detection of an error by hardware or user program On principle the unit should be switched load free switching current 100 mA 15 A overload current 20 A no of switching ...

Page 12: ...sing of the controller modules In order to protect the whole system cabling and controller the individual circuits must be fused accordingly taking into account the total current of 10 A of the individual output modules max 8 outputs e g QX0 08 QX0 15 Designation Pin No Potential Supply voltage 23 VBBS 24 V DC Ground 01 GNDS GND Analog ground 12 GNDA GND Supply voltage outputs High Side without mo...

Page 13: ...f a second output connected to the same potential is switched the load of this output is fed through the transistor of the first output thus causing the first output to overload and fail This needs special attention when unit and output voltage supply are fused separately and when the output rail VBBR is switched off by the software via the integrated relay If necessary the supply voltage should b...

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Page 15: ...onductor switch The positive channel is only triggered by means of the ERROR bit via a semiconductor switch In the activated state the outputs to be disconnected max 12 are connected to the supply voltage via the relay contact not forced In addition the output signal of the semiconductor switch has the logical effect of a release signal for all outputs These outputs are only switched externally af...

Page 16: ...g signal switches the relay off so that important parts of the plant can be protected When creating the program the programmer has to make sure the program is left in a safe state so that automatic operation is reset in the case of an internal e g watchdog or external error e g safety circuit For this purpose the outputs in question have to be switched off by software If an output to be monitored ...

Page 17: ...fic units the specific hardware versions and additional software description additional documentation have to be observed 3 1 Bidirectional and diagnostic I O channels The inputs outputs of the R 360 can be designed as bidirectional input output channels or for readback functions diagnosis wire break monitoring short circuit monitoring At the terminal the input and output or the output with the co...

Page 18: ... also possible via the input channel when the switch is open The LOW logic 0 is read in when the output is switched In the case of a short circuit overload the output transistor switches off automatically For safety reasons it does not switch on again automatically when the short circuit has been removed The output has to be switched off and then on again via the software Wire break detection is n...

Page 19: ...50 kHz via 8 fast count pulse inputs If e g mechanical switches are connected to these inputs contact bouncing might cause wrong signals in the controller These error signals have to be filtered out with the application software if required see example program 3 3 The software control configuration For each hardware configuration the corresponding software control configuration has to be loaded in...

Page 20: ...ns have the following meanings A analog input BH binary input output high side BL binary input output low side PH PWM output high side PL PWM output low side IH pulse counter input high side IL pulse counter input low side R readback channel for an output Allocation of the input output channels Depending on the unit configuration an input and or output is available at a unit terminal Channels that...

Page 21: ...en NMT master via the function PREOPERATIONAL or OPERATIONAL The LED flashes green or red RUN with error Stop This status is reached from the reset status if no program is loaded from the run status by giving the stop command via the interface Prerequisite test mode with the CANopen NMT master via the function PREPARED The LED is constantly lit green or red stop with error Fatal Error The controll...

Page 22: ...t operating state in the application program the user can evaluate the flag COP_PREOPERATIONAL The flag is TRUE when the state is PREOPERATIONAL otherwise it is FALSE 4 3 Loading the operating sytem When the unit is shipped an operating system is in general not loaded in the controller LED flashes green at 5 Hz In this operating state only the boot loader is active It provides the minimum function...

Page 23: ...nfiguration CR _x M66 is called via the menu item Insert Firmware The connection between controller and PC can then be established with Online Login The interface via which the connection is made depends on the setting in Extras HW Config serial or CAN and the following parameterisation of the PC interface under Online Communication Parameters A communication connection to the controller is only e...

Page 24: ...ect can be booted with routine PLC_PRG The translation processes started with the login can be ignored The system message Program has changed Do you want to download the new program can be answered with NO Menu item Extras Load Hex file in the screen PLC Configuration deletes the current operating system in the controller The LED of the controller module flashes fast 5 Hz Then reset the controller...

Page 25: ...s switched off as a default FALSE The state of the user program or the programming system can be controlled and queried via the flag SERIAL_MODE ISO Direction This function switches between Send data and Receive data when the ISO 9141 interface is used TRUE Send data FALSE Receive data standard setting The flag ISO_DIRECTION is used to switch the ISO 9141 diagnostic interface between Send data and...

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Page 27: ...arding object is missing only in the slave COP_GUARDFAIL_NODEID number of missing slave only in the master 5 1 Reaction to system error It is the programmer s responsibility to react to error flags The specific error bits should be processed in the user program and then have to be reset The error bit provides an error description which can be further processed if required In the case of severe err...

Page 28: ...relay Example A CAN BUS OFF error occurs The operating system sets the CAN BUS OFF ERROR bit The user program detects this state by polling the corresponding bits If required the ERROR bit can be set As a result the operating display LED flashes red and the safety relay is de energised switching off all outputs The level of the error output becomes low The error is removed by restarting CAN via th...

Page 29: ...on with an unconfigured module Only one unconfigured module may be connected with the network After the new participant number 1 30 corresponds to the node identifier 1 30 was assigned via the programming software a download or debugging can be performed and another device can be integrated into the system also see section 6 5 6 2 Exchange of data via CAN The exchange of data via CAN is based on t...

Page 30: ...fier can be freely selected between 1 and 2048 As already mentioned it does not represent the sender or receiver module but qualifies the message To transmit data it is necessary that in the sender module a transmit object is declared and a receiver object in at least one other module Both declarations must be assigned to the same identifier Receive data In principle the received data objects are ...

Page 31: ...pants This ensures that all participants are provided with correct and uniform data Since the error flag is transferred immediately the sender can immediately start to repeat the disturbed message as opposed to other field bus systems which wait until a defined acknowledgement time has elapsed This is one of the most important features of CAN One of the fundamental problems of the serial data tran...

Page 32: ...cation without restriction and is allowed to signal detected errors by sending the active error flag As already described this corrupts the transferred message Participant error passive An error passive participant is still capable of communicating without restriction But it is only allowed to signal an error it detected by means of a passive error flag which does not interfer with the bus operati...

Page 33: ...ticipants is described in layer 1 in ISO 11898 Network structure The standard ISO 11898 assumes a line structured set up of the CAN network In addition the line must be fitted with a terminating resistor of 120 Ω Ω Ω Ω at its two ends In principle ifm electronic s devices fitted with a CAN interface have no terminating resistors Ideally no spur should lead to the bus participants node 1 node n bec...

