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IFM ecomatmobile ecomat100 CR1080, System Manual

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IFM ecomatmobile ecomat100 CR1080 System Manual Download Page 318

ifm

 System Manual 

ecomat

mobile

 PDM360NG (CR1080, CR1081, CR9042) Target V01 

2011-07-28 

CAN in the PDM360

 

CAN errors and error handling

 

 

318 

 

9.7.3 

CANopen POUs for error handling 

 

CANOPEN_SENDEMCYMESSAGE ........................................................................................ 319 
CANOPEN_GETERRORREGISTER........................................................................................ 321 
CANOPEN_GETEMCYMESSAGES ........................................................................................ 323 

8522 

 

Summary of Contents for ecomatmobile ecomat100 CR1080

Page 1: ...System Manual PDM360NG CR1080 CR1081 CoDeSys 2 3 English 7390707_02_UK 2011 07 28 preliminary...

Page 2: ...4 Interfaces 19 3 4 1 USB interface 20 3 4 2 Camera visualisation 20 3 5 Real time clock RTC 21 4 Operating states and operating system 22 4 1 Operating states 22 4 2 Status LED 22 4 2 1 Setting the...

Page 3: ...or visualisations 96 6 1 4 Limitations for program and data memories 97 6 2 Programming notes for CoDeSys projects 98 6 2 1 FB FUN PRG in CoDeSys 98 6 2 2 Libraries 99 6 2 3 Operating sequence 100 6 2...

Page 4: ...erfaces and CAN protocols 160 9 1 4 System configuration 162 9 2 Physical connection of CAN 163 9 2 1 Network structure 163 9 2 2 CAN bus level 164 9 2 3 Bus cable length 165 9 2 4 Wire cross sections...

Page 5: ...12 1 2 BUZZER_ON 385 12 1 3 KEY_CLICK 386 12 2 Manage visualisation 387 12 2 1 SET_BOOTUP_BACKLIGHT 388 12 2 2 Library Instrumente 389 12 3 Edit input fields in the visualisation 396 12 3 1 INPUT_INT...

Page 6: ...13 5 Overview of the files and libraries used 434 13 5 1 Installation of the files and libraries 434 13 5 2 General overview 435 13 5 3 What are the individual files and libraries used for 437 14 Glo...

Page 7: ...ools and documentation Nobody is perfect Send us your suggestions for improvements to this manual and you will receive a little gift from us to thank you All rights reserved by ifm electronic gmbh No...

Page 8: ...l contains a search index in the annex At the beginning of a chapter we will give you a brief overview of its contents Abbreviations and technical terms are listed in the glossary In case of malfuncti...

Page 9: ...g on and with this device The acting person must be authorised to work on the machine equipment Adhere to the technical data of the devices You can find the current data sheet on ifm s homepage at www...

Page 10: ...ogy and PLC programming with IEC 61131 3 If this device contains a PLC in addition these persons should know the CoDeSys software The document is intended for specialists These specialists are people...

Page 11: ...erating elements 14 Accessories 16 7300 This manual describes the PDM360 monitor family of ifm electronic gmbh with a Linux operating system for mobile vehicles PDM360NG CR108n CR9042 Software release...

Page 12: ...1 07 28 System description Information concerning the device 12 3 1 2 Fastening and installation 7330 Fastening 7973 Types of fastening Installation in the cutout of the operating panel 182 x 136 mm u...

Page 13: ...pect ratio 15 9 Resolution 800 x 480 pixels Colour depth 6 bits per colour channel 18 bits 262 144 representable colours create image as True Color with 24 bits Background illumination LED dimmable in...

Page 14: ...s Function keys with pressure point Backlit with programmable LEDs Rotary button encoder with pushbutton 16 pulses revolution Backlit with programmable LEDs Scroll key as a combination of 5 independen...

Page 15: ...EDs in the program Request to press a certain key Program the key LED so that it flashes Night design of the operating elements The LEDs for all operating elements are dimmable For the night operation...

Page 16: ...oups of keys Arrangement of the operating elements 7337 When the device is ordered the operating element groups on the sides can be arranged optionally Examples Left Right Article no 5 keys 4 keys enc...

Page 17: ...hard disc required HD 100 MB Runtime system platform Windows 2000 or higher CD ROM drive For more details on the current CoDeSys software DE http www 3s software com index shtml de_oem1 UK http www 3s...

Page 18: ...software according to GPL http www gnu org licenses 3 3 PLC configuration 1797 The control system ecomatmobile is a device concept for series use This means that the devices can be configured in an op...

Page 19: ...AE J1939 250 kBaud Ethernet 1 PDM360NG CR108n CR9042 IP address and subnet mask configurable 10 100 MBit DHCP selectable default IP address 192 168 82 247 default subnet mask 255 255 255 0 up to 4 Eth...

Page 20: ...mounting process with the program USB_STORAGE_HANDLER page 335 Do not remove the USB device before unmounting has been confirmed 3 4 2 Camera visualisation 7366 For device Interface Function PDM360NG...

Page 21: ...tains a real time clock During the system start the device synchronises the secondary system clock with the primary real time clock The system clock can be used as follows read the current clock time...

Page 22: ...age green black 5 Hz boot process application green black 2 Hz application running RUN or setup running green permanently on application stopped STOP or no project available red black 2Hz Application...

Page 23: ...off or other colour colour constant from the data structure LED colour Allowed LED_GREEN LED_BLUE LED_RED LED_WHITE LED_MAGENTA LED_CYAN LED_YELLOW LED_ORANGE LED_BLACK LED off LED_MODE flashing frequ...

Page 24: ...and configure the mobile camera 86 Operating elements functions 87 Device update to new software version 89 3615 5 1 Set device parameters setup Start setup 25 Setup system settings 27 Setup display...

Page 25: ...he CAN interfaces set the real time clock set the display brightness SYSTEM INFORMATION display the system data ACTIONS reboot the device test the CAN interfaces define the splash screen test the devi...

Page 26: ...Ethernet subnet mask Ethernet gateway IP address Ethernet server IP address Configure the DHCP server Real time clock RTC time zone battery status CAN download ID separately for every CAN interface C...

Page 27: ...AN interfaces 30 Setup set the real time clock RTC 31 Setup set the display brightness 31 9603 Select the menu item SYSTEM SETTINGS in the setup splash screen The menu System Settings appears Select t...

Page 28: ...gs appears Change to the next menu with MANUAL The menu Ethernet Manual Settings appears Change to the menu Ethernet Target Settings with TARGET SETTINGS The menu Ethernet Target Settings appears Sele...

Page 29: ...in the network In the same physical network different subnet masks of the participants are allowed They form different groups of participants which cannot communicate with groups of participants havi...

Page 30: ...appears Select the requested CAN bus with SELECT and confirm with ENTER The menu Bus Settings of the selected CAN bus appears Change to the menu CAN Bus Settings Baudrate with Baudrate CAN Bus The me...

Page 31: ...m and save the changed value with SAVE Change to the previous menu with EXIT Setup set the display brightness 7405 Select the menu item BACKLIGHT in the menu System Settings The menu Backlight Setting...

Page 32: ...042 Target V01 2011 07 28 Configurations Set device parameters setup 32 5 1 3 Setup display system information 7407 Select the menu item SYSTEM INFORMATION in the setup splash screen The menu System I...

Page 33: ...t of the keys 40 Setup format the memory 41 Setup backup restore 42 7409 Select the menu item ACTIONS in the setup splash screen The menu Actions appears Select the requested menu item with SELECT or...

Page 34: ...reboot the device 7410 Select the menu item REBOOT in the menu Actions The menu Reboot appears Select the function Perform reboot now with SELECT and confirm with ENTER The device reboots If a valid...

Page 35: ...p 35 Setup test the CAN interfaces 7411 Select the menu item CAN TEST in the menu Actions The menu CAN Test Bus Selection appears Select the requested CAN bus with SELECT and confirm with ENTER The me...

Page 36: ...D Cyclically transmit the set CAN package with START The number of the CAN packages transmitted since START appears in Tx Frame Counter Finish the cyclical transmission of the set CAN package with STO...

Page 37: ...t the menu item SPLASH SCREEN in the menu Actions The menu Splash Screen appears Define with SELECT from where the future splash screen is to be loaded Select Splash Screen from USB device Load the ne...

Page 38: ...ta transmission with ENTER A confirmation message appears in the Message Box After the next reboot of the device the new splash screen appears Change to the previous menu with EXIT Setup load the spla...

Page 39: ...creen from the directory tmp 9637 Stay in the menu Splash Screen Select the menu item Load Splash Screen tmp pdm360ng splash bmp with SELECT Start the data transmission with ENTER A confirmation messa...

Page 40: ...ny function key The key related area is shown bright Change to the previous menu with EXIT Devices with scroll key Change between the two fields Navigation Switch Test with OK or Increment decrement t...

Page 41: ...the memory 9643 Select the menu item FORMAT STORAGE in the menu Actions The menu Format internal mass storage appears Select the function Format internal mass storage now with SELECT and confirm with...

Page 42: ...7 28 Configurations Set device parameters setup 42 Setup backup restore Setup save the system information 43 7412 Select the menu item BACKUP RESTORE in the menu Actions The menu System Backup and Res...

Page 43: ...Backup and Restore The menu Backup System Information appears Select the requested menu item with SELECT and confirm with ENTER Backup System Information to tmp folder Copy the system information to...

Page 44: ...ssion connection also possible via the internet if no access to the USB port is possible Info In case of doubt or problems please contact your system administrator Establish an Ethernet connection bet...

Page 45: ...t Ethernet connection 48 Set CoDeSys communication parameters for the Ethernet interface 51 7417 You can find the Ethernet interface as M12 connection 4 on the rear panel Using the Ethernet interface...

Page 46: ...ferent Info If the subnet mask 255 255 255 0 254 participants communicating with each other are possible in the network If the subnet mask 255 255 0 0 256x254 65 024 participants communicating with ea...

Page 47: ...Panel Network Connections The window Network Connections shows a list of the installed network components Right click on Local Area Connection Click on Properties The window Local Area Connection Pro...

Page 48: ...ivate the Windows command line with Start All Programs Accessories Command prompt After the prompt C enter ping 192 168 082 247 Enter Enter here the actual IP address of the PDM The operating system o...

Page 49: ...ogram such as Telnet or HyperTerminal are available on every Windows installation If this is not so you have to install the program subsequently Start the Windows CD and select the menu item Software...

Page 50: ...it may help to restart the terminal program and the PDM After login enter the term root followed by Enter After Password also enter the term root in small letters followed by Enter A new message conce...

Page 51: ...g PDM_TCP IP Select the entry Tcp Ip Level 2 Route screenshot Adopt new parameters with OK Enter the following communication parameters for the new channel screenshot below Address e g 192 168 82 247...

Page 52: ...s Here we show you the example Cyrillic to learn how to add more character sets Install the new font on the PC under Control panel Fonts File Install New Font Reboot the PC With an FTP program copy th...

Page 53: ...r use in your visualisation On the ecomatmobile DVD Software tools and documentation or after the installation of CoDeSys on your hard disk in the directory Targets ifm Library Fonts ifm_ISO you can f...

Page 54: ...tions Set up programming system 54 5 4 Set up programming system Set up programming system manually 54 Set up programming system via templates 59 ifm demo programs 69 3968 5 4 1 Set up programming sys...

Page 55: ...sary NOTE The software versions suitable for the selected target must always be used operating system CRnnnn_Vxxyyzz H86 CRnnnn_Vxxyyzz RESX PLC configuration CRnnnn_Vxx CFG device library ifm_CRnnnn_...

Page 56: ...s reached via the tab Resources Double click on PLC Configuration to open the corresponding window Click on the tab Resources in CoDeSys Double click on PLC Configuration in the left column Display of...

Page 57: ...ables CAN declaration 10080 In the PLC configuration you now have to declare the first CAN interface s Right click on the name of the PLC configuration CANopen Interface FIX der gew nschten CAN Schnit...

