IFM ioControl CR2050 Programming Manual Download

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ifm

Programming Manual BasicController relay CR0431 v03.03.00

05 / 2018

ifm function elements

ifm function elements for the device CR0431

Function elements: receive SAE J1939

J1939_RX .............................................................................................................................................144
J1939_RX_FIFO ...................................................................................................................................145
J1939_RX_MULTI ................................................................................................................................147

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Summary of Contents for ioControl CR2050

Page 1: ...1 Programming Manual BasicController relay CR0431 Runtime system V03 03 00 CODESYS v2 3 9 33 v3 0 English 7391039 02 05 2018 ...

Page 2: ...e description 22 3 3 1 CAN interfaces 22 3 4 Software description 23 3 4 1 Software modules for the device 23 3 4 2 Programming notes for CODESYS projects 26 3 4 3 Operating states 29 3 4 4 Performance limits of the device 31 4 Configurations 34 4 1 Set up the runtime system 34 4 1 1 Reinstall the runtime system 35 4 1 2 Update the runtime system 36 4 1 3 Verify the installation 36 4 2 Set up the ...

Page 3: ... 2 6 Function elements output functions 175 5 2 7 Function elements system 182 6 Diagnosis and error handling 200 6 1 Diagnosis 200 6 2 Fault 200 6 3 Response to system errors 200 6 3 1 Example process for response to an error message 201 6 4 CAN CANopen errors and error handling 201 7 Appendix 202 7 1 System flags 202 7 1 1 System flags voltages 203 7 1 2 System flags inputs and outputs 203 7 1 3...

Page 4: ...can cia org CODESYS is the property of the 3S Smart Software Solutions GmbH Germany www codesys com DeviceNet is the property of the ODVA Open DeviceNet Vendor Association USA www odva org EtherNet IP is the property of the ODVA EtherCAT is a registered trade mark and patented technology licensed by Beckhoff Automation GmbH Germany IO Link www io link com is the property of the PROFIBUS Nutzerorga...

Page 5: ...instructions are supplied with the device Instructions for installation electrical installation and commissioning Technical data Programming manual Functions of the setup menu of the device Creation of a CODESYS project with this device Target settings with CODESYS Programming of the device internal PLC with CODESYS Description of the device specific CODESYS function libraries System manual Know H...

Page 6: ...uctions WARNING Death or serious irreversible injuries may result CAUTION Slight reversible injuries may result NOTICE Property damage is to be expected or may result Important note Non compliance can result in malfunction or interference Information Supplementary note Request for action Reaction result see abc Cross reference 123 0x123 0b010 Decimal number Hexadecimal number Binary number Designa...

Page 7: ...case of malfunctions or uncertainties please contact the manufacturer at Contact www ifm com We want to become even better Each separate section has an identification number in the top right corner If you want to inform us about any inconsistencies indicate this number with the title and the language of this documentation Thank you very much for your support We reserve the right to make alteration...

Page 8: ...s manual before working on and with this device The acting person must be authorised to work on the machine equipment The acting person must have the qualifications and training required to perform this work Adhere to the technical data of the devices You can find the current data sheet on the ifm website Note the installation and wiring information as well as the functions and features of the dev...

Page 9: ...e time was too long Error elimination after an E stop To ensure safe controller behaviour monitor the voltage supply in the application program In case of an error switch off all relevant outputs in the application program Additionally monitor actuators which can cause hazardous movements in the application program feedback Monitor relay contacts which can cause hazardous movements in the applicat...

Page 10: ...tion about the device 3 System description Information about the device 10 Hardware description 11 Interface description 22 Software description 23 975 3 1 Information about the device 19587 This manual describes of the ecomatmobile family for mobile machines of ifm electronic gmbh BasicRelay CR0431 ...

Page 11: ...ion 3 2 Hardware description Hardware structure 11 Inputs technology 14 Outputs technology 18 Note on wiring 20 Safety instructions about Reed relays 20 Status LED 21 14081 3 2 1 Hardware structure Start conditions 12 Important note to program the device 12 Principle block diagram 12 Available memory 13 15332 ...

Page 12: ...t note to program the device 20763 Applies to the following devices BasicController relay CR0431 For the time of programming interconnect the connections B 1 VBB15 and B 8 VBBs Otherwise programming is not possible Background The controller resets all outputs when programming begins also SUPPLY_SWITCH Without VBB15 the controller would be separated from the voltage supply and is switched off When ...

Page 13: ...ernal purposes SRAM 12269 SRAM volatile fast memory overall existing in the device SRAM indicates here all kinds of volatile and fast memories 208 kByte Thereof the following memory areas are reserved for data reserved by the application program 32 kByte The remaining rest of the memory is reserved for system internal purposes FRAM 2262 FRAM non volatile fast memory overall existing in the device ...

Page 14: ...luated without additional reference voltage A fluctuation of the supply voltage has no influence on this measured value As an alternative an analogue channel can also be evaluated binarily In case of ratiometric measurement the connected sensors should be supplied with VBBs of the device So faulty measurements caused by offset voltage are avoided 8971 In pin multifunction input n CR device 1 input...

Page 15: ...nables diagnosis of the input signals But in the application software the switching signal is directly available as bit information In pin binary input n CR device 1 input filter 2a input minus switching 2b input plus switching 3 voltage Figure basic circuit of binary input minus switching plus switching for negative and positive sensor signals In pin binary input n S sensor In pin binary input n ...

Page 16: ...ess assignment inputs outputs p 204 Configuration of each input is made via the application program FB INPUT p 169 input MODE FBs FASTCOUNT p 165 INC_ENCODER p 167 or PERIOD p 171 If the analogue inputs are configured for current measurement the device switches to the safe voltage measurement range 0 32 V DC and the output RESULT is set accordingly in the function block INPUT when the final value ...

Page 17: ...vice is not linearly dependent on the resistance value figure Figure resolution dependent on the resistance value 1 resistance value at the input 2 resolution By how many ohms does the measured value change when the signal of the A D converter on the input changes by 1 Examples In the range of 1 100 the resolution is 1 2 In the range of 1 k the resolution is approx 2 In the range of 2 k the resolu...

Page 18: ... The relay outputs are protected via fuses Adapt the value of the fuses to the load capacity of the relays used to the load capacity of the wiring Output group K0 K5 19678 These outputs are a group of channels with a single specified function These outputs have the following fixed setting binary output with relay change over contacts The outputs have no current measurement no overload detection Th...

Page 19: ... outputs are a group of channels with a single specified function These outputs have the following fixed setting binary output with LED e g diagnostic message The LED outputs can be freely used in the application The spatial arrangement on the device provides the following assignment LED0 indicates intact fuse F0 LED1 indicates intact fuse F1 etc ...