Page 34: ...er circuits l This differential transmission with a common return line considerably improves the transmission safety Interfering voltages which affect the system externally or mass potential offsets influence both signal lines with the same interfering quantities They are therefore ignored when the difference is formed Bus cable length The bus cable length depends on the characteristics of the bus...

Page 35: ... on the number of the bus participants referred to a transmission rate of 1 Mbit s and a maximum cable length of 40 m cable resistance r 70 mΩ m Cablelength 32busnodes 64busnodes 100busnodes 100 m 0 25 mm2 0 25 mm2 0 25 mm2 250 m 0 34 mm2 0 50 mm2 0 50 mm2 500 m 0 75 mm2 0 75 mm2 1 00 mm2 Depending on the EMC requirements the bus cables can be laid in parallel or as a twisted pair with or without ...

Page 36: ... must be laid out cable version cable length etc Software for CAN and CANopen In principle R 360 can directly take part in the CAN communication layer 2 by using the functions CAN_TRANSMIT and CAN_RECEIVE In the CANopen mode the programmer is supplied with the defined services The following points must be considered In the direct CAN mode in layer 2 the programmer is responsible for all services T...

Page 37: ...learly assigned a module ID Device IDs in the ecomat R 360 To communicate with the participants in the CAN network each must have a defined device identifier It is of no importance whether the plc is used as network master as CANopen slave or for the direct CAN communication Make also sure that the device identifiers do not overlap with the IDs of the I O modules The ecomat R 360 is supplied with ...

Page 38: ...st make sure that the data received are read from the data buffer of the queue with CAN_RECEIVE and are immediately processed in the program To be able to set up a communication link the same transmission rate baud rate must first be set for all participants of the CAN network For the R 360 this is done with the function CAN_BAUDRATE Example program An example program in function block diagram FBD...

Page 39: ... of the function this new value is stored in the device and is also available again after a power failure The factory default for the baud rate of the modules is 125 kBit s The function should be executed only once during the initialization in the first program cycle After that it is disabled via the input ENABLE The baud rate becomes immediately valid after the function call Name Data type Descri...

Page 40: ...ut ENABLE the execution of the function can be disabled temporarily This can for example prevent a bus overload Also several data objects can be sent quasi simultaneously if each data object is assigned a flag used to control the execution of the function via the ENABLE input Name Data type Description ID WORD Contains the number of the data object identifier 0 2048 RTR BYTE Not used therefore val...

Page 41: ...ssed Each call of the function decrements the byte AVAILABLE by 1 If the value of AVAILABLE equals 0 the buffer contains no data By evaluating the bit OVERFLOW an overflowing data buffer can be detected If the bit OVERFLOW is set at least 1 data object is lost Name Data type Description CONFIG BOOL For the configuration of the data object the bit must be set TRUE once For data transmission to comm...

Page 42: ...al state If a certain number of transmission errors occurs the participant becomes error passive If the error frequency is reduced the participant becomes again error active If a participant is already error passive and transmission errors continue to occur it is switched off from the bus bus off and the error flag CAN_BUS_OFF_ERROR is set A return to the bus is only possible with the function CAN...

Page 43: ... function CAN_RESTART is integrated The programmer s job is to locate the precise error cause by evaluating the error counter and the error bits supplied by the system Via the function input RESET the counter can then be set to 0 again In each application software where the CAN communication is utilized also for the communication with a CAN display at least this function should be employed and pro...

Page 44: ...e characteristics of these device classes are indicated in the device profiles DS 40x Despite this definition the basic CAN structure which allows each bus participant to send messages data to the network is maintained Only the network master NMT master exists once and is mainly used for running up and monitoring the system The mechanisms described below are to give a rough overview of the CANopen...

Page 45: ... a clear identification a directory entry is marked by an index IDX length 16 bits and a subindex SUBIDX length 8 bits Depending on the parameter type they are stored in the individual index areas The meaning of the individual indexes for the communication and standard parameters are defined for the individual device types in the CANopen standard In addition an area for manufacturer specific data ...

Page 46: ...t data Node Guarding Object To detect communication errors in the network node guarding is used Each bus node is cyclically accessed by the network master via the defined node guarding COB ID If no reply is given within the defined guard time the master signals an error Via the life time life time factor guard time it can also be defined after how many unsuccessful attempts the error message is to...

Page 47: ...state indication 10 Reset node indication 11 Reset communication indication 12 Initialization finished enter pre operational automatically To ensure a successful boot up routine at least the node number and baud rate of the CAN participant must be set The baud rate of the master must conform to this This setting is done via DIP switches in the node or an additional parameter setting software Since...

Page 48: ...de number are stored As from index A000 hex starts the area for the general IEC1131 network variables They are transferred via the PDOs The identifiers and the transmission types of the PDOs are entered in this area For the exact structure of the object directory see point 1 6 in the appendix Baud rate and node number The baud rate and node number are entered in the manufacturer specific area of t...

Page 49: ...g order from 380 hex If the predefined connection set is not used the COB IDs for PDO 1 and PDO 2 must also start from 380 hex A total of 2 x 8 PDOs can be set up Since the COB IDs for the PDOs are not stored exception PDO 1 and 2 in the predefined connection set they must be re initialized once for all PDOs in the initialization routine after each start of the plc In principle the PDO IDs which a...

Page 50: ...NC i e transmission after a change of the network variables event due to a change are supported The COB ID of the sync object can be configured The indication of an inhibit time can delay the sending of ASYNC objects So considerably fluctuating process values can cause an extremely high bus load in the case of an event controlled evaluation If the inhibit time is indicated the next PDO cannot be s...

Page 51: ...The emergency objects consisting of 8 data bytes are split up in three parts according to CANopen 1 Emergency code error code EMCY byte 0 and byte 1 2 Error register error reg byte 2 3 Data additional information byte 3 byte 7 The following errors are transferred EMCY code Error reg Description 0x1000 Bit 0 Error general output ERROR set LED red 0x2100 Bit 1 Wire break 0x2300 Bit 1 Short circuit o...

Page 52: ...nput ENABLE the execution of the function is controlled As NODEID a number between 1 and 30 can be indicated With the execution of the function the node ID becomes immediately valid This also immediately changes the TX and RX PDOs of the predefined connection set which depend on the node ID The node ID remains valid until it is set again via the function call or the programming system Name Data ty...