Page 58: ...as default If the device is operated on CAN Layer 2 or as a slave via network variables or CAN_RX CAN_TX Check whether the correct baud rate is set for the device baud rate must be identical for all p...

Page 59: ...atmobile DVD Software tools and documentation projects with templates have been stored in the program directory of your PC ifm electronic CoDeSys V Projects Template_CDVxxyyzz Open the requested templ...

Page 60: ...e above Confirm the selection with Open A new CoDeSys project is generated with the following folder structure left Example for CR2500 as CANopen master Another example for CR1051 as CANopen slave via...

Page 61: ...e CR2011 EDS The EDS files are in directory C CoDeSys V Library PLCConf The window PLC configuration changes as follows Set CAN parameters PDO mapping and SDOs for the entered slave according to the r...

Page 62: ...s and documentation from version 010500 The templates all have the same structures The selection of this program template for CAN operation already is an important basis for a functioning program Fold...

Page 63: ...ufacturerDeviceName e g CR1051 ManufacturerHardwareVersion e g HW_Ver 1 0 ManufacturerSoftwareVersion e g SW_Ver 1 0 SELECT_NODESTATE for PDM CAN operation as master or slave Converts the value of the...

Page 64: ...to be copied from a CR1050 to a CR1055 It contains only the keys F1 F3 For the virtual keys F4 F6 variables have to be created Map these self created variables on the global softkeys Work only with t...

Page 65: ...able for the following devices BasicDisplay CR0451 PDM CR10nn The visualisations are structured in folders as follows Folder Image no Description contents START_PAGE P00001 Setting display of node ID...

Page 66: ...a CabinetController CR2500 as CAN open Master to which an I O CabinetModule CR2011 and an I O CompactModule are connected as slaves Example PLC configuration A joystick is connected to the CR2012 whi...

Page 67: ...ction with OK In our example project the elements selected in the demo project have been added POUs Resources Insert the program CR2012 in the main program PLC_PRG e g The comments of the POUs and glo...

Page 68: ...ons Set up programming system 68 After possibly required corrections and addition of missing libraries Error messages after rebuild save the project again Follow this principle to step by step add fur...

Page 69: ...3995 Demo program Function CR2500Demo_CanTool_xx pro separate for PDM360 PDM360compact PDM360smart and Controller Contains FBs to set and analyse the CAN interface CR2500Demo_ClockFu_xx pro CR2500Demo...

Page 70: ...module CR2512 as slave of a Controller CANopen master 8 x PWM output Display of the current current for each channel pair CR2500Demo_CR2513_xx pro I O smart module CR2513 as slave of a Controller CANo...

Page 71: ...gure P35010 Display of data information Figure P35020 Display of current data record Figure P35030 Display of list of 10 data records CR1051Demo_O2M_1Cam_xx pro Connection of 1 camera O2M100 to the mo...

Page 72: ...ata information Figure P35020 Display of current data record Figure P35030 Display of list of 8 data records CR1051Demo_Ringlogging_on_flash _pcmcia_xx pro Writes a CVS data block on the PCMCIA card w...

Page 73: ...e diagnosis It must be checked by means of the data sheet if the device used has the described input and output groups Constants are predefined e g IN_DIGITAL_H in the device libraries ifm_CRnnnn_Vx L...

Page 74: ...nic switches please note the following NOTE 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 re...

Page 75: ...isms against interference the digital inputs are internally evaluated via an analogue stage This enables diagnosis of the input signals But in the application software the switching signal is directly...

Page 76: ...k the measurement can also be performed ratiometrically This means potentiometers or joysticks can be evaluated without additional reference voltage A fluctuation of the supply voltage has no influenc...

Page 77: ...y time via the steady analogue value in the system variables ANALOG00 If the analogue input is configured for current measurement the device switches to the safe voltage measuring range 0 32 V DC if t...

Page 78: ...activated additionally Diagnosis of non electronic switches To monitor the input signals of non electronic switches they must be equipped with an additional resistor connection Figure non electronic s...

Page 79: ...0 3 BH PH 47 Terminal number QX0 3 IEC address for a binary output BH PH Hardware version of the output here Binary High side or PWMHigh side The different abbreviations have the following meaning A A...

Page 80: ...d 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 Th...

Page 81: ...4 5 7 1 Add missing libraries 7032 The device data is known to the CoDeSys project the PLC configuration is activated Some libraries are already loaded automatically Depending on the application you h...

Page 82: ...ibrary overview for this device with the key Ins or menu Insert Additional Library Select the necessary libraries in the window which has opened NOTE The software versions suitable for the selected ta...

Page 83: ...f the first image in capital letters max 8 characters no space Confirm with OK CoDeSys opens the drawing field for this visualisation The field corresponds to the size of the LCD display For handling...

Page 84: ...84 Right click on the rectangle to open the context menu and select Configure The window Regular Element Configuration 0 appears In the field Category select the entry Text Enter a display text in th...

Page 85: ...gramming PLC_PRG via the tab POUs Only some networks are necessary for an executable program You do not need any special function block to be able to use important device functions All monitor functio...

Page 86: ...mmunication Parameters Ethernet interface CoDeSys communication parameters page 51 Serial interface CoDeSys communication parameters not for PDM360NG CR108n CR9042 CAN interface CoDeSys communication...

Page 87: ...age 87 PDM360NG CR108n CR9042 CoDeSys dialogue Element Configuration all devices Library ifm_PDM_INPUT_Vxxyyzz Lib contains function blocks to manage input fields chapter Edit input fields in the visu...

Page 88: ...ent SPACE Change the element to the EDIT MODE Confirm the value TAB Jump to the next element UP Increment the value Example edit controls in CR1081 10165 IF Init TRUE THEN Default Mapping MD MD_KEY3_r...

Page 89: ...he versions are numbered consecutively V01 V02 V03 Please see the respective documentation for the new functions of the new software version Note whether special requirements for the hardware version...

Page 90: ...the reset key within 180 seconds at the end of the update process the key is in a recess behind the lid on the back of the device If however the time elapsed before the reset key was pressed the devic...

Page 91: ...To do so terminal 15 and terminal 30 must be connected to plus 6 Display ifm splash screen The reboot process starts 7 Release the PDM keys 8 Display of the ifm recovery screen Display of the IP addre...

Page 92: ...evice appears in the browser The web interface directly changes to Software Recover 13 Click the button Browse 14 The Windows browser opens 15 Open the directory with the update file Double click the...

Page 93: ...rectory Only ONE update file is allowed in this directory 11 Press the following key to start the update For the device with encoder press the rotary button For the device with scroll key press the ke...

Page 94: ...U is used in the device Controller family article no CPU frequency MHz BasicController CR040n 50 CabinetController CR0301 CR0302 20 CabinetController CR0303 40 ClassicController CR0020 CR0505 40 Class...

Page 95: ...witched off the screen goes black the status LED flashes red at 5 Hz restart necessary via voltage off on PDM360NG CR108n CR9042 all processes are stopped reset all outputs are switched off the screen...

Page 96: ...sheet Description Limitation Length of character strings 255 characters Length of path names 255 characters Number of graphic objects per visualisation page 2 000 Number of bitmaps per project Number...

Page 97: ...out online change 8 MBytes Default setting online change not possible Data memory data 1024 MBytes Memory for retain data 32 kBytes Memory in the directory tmp Not defined Memory for bitmap files 80 x...

Page 98: ...Sys we differentiate between the following types of units POUs FB function block A FB may have several inputs and several outputs A FB may be called several times within a project For every call you m...

Page 99: ...d after return will lose their validity Function blocks have two calls one initialising call and the call to do something Therefore that means for a FB call inside a function that there is every time...

Page 100: ...program is tested the images already exist Disadvantage The PLC parameters and variables required in the images have not yet been defined B First the PLC program then the visualisation Advantage All...

Page 101: ...ie chart o Only for very restricted use slows down the system very much Visualisation o Possible but too many elements on one page slow down the system Button No problems known Table No problems known...

Page 102: ...are not very satisfactory e g round scales Solution Integrate the requested elements as an externally generated BMP graphic It is then sufficient to turn an arrow in the visualisation depending on val...

Page 103: ...llipse circle Each edge of the element can be shifted by a specified number of pixels via an INT type variable basic position of the 4 edges zero new value shifts this edge by the specified value Shif...

Page 104: ...efore you integrate such an external graphics some basics have to be taken into account which will be explained in the following chapters More information is given here Creation and parameter setting...

Page 105: ...s learned contents remain the same Readability Take the environment illumination read distance into account Intuitive handling Operating element function must be obvious User interface must be self ex...

Page 106: ...ways before it comes into awareness Thinking The working memory where intellectual manipulation of information takes place has a very small capacity Learning The information stored in the long term m...

Page 107: ...1 4 Language as an obstacle 7454 In order to produce equipment which satisfies end users worldwide language must be taken into account The operator is not able to effectively carry out his tasks if he...

Page 108: ...on contracted to Unihan is an approach by Unicode and the Universal Character Set according to ISO 10646 to map several character sets of the Chinese Japanese and Korean languages in a single set of u...

Page 109: ...and can lead to misunderstandings if used incorrectly and even to an image loss of the product as a result of handling faults Examples Colour Meaning in Europe USA Meaning in other cultures Red Drama...

Page 110: ...ered at international level Replacing text by images is only sensible and reduces cost if the illustrations are independent of culture i e can be used in ALL intended target countries without adaptati...

Page 111: ...based on flat panels 117 ISO 13407 _ Human centred design processes for interactive systems 117 ISO 20282 _ Ease of operation of everyday products 118 7445 The following list is only a selection and i...

Page 112: ...y degree to which the software complies with standards or agreements on reliability Usability What level of input does the use of the software require from users and how is it assessed by them Underst...

Page 113: ...of the software to adapt to different environments Installability level of input required to install the software in a defined environment Coexistence ability of the software to function in parallel w...

Page 114: ...Part 14 Menu dialogues Part 15 Command dialogues Part 16 Direct manipulation dialogues Part 17 Form filling dialogues Part 110 Dialogue principles replaces part 10 Part 151 Guidance on World Wide Web...

Page 115: ...describes the following principles for the design and evaluation of an interface between the user and system dialogue design Suitability for the task Suitable functionality minimisation of unnecessary...

Page 116: ...used Unicode is a 16 bit code which represents 216 65536 characters The first goal is a clear and standardised encoding of the characters of all national languages Not all of these 65536 character ad...

Page 117: ...umented description of the relevant users their tasks and their environment Specify requirements During this phase the targets are deducted from the existing documentation at a compromise level The di...

Page 118: ...oducts 7443 This draft consists of Part 1 Design requirements for context of use and user characteristics The following criteria are described Scope User interface User Psychological and social charac...

Page 119: ...h consists of a raster type arrangement of pixels to which one colour each is assigned The main characteristics of a raster graphics are therefore width and height in pixels image resolution as well a...

Page 120: ...and colour gradient Pixel graphics of modern digital cameras have 5 million and more pixels resolution 5 megapixels A special data compression tries to reduce the required high memory space Unfortuna...

Page 121: ...o the original Problem 2 After scaling there are only 384 000 pixels 7 8 of the original image the other 4 531 200 pixels are no longer available In other words Horizontally only every 3rd pixel is us...

Page 122: ...e primary colours in different intensities approx 16 6 million colours can be created via the additive colour mixing page 125 To represent this quantity suitable monitors and powerful processors are n...

Page 123: ...the bitmaps before using them in the device Performance limits of the device page 94 Parameter Limit File type Bitmap bmp RLE compressed File name only small letters naming convention 8 3 Image size...

Page 124: ...image in an image processing program on your computer For BasicDisplay CR0451 only Transformation to the colour palette will be done during inserting the bitmap into the project by CoDeSys On the dev...