Page 20: ... Frequency input H bridge Output with H bridge function PWM Pulse width modulated signal PWMi PWM output with current measurement IH Pulse counter input high side minus switching for negative sensor signal IL Pulse counter input low side plus switching for positive sensor signal R Read back channel for one output Allocation of the input output channels Catalogue mounting instructions or data sheet...

Page 21: ...z Application STOP with error application program is stopped Cause exceeded timeout of the application or visualisation Delete the application PowerOn reset Reload the application into the device time frame 200 ms Red Permanently on Application STOP and FATAL ERROR Cause software watchdog has failed PowerOn reset If without success Goto Bootloader PowerOn reset Reload the BasicSystem into the devi...

Page 22: ... 60 CANopen master CANopen slave chapter Function elements CANopen p 86 CANopen network variables via CODESYS chapter Network variables p 52 SAE J1939 for drive management chapter Function elements SAE J1939 p 132 Bus load detection Error frame counter Download interface 100 bus load without package loss 14591 The following CAN interfaces and CAN protocols are available in this ecomatmobile device...

Page 23: ...24 Runtime system 24 Application program 24 Libraries 25 14110 The software in this device communicates with the hardware as below software module Can user change the module By means of what tool Application program with libraries yes CODESYS MaintenanceTool Runtime system Upgrade yes Downgrade yes MaintenanceTool Bootloader no Hardware no The runtime system version number must correspond to the t...

Page 24: ...ader is active in this operating mode It provides the minimum functions for loading the runtime system among others support of the interfaces e g CAN Normally it is necessary to download the runtime system only once Then the application program can be loaded into the controller also repeatedly without affecting the runtime system The runtime system is provided with this documentation on a separate...

Page 25: ..._Vxxyyzz LIB Device specific library Must always be contained in the application program ifm_RawCAN_NT_Vxxyyzz LIB optional when a CAN interface of the device is to be operated with CAN Layer 2 ifm_CANopen_NT_Vxxyyzz LIB optional when a CAN interface of the device is to be operated as CANopen master or CANopen slave ifm_J1939_NT_Vxxyyzz LIB optional when a CAN interface of the device is to communi...

Page 26: ... and FUN in FB FUN function A function can have several inputs but only one output The output is of the same data type as the function itself PRG program A PRG can have several inputs and several outputs A PRG may only be called once in a project Permitted Call PRG FB and FUN in PRG NOTE Function blocks must NOT be called in functions Otherwise During execution the application program will crash A...

Page 27: ...tion program the above mentioned recommendations must be complied with and tested If necessary the cycle time must be optimised by restructuring the software and the system set up Important note to program the device 20763 Applies to the following devices BasicController relay CR0431 For the time of programming interconnect the connections B 1 VBB15 and B 8 VBBs Otherwise programming is not possib...

Page 28: ...nd loaded in the controller several times during the program development for testing In CODESYS Online Login load the new program For each such download via CODESYS 2 3 the source code is translated again The result is that each time a new checksum is formed in the controller memory This process is also permissible for safety controllers until the release of the software Graphics Creation and dist...

Page 29: ...has to be read from the controller and saved on a data carrier using the name project_file RESX Only this process ensures that the application software and its checksums are stored Download of the software To equip all machines of a series production with an identical software only this file may be loaded in the controllers using the ifm Maintenance Tool An error in the data of this file is automa...

Page 30: ...llowing states is possible RUN ERROR FATAL ERROR INIT after power on reset RUN state 8287 A transition into this state is possible in the following cases from the INIT state autostart if the following conditions are met The operating voltage has reached a minimum value AND The application program exists From the STOP state via the CODESYS command RUN The operating voltage has reached or exceeded a...

Page 31: ...sition from this state into one of the following states is possible INIT after power on reset RUN STOP FATAL ERROR FATAL ERROR state 8289 A transition into this state is possible in the following cases memory error RAM Flash exception error runtime system error In the FATAL ERROR state The outputs of the device are switched off The application program is terminated The runtime system is terminated...

Page 32: ...ce Reload the application program into the device If without success Hardware error send device to ifm Limitations for CAN in this device 17975 FIFO First In First Out Operating principle of the stack memory The data packet that was written into the stack memory first will also be read first Each identifier has such a buffer queue Some Raw CAN function elements enable transmitting and receiving of...

Page 33: ...x guarding error 32 messages 128 messages max SDO data 2 048 bytes 2 048 bytes Limitations for CAN J1939 in this device 17977 The following limitations of the devices are valid Device BasicController CR040n CR041n CR043n BasicDisplay CR045n ioControl CR205n SmartController CR253n PDM360 NG CR108n CR120n Criterion max FiFo transmit with FB J1939_TX with FB J1939_TX_ENH 4 messages 16 messages 4 mess...

Page 34: ...urations described in the corresponding installation instructions or in the Appendix p 202 to this documentation are used for standard devices stock items They fulfil the requested specifications of most applications Depending on the customer requirements for series use it is however also possible to use other device configurations e g with respect to the inputs outputs and analogue channels 4 1 S...

Page 35: ...e versions suitable for the selected target must always be used runtime system ifm_CR0431_Vxxyyzz RESX PLC configuration ifm_CR0431_Vxx CFG device library ifm_CR0431_Vxxyyzz LIB and the further files V xx 00 99 yy 00 99 zz 00 99 version target version number release number patch number The basic file name e g CR0431 and the software version number xx e g 01 must always have the same value Otherwis...

Page 36: ...tem into the controller Check whether the runtime system was transmitted correctly Check whether the correct runtime system is loaded in the controller 1st test Test with the ifm maintenance tool if the correct runtime system version was loaded Read name and version of the runtime system in the device Manually compare this information with the target data 2nd test optional Check in the application...

Page 37: ...t up the programming system 4 2 Set up the programming system Set up the programming system manually 37 Set up the programming system via templates 41 14461 4 2 1 Set up the programming system manually Set up the target 38 Activate the PLC configuration 39 CAN declaration e g CR1080 40 3963 ...

Page 38: ...t the appropriate device library ifm_CR0431_Vxxyyzz LIB manually 8485 NOTE The software versions suitable for the selected target must always be used runtime system ifm_CR0431_Vxxyyzz RESX PLC configuration ifm_CR0431_Vxx CFG device library ifm_CR0431_Vxxyyzz LIB and the further files V xx 00 99 yy 00 99 zz 00 99 version target version number release number patch number The basic file name e g CR0...

Page 39: ... the PLC configuration e g CR1080 Click on the tab Resources in CoDeSys Double click on PLC Configuration in the left column Display of the current PLC configuration following figure Based on the configuration the following is available in the program environment for the user System and error flags Depending on the application and the application program these flags must be processed and evaluated...

Page 40: ...Master Info If the device is operated as a slave the selection CanSlave_Device would also be possible For the simpler configuration as a master all CAN Layer 2 and network variable functions can also be used The CAN parameters of the PLC configuration are displayed Some CAN parameters are already set as default If the device is operated on CAN Layer 2 or as a slave via network variables or CAN_RX ...