Page 53: ...g possibly x number of the lifetime cycles are not received by the R 360 slave the corresponding error bits COP_GUARDFAIL_ERROR and COP_SYNCFAIL_ERROR are set They must then be evaluated by the application program Also the flag COP_SYNC can be evaluated It is always TRUE for precisely one cycle The specified times must be a little greater than the times set in the master Name Data type Description...

Page 54: ...verlapping with other system identifiers As transmission types TRANS_TYPE the modes SYNC 1 and ASYNC 255 are available If a transmission is not to be carried out for each SYNC object a value between 1 and 240 number of the SYNC objects between two accesses can be entered To ensure data transmission in the SYNC mode the SYNC ID of the master and the slave must match As default value no SYNC ID is e...

Page 55: ...the function block PDO_TX_REFRESH the important PDO can be repeated from time to time The default for all TX PDOs is asynchronous transmission If the function PDO_TX_CONFIG is used in a CANopen master it must be processed before the execution of the function NMM_SET_NMT_MASTER because it triggers an internal CANopen reset This leads to the loss of the master functions This is why the initializatio...

Page 56: ...ead to overlapping with other system identifiers As transmission types TRANS_TYPE the modes SYNC 1 and ASYNC 255 are available If a transmission is not to be carried out for each SYNC object a value between 1 and 240 number of the SYNC objects between two accesses can be entered To ensure data transmission in the SYNC mode the SYNC ID of the master and the slave must match As default value no SYNC...

Page 57: ...ocessed before the execution of the function NMM_SET_NMT_MASTER because it triggers an internal CANopen reset This leads to the loss of the master functions This is why the initialization must be carried out in two steps start the master booting one cycle later see example program ...

Page 58: ...y not be safe enough Via the function block PDO_TX_REFRESH the important PDO can be repeated from time to time The function must not be executed in each cycle because this would lead to CAN overload The execution can therefore be controlled via the function input ENABLE At the function input PDO the corresponding number from 1 8 is indicated Name Data type Description ENABLE BOOL TRUE The function...

Page 59: ... monitored For a simple introduction to CANopen especially in applications which only require a decentralized extension of the input output level the two functions COP_MSTR_BOOTUP and COP_MSTR_MAIN were created in the programming language ST They use the functions presented below Details will be given in section 6 10 To ensure that the ecomat R 360 operates as CANopen master the flag CAN_OPEN must...

Page 60: ... NMT master i e a master with management function is allowed The programmer s job is to evaluate all status information provided by the NMT master to operate a safe network If the functions PDO_RX_CONFIG and PDO_TX_CONFIG are used in a CANopen master they must be processed before the execution of the NMM_SET_NMT_MASTER function because they trigger an internal CANopen reset This leads to the loss ...

Page 61: ...ia the function NMM_START_GUARDING The programmer s job is to locate the exact error cause and to react depending on the application by evaluating the guarding and the other error bits provided by the system If a node is not initialized with NMM_ADD_NODE it cannot be accessed either by other master functions e g SDO_WRITE independent of the missing node guarding Name Data type Description ENABLE B...

Page 62: ...guarding object must first be initialized for the specified CANopen node with NMM_ADD_NODE The programmer s job is to locate the exact error cause and to react depending on the application by evaluating the guarding and the other error bits provided by the system Name Data type Description ENABLE BOOL TRUE The function is processed FALSE The function is not processed NODE BYTE All initialized node...

Page 63: ... If the node guarding is disabled the plc no longer detects a missing node The programmer s job is to locate the exact error cause and to react depending on the application by evaluating the guarding and the other error bits provided by the system Name Data type Description ENABLE BOOL TRUE The function is processed FALSE The function is not processed NODE BYTE All initialized nodes 0 Initialized ...

Page 64: ...UTO_RESTART is set to TRUE the node is automatically set again to operational after a NODE_RESET If the input is set to FALSE the node remains in the pre operational state Working with AUTO_RESTART TRUE is recommended If the node guarding is disabled the plc no longer detects a missing node The programmer s job is to locate the exact error cause and to react depending on the application by evaluat...

Page 65: ... 6 7 After the initialization of one or all network node s it is normally set to the pre operational state In this state the node or the nodes can communicate with the NMT master responsible for the network management only via the SDOs Name Data type Description ENABLE BOOL TRUE The function is processed FALSE The function is not processed NODE BYTE All initialized nodes 0 Initialized node 1 127 N...

Page 66: ...he pre operational state In this state the node or the nodes can communicate with the NMT master responsible for the network management and with all other network participants via all communication services SDOs and PDOs The network master too must be set once to the operational state to start a correct communication Name Data type Description ENABLE BOOL TRUE The function is processed FALSE The f...

Page 67: ...cation Also it is no longer possible to communicate via the SDOs This state is often utilized for user specific needs for example to temporarily switch off one or all participants from the bus The state prepared can only be removed by the functions NMM_SET_PREOPERATIONAL NMM_SET_OPERATIONAL Name Data type Description ENABLE BOOL TRUE The function is processed FALSE The function is not processed NO...

Page 68: ...l prepared of one or all nodes The value results from the CANopen specification Name Data type Description ENABLE BOOL TRUE The function is processed FALSE The function is not processed NODE BYTE All initialized nodes 0 Initialized node 1 127 Name Data type Description STATE BYTE Status to the CANopen specification RESULT BYTE Result 0 successful 2 invalid parameters 255 NMT master not active 127 ...

Page 69: ...k All non volatile data remain stored in the node After the reset the node passes the normal initialization routine The exact operating characteristics after a reset are described in the device specific documents Name Data type Description ENABLE BOOL TRUE The function is processed FALSE The function is not processed NODE BYTE All initialized nodes 0 Initialized node 1 127 Name Data type Descripti...

Page 70: ...he CAN interface All non volatile data remain stored in the node The exact operating characteristics after a reset is described in the device specific documents Name Data type Description ENABLE BOOL TRUE The function is processed FALSE The function is not processed NODE BYTE All initialized nodes 0 Initialized node 1 127 Name Data type Description STATE BYTE Status to CANopen specification RESULT...

Page 71: ...e Description PDO_INI_SEND_SYNC_OBJ initializes the SYNC object for the synchronous scanning of data in the CANopen network also see section 6 7 Process Data Objects The function must be called once during the initialization Via the function PDO_SEND_SYNC_OBJ the SYNC object is then transmitted Name Data type Description ENABLE BOOL TRUE The function is processed FALSE The function is not processe...