Page 125: ...or which PDM and what steps must be carried out 126 3113 Here the interested reader finds more details about bitmap graphics 7 4 1 Additive colour mixing 3123 Monitors and many printers make mixed col...

Page 126: ...respective primary colour Screenshot RGB colour mixture at Photoshop 100 255dez FFhex 7 4 2 What graphics are suitable for which PDM and what steps must be carried out 7387 Not all bitmaps are suitabl...

Page 127: ...an Ethernet camera 132 9320 Available for the following devices PDM360 CR1051 PDM360NG CR1080 CR1081 CR1082 CR9042 Configure an Ethernet camera image in CoDeSys 9321 1 In CoDeSys create and name a new...

Page 128: ...ration opens NOTE The terms which are used in the dialogue Bitmap Configuration have another meaning when used for the camera configuration Select the category Bitmap camera bmp must be indicated in t...

Page 129: ...he representation of the camera between RGB555 and 8 bit greyscale Enter a Boolean type variable in the field Change color TRUE greyscale image FALSE RGB555 image set as default Mirror the image of th...

Page 130: ...lement example screenshot Adapt the respective values in the area Position Define the left upper corner of the image in X and Y Recommended image resolution width 320 height 240 Maximum image resoluti...

Page 131: ...e variable input TRUE greyscale image FALSE RGB555 image Variables Conversion basis Boolean type variable input NOT for the analogue camera in the overlay mode TRUE Mirror the image at its horizontal...

Page 132: ...e Do not switch on the requested cameras until the new visualisation is displayed Only the visible area of the display 800 x 480 pixels can be used for the camera image Positions outside this area in...

Page 133: ...f the image can be represented up to max 100 of the original image The centre of the image section is identical with the centre of the original image Any scaling of the image is possible The image can...

Page 134: ...CR1080 CR1081 CR9042 Target V01 2011 07 28 Visualisations in the device Operate camera s on the PDM 134 Capture mode 9589 Examples top original image The original image can only be scaled in any manne...

Page 135: ...081 CR9042 Target V01 2011 07 28 Visualisations in the device Operate camera s on the PDM 135 Overlay mode 9560 Examples top original image The image cannot be scaled The centre of the image section i...

Page 136: ...a image in a visualisation Any memory location is allowed 5 The placeholder graphic is inserted into the drawing area Double click the graphic 6 The dialogue Bitmap Configuration opens NOTE The terms...

Page 137: ...07 28 Visualisations in the device Operate camera s on the PDM 137 9 Only allowed in the capture mode Rotate the image of the camera In the category Motion absolute enter an INT type variable in the f...

Page 138: ...e is directly controlled via the bitmap In the menu Extras select Elementlist The dialogue Elementlist opens Select the requested element example screenshot Adapt the respective values in the area Pos...

Page 139: ...ables Change color Boolean type variable input If a variable is defined represent the analogue camera image in the overlay mode If no variable is defined represent the analogue camera image in the cap...

Page 140: ...es are saved on request in the FRAM memory all ecomatmobile controller BasicController CR040n BasicDisplay CR0451 PDM360NG CR108n CR9042 PDM360smart CR1070 CR1071 in a special file PDM360 CR1050 CR105...

Page 141: ...uest via a FB Typical applications for retain variables are for example Operating hours which are counted up and retained while the machine is in operation position values of incremental encoders pres...

Page 142: ...ot originate from the local project but from another project Their values cannot be influenced locally The variables are used with read access in the local project and possibly also in several other p...

Page 143: ...ort_Proj1 In the properties of this list enter the file ExportProj1 exp Activate Export before compile When this project is compiled ExportProj1 exp is updated The project DemoProj2 contains the globa...

Page 144: ...esses and subnet mask Step 3 Select first target system and create project page 145 Step 4 Set communication parameters page 147 Step 5 Activate network variable support page 148 Step 6 Integrate libr...

Page 145: ...s created in CoDeSys the target file corresponding to the controller must be loaded It is selected in the dialogue window for every hardware and acts as an interface to the hardware for the programmin...

Page 146: ...11 07 28 Variable Network variable via UDP 146 The following window appears Add the entries shown on the following screenshot to the program POU PLC_PRG With File Save as save the project in the reque...

Page 147: ...cation parameters 3625 The same communication parameters must be set for the PC the device controller PDM and the project Open the following dialogue with Online Communication Parameters The following...

Page 148: ...order YES for the PDM360 and PDM360compact Confirm with OK 8 2 3 Activate network variable support 3630 Click on the tab Resources in CoDeSys Double click on Target Settings The following window appea...

Page 149: ...9 8 2 4 Integrate libraries 3633 Menu Window Library Manager Display of the libraries already loaded Menu Insert Additional Library Ins or Key Ins Insert the following libraries SysLibSockets lib 3S l...

Page 150: ...ata via global network variables write one project each for all three devices These projects are suitable for this purpose mainly because of the contained global variable lists The example shows the p...

Page 151: ...1 07 28 Variable Network variable via UDP 151 Confirm with OK Enter the variable x1 in the window that appears screenshot Right click on the resource element Global_Variablen_Export_Proj1 Click on Obj...

Page 152: ...e compile and Read The entered Minimum gap or the Interval depends on the application NOTE In the field Link to file Filename it is expected to indicate an EXP file After Project Rebuild all this exte...

Page 153: ...ist Import list COB ID 52 COB ID 53 COB ID 51 Import list Import list Export list COB ID 52 COB ID 53 COB ID 51 Here you see that the COB ID 51 was assigned to the export variables of DemoProj1 in dev...

Page 154: ...ete project In the window Properties of the global variable list click on the button Settings beside Network type The following window appears As broadcast address enter the IP address of device 1 but...

Page 155: ...le_Variablen_Export_Proj1 51 x1 INT 2 DemoProj2 pro Globale_Variablen_Export_Proj2 52 x2 INT 3 DemoProj3 pro Globale_Variablen_Export_Proj3 53 x3 INT Export lists must now be created for all 3 devices...

Page 156: ...42 Target V01 2011 07 28 Variable Network variable via UDP 156 Reduce the selection to the requested list Confirm with OK From the menu Project Merge repeat the process with DemoProj3 pro and its expo...

Page 157: ...variable x1 DemoProj2 pro global variable x2 DemoProj3 pro global variable x3 8 2 7 Transmit projects 3654 Check whether all 3 devices together with the PC are available with their corresponding IP a...

Page 158: ...Us to CANopen 242 CAN errors and error handling 313 3043 9 1 General about CAN Topology 159 CAN interfaces 160 Available CAN interfaces and CAN protocols 160 System configuration 162 1164 The CAN bus...

Page 159: ...gh this processor Consequently no information can be transferred if the central processor fails If an individual control device fails the bus continues to function The linear bus has the advantage tha...

Page 160: ...tual data sheet you will find on the ifm homepage www ifm com select your country data sheet search article no Informative more interesting CAN protocols Truck Trailer Interface to ISO 11992 ISOBUS to...

Page 161: ...CANopen SAE J1939 CAN layer 2 CANopen SAE J1939 PCB controller CS0015 CAN layer 2 CANopen SAE J1939 SafetyController CR7021 CR7506 CAN layer 2 CANopen CANopen Safety SAE J1939 CAN layer 2 CANopen Safe...

Page 162: ...perated in the CANopen mode all controllers in the network must have a unique identifier The actual COB IDs are derived from the module numbers according to the predefined connection set Only one non...

Page 163: ...umes a line structure of the CAN network Figure CAN network line structure NOTE The line must be terminated at its two ends using a terminating resistor of 120 to prevent corruption of the signal qual...

Page 164: ...and generates a difference voltage between the two bus cables The recessive and dominant states are converted into voltages in the bus nodes and detected by the receiver circuits 5 V 3 5 V 2 5 V 1 5...

Page 165: ...ired transmission rate baud rate length of the spurs To simplify matters the following dependence between bus length and baud rate can be assumed 10 0 50 1000 10000 5 10 20 50 100 200 500 1000 Bus L n...

Page 166: ...aken into account The following table describes the dependence of the wire cross section referred to the cable length and the number of the connected nodes Cable length m Wire cross section mm 2 at 32...

Page 167: ...Depending on the device the following families of POUs are available CAN POUs on layer 2 RAW CAN page 174 easy functions CAN POUs to SAE J1939 page 207 high quality functions for engine management CAN...

Page 168: ...s data sheet Example 11 bits CAN ID base S O F CAN ID base Bit 28 Bit 18 R T R I D E 0 0 0 0 0 1 1 1 1 1 1 1 0 0 0 7 F Example 29 bits CAN ID extended S O F CAN ID base Bit 28 Bit 18 S R R I D E CAN I...

Page 169: ...changes too often To reduce the bus load split the messages via network variables or CANx_TRANSMIT to several plc cycles using several events In the controller configuration the values for Com Cycle...

Page 170: ...o a stack at first will be read at first too For every identifier there is such one buffer as a queue available In fact CAN stacks are also executed during the IEC user cycle for example data is still...

Page 171: ...or and after the IEC task i e filled with data An EXECUTE input is edge triggered The POU is ONLY executed once upon transition of the input from 0 to 1 Via the input CHANNEL the CAN channel is select...

Page 172: ...active 014 0E FB is active CANopen configures slaves and sends SDOs 015 0F FB is active CANopen master is started 3210 6310 FB specific return values 6410 12710 FB specific error messages 12810 25510...

Page 173: ...4 Contained in the library ifm_RawCAN_NT_Vxxyyzz LIB CAN POUs to SAE J1939 page 207 Contained in the library ifm_J1939_NT_Vxxyyzz LIB CAN POUs to CANopen page 242 Contained in the library ifm_CANopen_...

Page 174: ...ty of CAN chips in addition 9 4 1 Notes 8468 FiFo limitations 7555 INFO FiFo First In First Out operation of the stack the data package which was written into a stack at first will be read at first to...

Page 175: ...block is active 014 0E FB is active CANopen configures slaves and sends SDOs 015 0F FB is active CANopen master is started 3210 6310 FB specific return values 6410 12710 FB specific error messages 128...

Page 176: ...et V01 2011 07 28 CAN in the PDM360 CAN FBs on layer 2 RAW CAN 176 9 4 2 FBs for RAW CAN management CAN_ENABLE 177 CAN_RECOVER 179 CAN_STATUS 180 CAN_SETDOWNLOADID 182 7557 Here you will find function...

Page 177: ...to change the baud rate the following procedure is required Maintain the function block on ENABLE FALSE for the duration of one cycle All protocols are reset Re initialisation of the CAN interface and...

Page 178: ...s 8530 Parameter Data type Description RESULT BYTE feedback of the function block possible messages following table Possibly values for RESULT Value dec hex Description 000 00 function block is not ac...

Page 179: ...ller deletes all buffers including the buffers of the other protocols If CAN_RECOVER is not used ENABLE FALSE In case of a bus off a recovery attempt is automatically made after 1 s After 4 failed rec...

Page 180: ...9042 Symbol in CoDeSys Description 7501 CAN_STATUS provides information on the chosen CAN bus Without hardware initialisation the following flags can be reset to FALSE BUSOFF WARNING_RX WARNING_TX Par...

Page 181: ...L Warning threshold for receiving is exceeded at the interface WARNING_TX BOOL Warning threshold for transmitting is exceeded at the interface VERSION DWORD version of the CAN stack BUSLOAD BYTE Curre...

Page 182: ...ta exchange when connecting the runtime system and the CoDeSys development environment When the device is started the download ID is set with the default value from the hardware configuration With CAN...

Page 183: ...AW CAN 183 Parameters of the outputs 7520 Parameter Data type Description RESULT BYTE current download ID Possibly values for RESULT Value dec hex Description 000 00 function block is not active 001 0...

Page 184: ...9042 Target V01 2011 07 28 CAN in the PDM360 CAN FBs on layer 2 RAW CAN 184 9 4 3 FBs for RAW CAN transmitting messages CAN_TX 185 CAN_TX_ENH 187 CAN_TX_ENH_CYCLIC 189 7610 Here you will find function...