Page 41: ... means of which the programming system can be set up quickly easily and completely 970 When installing the ecomatmobile DVD Software tools and documentation projects with templates have been stored in the program directory of your PC ifm electronic CoDeSys V Projects Template_DVD_V Open the requested template in CODESYS via File New from template CODESYS creates a new project which shows the basic...

Page 42: ...l can be monitored and the application program can react in case of a fault Depending on the input and output certain marginal conditions must be taken into account when using the diagnosis It must be checked by means of the data sheet if the device used has the described input and output groups data sheet Constants are predefined e g IN_DIGITAL_H in the device libraries ifm_CR0431_Vxxyyzz LIB for...

Page 43: ...outputs p 206 Safety instructions about Reed relays 7348 For use of non electronic switches please note the following 6915 Contacts of Reed relays may be clogged reversibly if connected to the device inputs without series resistor Remedy Install a series resistor for the Reed relay Series resistor max input voltage permissible current in the Reed relay Example 32 V 500 mA 64 Ohm The series resisto...

Page 44: ...e 0 32 V DC and the output RESULT is set accordingly in the function block INPUT when the final value 23 mA for 40 ms is exceeded After about one second the input automatically switches back to the current measuring range As an alternative an analogue channel can also be evaluated binarily 8971 In pin multifunction input n CR device 1 input filter 2 analogue current measuring 3a binary input plus ...

Page 45: ...the filter frequency is set with the value entered in FILTER For FILTER values from 0 8 are permitted Table limit frequency software low pass filter at the analogue input FILTER Filter frequency Hz Step response ms for Remarks 0 70 0 90 0 99 0 Filter deactivated 1 120 2 4 7 2 47 5 9 17 3 22 10 18 35 4 10 19 36 72 recommended 5 5 38 73 146 6 2 5 77 147 293 7 1 2 154 294 588 8 0 7 308 589 1177 The f...

Page 46: ...ng BL 11 0x0B only for analogue evaluated inputs binary input plus switching BL with diagnosis Namur 12 0x0C binary input minus switching BH 18 0x12 resistance input 16 30 000 Ω Activation of the input diagnosis 7352 If the diagnosis is to be used it needs to be activated additionally Set the mode of the input via input MODE of the function block INPUT p 169 The FB INPUT p 169 provides the diagnos...

Page 47: ...n blocks are e g FASTCOUNT p 165 Counter block for fast input pulses INC_ENCODER p 167 Up down counter function for the evaluation of encoders PERIOD p 171 Measures the frequency and the cycle period cycle time in µs at the indicated channel When using these units the parameterised inputs and outputs are automatically configured so the programmer of the application does not have to do this Use as ...

Page 48: ... measurement set FILTER 0 The current at the output is averaged over a PWM period If dithering is set the current is averaged over the dither period The filter behaves like a low pass filter the limit frequency is set by the value entered in FILTER For FILTER values from 0 8 are permitted Table limit frequency software low pass filter on PWM output FILTER Filter frequency Hz Step response ms for R...

Page 49: ...a sheet binary output with relay change over contacts PWM output plus switching BH without diagnostic function Figure Block diagram relay output x 0 n depending on the device Configuration of each output is made via the application program Binary output FB OUTPUT p 176 input MODE PWM output FB PWM1000 p 178 permissible PWM frequency 15 25 kHz Relay output FB RELAY p 180 LED outputs 19695 The LED o...

Page 50: ...ur local in the declaration part of the function element POU Only valid in the function element POU where it was configured volatile local retain nonvolatile global In Resources Global Variables Globale_Variables Valid in all function elements of this CODESYS project volatile global retain nonvolatile Network In Resources Global Variables declaration list Values are available to all CODESYS projec...

Page 51: ...ivate the control field RETAIN in the variable declaration window Save retain variables 9853 In the device the data type RETAIN is only stored in the volatile memory RAM during the runtime To save the data permanently at the end of each cycle they are automatically be saved in the FRAM memory FRAM indicates here all kinds of non volatile and fast memories NOTE In this device do NOT use the followi...

Page 52: ...rk variables are used for data exchange between controllers in the network The values of global network variables are available to all CODESYS projects in the whole network if the variables are contained in their declaration lists Integrate the following library libraries into the CODESYS project 3S_CANopenNetVar lib ifm_NetVarLib_NT_Vxxyyzz lib ...

Page 53: ...l CODESYS function elements FBs PRGs FUNs are stored in libraries Below you will find a list of all the ifm libraries you can use with this device This is followed by a description of the function elements sorted by topic 5 1 ifm libraries for the device CR0431 Library ifm_CR0431_V03yyzz LIB 54 Library ifm_CR0431_util_V03yyzz LIB 55 Library ifm_RAWCan_NT_Vxxyyzz LIB 55 Library ifm_CANopen_NT_Vxxyy...

Page 54: ...ystem software of the device software name software version build number build date GET_SW_VERSION p 189 Delivers information about the software versions stored in the device BasicSystem version bootloader version SIS version application program version user flash version INC_ENCODER p 167 Up down counter function for the evaluation of encoders INPUT p 169 Assigns an operating mode to an input cha...

Page 55: ...8 Configures a data receive object and reads out the receive buffer of the data object Frame type and mask can be selected CAN_RX_ENH_FIFO p 70 Configures a data receive object and reads out the receive buffer of the data object Frame type and mask can be selected Several CAN messages per cycle possible CAN_RX_RANGE p 72 Configures a range of data receive objects and reads out the receive buffer o...

Page 56: ...gnals the network operating status of the node CANOPEN_GETODCHANGEDFLAG p 100 Get object directory changed flag Reports any change of value for a particular object directory entry CANOPEN_GETSTATE p 91 CANopen set state Request the parameters of the master a slave device or a specific node in the network CANOPEN_GETSYNCSTATE p 118 CANopen get SYNC state Reads the setting of the SYNC functionality ...

Page 57: ...33 Initialises the J1939 stack J1939_GETDABYNAME p 135 Get destination arbitrary name Determine the target address of one or several participants by means of the name information J1939_NAME p 137 Give the device a name for identification in the network J1939_RX p 144 Receives a single frame message Shows the message last read on the CAN bus J1939_RX_FIFO p 145 J1939 RX with FIFO Receives all speci...

Page 58: ...he device CR0431 Function element outputs 59 Function elements RAW CAN Layer 2 60 Function elements CANopen 86 Function elements SAE J1939 132 Function elements processing input values 164 Function elements output functions 175 Function elements system 182 13988 3826 Here you will find the description of the ifm function elements suitable for this device sorted by topic ...