Page 72: ... objects are used for the synchronous scanning of data also see section 6 7 Process Data Objects This function must be called cyclically As shown in the example the time is controlled by means of the two system flags COP_PRESYNC and COB_SYNC Name Data type Description ENABLE BOOL TRUE The function is processed FALSE The function is not processed Name Data type Description RESULT BOOL TRUE The func...

Page 73: ...er NODE the error code VALUE and the error register REGISTER In addition the DATA output provides the manufacturer specific node information For the I O modules from ifm electronic you are for example informed of a wire break or short circuit at the outputs Name Data type Description ENABLE BOOL TRUE The function is processed FALSE The function is not processed Name Data type Description RECEIVED ...

Page 74: ... to utilize this function the node must be in the state pre operational or operational Name Data type Description ENABLE BOOL TRUE The function is processed FALSE The function is not processed NODE BYTE Node number IDX WORD Index in the object directory SUBIDX WORD Subindex referred to the index in the object directory LENGTH WORD Length of the entry in number of bytes Name Data type Description R...

Page 75: ...th each call of the function the data array is transferred the function is a load for the plc cycle even in case of ENABLE FALSE This is why SDO_READ should be skipped if the function is not utilized The value for LENGTH should conform to the length of the expected data object ...

Page 76: ...o utilize this function the node must be in the state pre operational or operational Name Data type Description ENABLE BOOL TRUE The function is processed FALSE The function is not processed NODE BYTE Node number IDX WORD Index in the object directory SUBIDX WORD Subindex referred to the index in the object directory LENGTH WORD Length of the entry in number of bytes DATA ARRAY Transmission data a...

Page 77: ...unction the data array is transferred the function is a load for the plc cycle even in case of ENABLE FALSE This is why SDO_WRITE should be skipped if the function is not utilized The value for LENGTH must conform to the length of the transmission array Otherwise the SDO communication is disturbed ...

Page 78: ... the node configuration of the inputs and outputs via the application software or read it from a selected node With the function SLAVE_8_WORK the input and output data digital and analog are exchanged read and write by means of the cyclical call via a defined flag area These flag addresses enable a direct access to the process data in the application The flag addresses are organized as follows Add...

Page 79: ...creates the SYNC object for the synchronous transmission of the I O data Program step 3 SLAVE_8_CONFIG Slave configuration for each connected I O node After a successful configuration this function is again de activated Program step 4 NMM_SET_OPERATIONAL A call with the parameter NODE 0 sets the whole network also the NMT master to the operational mode This function may only be executed once Progr...

Page 80: ...ODE with the defined guard time GUARDTIME and LIFETIME factor After the booting operation 2 s the function output DONE is set to TRUE After a successful booting the execution of the function must be disabled via the input ENABLE Name Data type Description ENABLE BOOL TRUE The function is processed FALSE The function is not processed NO_NODE BYTE Number of the connected nodes without NMT master GUA...

Page 81: ...ntered in the order of their occurrence The error memory can be deleted again via the function input RESET_GUARDING Name Data type Description ENABLE BOOL TRUE The function is processed FALSE The function is not processed NO_NODE BYTE Number of the connected nodes without NMT master SYNC_TIME TIME Time between two SYNC objects for the synchronous scanning of data AUTO_ OPERA TIONAL BOOL TRUE The m...

Page 82: ...ance Thus it directly participates again in the PDO exchange I O data are read and written In the case of AUTO_OPERATIONAL FALSE the node remains in the state pre operational after the removal of the disturbance It must then be set selectively to the state operational via the NMT master function NMM_SET_OPERATIONAL If fast operations are to be processed the SYNC times must be adapted They can only...

Page 83: ...er for channel 3 0 OFF 1 binary input CHANNEL_4 BYTE Configuration parameter for channel 4 0 OFF 2 binary output 3 analog input 4 analog output CHANNEL_5 BYTE Configuration parameter for channel 5 0 OFF 1 binary input CHANNEL_6 BYTE Configuration parameter for channel 6 0 OFF 2 binary output 3 analog input 4 analog output CHANNEL_7 BYTE Configuration parameter for channel 7 0 OFF 1 binary input CH...

Page 84: ...come active in the state pre operational If the configuration is performed in the state operational the new settings do not become valid before passing into the mode pre operational operational Name Data type Description CFG_RESULT BYTE 1 The configuration has been read or written successfully 2 The configuration has not yet been read or written CHANNEL_1_ BYTE Current configuration parameters for...

Page 85: ...this function must be called once for each node in the program cycle In the first program cycle the input INIT must additionally be set to TRUE once Thus the operating system of the plc is informed of the configured modules Name Data type Description ENABLE BOOL TRUE The function is processed FALSE The function is not processed INIT BOOL TRUE The function is initialized FALSE The data are updated ...

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Page 87: ...e The pulse break ratio is varied within a defined period PWM frequency The current flowing through the connected load depends on the pulse break ratio The PWM function of the controller ecomat R 360 is a hardware function provided by the µcontroller In order to use the 8 integrated PWM outputs of the controller they need to be initialised in the user program and to be parameterised in accordance ...

Page 88: ...r operation but not in their effects The PWM frequency is achieved by means of an internal counter based on the CPU cycle The counter is started when the PWM function is initialised Depending on the PWM output group 0 3 or 4 7 the counter either counts down from FFFF Hex or up from 0000 Hex When a comparative value VALUE has been reached the output is set The output is reset when the counter overf...

Page 89: ...ex Example The PWM frequency should be 200 Hz 10 MHz Reload value 50000 C350 Hex 200 Hz The permissible range for the PWM value is from 0000 Hex to C350 Hex The comparative value at which the output switches has to be between 0000 Hex and C350 Hex This results in the following pulse break ratios minimum pulse break ratio 0 on C350 Hex maximum pulse break ratio 100 on 0000 Hex 50000 intermediate va...

Page 90: ...F Hex The PWM frequency is the same for all PWM outputs Functions PWM and PWM100 must not be mixed This results in the following pulse break ratios minimum pulse break ratio 0 on FFFF Hex maximum pulse break ratio 100 on CF2C Hex 12500 intermediate values PWM values are possible between maximum and minimum PWM dither In some hydraulic valve types the PWM frequency has to be superimposed by a so ca...

Page 91: ...raphics in this chapter you can e g use the PT1 function see chapter 10 to achieve a delayed increase This can also be accomplished by counting up step by step to the new set value in the application software This way hydraulic systems can e g be soft started Program example A program example for the PWM functions of the ecomat R 360 is saved on the program diskette ecolog 100 plus The PWM functio...