Page 185: ...s called several times during a cycle the data is also sent several times In case of the simple functions CAN_TX and CAN_RX it is determined by means of the ID whether a standard or an extended frame...

Page 186: ...he outputs 7527 Parameter Data type Description RESULT BYTE feedback of the function block possible messages following table Possibly values for RESULT Value dec hex Description 000 00 function block...

Page 187: ...r a 29 bit identifier The additional inputs can be preset so that CAN_TX page 185 is not required If an instance of this FB is called several times during a cycle the data is also sent several times P...

Page 188: ...he outputs 7527 Parameter Data type Description RESULT BYTE feedback of the function block possible messages following table Possibly values for RESULT Value dec hex Description 000 00 function block...

Page 189: ...NT_Vxxyyzz LIB Available for the following devices BasicController CR040n BasicDisplay CR0451 PDM360NG CR108n CR9042 Symbol in CoDeSys Description 7569 CAN_TX_ENH_CYCLIC serves for cyclical transmitti...

Page 190: ...me 0 536 870 912 229 Extended optional use of the parameter BOOL TRUE extended frame FALSE normal frame preset for ID 2 048 DataLengthCode optional use of the parameter BYTE length of the data to be s...

Page 191: ...2011 07 28 CAN in the PDM360 CAN FBs on layer 2 RAW CAN 191 9 4 4 FBs for RAW CAN receiving messages CAN_RX 192 CAN_RX_RANGE 194 CAN_RX_RANGE_FIFO 196 CAN_RX_ENH 198 CAN_RX_ENH_FIFO 200 7611 Here you...

Page 192: ...used for receiving a message The input possibilities and the required memory space are low CAN_RX filters for the set identifier If several CAN messages with the same identifier are received in one cy...

Page 193: ...scription DATA ARRAY 0 7 OF BYTE received data 1 8 bytes RESULT BYTE feedback of the function block possible messages following table Possibly values for RESULT Value dec hex Description 000 00 functi...

Page 194: ...the set identifier If several CAN messages with the same identifier are received in one cycle only the last latest message is available Parameters of the inputs 7595 Parameter Data type Description EN...

Page 195: ...ended frame 2 048 536 870 912 229 DATALENGTHCOUNT BYTE number of the data bytes received 0 8 DATA ARRAY 0 7 OF BYTE received data 1 8 bytes RESULT BYTE feedback of the function block possible messages...

Page 196: ...evices BasicController CR040n BasicDisplay CR0451 PDM360NG CR108n CR9042 Symbol in CoDeSys Description 7603 CAN_RX_RANGE_FIFO basically works like CAN_RX_RANGE page 194 In addition CAN_RX_RANGE_FIFO p...

Page 197: ...BOOL TRUE extended frame FALSE normal frame preset for ID 2 048 Parameters of the outputs 7604 Parameter Data type Description ID DWORD number of the data object identifier normal frame 0 2 047 211 ex...

Page 198: ...to CAN_RX page 192 select the frame type 11 or 29 bits define a mask for the evaluation of the CAN ID With the mask several identifiers can be defined as filters Example ID 10016 0001 0000 00002 ID_M...

Page 199: ...al use of the parameter DWORD filter mask for the identifier if ID_MASK bit 0 CAN ID bit may be 0 or 1 if ID_MASK bit 1 CAN ID bit must be ID bit preset 0 Parameters of the outputs 7613 Parameter Data...

Page 200: ...for the following devices BasicController CR040n BasicDisplay CR0451 PDM360NG CR108n CR9042 Symbol in CoDeSys Description 7616 In addition CAN_RX_ENH_FIFO provides a FiFo for the received data as opp...

Page 201: ...AN ID bit may be 0 or 1 if ID_MASK bit 1 CAN ID bit must be ID bit preset 0 Parameters of the outputs 7617 Parameter Data type Description MATCHED_ID DWORD number of the data object identifier normal...

Page 202: ...PDM360 CAN FBs on layer 2 RAW CAN 202 9 4 5 FBs for RAW CAN remote access CAN_REMOTE_REQUEST 203 CAN_REMOTE_RESPONSE 205 7623 Here you will find function blocks for transmitting CAN remote messages f...

Page 203: ...o request a remote message an according requirement is dispatched via CAN_REMOTE_REQUEST and the response of the other device is sent back as result Parameters of the inputs 7628 Parameter Data type D...

Page 204: ...number of the data bytes received 0 8 DATA ARRAY 0 7 OF BYTE received data 1 8 bytes RESULT BYTE feedback of the function block possible messages following table Possibly values for RESULT Value dec...

Page 205: ...the device type It is possible that only a limited number of remote messages can be set up BasicController CR040n BasicDisplay CR0451 max 40 remote messages PDM360NG CR108n CR9042 max 100 remote messa...

Page 206: ...Parameters of the outputs 7636 Parameter Data type Description RESULT BYTE feedback of the function block possible messages following table Possibly values for RESULT Value dec hex Description 000 00...

Page 207: ...CAN messages are transferred with a 29 bit identifier Due to the longer identifier numerous messages can be directly assigned to the identifier For writing the protocol this advantage was used and ce...

Page 208: ...still PF PDU specific PS destination address group extern or proprietary Source address R T R B 1 3 2 1 1 1 8 7 6 5 4 3 1 1 2 1 8 7 6 5 4 3 2 1 8 7 6 5 4 3 2 1 1 C 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15...

Page 209: ...om the manufacturer s documentation As in the example of the manufacturer all relevant data has already been prepared it can be directly transferred to the FBs Meaning Designation in the manufacturer...

Page 210: ...0316 PRIO reserved PG PF PS SA DA 0 C F 0 0 2 0 3 As these values are hexadecimal numbers of which individual bits are sometimes needed the numbers must be further broken down SA DA Source Destination...

Page 211: ...1 Limitations of the devices SAE J1939 7637 The following limitations of the devices are valid Device Criterion BasicController CR040n BasicDisplay CR0451 PDM360NG CR108n CR9042 max FiFo transmit 4 me...

Page 212: ...042 Target V01 2011 07 28 CAN in the PDM360 CAN units acc to SAE J1939 212 9 5 2 Units for J1939 management J1939_ENABLE 213 J1939_NAME 215 J1939_GETDABYNAME 217 J1939_STATUS 220 7639 Here you find fu...

Page 213: ...2 For initialisation of the J1939 stack J1939_ENABLE is set to TRUE 1 This FB also causes booting of the soft I Os of the CFG file A different baud rate is only adopted if CAN_ENABLE has not been acti...

Page 214: ...m CFG file otherwise 250 kbit s PreferredAddress optional use of the parameter BYTE Preferred source address Default setting from CFG file otherwise 252 Ace optional use of the parameter BOOL ACE Addr...

Page 215: ...ile or overwrite the requested data via J1939_NAME The following list shows the composition of the 64 bit NAME information according to SAE J1939 81 Information Data length Description Arbitrary Addre...

Page 216: ...reset 65 53510 FFFF16 FunctionInstance optional use of the parameter BYTE instance of the function permissible values 0 3110 preset 25510 FF16 ECUInstance optional use of the parameter BYTE instance o...

Page 217: ...ailable for the following devices BasicController CR040n BasicDisplay CR0451 PDM360NG CR108n CR9042 Symbol in CoDeSys Description 7665 Via J1939_GETDABYNAME the target address of one or several nodes...

Page 218: ...nal use of the parameter BYTE vehicle system permissible values 0 12710 preset 25510 FF16 nFunction optional use of the parameter WORD function of the device permissible values 0 25510 preset 65 53510...

Page 219: ...st of found participants Entries without a found participant are assigned with 255 NUMBER BYTE Number of found bus participants RESULT BYTE feedback of the function block possible messages following t...

Page 220: ...Available for the following devices BasicController CR040n BasicDisplay CR0451 PDM360NG CR108n CR9042 Symbol in CoDeSys Description 7672 Via J1939_STATUS relevant information can be read back to the...

Page 221: ...es TIMEOUT BYTE source address of the node which did not provided data for the process image in due time 25510 FF16 all nodes sent the data in due time VERSION DWORD version of the CAN stack RESULT BY...

Page 222: ...get V01 2011 07 28 CAN in the PDM360 CAN units acc to SAE J1939 222 9 5 3 Units for J1939 send J1939_TX 223 J1939_TX_ENH 225 J1939_TX_ENH_MULTI 227 J1939_TX_ENH_CYCLIC 229 J1939_DM1TX 231 7685 Here yo...

Page 223: ...n CoDeSys Description 7689 J1939_TX is the easiest method for transmitting single frame messages Parameters of the inputs 7690 Parameter Data type Description ENABLE BOOL TRUE unit is executed FALSE u...

Page 224: ...he outputs 7693 Parameter Data type Description RESULT BYTE feedback of the function block possible messages following table Possibly values for RESULT Value dec hex Description 000 00 function block...

Page 225: ...y data length Multi frame messages J1939_TX_ENH_MULTI page 227 Parameters of the inputs 7702 Parameter Data type Description ENABLE BOOL TRUE unit is executed FALSE unit is not executed POU inputs and...

Page 226: ...he outputs 7969 Parameter Data type Description RESULT BYTE feedback of the function block possible messages following table Possibly values for RESULT Value dec hex Description 000 00 function block...

Page 227: ...Contained in the library ifm_J1939_NT_Vxxyyzz LIB Available for the following devices BasicController CR040n BasicDisplay CR0451 PDM360NG CR108n CR9042 Symbol in CoDeSys Description 7705 The transmis...

Page 228: ...0003 FFFF16 0 262 14310 Len optional use of the parameter BYTE number of the bytes to be transmitted permissible values 0 8 preset 8 DATA ARRAY 0 1784 OF BYTE data to be sent 1 1785 bytes Bam optiona...

Page 229: ...NT_Vxxyyzz LIB Available for the following devices BasicController CR040n BasicDisplay CR0451 PDM360NG CR108n CR9042 Symbol in CoDeSys Description 7718 J1939_TX_ENH_CYCLIC serves for cyclic transmitti...

Page 230: ...e of the parameter BYTE message priority permissible values 0 7 preset 6 PGN DWORD PGN Parameter Group Number permissible values 0000 0000 0003 FFFF16 0 262 14310 Len optional use of the parameter BYT...

Page 231: ...an active error message to the CAN stack This message is stored in the hardware configuration The message is marked active and transmitted once per second as DM1 If the error has already occurred the...

Page 232: ...he hardware configuration Transmitted as DM2 when requested REDSTOPLAMP BOOL red stop lamp TRUE OFF FALSE ON AMBERWARNINGLAMP BOOL Amber warning lamp TRUE OUT FALSE ON PROTECTLAMP BOOL protect lamp TR...

Page 233: ...1 CR9042 Target V01 2011 07 28 CAN in the PDM360 CAN units acc to SAE J1939 233 9 5 4 Units for J1939 receive J1939_RX 234 J1939_RX_FIFO 236 J1939_RX_MULTI 238 J1939_DM1RX 240 7722 Here you find funct...

Page 234: ...M360NG CR108n CR9042 Symbol in CoDeSys Description 7725 J1939_RX is the easiest method for receiving single frame messages The message read last on the CAN bus is returned Parameters of the inputs 772...

Page 235: ...BYTE message priority 0 7 LEN WORD number of the bytes received 0 8 DATA ARRAY 0 7 OF BYTE received data 1 8 bytes RESULT BYTE feedback of the function block possible messages following table Possibl...

Page 236: ...BasicDisplay CR0451 PDM360NG CR108n CR9042 Symbol in CoDeSys Description 7733 J1939_RX_FIFO enables receipt of all specified messages and their successive reading from a FiFo Parameters of the inputs...

Page 237: ...8 DATA ARRAY 0 7 OF BYTE received data 1 8 bytes MORE_DATA_AVAILABLE BOOL TRUE further received data available in the FiFo FALSE no further data available in the FiFo RESULT BYTE feedback of the funct...