Page 59: ...n block is active 14 0E FB is active CANopen manager configures devices and sends SDOs 15 0F FB is active CANopen manager is started 3210 63 FB specific return values 6410 127 FB specific error messages 12810 255 Global error messages examples 238 EE Error CANopen configuration is too large and cannot be started 239 EF Error CANopen manager could not be started 240 F0 Error several modal inputs ar...

Page 60: ... Function elements RAW CAN status 60 Function elements receive RAW CAN data 66 Function elements transmit RAW CAN data 76 Function elements RAW CAN remote 82 15051 Here we describe the RAW CAN function blocks CAN Layer 2 of ifm electronic to be used in the application program Function elements RAW CAN status CAN_ENABLE 61 CAN_RECOVER 62 CAN_SETDOWNLOADID 63 CAN_STATUS 64 15049 ...

Page 61: ...face and the CAN protocols running on it Any information available for cyclical transmission is lost as well and must be newly created At renewed ENABLE TRUE the new baud rate is adopted Parameters of the inputs 7495 Parameter Data type Description ENABLE BOOL FALSE TRUE enable CAN interface FALSE disable CAN interface CHANNEL BYTE CAN interface 1 n depending on the device BAUDRATE WORD 250 Baudra...

Page 62: ...rs 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 recovery attempts in a row the affected CAN interface is deactivated Parameters of the inputs 7514 Parameter Data type Description ENABLE BOOL FALSE TRUE No automatic recovery after CAN bus off FALSE Automatic recovery after CAN bus off CHANNEL BY...

Page 63: ... in the PLC program e g using certain inputs The changed ID is also written into the hardware configuration Parameters of the inputs 7519 Parameter Data type Description EXECUTE BOOL FALSE FALSE TRUE edge execute function element once otherwise function element is not active A function element already started is processed CHANNEL BYTE CAN interface 1 n depending on the device DOWNLOAD_ID BYTE 1 12...

Page 64: ... the chosen CAN bus Without hardware initialisation the following flags can be reset to FALSE BUSOFF WARNING_RX WARNING_TX Parameters of the inputs 7502 Parameter Data type Description ENABLE BOOL FALSE TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs are not specified CHANNEL BYTE CAN interface 1 n depending on the device CL...

Page 65: ...rface WARNING_RX BOOL 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 ifm CAN stack library BUSLOAD BYTE Current bus load in RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 ...

Page 66: ...Controller relay CR0431 v03 03 00 05 2018 ifm function elements ifm function elements for the device CR0431 Function elements receive RAW CAN data CAN_RX 67 CAN_RX_ENH 68 CAN_RX_ENH_FIFO 70 CAN_RX_RANGE 72 CAN_RX_RANGE_FIFO 74 15050 ...

Page 67: ...tion ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs are not specified CHANNEL BYTE CAN interface 1 n depending on the device ID DWORD Number of the data object identifier normal frame 2 048 IDs 0 2 047 0x0000 0000 0x0000 07FF extended Frame 536 868 864 IDs 2 048 536 870 911 0x0000 0800 0x1FFF FFFF Parameters of ...

Page 68: ...s with the following bit pattern are evaluated 0bxxx1 0000 xxx0 x any i e for this example all in hex 100 102 104 106 108 10A 10C 10E 300 302 304 306 308 30A 30C 30E 500 502 504 506 508 50A 50C 50E 700 702 704 706 708 70A 70C 70E Parameters of the inputs 7609 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not acti...

Page 69: ...ect identifier DATALENGTHCOUNT BYTE Data Length Count number of the data bytes received DATA ARRAY 0 7 OF BYTE received data 1 8 bytes RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 function block execution completed without error 5 05 FB is being processed still receiving 9 09 CAN is not a...

Page 70: ... is deleted and can be newly filled Description to the filter mask CAN_RX_ENH p 68 chapter Description Parameters of the inputs 7609 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs are not specified CHANNEL BYTE CAN interface 1 n depending on the device ID DWORD Number of the data ...

Page 71: ...received 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 function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 function block execution completed without error 5 05 FB is being proc...

Page 72: ...e is available Parameters of the inputs 7595 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs are not specified CHANNEL BYTE CAN interface 1 n depending on the device ID_START DWORD start number of the data object identifier range normal frame 211 0 2 047 0x0000 0000 0x0000 07FF ext...

Page 73: ...F extended Frame 536 868 864 IDs 2 048 536 870 911 0x0000 0800 0x1FFF FFFF DATALENGTHCOUNT BYTE Data Length Count number of the data bytes received DATA ARRAY 0 7 OF BYTE received data 1 8 bytes RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 function block execution completed without error ...

Page 74: ...activate and reactivate the function The FiFo is deleted and can be newly filled Parameters of the inputs 7595 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs are not specified CHANNEL BYTE CAN interface 1 n depending on the device ID_START DWORD start number of the data object ide...

Page 75: ...LENGTHCOUNT BYTE Data Length Count number of the data bytes received 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 function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 function b...

Page 76: ...ming Manual BasicController relay CR0431 v03 03 00 05 2018 ifm function elements ifm function elements for the device CR0431 Function elements transmit RAW CAN data CAN_TX 77 CAN_TX_ENH 78 CAN_TX_ENH_CYCLIC 80 15055 ...

Page 77: ...ended frames in the ID area 0 2047 cannot be sent via the easy functions Parameters of the inputs 7524 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs are not specified CHANNEL BYTE CAN interface 1 n depending on the device ID DWORD Number of the data object identifier normal frame...

Page 78: ... instance of this FB is called several times during a cycle the data is also sent several times Parameters of the inputs 7634 Parameter Data type Description ENABLE BOOL FALSE TRUE execute this function element Edge enter the new values FALSE unit is not executed reset internal remote values CHANNEL BYTE CAN interface 1 n depending on the device ID DWORD Number of the data object identifier normal...

Page 79: ...rameters of the outputs 7527 Parameter Data type Description RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 function block execution completed without error 242 F2 Error setting is not possible 250 FA Error FiFo is full data was lost ...

Page 80: ...t the performance of the complete system Parameters of the inputs 7582 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs are not specified CHANNEL BYTE CAN interface 1 n depending on the device ID DWORD Number of the data object identifier normal frame 211 IDs 0 2 047 0x0000 0000 0x0...

Page 81: ...0 Parameter Data type Description RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 FB execution completed without error data is valid 8 08 function block is active 9 09 CAN is not active 242 F2 Error setting is not possible 250 FA Error FiFo is full data was lost ...

Page 82: ...gramming Manual BasicController relay CR0431 v03 03 00 05 2018 ifm function elements ifm function elements for the device CR0431 Function elements RAW CAN remote CAN_REMOTE_REQUEST 83 CAN_REMOTE_RESPONSE 84 15057 ...