Page 92: ...is called up once for each channel during initialisation of the user program Input INIT has to be set to TRUE During initialisation the parameter RELOAD is transferred Name Data type Description INIT BOOL TRUE PWM output is initialised FALSE PWM is allocated new values RELOAD WORD value to define the PWM frequency DIV64 BOOL CPU cycle 64 CHANNEL BYTE current PWM channel output VALUE WORD current P...

Page 93: ...t be set to FALSE The function is called and the new PWM value is transferred The value is accepted when input CHANGE TRUE The current of the initialised PWM channel can be measured via function FAST_ANALOG PWM_DITHER is called up once for each channel during the initialisation of the user program Input INIT has to be set to TRUE During initialisation the DIVIDER divisor for establishing the dithe...

Page 94: ...nitialisation of the user program The input INIT has to be set to TRUE During initialisation the parameter FREQUENCY is transferred The FREQUENCY value has to be the same for channels 4 7 The functions PWM and PWM100 must not be mixed The PWM frequency is internally limited to 10 kHz Name Data type Description INIT BOOL TRUE PWM100 is initialised FALSE PWM100 is allocated new values FREQUENCY WORD...

Page 95: ...initialised PWM channel can be measured via the function FAST_ANALOG PWM_FREQUENCY is called up once for each channel during the initialisation of the user program Input INIT has to be set to TRUE During initialisation the frequency and the value DITHER_VALUE are transferred The PWM_FREQUENCY value has to be the same for channels 4 7 DITHER_VALUE can be set individually for each channel ...

Page 96: ...t at a PWM channel The current is measured via shunt resistors connected externally In order to synchronise the scanning of the analog values by the AD converter with the PWM frequency use the function FAST_ANALOG The specified PWM channel is scanned by the analog channel at a rate of 1 ms The output provides the average value over a complete PWM period Name Data type Description PWM_ CHANNEL BYTE...

Page 97: ...ts the increased sensitivity to noise has to be taken into account e g contact bouncing in the case of mechanical contacts The standard digital input has an input frequency of 50 Hz If required the input signal has to be debounced by means of the software Input Frequency Description FRQ 0 ENC 0 50 10 kHz frequency measurement channel A encoder 1 FRQ 1 ENC 0 50 10 kHz frequency measurement channel ...

Page 98: ...e is evaluated Depending on the time base TIMEBASE frequency measurements can be carried out over a wide range High frequencies require a short time base lower frequencies require a longer time base The frequency is stated in Hz Only the inputs FRQ0 FRQ3 can be used for function FREQUENCY Name Data type Description INIT BOOL TRUE FREQUENCY is initialised FALSE frequency measurement active CHANNEL ...

Page 99: ...et to FALSE so that the counter becomes active Output COUNTER shows the current count The outputs UP and DOWN show the current count direction of the counter The outputs are TRUE when the counter has counted in the direction in question in the previous program cycle When the counter stops the directional output is reset in the following program cycle Name Data type Description INIT BOOL TRUE INC_E...

Page 100: ...page 100 ...

Page 101: ...TRESET carries out a complete restart of the controller The function can e g be used in connection with CANopen when a node reset is to be carried out After a SOFTRESET the controller behaves as though the supply voltage has been switched off and on In a running communication the long reset phase has to be observed otherwise a guarding error is shown Name Data type Description ENABLE BOOL TRUE fun...

Page 102: ...e can also be accessed via the CANopen object list index from 2000 Hex Manual saving of data Apart from the possibility of automatically saving data in the flag range up to MB255 the data range between MB256 MB1024 can be saved in the integrated serial EEPROM via a function call To read out the data another function call needs to be carried out The data are written or read as a complete block Dire...

Page 103: ...scription MEMCPY writes the contents of the address from SRC to the address DST transferring exactly as many bytes as were defined under LEN This enables the transfer of exactly one byte of a word date The address has to be found with the function ADR and has to be transferred to MEMCPY Name Data type Description DST DWORD address of target variable SRC DWORD address of source variable LEN WORD nu...

Page 104: ...ge MW128 MW511 in the serial EEPROM Since the processing of the function requires some time the execution has to be monitored via the function output RESULT If RESULT 1 the input ENABLE has to be reset to FALSE Name Data type Description ENABLE BOOL TRUE function is executed FALSE function is not executed Name Data type Description RESULT BYTE 0 function is inactive 1 function is completed 2 funct...

Page 105: ...EEPROM and writes it in the flag range MW128 MW511 As the processing of this function requires some time the execution has to be monitored via the function output RESULT If RESULT 1 the input ENABLE has to be reset to FALSE Name Data type Description ENABLE BOOL TRUE function is executed FALSE function is not executed Name Data type Description RESULT BYTE 0 function is inactive 1 function is comp...

Page 106: ...via the function input ENABLE The SERIAL functions are the basis for creating a user specific protocol for the serial interface In general the serial interface is not available to the user as it is used for the program download and the debugging If the user sets the system flag bit SERIAL_MODE to TRUE the interface can be used Program download and debugging are only possible via the CAN interface ...

Page 107: ... OVERFLOW The SERIAL function is the basis for creating a user specific protocol for the serial interface In general the serial interface is not available to the user as it is used for the program download and the debugging If the user sets the system flag bit SERIAL_MODE to TRUE the interface can be used Program download and debugging are only possible via the CAN interface Name Data type Descrip...

Page 108: ... function SERIAL_RX the contents of the buffer remains unchanged after calling this function The SERIAL functions are the basis for creating a user specific protocol for the serial interface In general the serial interface is not available to the user as it is used for the program download and the debugging If the user sets the system flag bit SERIAL_MODE to TRUE the interface can be used Program ...

Page 109: ...l interface for communicating with diagnostic interfaces in the vehicle For using the ISO interface hardware and software adaptations are required which are not included in the standard units If the ISO interface is used the serial interface is not available to the user for program download and debugging Program download and debugging are only possible via the CAN interface The function is only av...

Page 110: ...none Function output Description When the supply voltage is applied a time cycle is generated in the unit and is counted up in a register This register can be read by means of the function call and can be used e g for measuring time The system timer runs to max 10 m 55 s 350 ms and then starts again at 0 Name Data type Description T TIME Current system time in seconds ...

Page 111: ... Description When the supply voltage is applied a time cycle is generated in the unit and is counted up in a register This register can be read by means of the function call and can be used e g for measuring time The system timer runs up to a max value of 4294967295 µs and then starts again at 0 Name Data type Description TIME_US DWORD Current system time in µseconds ...