Page 238: ...icController CR040n BasicDisplay CR0451 PDM360NG CR108n CR9042 Symbol in CoDeSys Description 7741 J1939_RX_MULTI enables receipt of multi frame messages Parameters of the inputs 7743 Parameter Data ty...

Page 239: ...iority 0 7 LEN WORD number of the bytes received permissible values 0000 0000 0000 06F916 0 1 78510 DATA ARRAY 0 1784 OF BYTE data to be sent 1 1785 bytes RESULT BYTE feedback of the function block po...

Page 240: ...Symbol in CoDeSys Description 7761 J1939_RX_DM1 enables receipt of diagnostic messages DM1 or DM2 from other ECUs Parameters of the inputs 7762 Parameter Data type Description ENABLE BOOL TRUE unit i...

Page 241: ...TRUE OFF FALSE ON NUMBER BYTE number of the bytes received 0 8 SPN WORD Suspect Parameter Number FMI BYTE Failure Mode Indicator permissible values 00 1F16 0 3110 SPN_CM BOOL conversion method preset...

Page 242: ...arate protocol on interface 2 or using the protocol to SAE J1939 or ISO 11992 is possible at any time The following devices can be used on all CAN interfaces with all protocols BasicController CR040n...

Page 243: ...he PLC is operated as master or as slave Only a few POUs are exclusively operated in slave mode SYNC functionality 7772 Regarding the SYNC functionality as slave the CAN stacks are asynchronous to the...

Page 244: ...rms and implementation 1858 According to the CANopen specification there are no masters and slaves in a CAN network Instead of this there is an NMT master NMT network management a configuration master...

Page 245: ...control message object with error messages CAN ID The CAN Identifier defines CAN messages in the complete network The CAN ID is the main part of the arbitration field of a CAN data frame The CAN ID va...

Page 246: ...orted by the ifm CANopen library Transmitting PDOs master transmits to slaves slave node device Transmitting event controlled i e in case of a change time controlled RepeatTimer or as synchronous PDOs...

Page 247: ...is assumed that you have already installed CoDeSys on your processor and the Target and EDS files have also been correctly installed or copied A more detailed description for setting and using the dia...

Page 248: ...slaves by ifm electronic chapter Set up programming system via templates page 59 For the EDS files of other manufacturers nodes contact the corresponding manufacturer CANopen master Tab CAN parameters...

Page 249: ...e in the PLC configuration Insert Append subelement once more A list of the CANopen device descriptions EDS files stored in the directory PLC_CONF is at your disposal By selecting the corresponding de...

Page 250: ...In case of a missing response the node is ignored and the master goes to the normal operating state If the slave is connected to the network and detected at a later point in time it is automatically...

Page 251: ...nd Send PDO Mapping in the configuration dialogue of a CAN module the module mapping assignment between local object directory and PDOs from to the CANopen slave described in the EDS file can be chang...

Page 252: ...ous manufacturer specific The PDO is transmitted on event i e when the value is changed The device manufacturer defines which data is transferred in this way a synchronous RTR only These services are...

Page 253: ...k diagnostic status and EMCY functions are described For this the libraryifm_CANopen_NT_Vxxyyzz LIB is accessed Services of the CANopen master library Reset of all configured slaves on the bus at the...

Page 254: ...Start All Remote Nodes Start all nodes Call FB CANOPEN_NMTSERVICES page 288 NODE 0 NMTSERVICE 2 Cyclical transmission of the SYNC message 8025 This value can only be set during the configuration Node...

Page 255: ...o the polling for object 100016 with a type other than the configured one in the lower 16 bits it is configured but marked as a wrong type All SDOs are repeated as long as a response of the slave was...

Page 256: ...ad via the output MASTERSTATE of CANOPEN_GETSTATE page 294 Network state of the master next chapter Whenever a slave does not respond to an SDO request upload or download the request is repeated The m...

Page 257: ...mitted to the slaves one after the other The Master sends to the slave a SDO read request index 100016 The generated SDOs are compressed into a SDO array The slave knows it s first SDO and the number...

Page 258: ...resent but reacted to the polling for object 100016 with a type in the lower 16 bits other than expected by the configurator 05 5 state OPERATIONAL State 5 is the normal operating state of the slave N...

Page 259: ...Node received the boot up message 04 4 PREPARED Node is configured via SDOs 05 5 OPERATIONAL Node participates in the normal exchange of data 7F 127 PRE OPERATIONAL Node sends no data but can be confi...

Page 260: ...transmitted at too short intervals overload the receive buffer of such nodes A help for this is to reduce the number of NMT messages in quick succession To do so call FB CANOPEN_SETSTATE page 292 GLOB...

Page 261: ...CANOPEN_NMTSERVICES page 288 NODE 0 NMTSERVICE 3 This resets all nodes once at the same time Access to the status of the CANopen master 8038 You should poll the status of the master so that the applic...

Page 262: ...w CAN parameters Even if the object directory is not available the master can be used without restrictions The object directory is accessed by the application via function blocks CANOPEN_GETODCHANGEDF...

Page 263: ...contains all objects which describe the CANopen slave and in addition the objects defined by the parameter manager In the parameter manager only the list types parameters and variables can be used fo...

Page 264: ...matically added to the library manager Tab Base settings 1981 Base settings Bus identifier 10049 Parameter is currently not used Base settings Name of updatetask 10050 Name of the task where the CANop...

Page 265: ...ctName TestHeartbeatODsettings_Device ProductNumber 0x33535F44 ProductVersion 1 ProductRevision 1 OrderCode xxxx yyyy zzzz LMT_ManufacturerName 3S GmbH LMT_ProductName 3S_Dev BaudRate_10 1 BaudRate_20...

Page 266: ...g parameters All 8 possible sub indices of the mapping objects 16xx16 or 1Axx16 are present but possibly not considered in the sub index 0 NOTE Bit mapping is not supported by the library Tab Default...

Page 267: ...entered by the master This signals the absence of the SYNC message So you have to create a variable list in the object directory parameter manager and link an index sub index to the variable PLC_PRG...

Page 268: ...To obtain a clear structure of the identifiers used you should add the correct number of the receive and transmit PDOs and assign them the variable bytes from the list Changing the standard mapping b...

Page 269: ...CANopen slave which cannot be mapped to the contents of a variable via the parameter manager These entries are available here CANOPEN_READOBJECTDICT page 309 CANOPEN_WRITEOBJECTDICT page 311 The unit...

Page 270: ...DP The variable values are automatically exchanged on the basis of broadcast messages In UDP they are implemented as broadcast messages in CAN as PDOs These services are not confirmed by the protocol...

Page 271: ...ibrary SysLibCallback lib CoDeSys automatically generates the required initialisation code and the call of the network blocks at the start and end of the cycle Settings in the target settings 1994 Sel...

Page 272: ...st In this list the variables to be exchanged with other controllers are defined Open the dialogue with the menu point Object Properties The window Properties appears If you want to define the network...

Page 273: ...s of different projects Variable lists with identical basic identifier are exchanged Ensure that the definitions of the variable lists with the same basic identifier match in the different projects NO...

Page 274: ...one for writing To get the same data structure for the communication between two participants you should copy the variable list from one controller to the other In a network the same variable list sho...

Page 275: ...t CR1070 CR1071 Only one CAN interface is available enter value 0 CANopen master Transmit and receive lists are processed directly You only have to make the settings described above CANopen slave Tran...

Page 276: ...1 2011 07 28 CAN in the PDM360 CAN POUs to CANopen 276 9 6 2 ifm CANopen SDO units CANOPEN_ENABLE 277 CANOPEN_SDOREAD 279 CANOPEN_SDOREADMULTI 281 CANOPEN_SDOWRITE 283 CANOPEN_SDOWRITEMULTI 285 7783 i...

Page 277: ...des also have to be re initialised Without CANOPEN_ENABLE the CANopen master is started automatically as far as this has been selected in the configuration The configured baud rate is only adopted if...

Page 278: ...ble messages following table Possibly values for RESULT Value dec hex Description 000 00 function block is not active 001 01 function block execution completed without error 014 0E FB is active CANope...

Page 279: ...Data Object A considerable amount of memory space can be saved due to the limitation of the data volume to max 4 bytes of user data as this FB only needs to reserve 4 bytes as buffer storage and does...

Page 280: ...value RESULT BYTE feedback of the function block possible messages following table Possibly values for RESULT Value dec hex Description 000 00 function block is not active 001 01 FB execution complete...

Page 281: ...e SDO is calculated from the transmitted node ID according to CANopen convention Parameters of the inputs 7809 Parameter Data type Description EXECUTE BOOL FALSE TRUE edge POU is executed once otherwi...

Page 282: ...ory for user data of the SDO data transmission RESULT BYTE feedback of the function block possible messages following table Possibly values for RESULT Value dec hex Description 000 00 function block i...

Page 283: ...1 PDM360NG CR108n CR9042 Symbol in CoDeSys Description 7826 CANOPEN_SDOWRITE is an easy function block for editing Expedited SDOs i e SDOs with max 4 bytes user data This type usually represents the b...

Page 284: ...o be transmitted permissible values 01 0416 1 410 DATA ARRAY 0 3 OF BYTE data area 1 4 bytes Timeout optional use of the parameter TIME waiting time of the FB for the response when the time has elapse...

Page 285: ...to CANopen convention Parameters of the inputs 7835 Parameter Data type Description EXECUTE BOOL FALSE TRUE edge POU is executed once otherwise POU not active A POU already started is processed CHANNE...

Page 286: ...RESULT BYTE feedback of the function block possible messages following table Possibly values for RESULT Value dec hex Description 000 00 function block is not active 001 01 FB execution completed with...

Page 287: ...not allowed the command is not sent but an error message is provided Graphic state transitions under CANopen Permitted transitions 1 State is automatically reached at power on 2 Internal initialisatio...

Page 288: ...tion to CANopen State diagram page 287 should not be permitted the command is not executed Parameters of the inputs 7847 Parameter Data type Description EXECUTE BOOL FALSE TRUE edge POU is executed on...

Page 289: ...es for RESULT Value dec hex Description 000 00 function block is not active 001 01 function block execution completed without error 008 08 function block is active 035 23 at least 1 SDO of the configu...

Page 290: ...splay CR0451 PDM360NG CR108n CR9042 Symbol in CoDeSys Description 7853 Only use the POU if the device is operated as CANopen slave With CANOPEN_GETNMTSTATESLAVE only the operating state according to C...

Page 291: ...TATE BYTE Network operating status of the node 0 INIT 1 OPERATIONAL 2 PRE OPERATIONAL 3 STOPPED RESULT BYTE feedback of the function block possible messages following table Possibly values for RESULT...

Page 292: ...8 At the same time admissibility checks are carried out For reasons of consistency no inputs are provided for this purpose Parameters of the inputs 7861 Parameter Data type Description EXECUTE BOOL FA...

Page 293: ...TIME Set configuration timeout for a node value 0 preset no action retain configuration data value 0 overwrite data from the configuration with the new value InitNoSdos optional use of the parameter B...

Page 294: ...rameters of the inputs 7868 Parameter Data type Description EXECUTE BOOL FALSE TRUE edge POU is executed once otherwise POU not active A POU already started is processed CHANNEL BYTE CAN interface 1 n...

Page 295: ...OK 0110 0116 guarding or heartbeat error on node 12810 8016 bus off Controller operated as slave 0010 0016 OK 0110 0116 guarding or heartbeat error 12810 8016 bus off Node state internal node state o...

Page 296: ...011 07 28 CAN in the PDM360 CAN POUs to CANopen 296 Possibly values for RESULT Value dec hex Description 000 00 function block is not active 001 01 FB execution completed without error data is valid 0...

Page 297: ..._SETSYNCSTATE the SYNC functionality is switched on and off Parameters of the inputs 7886 Parameter Data type Description EXECUTE BOOL FALSE TRUE edge POU is executed once otherwise POU not active A P...