Page 83: ...y started is processed CHANNEL BYTE CAN interface 1 n depending on the device ID DWORD Number of the data object identifier normal frame 211 IDs 0 2 047 0x0000 0000 0x0000 07FF extended Frame 229 IDs 0 536 870 911 0x0000 0000 0x1FFF FFFF Extended optional use of the parameter BOOL FALSE TRUE extended Frame ID 0 229 1 FALSE normal Frame ID 0 211 1 Parameters of the outputs 7629 Parameter Data type ...

Page 84: ...1n CR043n BasicDisplay CR045n max 40 remote messages PDM360 NG CR108n CR120n max 100 remote messages Parameters of the inputs 7634 Parameter Data type Description ENABLE BOOL FALSE TRUE execute this function element Edge enter the new values FALSE unit is not executed reset internal remote values CHANNEL BYTE CAN interface 1 n depending on the device ID DWORD Number of the data object identifier n...

Page 85: ... Data type Description RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 6 06 FB is being processed remote for ID not active 7 07 FB is being processed remote for ID active 8 08 function block is active 10 0A no further remote entrys available 242 F2 Error setting is not possible ...

Page 86: ...anagement 95 Function elements CANopen object directory 99 Function elements CANopen SDOs 104 Function elements CANopen SYNC 117 Function elements CANopen guarding 121 Function elements CANopen emergency 125 15059 For CANopen ifm electronic provides a number of function elements which will be explained in the following Function elements CANopen status CANOPEN_ENABLE 87 CANOPEN_GETBUFFERFLAGS 89 CA...

Page 87: ...er a stop all other connected nodes 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 CAN_ENABLE p 61 has not been activated before Parameters of the inputs 7788 Parameter Data type Description ENABLE BOOL TRUE TRUE Enable CANopen for the selected channe...

Page 88: ... block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 function block execution completed without error 14 0E FB is active CANopen manager configures devices and sends SDOs 15 0F FB is active CANopen manager is started 238 EE Error CANopen configuration is too large and cannot be started 239 EF Error CANopen manager could not be star...

Page 89: ...he function block returns the state of the overflow flags Parameters of the inputs 7893 Parameter Data type Description EXECUTE BOOL FALSE FALSE TRUE edge execute function element once otherwise function element is not active A function element already started is processed CHANNEL BYTE CAN interface 1 n depending on the device ResetRXFlags optional use of the parameter BOOL FALSE TRUE Provide fag ...

Page 90: ...r is critical FALSE level in the input 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 overflow warning flag TRUE Level in the transmit buffer is critical FALSE Level in the transmit buffer is uncritical RESULT BYTE feedback of the function block possible messages following ...

Page 91: ...on EXECUTE BOOL FALSE FALSE TRUE edge execute function element once otherwise function element is not active A function element already started is processed CHANNEL BYTE CAN interface 1 n depending on the device NODE BYTE Node ID ID of the node 0 127 Device as CANopen master Value 0 Only the status information of the device itself is returned at the outputs The outputs with information on the node...

Page 92: ... or heartbeat error 128 0x80 BUSOFF NODESTATE BYTE Node state internal node state of a slave seen from the master s perspective The input NODEID identifies the node 1 0xFF reset after ResetNode 1 0x01 waiting for BOOTUP 2 0x02 after receipt of the BOOTUP message 3 0x03 not yet configured STOPPED 4 0x04 after configuration with SDOs PRE OPERATIONAL 5 0x05 after starting the node OPERATIONAL 97 0x61...

Page 93: ... element already started is processed CHANNEL BYTE CAN interface 1 n depending on the device NODE BYTE Node ID ID of the node 0 127 Device as CANopen master Value 0 The changes only refer to the device itself Value not 0 Node ID of a node in the network the parameters of which are to be changed The established settings are only adopted for this node not for the device Device as CANopen slave In sl...

Page 94: ...cated in NODE during initialisation TRUE do not send configuration data FALSE send configured SDOs Parameters of the outputs 7862 Parameter Data type Description RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 FB execution completed without error data is valid 8 08 FB is active not yet proce...

Page 95: ...Manual BasicController relay CR0431 v03 03 00 05 2018 ifm function elements ifm function elements for the device CR0431 Function elements CANopen network management CANOPEN_GETNMTSTATESLAVE 96 CANOPEN_NMTSERVICES 97 15063 ...

Page 96: ...ansition has been requested Parameters of the inputs 7854 Parameter Data type Description EXECUTE BOOL FALSE FALSE TRUE edge execute function element once otherwise function element is not active A function element already started is processed CHANNEL BYTE CAN interface 1 n depending on the device Parameters of the outputs 7855 Parameter Data type Description NMTSTATE BYTE Network operating status...

Page 97: ...e can automatically change its CANopen state by means of the FB preoperational operational Parameters of the inputs 7847 Parameter Data type Description EXECUTE BOOL FALSE FALSE TRUE edge execute function element once otherwise function element is not active A function element already started is processed CHANNEL BYTE CAN interface 1 n depending on the device NODE BYTE CANopen ID of the node permi...

Page 98: ...table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 function block execution completed without error 8 08 function block is active 35 23 at least 1 SDO of the configuration was not successful 36 24 node was already initialised 37 25 when initialisation was requested the node was not in the PRE OPERATIONAL mode 43 2B master slave is not initialised 241 F1 Error CANo...

Page 99: ...roller relay CR0431 v03 03 00 05 2018 ifm function elements ifm function elements for the device CR0431 Function elements CANopen object directory CANOPEN_GETODCHANGEDFLAG 100 CANOPEN_READOBJECTDICT 101 CANOPEN_WRITEOBJECTDICT 102 15065 ...

Page 100: ...n EXECUTE BOOL FALSE FALSE TRUE edge execute function element once otherwise function element is not active A function element already started is processed CHANNEL BYTE CAN interface 1 n depending on the device IDX WORD index in object directory SUBIDX BYTE sub index referred to the index in the object directory Parameters of the outputs 7931 Parameter Data type Description DATA DWORD parameter va...

Page 101: ...ECUTE BOOL FALSE FALSE TRUE edge execute function element once otherwise function element is not active A function element already started is processed CHANNEL BYTE CAN interface 1 n depending on the device IDX WORD index in object directory SUBIDX BYTE sub index referred to the index in the object directory Parameters of the outputs 7937 Parameter Data type Description DATA DWORD parameter value ...

Page 102: ...object directory of the controller NOTICE This could lead to falsification of important system settings e g guarding times heartbeat times Carefully verify input parameters Parameters of the inputs 7943 Parameter Data type Description EXECUTE BOOL FALSE FALSE TRUE edge execute function element once otherwise function element is not active A function element already started is processed CHANNEL BYT...

Page 103: ...tputs 7945 Parameter Data type Description RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 function block execution completed without error 8 08 function block not yet executed 40 28 object directory entry is invalid 242 F2 Error setting is not possible ...