Page 112: ...nalog input values Example not normed value 50 bottom limit value input 0 upper limit value input 100 bottom limit value output 0 upper limit value output 2000 normed value 1000 Due to rounding errors in hexadecimal figures a normed value might deviate by 1 If the limits XH XL or YH YL are stated invertedly the norming is also inverted Name Data type Description X WORD output value XH WORD bottom ...

Page 113: ... the dynamic behaviour of the controlled system is required for selecting a suitable controller In most cases the characteristics are experimentally found and can hardly be influenced We distinguish between three types of controlled systems Controlled systems with compensation In a controlled system with compensation control variable x is moving towards a new final value steady state Important in ...

Page 114: ...ms are a series connection of P systems systems with compensation and one or several T1 systems systems with inertia A first level controlled systems is e g created by connecting a restrictor and a subsequent memory In controlled systems with delay the controlled variable responds to a change of the variable only after a delay Tt The delay Tt or the sum of Tt Tu is the measure for the possibility ...

Page 115: ...en reached The time period Tcritical of the permanent oscillation has to be determined Only add a D part if required TV should be approx 2 10 times smaller than TN and KP KD The ideal controlled system should be set as follows Controlling system KP KD TN TV P 2 0 KPcritical PI 2 2 KPcritical 0 83 Tcritical PID 1 7 KPcritical 0 50 Tcritical 0 125 Tcritical Please note that the controlled system is ...

Page 116: ... Function output Description The function DELAY is used to delay an input value by the time T The output value y has the following time characteristic For the function to work without problems it has to be called in each cycle Name Data type Description X WORD input value T TIME delay time Name Data type Description Y WORD input value delayed by the time T ...

Page 117: ... output Description The function PT1 is a proportional system with one time constant It is used e g for establishing ramps when using the PWM functions The output variable y of the low pass filter has the following unit step response Name Data type Description X WORD input value T1 TIME delay time Name Data type Description Y WORD variable ...

Page 118: ...th the reset time TN The values entered at function inputs KP and KD are internally divided by 10 to achieve a finer resolution e g KP 17 corresponds to 1 7 Variable Y is already normed to the PWM function RELOAD Wert 65535 Observe the inverse logic 65535 minimum value 0 maximum value If X XS the value is increased If X XS the value is decreased Name Data type Description X WORD actual value XS WO...

Page 119: ...ge 119 A reference variable is internally added to the value of the manipulated variable Y Y 65536 XS XMAX 65536 Variable y has the following time characteristics Typical step response of a PID controller ...

Page 120: ...is range should not be exceeded but should be used as fully as possible Function input SO self optimisation considerably improves the control characteristics on the condition that the requested features have been reached The controller is operated with I share TN 50 ms The parameters KP and especially TN are already well adapted to the real controlled system The control range X XS of 127 is used i...

Page 121: ... PI controller in a simulated system SO FALSE The example shows that overshooting as well as a control range spread occur The signal is in steps due to the small controlled variable SO TRUE Overshooting does not occur ...

Page 122: ...daptation of the controller output Y to a PWM function module TN was adapted to the relatively slow behavour of the system centrifugal mass Overshooting is relatively low despite the D share Special feature The motor in the example reaches its maximum speed with 20 PWM The function module NORM takes this into account ...

Page 123: ...nt The controlled system is simulated This controller is particularly robust and is thus suited for difficult system Please note the intended natural oscillation of the controller caused by its internal feedback The initial rough switching behaviour of the 2 point controller is improved and the switching frequency increases ...

Page 124: ...ated variables Y1 and Y2 are already normed to the PWM function RELOAD value 65535 Note the inverse logic 65535 minimum value 0 maximum value Name Data type Description X1 WORD actual value channel 1 X2 WORD actual value channel 2 XS WORD preset value reference variable XMAX WORD maximum value of the preset value KP BYTE constant of the P share 10 TN TIME reset time I share KD BYTE proportional sh...

Page 125: ...page 125 The manipulated variable for the higher actual value is incrased the variable for the smaller actual value corresponds to the reference variable Reference variable 65536 XS XMAX 65536 ...

Page 126: ...page 126 ...

Page 127: ...h level language e g C or in Assembler but in the IEC language Structured text ST This has the advantage that the expert user can adapt and extend functions to his own requirements In the functions TDM_CONFIG and TDM_DATA_TRANSFER the number of variables that can be exchanged with the tdm R 360 is limited The basic library only allows communication between a control module and a display The identi...

Page 128: ...not describe the operation and programming of the display series ecomat tdm R 360 For this information please refer to the unit and software manuals data exchange variable definition of preset and actual values TDM_DATA_TRANSFER TDM_CONFIG TDM_READ_INTERN TDM_WRITE_INTERN setting and resetting of plc pictures and messages TDM_PICTURE TDM_MESSAGE TDM_REFRESH polling and evaluation of unit status an...

Page 129: ... the address operator ADR The result has to be transferred to ADDRESS LEN sets the number of bytes to be transferred from the address e g 2 2 bytes WORD 4 4 bytes DWORD Depending on the preset value in the library TDM_x LIB only 50 values can be defined HANDLE is allocated the set variable number from the tdm R 360 HANDLE is the tdm address of the variable A handle number must only be allocated on...

Page 130: ...130 RESULT shows if the function call was successful Preset and target values from the controller can only be shown in the display after a one time successful function call for each variable to be exchanged ...

Page 131: ...ures and messages and the complete unit status are transferred To initialise the function it has to be called once with TRUE at the INIT input In subsequent cyles the INIT input must be set to FALSE If CANopen is used together with the tdm functions the function has to be called again with INIT TRUE after a NMT_RESET_NODE _COMM Since the tdm functions use direct CAN objects the definitions for tho...

Page 132: ...he function TDM_READ_INTERN The function input ENABLE can block the execution HANDLE is allocated the defined number of the internal variable from the tdm R 360 A handle number must only be allocated once in the tdm R 360 as well as in the application software RESULT TRUE shows if the handle stated when calling the function has been found The programmer himself has to ensure the administration of ...

Page 133: ...alling the function TDM_WRITE_INTERN The function input ENABLE can block the execution HANDLE is allocated the defined number of the internal variable from the tdm R 360 A handle number must only be allocated once in the tdm R 360 as well as in the application software RESULT TRUE shows if the handle stated when calling the function has been found The programmer himself has to ensure the administr...