Page 298: ...meter Data type Description RESULT BYTE feedback of the function block possible messages following table Possibly values for RESULT Value dec hex Description 000 00 function block is not active 001 01...

Page 299: ...the setting of the SYNC functionality active not active the error state of the SYNC functionality SyncError If the PLC CAN runs as CANopen slave it is signalled via this FB whether SYNC signals are ab...

Page 300: ...nfiguration and synchronous PDOs are transmitted and received In the slave mode SYNC telegrams are received and accordingly processed FALSE SYNC is not active SYNCERROR BYTE sync error SYNC error mess...

Page 301: ...fer flags The flags can be reset via the optional inputs The function block returns the state of the overflow flags Parameters of the inputs 7893 Parameter Data type Description EXECUTE BOOL FALSE TRU...

Page 302: ...Level in the receive buffer is uncritical TXOVFL BOOL Condition of the TX overflow flag TRUE Overflow in the transmit buffer FALSE No overflow in transmit buffer TXWARN BOOL Condition of the TX overf...

Page 303: ...oDeSys Description 7898 CANOPEN_GETGUARDHBERRLIST lists all nodes in an array for which the master has detected an error guarding error heartbeat error Parameters of the inputs 7899 Parameter Data typ...

Page 304: ...0 MAXGUARDERROR OF BYTE Starting from index 0 the node IDs with a heartbeat or guarding error are entered The most recent entry is in index 0 MAXGUARDERROR depends on device chapter Performance limit...

Page 305: ...GUARDANDHBSTATESLAVE reports the following states to the controller in slave operation monitoring of node guarding monitoring of heartbeat The controller can either be the heartbeat producer or the he...

Page 306: ...16 inactive 0110 0116 active CONS_HBSTATE BYTE Controller as heartbeat consumer 0010 0016 no error 0110 0116 timeout configuration 12710 7F16 no heartbeat message received yet CONS_HBCOBID BYTE COB ID...

Page 307: ...s BasicController CR040n BasicDisplay CR0451 PDM360NG CR108n CR9042 Symbol in CoDeSys Description 7928 CANOPEN_GETODCHANGEDFLAG reports any change of value for a particular object directory entry Para...

Page 308: ...Parameter Data type Description DATA DWORD parameter value RESULT BYTE feedback of the function block possible messages following table Possibly values for RESULT Value dec hex Description 000 00 func...

Page 309: ...BasicDisplay CR0451 PDM360NG CR108n CR9042 Symbol in CoDeSys Description 7935 CANOPEN_READOBJECTDICT reads configuration data from the object directory of the controller for use in the application pr...

Page 310: ...escription DATA DWORD parameter value RESULT BYTE feedback of the function block possible messages following table Possibly values for RESULT Value dec hex Description 000 00 function block is not act...

Page 311: ...scription 7942 CANOPEN_WRITEOBJECTDICT writes configuration data to the object directory of the controller NOTICE This could lead to falsification of important system settings e g guarding times heart...

Page 312: ...er Data type Description RESULT BYTE feedback of the function block possible messages following table Possibly values for RESULT Value dec hex Description 000 00 function block is not active 001 01 fu...

Page 313: ...pen device every occurrence of an error is indicated via a special message which details the error If an error or its cause disappears after a certain time this event is also indicated via the EMCY me...

Page 314: ...new error occurs its EMCY error code is always stored in the sub index 116 All other older errors are moved back one position in the error memory i e the sub index is incremented by 1 If all supporte...

Page 315: ...Voltage inside the device 33xx Output voltage 40xx Temperature 41xx Ambient temperature 42xx Device temperature 50xx Device hardware 60xx Device software 61xx Internal software 62xx User software 63xx...

Page 316: ...1 10 00 00 00 00 Error Code FF0016 Error register 8116 1000 00012 thus it consists of the following errors generic error manufacturer specific Concerned channel 001016 0000 0000 0001 00002 wire break...

Page 317: ...open EMCY codes CR108n 8414 All indications hex for the 1st CAN interface EMCY code object 100316 Object 100116 Manufacturer specific information Byte 0 1 2 3 4 5 6 7 Description 00 80 11 CAN1 monitor...

Page 318: ...PDM360NG CR1080 CR1081 CR9042 Target V01 2011 07 28 CAN in the PDM360 CAN errors and error handling 318 9 7 3 CANopen POUs for error handling CANOPEN_SENDEMCYMESSAGE 319 CANOPEN_GETERRORREGISTER 321 C...

Page 319: ...lock FB Contained in the library ifm_CANopen_NT_Vxxyyzz LIB Available for the following devices BasicController CR040n BasicDisplay CR0451 PDM360NG CR108n CR9042 Symbol in CoDeSys Description 7910 CAN...

Page 320: ...OF BYTE MSEF Manufacturer Specific Error Code additional error code which is defined by the manufacturer Value comes from the application Write1003 optional use of the parameter BOOL TRUE Enter this E...

Page 321: ...error registers 100116 and 100316 from the controller Parameters of the inputs 7918 Parameter Data type Description EXECUTE BOOL FALSE TRUE edge POU is executed once otherwise POU not active A POU alr...

Page 322: ...MAXERR OF DWORD Content of the error register 100316 Index 0 number of stored errors Index 1 MAXERR stored errors The most recent error is in index 1 preset MAXERR 5 RESULT BYTE feedback of the functi...

Page 323: ...d by the controller from other nodes in the network since the last deletion of messages The list can be reset by setting the according input A maximum of MAXEMCYMSGS messages is stored Each message co...

Page 324: ...MCYMSGS OF T_EMCY emergency messages structure of T_EMCY NODEID ID of the node from which the message came EEC Emergency error code ER Error register MSEF Manufacturer specific error code MAXEMCYMSG 1...

Page 325: ...nctions Processing input values 325 Adapting analogue values 329 1590 In this chapter you will find FBs which allow you to read and process the signals of the inputs and outputs 10 1 Processing input...

Page 326: ...ovides the current state at the selected channel The measurement and the output value results from the operating mode indicated via MODE digital input lowside digital input highside analogue input 0 2...

Page 327: ...s of the outputs 9677 Parameter Data type Description VALUE WORD vurrent value or status of the input channel RESULT INT feedback of the function block possible messages following table Possibly value...

Page 328: ...DM360smart CR1070 CR1071 Symbol in CoDeSys Description 3304 TOGGLE enables simple setting and resetting of a Boolean variable With this FB a Boolean variable can be set and reset without much programm...

Page 329: ...42 Target V01 2011 07 28 Input output functions Adapting analogue values 329 10 2 Adapting analogue values NORM_DINT 330 NORM_REAL 332 1603 If the values of analogue inputs or the results of analogue...

Page 330: ...pe DINT which is within the limits of XH and XL to an output value within the limits of YH and YL This FB is for example used to generate PWM values from analogue input values NOTE The value for X mus...

Page 331: ...R1081 CR9042 Target V01 2011 07 28 Input output functions Adapting analogue values 331 Parameters of the outputs 3309 Parameter Data type Description Y DINT normalised value X_OUT_OF_RANGE BOOL input...

Page 332: ...pe REAL which is within the limits of XH and XL to an output value within the limits of YH and YL This FB is for example used to generate PWM values from analogue input values NOTE The value for X mus...

Page 333: ...R1081 CR9042 Target V01 2011 07 28 Input output functions Adapting analogue values 333 Parameters of the outputs 3312 Parameter Data type Description Y REAL normalised value X_OUT_OF_RANGE BOOL input...

Page 334: ...ing the data Saving reading and converting data in the memory 334 Data access and data check 339 File managing 342 8606 Here we show you functions how to read or manage data in the device 11 1 Saving...

Page 335: ...iption 10092 USB_STORAGE_HANDLER is the main program for handling USB memory devices The POU can manage up to 16 USB memory devices Parameters of the inputs 10093 Parameter Data type Description REMOV...

Page 336: ...the active USB device 1 16 NUMBER_USB_DEVICES WORD Number of all connected USB devices SELECTED_DEVICE WORD Index of the selected USB device REMOVE_RESULT INT Result of the command remove USB device f...

Page 337: ...Parameter Data type Description ENABLE BOOL TRUE unit is executed FALSE unit is not executed POU inputs and outputs are not active COPY BOOL TRUE rising edge of the press of a key starts the copy pro...

Page 338: ...arameter Data type Description ENABLE BOOL TRUE unit is executed FALSE unit is not executed POU inputs and outputs are not active COPY BOOL TRUE rising edge of the press of a key starts the copy proce...

Page 339: ...CR1080 CR1081 CR9042 Target V01 2011 07 28 Managing the data Data access and data check 339 11 2 Data access and data check VERSION 340 SYSTEM_ASYNCH 341 1598 The FBs described in this chapter control...

Page 340: ...ccess and data check 340 11 2 1 VERSION 9688 Unit type program PRG Contained in the library ifm_PDMng_UTIL_Vxxyyzz LIB Available for the following devices PDM360NG CR108n CR9042 Symbol in CoDeSys Desc...

Page 341: ...asynchronously in the background The function block must be executed EXECUTE TRUE until the FB output DONE TRUE NOTE Good Linux knowledge is required to use the POU Monitor the POU using timeout funct...

Page 342: ...DM is based on the Linux operating system various and powerful file functions are available to save and process data and parameters Similar to a PC files can be written to the different drives PCMCIA...

Page 343: ...SINGLE_PARAMETER page 363 WRITE_SINGLE_PARAMETER page 364 Functions for alarm management READ_ALARM page 366 STORE_ALARM page 368 Help_Functions Functions for arrays ARRAY_TO_WORD page 372 ARRAY_TO_DW...

Page 344: ...ment DELETE_FILE Available for the following devices PDM360 CR1050 CR1051 CR1060 PDM360compact CR1052 CR1053 CR1055 CR1056 PDM360NG CR1082 CR9042 OPEN_PCMCIA Available for the following devices PDM360...

Page 345: ...1050 CR1051 CR1060 PDM360compact CR1052 CR1053 CR1055 CR1056 PDM360NG CR108n CR9042 Symbol in CoDeSys Description 3495 DELETE_FILE deletes the specified file from the internal flash memory or from the...

Page 346: ...ble storage device into its file system to read and edit the contents This is done automatically by the system with the command dev hda1 on pcmcia type msdos rw N Parameters of the inputs 3498 Paramet...

Page 347: ...y inserted removable storage device into its file system to read and edit the contents This is done with the following function via a command dev hda1 on pcmcia type vfat rw N Parameters of the inputs...

Page 348: ...1060 PDM360compact CR1052 CR1053 CR1055 CR1056 PDM360NG CR108n CR9042 Symbol in CoDeSys Description 3504 SYNC synchronises the flash memory or the PCMCIA memory with the RAM memory NOTE This FB should...

Page 349: ...a File managing 349 File functions for text files READ_TEXTFILE 350 READ_TEXTLINE 351 3429 Text files can be processed using the following FBs READ_TEXTFILE READ_TEXTLINE Available for the following d...

Page 350: ...re allowed for the file If more characters are needed the contents should be distributed over several files For large text files with many lines you had better use READ_TEXTLINE page 351 The experienc...

Page 351: ...ct access to a specified text line in the file Even large text files with many lines can be read quickly The system load is low You had better use READ_TEXTFILE page 350 for small text files All lines...

Page 352: ...Parameter Data type Description EOF BOOL TRUE file end reached FALSE file end not yet reached TEXT_OUT STRING 39 line read from the text file FILE_HANDLER DWORD file description value 1 error FILE_SIZ...

Page 353: ...e feed This results in a table matrix array which can be further processed in a spreadsheet program e g MS Excel StarCalc Example Date Time a p Error 20080812 845 am 17 20080812 256 pm 3 20080813 923...

Page 354: ...READ_CSV_8BYTE reads a byte matrix in CSV format from a specified file The file must have been written with WRITE_CSV_8BYTE page 356 Every dataset every line must consist of 8 bytes The FB provides th...