Page 104: ...tion elements for the device CR0431 Function elements CANopen SDOs CANOPEN_SDOREAD 105 CANOPEN_SDOREADBLOCK 107 CANOPEN_SDOREADMULTI 109 CANOPEN_SDOWRITE 111 CANOPEN_SDOWRITEBLOCK 113 CANOPEN_SDOWRITEMULTI 115 2071 Here you will find ifm function elements for CANopen handling of Service Data Objects SDOs ...

Page 105: ...e 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 not create a large data array itself Parameters of the inputs 7794 Parameter Data type Description EXECUTE BOOL FALSE FALSE TRUE edge execute function element once otherwise function element is not active A function element already started is processed CHANNEL BYTE CAN in...

Page 106: ...ceived data value up to 4 bytes RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 FB execution completed without error data is valid 5 05 FB is active no data received yet 32 20 SDO transmission aborted by client or server SDO abort code 0x80 33 21 TIMEOUT elapsed 242 F2 Error setting is not p...

Page 107: ...gmented transfer via the input The COB ID for the SDO is calculated from the transmitted node ID The length of multiframe SDOs is generally not limited For systems without a file system e g BasicController CR04nn the following applies transmit an address to the FB which is accessed by the pointer for writing The memory area determined by the start address DATA and the amount of data MAX_LEN must b...

Page 108: ...ile system BasicSystem MAX_LEN DWORD Maximum permitted number of bytes which may be received SegmentedTransfer optional use of the parameter BOOL FALSE TRUE Segmented SDO transfer FALSE SDO block transfer Timeout optional use of the parameter TIME T 10ms waiting time of the FB for the response when the time has elapsed the FB stops waiting value 0 use value from the configuration Parameters of the...

Page 109: ...open convention Parameters of the inputs 7809 Parameter Data type Description EXECUTE BOOL FALSE FALSE TRUE edge execute function element once otherwise function element is not active A function element already started is processed CHANNEL BYTE CAN interface 1 n depending on the device NODE BYTE Node ID ID of the node allowed 1 127 0x01 0x7F The COB ID of the SDO is calculated from the node ID 0x6...

Page 110: ...ATA OF BYTE buffer memory for user data of the SDO data transmission RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 FB execution completed without error data is valid 5 05 FB is active no data received yet 32 20 SDO transmission aborted by client or server SDO abort code 0x80 33 21 TIMEOUT ...

Page 111: ...e this FB only needs to reserve 4 bytes as buffer storage and does not create a large data array itself Parameters of the inputs 7828 Parameter Data type Description EXECUTE BOOL FALSE FALSE TRUE edge execute function element once otherwise function element is not active A function element already started is processed CHANNEL BYTE CAN interface 1 n depending on the device NODE BYTE ID of the node ...

Page 112: ...a type Description RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 FB execution completed without error data is valid 8 08 function block is active 32 20 SDO transmission aborted by client or server SDO abort code 0x80 33 21 TIMEOUT elapsed 242 F2 Error setting is not possible ...

Page 113: ...a SDO block transfer You can change to segmented transfer via the FB input if required The COB ID for the SDO is calculated from the transmitted node ID The output RESULT provides information on the status of the SDO transmission The length of multiframe SDOs is generally not limited For systems without a file system e g BasicController CR04nn the following applies transmit an address to the FB wh...

Page 114: ...ith file system Linux FILE STRING 80 Path and file name for reading of the data to be transmitted in binary format Input without function for device without file system BasicSystem SegmentedTransfer optional use of the parameter BOOL FALSE TRUE Segmented SDO transfer FALSE SDO block transfer Timeout optional use of the parameter TIME T 10ms waiting time of the FB for the response when the time has...

Page 115: ...Description EXECUTE BOOL FALSE FALSE TRUE edge execute function element once otherwise function element is not active A function element already started is processed CHANNEL BYTE CAN interface 1 n depending on the device NODE BYTE ID of the node permissible values 1 127 0x01 0x7F IDX WORD index in object directory SUBIDX BYTE sub index referred to the index in the object directory LEN DWORD number...

Page 116: ...a type Description RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 FB execution completed without error data is valid 8 08 function block is active 32 20 SDO transmission aborted by client or server SDO abort code 0x80 33 21 TIMEOUT elapsed 242 F2 Error setting is not possible ...

Page 117: ...ramming Manual BasicController relay CR0431 v03 03 00 05 2018 ifm function elements ifm function elements for the device CR0431 Function elements CANopen SYNC CANOPEN_GETSYNCSTATE 118 CANOPEN_SETSYNCSTATE 120 15069 ...

Page 118: ...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 absent or appear regularly Synchronous PDOS etc are handled in the CAN stack CANOPEN_GETSYNCSTATE however provides the error state so that the application program can react accordingly Parameters of the inputs 7874 Parameter Data type Description EXECUTE BOOL FA...

Page 119: ...settings in the configuration 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 message 0 no error 0 SYNC error slave mode RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is i...

Page 120: ...lready started is processed CHANNEL BYTE CAN interface 1 n depending on the device SYNC BOOL status of the SYNC functionality TRUE SYNC is activated In the master mode SYNC telegrams are generated according to the settings in the configuration and synchronous PDOs are transmitted and received In the slave mode SYNC telegrams are received and accordingly processed FALSE SYNC is not active Parameter...

Page 121: ... Manual BasicController relay CR0431 v03 03 00 05 2018 ifm function elements ifm function elements for the device CR0431 Function elements CANopen guarding CANOPEN_GETGUARDHBERRLIST 122 CANOPEN_GETGUARDHBSTATSLV 123 15071 ...

Page 122: ...rface 1 n depending on the device ResetList optional use of the parameter BOOL FALSE Reset error list TRUE Provide the error list as well as number of faulty nodes at the output and then reset FALSE function element is not executed Parameters of the outputs 7900 Parameter Data type Description N_NODES WORD Number of nodes with heartbeat or guarding error 0 none of the nodes has a guarding or heart...

Page 123: ... the controller in slave operation monitoring of node guarding monitoring of heartbeat The controller can either be the heartbeat producer or the heartbeat consumer Parameters of the inputs 7905 Parameter Data type Description EXECUTE BOOL FALSE FALSE TRUE edge execute function element once otherwise function element is not active A function element already started is processed CHANNEL BYTE CAN in...

Page 124: ...eat producer 0 0x00 inactive 1 0x01 active CONS_HBSTATE BYTE controller as heartbeat consumer 0 0x00 no fault 1 0x01 timeout configuration 127 0x7F no heartbeat message received yet CONS_HBCOBID WORD COB ID of the heartbeat message the consumer heartbeat of the controller is reacting to configuration RESULT BYTE feedback of the function block possible messages following table Possible results for ...

Page 125: ...Controller relay CR0431 v03 03 00 05 2018 ifm function elements ifm function elements for the device CR0431 Function elements CANopen emergency CANOPEN_GETEMCYMESSAGES 126 CANOPEN_GETERRORREGISTER 128 CANOPEN_SENDEMCYMESSAGE 130 15073 ...