Page 134: ...ned in input NUMBER A further call with ON TRUE has no effect but requires cycle time for the check If ON FALSE is set and the function with the corresponding picture number is called the picture is reset A call if the function with PRIORITY TRUE marks the plc picture additionally as priority picture Priority pictures are displayed immediately independent of the current unit status of the display ...

Page 135: ...be called cyclically A one time call of the function with the value TRUE being allocated to the function input ON sets the picture defined in input NUMBER A further call with ON TRUE has no effect but requires cycle time for the check If ON FALSE is set and the function with the corresponding picture number is called the message is reset Name Data type Description ENABLE BOOL TRUE function is exec...

Page 136: ... e g after a power failure at the display By calling TDM_REFRESH the current status is transferred to the display independent of TDM_PICTURE and TDM_MESSAGE This function does not have to but should be integrated in the application software The use of this function relieves the programmer from his job of permanently monitoring the unit status and activating the plc pictures and messages by calling...

Page 137: ...s the automatic status report Each change of the above points is transferred to the controller The current status can be evaluated with TDM_REPORT_STATUS and TDM_REPORT_KEYDATA The function has to be called only once for switching on or switching off The execution of the function can then be blocked via the input ENABLE It is however useful to call the functions in certain intervals e g every 500 ...

Page 138: ...one time status report from the display MODE defines which data are to be polled Like a one shot display the status of the above points is transferred to the controller The function has to be called again for each status report To block the execution of the function the input ENABLE can be set to FALSE Name Data type Description ENABLE BOOL TRUE function is executed FALSE function is not executed ...

Page 139: ...ual values please refer to the tdm R 360 manual The keyboard bits are generally converted into decimal figures The unit status is displayed directly as a decimal value Name Data type Description ENABLE BOOL TRUE function is executed FALSE function is not executed RESET BOOL TRUE sets output RECEIVED to FALSE Name Data type Description RECEIVED BOOL TRUE new data received FALSE no new data received...

Page 140: ...ts output RECEIVED ro FALSE Name Data type Description RECEIVED BOOL TRUE new data received FALSE no new data received CTRL BYTE control parameters for keys and LED polling NUMBER BYTE only for CTRL 0 contains key number and status TA0TA4 BYTE for CTRL 0 4 status bytes of keys or LEDs bit oriented TA1TA5 BYTE for CTRL 0 4 status bytes of keys or LEDs bit oriented TA2TA6 BYTE for CTRL 0 4 status by...

Page 141: ...ers the current key and LED status TA0 TA7 provide the key LED status in bytes e g bit oriented With CTRL you select the key LED groups to be polled For the individual values please refer to the tdm R 360 manual CTRL always returns the value 0 when TDM_CONTROL_STATUS_REPORT is switched on ...

Page 142: ...ard LEDs set reset Depending on the defined control parameters the LEDs can be processed individually or bit wise in groups of 8 via a mask value For the individual values please refer to the tdm R 360 manual Name Data type Description ENABLE BOOL TRUE function is executed FALSE function is not executed CONTROL BYTE control parameter for setting resetting the LEDs NUMBER BYTE LED mask number or in...

Page 143: ...off ON FALSE As opposed to the function TDM_LED TDM_SINGLE_LED_ON_OFF can be set permanently The corresponding CAN command is only transferred once within the function thus preventing an excess workload on the CAN bus For the individual values please refer to the tdm R 360 manual Name Data type Description ENABLE BOOL TRUE function is executed FALSE function is not executed ON BOOL TRUE LED switch...

Page 144: ...ption The function TDM_PARAM should only be called to set new unit parameters With TDM_PARAM you can e g change the brightness the softkey mask or the scroll time for the messages For the individual values please refer to the tdm R 360 manual Name Data type Description ENABLE BOOL TRUE function is executed FALSE function is not executed PA BYTE parameter code VALUE BYTE additional value to be stat...

Page 145: ...meters of the tdm R 360 to the basic setting Parameter Function inputs Function outputs none Description The display is restarted It behaves as though the voltage has been switched off and switched on again Name Data type Description ENABLE BOOL TRUE function is executed FALSE function is not executed ...

Page 146: ...page 146 ...

Page 147: ...erial communication FALSE Flag bit CAN_OPEN Switch on CANopen mode FALSE Flag bit ISO_DIRECTION Transmit or receive data FALSE Flag bit ERROR_MEMORY Memory error Flag bit ERROR_POWER Under overvoltage error Flag bit ERROR_TEMPERATUR Excess temperature error 85 C Flag bit CAN_ERROR CAN Bus error collective error bit Flag bit CAN_INIT_ERROR CAN initialisation error Flag bit CAN_BUS_OFF_ERROR CAN Bus...

Page 148: ...bit TEXT_LED_F2 LED function key F1 compact display Flag bit TEXT_LED_F3 LED function key F1 compact display IB6 SHORT_Q1Q2_NEW Short circuit output byte Q1Q2 new IB7 SHORT_Q3_NEW Short circuit output byte Q3 new IB8 SHORT_Q4_NEW Short circuit output byte Q4 new IB12 SHORT_Q1Q2_OLD Short circuit output byte Q1Q2 1 cycle old IB13 SHORT_Q3_OLD Short circuit output byte Q3 1 cycle old IB14 SHORT_Q4_O...

Page 149: ...W14 IX0 6 11 for analog input IW15 IX0 7 30 for analog input IW16 I1 IB1 Input byte 1 IX0 8 44 IX0 9 45 IX0 10 46 IX0 11 47 IX0 12 20 IX0 13 02 IX0 14 21 IX0 15 38 I2 IB2 Input byte 2 IX0 16 36 IX0 17 54 IX0 18 17 IX0 19 53 IX0 20 19 IX0 21 55 IX0 22 18 IX0 23 37 I3 IB3 Input byte 3 IX0 24 39 IX0 25 03 IX0 26 40 IX0 27 22 IX0 28 41 IX0 29 42 IX0 30 43 IX0 31 04 I4 IB4 Input byte 4 IX0 32 48 IX0 33...

Page 150: ...put PWM 2 QX0 03 47 as PWM output PWM 3 QX0 04 36 as PWM output PWM 4 QX0 05 54 as PWM output PWM 5 QX0 06 17 as PWM output PWM 6 QX0 07 53 as PWM output PWM 7 Q3 QB1 Output byte 1 QX0 08 39 QX0 09 03 QX0 10 40 QX0 11 22 QX0 12 41 QX0 13 42 QX0 14 43 QX0 15 04 Q4 QB2 Output byte 2 QX0 16 48 QX0 17 49 QX0 18 31 QX0 19 50 QX0 20 51 QX0 21 52 QX0 22 16 QX0 23 35 ...