Page 355: ...s of the outputs 3514 Parameter Data type Description EOF BOOL TRUE file end reached FASLE file end not yet reached TEXT_READ STRING 53 dataset red from the file consisting of time stamp Byte1 Byte2 B...

Page 356: ...saving process the pointer is automatically incremented by 1 File structure in linear mode vs ring mode 2 different methods can be used to write to the memory a In the ring mode The data is written t...

Page 357: ...csv DATA ARRAY 1 8 OF BYTE dataset of 8 bytes RINGMODE BOOL TRUE ring mode FALSE linear mode MAX POS DWORD max number of the dataset of the line to be written RESET BOOL delete file and dataset point...

Page 358: ...R_WORD 359 WRITE_PARAMETER_WORD 361 READ_SINGLE_PARAMETER 363 WRITE_SINGLE_PARAMETER 364 3431 For parameter files the library provides the following FBs READ_PARAMETER_WORD WRITE_PARAMETER_WORD READ_S...

Page 359: ...t CR1052 CR1053 CR1055 CR1056 PDM360NG CR108n CR9042 Symbol in CoDeSys Description 3518 READ_PARAMETER_WORD reads datasets of type WORD from the indicated text file Saving the data in the text file mu...

Page 360: ...ption EOF BOOL TRUE file end reached FALSE file end not yet reached TEXT_READ STRING 6 line read from the text file FILE_HANDLER DWORD file description value 1 error PARAMETER WORD parameter read from...

Page 361: ...n t use it for older projects Contained in the library ifm_PDM_FILE_Vxxyyzz LIB Available for the following devices PDM360 CR1050 CR1051 CR1060 PDM360compact CR1052 CR1053 CR1055 CR1056 PDM360NG CR108...

Page 362: ...further processing of the program FILENAME STRING 80 path and name of the file e g home project para txt FILEPOS WORD number 0 n of the dataset of the line to be written VALUE WORD value to be writte...

Page 363: ...dicated text file The file consists of only this one dataset Saving the value in the text file must be right aligned e g Value To be saved as 1 00001 123 00123 12345 12345 Parameters of the inputs 352...

Page 364: ...tes a dataset of type WORD to the indicated text file The file consists of only this one dataset Saving the value as dataset in the text file must be right aligned e g Value Saved as 1 00001 123 00123...

Page 365: ...e data File managing 365 File functions for alarm management READ_ALARM 366 STORE_ALARM 368 3432 The library provides the following functions READ_ALARM STORE_ALARM Available for the following devices...

Page 366: ...cription 3530 READ_ALARM reads alarm messages from a CSV file STORE_ALARM page 368 Structure of the alarm messages 3616 Structure of the alarm message in the CSV dataset Name Data type Description Tim...

Page 367: ...sv FILE_POS WORD number of dataset to be read in the alarm history READ BOOL edge FALSE TRUE dataset is read only for 1 cycle FALSE during further processing of the program Parameters of the outputs 3...

Page 368: ...ites alarm messages together with a time stamp to a CSV file 255 different alarms per alarm file can be managed Therefore you should create two arrays of the length 255 The first array contains the al...

Page 369: ...he data is written to the memory up to a file limit indicated in MAX_POS number of datasets The write operation then restarts automatically at the first memory location The previous datasets are overw...

Page 370: ...RRAY 1 255 OF BOOL contains the state of all defined alarm messages TRUE alarm is activated FALSE alarm is deactivated ALARMADDITION BYTE more details about alarm ALARMVALUE DWORD alarm value value of...

Page 371: ...RRAY 374 DWORD_TO_ARRAY 375 BYTE_ARRAY_TO_CSV 376 BYTE_ARRAY_TO_STRING 377 READBUFFER_TO_STRING 378 3433 The library provides the following FBs ARRAY_TO_WORD ARRAY_TO_DWORD WORD_TO_ARRAY DWORD_TO_ARRA...

Page 372: ...mpact CR1052 CR1053 CR1055 CR1056 PDM360NG CR108n CR9042 Symbol in CoDeSys Description 3536 ARRAY_TO_WORD is a help function for other units The FB combines the contents of 2 bytes into a word as foll...

Page 373: ...3539 ARRAY_TO_DWORD is a help function for other units The FB combines the contents of 4 bytes into a double word as follows Word DWORD Bit 30 31 28 29 26 27 24 25 22 23 20 21 18 19 16 17 14 15 12 13...

Page 374: ...compact CR1052 CR1053 CR1055 CR1056 PDM360NG CR108n CR9042 Symbol in CoDeSys Description 3542 WORD_TO_ARRAY is a help function for other units The FB splits an input word into 2 separate bytes as foll...

Page 375: ...tion 3545 DWORD_TO_ARRAY is a help function for other units The FB splits up the contents of a double word into 4 bytes as follows Word DWORD Bit 30 31 28 29 26 27 24 25 22 23 20 21 18 19 16 17 14 15...

Page 376: ...mbines the contents of 8 bytes into a string as follows H Byte7 L Byte7 H Byte6 L Byte6 H Byte5 L Byte5 H Byte4 L Byte4 H Byte3 L Byte3 H Byte2 L Byte2 H Byte1 L Byte1 H Byte0 L Byte0 H Byte high byte...

Page 377: ...CR1052 CR1053 CR1055 CR1056 PDM360NG CR108n CR9042 Symbol in CoDeSys Description 3551 BYTE_ARRAY_TO_STRING is a help function for other units The FB combines the contents of up to 65 bytes into a stri...

Page 378: ...Symbol in CoDeSys Description 3554 READBUFFER_TO_STRING is a help function for other units The FB combines the contents of a file max 500 bytes into a number of strings Parameters of the inputs 3555 P...

Page 379: ...aging 379 More help functions PDM_FILE_VERSION 380 DUMP_FILESYSTEM 381 LOG_TIMESTAMP 382 3455 The library provides the following FBs PDM_FILE_VERSION DUMP_FILESYSTEM LOG_TIMESTAMP Available for the fo...

Page 380: ...library ifm_PDM_FILE_Vxxyyzz LIB Available for the following devices PDM360 CR1050 CR1051 CR1060 PDM360compact CR1052 CR1053 CR1055 CR1056 PDM360NG CR108n CR9042 Symbol in CoDeSys Description 3557 PDM...

Page 381: ...mbol in CoDeSys Description 3559 DUMP_FILESYSTEM is a help function for other units This FB provides information about the file system according to the Linux command df Parameters of the inputs 3560 P...

Page 382: ...mpact CR1052 CR1053 CR1055 CR1056 PDM360NG CR108n CR9042 Symbol in CoDeSys Description 3562 LOG_TIMESTAMP is a help function for other units This FB converts CurTimeEx in into a CSV compatible format...

Page 383: ...lisation Program LED buzzer 383 Manage visualisation 387 Edit input fields in the visualisation 396 8615 Here we show the following functions LED control Buzzer control Management of the visualisation...

Page 384: ...he device generates a click signal as soon as the function is called Adjustable features click repetition time in ms tone pitch in Hz Parameters of the inputs 9655 Parameter Data type Description FREQ...

Page 385: ...s determined by the duration of the ENABLE signal The tone pitch results from the parameter FREQUENCY Parameters of the inputs 9655 Parameter Data type Description ENABLE BOOL TRUE unit is executed FA...

Page 386: ...the parameter FREQUENCY The click repetition time results from the parameter DURATION Parameters of the inputs 9670 Parameter Data type Description ENABLE BOOL TRUE unit is executed FALSE unit is not...

Page 387: ...DM360NG CR1080 CR1081 CR9042 Target V01 2011 07 28 LED buzzer visualisation Manage visualisation 387 12 2 Manage visualisation SET_BOOTUP_BACKLIGHT 388 Library Instrumente 389 8617 Here we show you fu...

Page 388: ...UP_BACKLIGHT the brightness of the display can be set NOTICE When functions are called too frequently FUN the Flash memory may be destroyed Call functions only if absolutely necessary Parameters of th...

Page 389: ...Instrumente_x LIB provides a number of ready to use visualisation elements You can directly integrate them in your visualisation pages via Insert Visualization The visualisation elements are designed...

Page 390: ...ualisation Manage visualisation 390 SCALE_METER page 394 shows input values as a circular scale of a meter METER_NO 1 METER_NO 2 METER_NO 3 METER_NO 4 Visu Meter1 Visu Meter2 Visu Meter3 Visu Meter4 I...

Page 391: ...evices PDM360 CR1050 CR1051 CR1060 PDM360compact CR1052 CR1053 CR1055 CR1056 PDM360NG CR108n CR9042 PDM360smart CR1070 CR1071 Symbol in CoDeSys Description 3378 CONTROL_ANALOGCLOCK indicates the curre...

Page 392: ...the following devices PDM360 CR1050 CR1051 CR1060 PDM360compact CR1052 CR1053 CR1055 CR1056 PDM360NG CR108n CR9042 PDM360smart CR1070 CR1071 Symbol in CoDeSys Description 3381 SCALE_LED_GRAF shows in...

Page 393: ...BYTE colour change point for MODE 9 or 10 value range 0 10 Operating mode of the row of LEDs 3383 All variables of this program are stored in the global variables of the library Mode Row of LEDs Descr...

Page 394: ...CR1052 CR1053 CR1055 CR1056 PDM360NG CR108n CR9042 PDM360smart CR1070 CR1071 Symbol in CoDeSys Description 3384 SCALE_METER shows input values as a circular scale of a meter METER_NO 1 METER_NO 2 METE...

Page 395: ...puts and outputs are not active METER_NO BYTE 1 meter1 270 scale with definable values and unit 2 meter2 270 scale 3 meter3 tank display 4 meter4 temperature display X INT input value XH INT upper lim...

Page 396: ...zer visualisation Edit input fields in the visualisation 396 12 3 Edit input fields in the visualisation INPUT_INT 397 INPUT_DINT 402 INPUT_REAL 405 INIT_VAR_RETAIN_INT 408 INIT_VAR_RETAIN_DINT 410 IN...

Page 397: ...060 PDM360compact CR1052 CR1053 CR1055 CR1056 PDM360NG CR108n CR9042 Symbol in CoDeSys Description 3328 INPUT_INT supports up to 6 input fields which can be assigned to 6 different objects in the visu...

Page 398: ...UE increments the input value by the value in INCREMENT_VALUE or INCREMENT_VALUE2 DECREMENT BOOL edge FALSE TRUE decrements the input value by the value in INCREMENT_VALUE or INCREMENT_VALUE2 ENTER BO...

Page 399: ...s 3331 Name Data type Description FIELD1 INT INT FIELD6 INT Sets the focus for the selected input field Any visualisation object can be used as a focus The variable FIELDx must be assigned to this obj...

Page 400: ...s in the visualisation 400 Example INPUT_INT with 3 input elements 3332 Integrate the requested function block into the application program and link the inputs and outputs to the parameters and variab...

Page 401: ...wn for the selected input object FIELDn TRUE alarm colour frame black For the other objects it is not visible Select the internal variable VALUE_FIELD_n as text output variable When the application is...

Page 402: ...060 PDM360compact CR1052 CR1053 CR1055 CR1056 PDM360NG CR108n CR9042 Symbol in CoDeSys Description 3333 INPUT_DINT supports up to 6 input fields which can be assigned to 6 different objects in the vis...

Page 403: ...E Increments the input value by the value in INCREMENT_VALUE or INCREMENT_VALUE2 DECREMENT BOOL edge FALSE TRUE Decrements the input value by the value in INCREMENT_VALUE or INCREMENT_VALUE2 ENTER BOO...

Page 404: ...336 Name Data type Description FIELD1 DINT DINT FIELD6 DINT Sets the focus for the selected input field Any visualisation object can be used as a focus The variable FIELDx must be assigned to this obj...