Page 126: ... deletion of messages The list can be reset by setting the according input A maximum of MAXEMCYMSGS messages is stored Each message contains information from which the node it was sent The most recent message is in index 0 Parameters of the inputs 7924 Parameter Data type Description EXECUTE BOOL FALSE FALSE TRUE edge execute function element once otherwise function element is not active A functio...

Page 127: ...cy messages The most recent entry is in index 0 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 10 RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 function block execution comple...

Page 128: ...the controller Parameters of the inputs 7918 Parameter Data type Description EXECUTE BOOL FALSE FALSE TRUE edge execute function element once otherwise function element is not active A function element already started is processed CHANNEL BYTE CAN interface 1 n depending on the device Reset_1001 optional use of the parameter BOOL FALSE TRUE Reset error register 0x1001 FALSE function element is not...

Page 129: ...LD ARRAY 0 MAXERR OF DWORD Content of the error register 0x1003 Index 0 number of the stored errors Index 1 MAXERR stored errors The most recent error is in index 1 Preset MAXERR 5 RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 function block execution completed without error 8 08 FB is act...

Page 130: ...tive A function element already started is processed CHANNEL BYTE CAN interface 1 n depending on the device ERRORACTIVE BOOL FALSE TRUE edge sends the next error code TRUE FALSE edge If the error is no longer given a message that there is no error is sent after a delay of 1 s EEC WORD EEC Emergency Error Code ER optional use of the parameter BYTE 0 0 use value from error register 0x1001 MSEF ARRAY...

Page 131: ...puts 7912 Parameter Data type Description RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 function block execution completed without error 8 08 FB is active not yet processed 39 27 no object 100116 in the configuration 242 F2 Error setting is not possible ...

Page 132: ...9 status 132 Function elements SAE J1939 request 140 Function elements receive SAE J1939 143 Function elements transmit SAE J1939 148 Function elements SAE J1939 diagnosis 156 2273 For SAE J1939 ifm electronic provides a number of function elements which will be explained in the following Function elements SAE J1939 status J1939_ENABLE 133 J1939_GETDABYNAME 135 J1939_NAME 137 J1939_STATUS 139 1507...

Page 133: ...If however several engine controllers are working on the same bus set ACE TRUE In this case the engine controllers must support the address claiming Otherwise you will risk an overlapping of addresses with subsequent system failure Parameters of the inputs 7643 Parameter Data type Description ENABLE BOOL FALSE TRUE Enable J1939 channel Ace TRUE Address claiming effected FALSE Block J1939 channel C...

Page 134: ...rs of the outputs 8542 Parameter Data type Description RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 function block execution completed without error 8 08 function block is active 9 09 CAN is not active 242 F2 Error setting is not possible ...

Page 135: ...he library ifm_J1939_NT_Vxxyyzz LIB Symbol in CODESYS Description 7665 Via J1939_GETDABYNAME the target address of one or several participants can be determined by means of the name information If a specific value is set on the optional inputs the result list will only show the participants with this specific value If no value or the default value is set on the optional inputs this entry is not ta...

Page 136: ...xFFFF filter for all FunctionInstance optional use of the parameter BYTE 0xFF instance of the function permissible values 0 31 0x00 0x1F 255 0xFF filter for all ECUInstance optional use of the parameter BYTE 0xFF instance of the control device permissible values 0 7 255 0xFF filter for all ManufacturerCode optional use of the parameter WORD 0xFFFF manufacturer code must be requested from SAE permi...

Page 137: ...at the optional inputs the preset value is not overwritten The following list shows the composition of the 64 bit NAME information according to SAE J1939 81 Parameter Data type Description arbitrary address capable 1 bit any desired address available industry group 3 bits industry group of the device vehicle system instance 4 bits instance of the vehicle system vehicle system 7 bits vehicle system...

Page 138: ...s 0 255 0x0000 0x00FF 65 535 0xFFFF filter for all FunctionInstance optional use of the parameter BYTE 0xFF instance of the function permissible values 0 31 0x00 0x1F 255 0xFF filter for all ECUInstance optional use of the parameter BYTE 0xFF instance of the control device permissible values 0 7 255 0xFF filter for all ManufacturerCode optional use of the parameter WORD 0xFFFF manufacturer code mu...

Page 139: ...tive Function block outputs are not specified CHANNEL BYTE CAN interface 1 n depending on the device Parameters of the outputs 7674 Parameter Data type Description SA BYTE claimed source address CYCLIC WORD number of the cyclic messages TIMEOUT BYTE source address of the node which did not provided data for the process image in due time 255 0xFF all nodes sent the data in due time VERSION DWORD Ve...

Page 140: ...ramming Manual BasicController relay CR0431 v03 03 00 05 2018 ifm function elements ifm function elements for the device CR0431 Function elements SAE J1939 request J1939_SPEC_REQ 141 J1939_SPEC_REQ_MULTI 142 15079 ...

Page 141: ...e execute function element once otherwise function element is not active A function element already started is processed CHANNEL BYTE CAN interface 1 n depending on the device PGN DWORD PGN Parameter Group Number permissible 0 262 143 0x00000000 0x0003FFFF DA BYTE J1939 address of the requested device Parameters of the outputs 15029 Parameter Data type Description PRIO BYTE message priority 0 7 LE...

Page 142: ...function element is not active A function element already started is processed CHANNEL BYTE CAN interface 1 n depending on the device PGN DWORD PGN Parameter Group Number permissible 0 262 143 0x00000000 0x0003FFFF DA BYTE J1939 address of the requested device Parameters of the outputs 15038 Parameter Data type Description PRIO BYTE message priority 0 7 LEN WORD number of data bytes to be transmit...

Page 143: ...ming Manual BasicController relay CR0431 v03 03 00 05 2018 ifm function elements ifm function elements for the device CR0431 Function elements receive SAE J1939 J1939_RX 144 J1939_RX_FIFO 145 J1939_RX_MULTI 147 15081 ...

Page 144: ...uts are not active Function block outputs are not specified CHANNEL BYTE CAN interface 1 n depending on the device PGN DWORD PGN Parameter Group Number permissible 0 262 143 0x00000000 0x0003FFFF The PGN 0 is not used Parameters of the outputs 7727 Parameter Data type Description SA BYTE Source address of the transmitter PRIO BYTE message priority 0 7 LEN WORD number of the bytes received 0 8 DATA...

Page 145: ...escription 7733 J1939_RX_FIFO enables receipt of all specified messages and their successive reading from a FIFO Parameters of the inputs 7734 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs are not specified CHANNEL BYTE CAN interface 1 n depending on the device PGN DWORD PGN Para...

Page 146: ...es received 0 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 function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 FB execution completed without error data is valid 5 05 FB is a...