Page 151: ... QX0 12 Bit IX0 60 IX0 108 IX0 84 IX0 132 41 QX0 13 Bit IX0 61 IX0 109 IX0 85 IX0 133 42 QX0 14 Bit IX0 62 IX0 110 IX0 86 IX0 134 43 QX0 15 Bit IX0 63 IX0 111 IX0 87 IX0 135 04 Q4 Byte IB8 IB14 IB11 IB17 QX0 16 Bit IX0 64 IX0 112 IX0 88 IX0 136 48 QX0 17 Bit IX0 65 IX0 113 IX0 89 IX0 137 49 QX0 18 Bit IX0 66 IX0 114 IX0 90 IX0 138 31 QX0 19 Bit IX0 67 IX0 115 IX0 91 IX0 139 50 QX0 20 Bit IX0 68 IX...

Page 152: ...768 byte to be saved data function via function call MW 128 MW 127 remanent 256 bytes data retains remanent data MW 0 The complete flag range in the ecomat R 360 covers 8 kByte The highlighted fields are allocated directly via the operating system and can only be used for the purpose stated The remaining memory space can be used by the programming system It has to be checked for each individual ca...

Page 153: ...figured and are saved The I O module generates an Emergency Objekt The COB ID of the EMCY object can be configured Parameter overview Parameter Default value set by the manufacturer Change saved automatically Valid after Node ID 32 X immediately Baud rate 3 125 kBit s X Reset COB ID SynchOobject 0x80 X immediately Communication Cycle 0 Off X immediately Guard Time 0 Off X immediately Life Time Fac...

Page 154: ...entifier of the SYNC object 1006 0 Communic Cycle u32 rw 0x0 max time between 2 SYNC objects in µs resolution 1 ms 1007 0 synch window is not implemented 1008 0 device name str ro ecomat 100 R360 unit name ecomat 100 R360 1009 0 HW version str ro CRxxxx_x Operating system version 100A 0 SW version str ro jjmmtt Software date 100B 0 Node ID u32 ro only on request 100C 0 guard time u16 rw 0x0 Time i...

Page 155: ...number of synch objects between two accesses 0xFC not implemented 0xFD not implemented 0xFE asynch manufac specific event 0xFF asynch device profile event 1401 0 Receive PDO 2 u8 ro 0x02 number of entries RX PDO 2 1 COB ID u32 rw 0x300 Node ID PDO is valid Bit 31 0 CAN ID of 2nd RX PDOs 2 Trans Type u8 rw 0xFF permissible values as for RX PDO1 1402 0 Receive PDO 3 u8 ro 0x02 number of entries RX P...

Page 156: ...ct directory u32 ro 0x5800 03 in 5800 SIdx 03 3 rd word received data RX PDO 1 4 Index in object directory u32 ro 0x5800 04 in 5800 SIdx 04 4 th word received data RX PDO 1 1601 0 Mapping Receive PDO 2 u32 ro 0x04 number of implemented application objects 1 Index in object directory u32 ro 0x5810 01 in 5810 SIdx 01 1 st word received data RX PDO 2 2 Index in object directory u32 ro 0x5810 02 in 58...

Page 157: ...rectory u32 ro 0x5850 01 in 5850 SIdx 01 1 st word received data RX PDO 6 2 Index in object directory u32 ro 0x5850 02 in 5850 SIdx 02 2 nd word received data RX PDO 6 3 Index in object directory u32 ro 0x5850 03 in 5850 SIdx 03 3rd word received data RX PDO 6 4 Index in object directory u32 ro 0x5850 04 in 5850 SIdx 04 4 th word received data RX PDO 6 1606 0 Mapping Receive PDO 7 u32 ro 0x04 numb...

Page 158: ...rmissible values as for TX PDO1 1803 0 Transmit PDO 4 u8 ro 0x02 number of entries TX PDO 4 1 COB ID u32 rw 0x38B PDO is valid Bit 31 0 CAN ID of 4 th TX PDOs 2 Trans Type u8 rw 0xFF permissible values as for TX PDO1 1804 0 Transmit PDO 5 u8 ro 0x02 number of entries TX PDO 5 1 COB ID u32 rw 0x38C PDO is valid Bit 31 0 CAN ID of 5 th TX PDOs 2 Trans Type u8 rw 0xFF permissible values as for TX PDO...

Page 159: ...ry u32 ro 0xA102 01 in A102 SIdx 01 1 st word transmitted data TX PDO 3 2 Index in object directory u32 ro 0xA102 02 in A102 SIdx 02 2 nd word transmitted data TX PDO 3 3 Index in object directory u32 ro 0xA102 03 in A102 SIdx 03 3 rd word transmitted data TX PDO 3 4 Index in object directory u32 ro 0xA102 04 in A102 SIdx 04 4 th word transmitted data TX PDO 3 1A03 0 Mapping Transmit PDO 4 u32 ro ...

Page 160: ...ry u32 ro 0xA106 01 in A106 SIdx 01 1 st word transmitted data TX PDO 7 2 Index in object directory u32 ro 0xA106 02 in A106 SIdx 02 2 nd word transmitted data TX PDO 7 3 Index in object directory u32 ro 0xA106 03 in A106 SIdx 03 3 rd word transmitted data TX PDO 7 4 Index in object directory u32 ro 0xA106 04 in A106 SIdx 04 4 th word transmitted data TX PDO 7 1A07 0 Mapping Transmit PDO 8 u32 ro ...

Page 161: ...kBaud entry 1 500 kBaud entry 2 250 kBaud entry 3 125 kBaud entry 4 100 kBaud entry 5 50 kBaud entry 6 20 kBaud entry 7 10 kBaud 20F3 0 Setting Baud Rate u8 rw 0x3 A change is only taken over when the same changed value is entered in entries 20F2 and 20F3 A change only becomes valid after a reset Annex 1 7 3 Legend to object library Abbrev Name Explanation u8 unsigned 8 Data length 1 Byte without ...

Page 162: ...page 162 ...

Page 163: ...page 163 Annex 2 Wiring Annex 2 1 Type CR0015 ...

Page 164: ...page 164 Annex 2 2 Type CR0016 ...

Page 165: ...page 165 Annex 2 3 Type CR0017 ...

Page 166: ...page 166 Annex 2 4 Type CR0501 ...

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