Page 405: ...060 PDM360compact CR1052 CR1053 CR1055 CR1056 PDM360NG CR108n CR9042 Symbol in CoDeSys Description 3337 INPUT_REAL supports up to 6 input fields which can be assigned to 6 different objects in the vis...

Page 406: ...E increments the input value by the value in INCREMENT_VALUE or INCREMENT_VALUE2 DECREMENT BOOL edge FALSE TRUE decrements the input value by the value in INCREMENT_VALUE or INCREMENT_VALUE2 ENTER BOO...

Page 407: ...340 Name Data type Description FIELD1 REAL REAL FIELD6 REAL Sets the focus for the selected input field Any visualisation object can be used as a focus The variable FIELDx must be assigned to this obj...

Page 408: ...INIT_VAR_RETAIN_INT initialises the array of INPUT_INT page 397 indicated on the input INIT_VALUE with remanent input values If input values are to be saved permanently the values must be initialised...

Page 409: ...rameters of the inputs 3342 Parameter Data type Description VALUE1 INT INT VALUE6 INT The variables VALUE_FIELDx of INPUT_INT page 397 declared as retain must be indicated on this input INIT_VALUE ARR...

Page 410: ...INIT_VAR_RETAIN_DINT initialises the array of INPUT_DINT page 402 indicated on the input INIT_VALUE with remanent input values If input values are to be saved permanently the values must be initialis...

Page 411: ...eters of the inputs 3345 Parameter Data type Description VALUE1 DINT DINT VALUE6 DINT The variables VALUE_FIELDx of INPUT_DINT page 402 declared as retain must be indicated on this input INIT_VALUE AR...

Page 412: ...INIT_VAR_RETAIN_REAL initialises the array of INPUT_REAL page 405 indicated on the input INIT_VALUE with remanent input values If input values are to be saved permanently the values must be initialise...

Page 413: ...eters of the inputs 3348 Parameter Data type Description VALUE1 REAL REAL VALUE6 REAL The variables VALUE_FIELDx of INPUT_REAL page 405 declared as retain must be indicated on this input INIT_VALUE AR...

Page 414: ...e setup menu from soft reset booting stops with a blank screen Rare software error Hard reset via power OFF ON Very long times to change from one image to the other a Too many graphical elements in th...

Page 415: ...gnment of the inputs 9734 Abbreviations chapter Wiring page 79 Operating modes of the inputs and outputs chapter Operating modes page 416 Info The other values IN_VOLTAGE10 etc can only be set in the...

Page 416: ...on combinations where permissible are created by adding the configuration values this configuration value is default Config value Config value Inputs Operating mode of the inputs hex dec Outputs Opera...

Page 417: ...the last CAN transmission 0 no error 0 CAN specification LEC CANx_WARNING BOOL CAN interface x Warning threshold reached 96 BACKLIGHT BYTE Display brightness 0 100 CLAMP_15_SWITCHING_THRESHOLD WORD S...

Page 418: ...UP BOOL Scroll key key in the group of keys x pressed KEYx_DOWN BOOL Scroll key key in the group of keys x pressed RT_KEYx_LEFT BOOL Pulse key LEFT in the group of keys x pressed encoder direction of...

Page 419: ...oll key in the group of keys x is pressed AR_KEYx_PUSH BOOL Key signal repetition when key PUSH in the group of keys x is pressed encoder rotary button pressed scroll key key in the middle pressed AR_...

Page 420: ...e scroll key in the group of keys x set as default MD_KEYx_DOWN STRING 31 Assignment of key of the scroll key in group of keys x set as default ME_KEYx_y STRING 31 Assignment of key y in the group of...

Page 421: ...t message object with service data emergency message object with emergency data time message object with time data or error control message object with error messages CAN ID The CAN Identifier defines...

Page 422: ...lue hex Data type Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 12 BYTE 1 2 1234 WORD 3 4 1 2 12345678 DWORD 7 8 5 6 3 4 1 2 Structure of the COB ID 9972 The first part of a message is the C...

Page 423: ...elated parameter objects hex NMT 0 000 SYNC 1 080 1005 1006 1007 1028 TIME 2 100 1012 1013 Point to point messages Communication object Function code hex COB ID hex Related parameter objects hex EMERG...

Page 424: ...essage Data length Description 21 33 request more than 4 bytes send data to slave 22 34 request 1 4 bytes send data to slave 23 35 request 4 bytes send data to slave 27 39 request 3 bytes send data to...

Page 425: ...compatibility reason 0604 0047 general internal incompatibility in the device 0606 0000 access failed due to an hardware error 0607 0010 data type does not match length of service parameter does not m...

Page 426: ...bles 426 13 4 3 Bootup messsage 9961 After booting the CAN participate sends the boot up message once hex dec 70016 node ID 1 79210 node ID The participant is now capable of communicating in the CAN n...

Page 427: ...0210 node ID stop_remode_node stop CAN participate 00 8016 12810 node ID enter_pre operational switch to pre operational 00 8116 12910 node ID reset node reset CAN participate 00 8216 13010 node ID re...

Page 428: ...its slaves To do so all SDOs generated by the configurator are transmitted to the slaves one after the other The Master sends to the slave a SDO read request index 100016 The generated SDOs are compr...

Page 429: ...t reacted to the polling for object 100016 with a type in the lower 16 bits other than expected by the configurator 05 5 state OPERATIONAL State 5 is the normal operating state of the slave Normal Ope...

Page 430: ...ived the boot up message 04 4 PREPARED Node is configured via SDOs 05 5 OPERATIONAL Node participates in the normal exchange of data 7F 127 PRE OPERATIONAL Node sends no data but can be configred by t...

Page 431: ...sages 431 Overview CANopen error codes 432 Object 0x1001 error register 433 9967 Emergency messages 9973 Device errors in the slave or problems in the CAN bus trigger emergency messages COB ID DLC Byt...

Page 432: ...he device 33xx Output voltage 40xx Temperature 41xx Ambient temperature 42xx Device temperature 50xx Device hardware 60xx Device software 61xx Internal software 62xx User software 63xx Data set 70xx A...

Page 433: ...e 4 communication error 5 device profile specific 6 reserved always 0 7 manufacturer specific For an error message more than one bit in the error register can be set at the same time Example CR2033 me...

Page 434: ...ed others must be inserted or loaded by the programmer 13 5 1 Installation of the files and libraries 2721 Factory setting the device contains only the boot loader Load the operating system H86 or RES...

Page 435: ...rors_CRnnnn INI CoDeSys error file CoDeSys needs the file for starting the project per device only 1 device specific file inlcudes device specific error messages from CoDeSys CoDeSys V Targets ifm ifm...

Page 436: ...es chapter Overview of the files and libraries used page 434 CRnnnn Vxx 00 99 yy 00 99 zz 00 99 device article number target version number release number patch number The basic file name e g CR0032 a...

Page 437: ...n only be used under certain conditions or the functionality has not yet been tested Files for the operating system runtime system 2714 File name Function Available for ifm_CRnnnn_Vxxyyzz H86 ifm_CRnn...

Page 438: ...ave 2718 These libraries are based on the CoDeSys libraries 3S CANopen POUs and make them available to the user in a simple way File name Function Available for ifm_CRnnnn_CANopenMaster_Vxxyyzz LIB CA...

Page 439: ...tTable LIB 3S_CANopenManagerOptTableEx LIB all ecomatmobile controllers PDM360smart CR1070 CR1071 3S_CANopenManager LIB CANopen network manager PDM360 CR1050 CR1051 CR1060 PDM360compact CR1052 CR1053...

Page 440: ...Controller CR0020 CR0505 ExtendedController CR0200 SafetyController CR7020 CR7200 CR7505 SmartController CR2500 PDM360smart CR1070 CR1071 ifm_J1939_x_Vxxyyzz LIB J1939 communication POUs from target V...

Page 441: ...R7201 CR7505 CR7506 SmartController CR25nn ifm_Hydraulic_32bit_Vxxyyzz LIB hydraulic POUs for R360 controllers ClassicController CR0032 ExtendedController CR0232 ifm_Hydraulic_CR0303_Vxxyyzz LIB hydra...

Page 442: ...iles and libraries used 442 File name Function Available for Symbols_x LIB predefined symbols PDM360 CR1050 CR1051 CR1060 PDM360compact CR1052 CR1053 CR1055 CR1056 Segment_x LIB predefined 7 segment d...

Page 443: ...sed for telex machines 1 MBd 1024 x 1024 Bd 1 048 576 Bd Bus Serial data transmission of several participants on the same cable C CAN CAN Controller Area Network CAN is a priority controlled fieldbus...

Page 444: ...e http www 3s software com CRC CRC Cyclic Redundancy Check CRC is a method of information technology to determine a test value for data to detect faults during the transmission or duplication of data...

Page 445: ...elated system Dither Dither is a component of the PWM signals to control hydraulic valves It has shown for electromagnetic drives of hydraulic valves that it is much easier for controlling the valves...

Page 446: ...ference Ethernet Ethernet is a widely used manufacturer independent technology which enables data transmission in the network at a speed of 10 or 100 million bits per second Mbps Ethernet belongs to t...

Page 447: ...buffer as a queue available Firmware System software basic program in the device virtually the operating system The firmware establishes the connection between the hardware of the device and the user...

Page 448: ...rol system which depends on the correct functioning of the electric or electronic safety related system safety related systems of other technologies and external devices for risk reduction H Harm Phys...

Page 449: ...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 bra...

Page 450: ...n 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 possible MSB Most Si...

Page 451: ...emory 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 Proces...

Page 452: ...ential part The D controller doesn t react on the control deviation but only on their speed of change PL Performance Level According to ISO 13849 1 a specification PL a e of safety related parts of co...

Page 453: ...estability Functions are represented in a comprehensible manner for the operator on the screen navigation readability of a subsequent print of the document Use symbolic variables no IEC addresses Use...

Page 454: ...f a controller however is volatile and normally lost in case of power failure Reset manual The manual reset is an internal function within the SRP CS used to restore manually one or more safety functi...

Page 455: ...ch a machine therefore has to safely prevent a failure of the safety function reliably detect a failure of the safety function in time bring the machine into a safe state in time in the event of a fai...

Page 456: ...l Slave Passive participant on the bus only replies on request of the master Slaves have a clearly defined and unique address in the bus SRDO Safe data is exchanged via SRDOs Safety Related Data Objec...

Page 457: ...nternet 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 implemente...

Page 458: ...user cycle 170 CAN in the PDM360 158 CAN interfaces 160 CAN parameters Communication cycle 251 Create all SDOs 250 Emergency telegram 250 No initialization 250 Node ID 249 Node reset 250 Nodeguarding...

Page 459: ...AY 375 ECU 446 Edit input fields in the visualisation 396 EDS file 446 Embedded software 446 EMCY 446 EMCY error code 314 Emergency messages 431 EMV 446 Ethernet 446 EUC 446 Example detailed message d...

Page 460: ...human system interaction 114 ISO 9241 11 _ Guidance on usability 115 ISO 9241 110 _ Dialogue principles 115 J1939_DM1RX 240 J1939_DM1TX 231 J1939_ENABLE 213 J1939_GETDABYNAME 217 J1939_NAME 215 J1939...

Page 461: ...ions for user interfaces 104 Rectify faults and errors 414 Redundant 454 Remanent 454 Resample scale image 124 Reset all nodes of the network via CAN telegram 261 Reset of all configured slaves on the...

Page 462: ...efault PDO mapping 266 Tab Receive PDO Mapping and Send PDO Mapping 251 Tab Service Data Objects 252 Target 457 Target file 437 TCP 457 Technical about CANopen 242 Template 457 Test Ethernet connectio...

Page 463: ...192 Noisy le Grand Cedex T l 33 0820 22 30 01 ifm electronic oy 00440 Helsinki Tel 358 75 329 5000 ifm electronic Ltd Hampton Middlesex TW12 2HD Tel 44 208 213 0000 ifm electronic Monoprosopi E P E 15...

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