Page 147: ...t already started is processed CHANNEL BYTE CAN interface 1 n depending on the device PGN DWORD PGN Parameter Group Number permissible 0 262 143 0x00000000 0x0003FFFF The PGN 0 is not used Parameters of the outputs 7744 Parameter Data type Description SA BYTE Source address of the transmitter PRIO BYTE message priority 0 7 LEN WORD number of the bytes received permissible values 0 1 785 0x0000 000...

Page 148: ...sicController relay CR0431 v03 03 00 05 2018 ifm function elements ifm function elements for the device CR0431 Function elements transmit SAE J1939 J1939_TX 149 J1939_TX_ENH 150 J1939_TX_ENH_CYCLIC 152 J1939_TX_ENH_MULTI 154 15083 ...

Page 149: ...nction block inputs are not active Function block outputs are not specified CHANNEL BYTE CAN interface 1 n depending on the device DA BYTE 249 DA Destination Address of the ECU PGN 61139 parameter DA is ignored PGN DWORD PGN Parameter Group Number permissible 0 262 143 0x00000000 0x0003FFFF DATA ARRAY 0 7 OF BYTE data to be sent 1 8 bytes Parameters of the outputs 7693 Parameter Data type Descript...

Page 150: ...p 154 Parameters of the inputs 7702 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs are not specified CHANNEL BYTE CAN interface 1 n depending on the device DA BYTE 249 DA Destination Address of the ECU PGN 61139 parameter DA is ignored Prio optional use of the parameter BYTE 3 mes...

Page 151: ...arameters of the outputs 7969 Parameter Data type Description RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 function block execution completed without error 242 F2 Error setting is not possible 250 FA Error FiFo is full data was lost ...

Page 152: ... load can affect the performance of the complete system Parameters of the inputs 7719 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs are not specified CHANNEL BYTE CAN interface 1 n depending on the device DA BYTE 249 DA Destination Address of the ECU PGN 61139 parameter DA is ign...

Page 153: ...elements for the device CR0431 Parameters of the outputs 7720 Parameter Data type Description RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 8 08 function block is active 242 F2 Error setting is not possible ...

Page 154: ...UTE BOOL FALSE FALSE TRUE edge execute function element once otherwise function element is not active A function element already started is processed CHANNEL BYTE CAN interface 1 n depending on the device DA BYTE 249 DA Destination Address of the ECU PGN 61139 parameter DA is ignored Prio optional use of the parameter BYTE 3 message priority permissible values 0 7 PGN DWORD PGN Parameter Group Num...

Page 155: ... outputs 7714 Parameter Data type Description RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 function block execution completed without error 8 08 function block is active 65 41 Error transmission is not possible 242 F2 Error setting is not possible ...

Page 156: ...l BasicController relay CR0431 v03 03 00 05 2018 ifm function elements ifm function elements for the device CR0431 Function elements SAE J1939 diagnosis J1939_DM1RX 157 J1939_DM1TX 159 J1939_DM1TX_CFG 162 J1939_DM3TX 163 15085 ...

Page 157: ...eives diagnostic messages DM1 or DM2 from other ECUs Parameters of the inputs 14979 Parameter Data type Description ENABLE BOOL FALSE TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs are not specified CHANNEL BYTE CAN interface 1 n depending on the device DA BYTE DA Destination Address of the ECU from where the DTCs are to be...

Page 158: ...n OC BYTE occurrence count RESULT BYTE feedback of the function block possible messages following table MIL_FC BYTE Status of the electronic component Malfunction indicatation light status and flash code 0 off 1 on 2 flash slowly 3 flash quickly REDSTOPLAMP_FC BYTE Status of the electronic component red stop light status and flash code 0 off 1 on 2 flash slowly 3 flash quickly AMBERWARNINGLAMP_FC ...

Page 159: ...ck 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 event counter is incremented The event counter is managed by the CAN stack A disjunction of all bits of the trouble codes is executed As soon as a bit is set in one of the trouble codes it is equally set in the lamp state Upon arrival of ...

Page 160: ...L Amber warning lamp for older projects only TRUE ON FALSE OFF PROTECTLAMP BOOL protect lamp for older projects only TRUE ON FALSE OFF SPN WORD Suspect Parameter Number J1939 specification FMI BYTE Failure Mode Indicator J1939 specification permissible values 0 31 0x00 0x1F SPN_CM BOOL conversion method J1939 specification MIL_FC BYTE Status of the electronic component Malfunction indicatation lig...

Page 161: ...for the device CR0431 Parameters of the outputs 7750 Parameter Data type Description RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 data was marked active in the error memory 242 F2 Error setting is not possible ...

Page 162: ... of DM1 messages via the FB J1939_DM1TX p 159 is possible MODE 1 The CAN stack does not send DM1 zero active faults messages DM2 requests are answered automatically A manual transmission of DM1 messages via the FBJ1939_DM1TX p 159 is possible MODE 2 The CAN stack does not send cyclic DM1 zero active faults messages Nor does the CAN stack automatically reply to DM2 requests Parameters of the inputs...

Page 163: ...figuration Parameters of the inputs 15006 Parameter Data type Description EXECUTE BOOL FALSE FALSE TRUE edge execute function element once otherwise function element is not active A function element already started is processed CHANNEL BYTE CAN interface 1 n depending on the device DA BYTE DA Destination Address of the ECU on which the DTCs are to be deteled DA 254 delete DTCs DM2 in the device it...

Page 164: ...nts ifm function elements for the device CR0431 5 2 5 Function elements processing input values FASTCOUNT 165 INC_ENCODER 167 INPUT 169 PERIOD 171 STATUS_F_V_EXT 174 1302 In this chapter we show you ifm FBs which allow you to read and process the analogue or digital signals at the device input ...

Page 165: ...ur The switch on and switch off times of the outputs become more important Undue heating of the components may occur The influences mentioned above depend on the components used in the individual case These possible influences cannot be exactly predicted Parameters of the inputs 8115 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed initiated...

Page 166: ...UE DWORD ouput value RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 FB execution completed without error data is valid 2 02 function block is active action not yet completed 3 03 function block is active valid values not yet available 130 82 channel setting is invalid 132 84 mode setting is...

Page 167: ...ounter to become active again The current counter value is available at the output VALUE The outputs UP and DOWN indicate the last counting direction of the counter The outputs are TRUE if the counter has counted in the corresponding direction If the counter was not changed since the last call of the FB both the outputs are FLASE On input RESOLUTION the resolution of the encoder can be evaluated i...

Page 168: ...for every second edge 04 counts for every rising and falling edge All other values count as 01 Parameters of the outputs 8138 Parameter Data type Description VALUE DINT if RESOLUTION 1 VALUE 536 870 912 536 870 911 area of DINT if RESOLUTION 2 VALUE 1 073 741 824 1 073 741 823 area of DINT if RESOLUTION 4 VALUE 2 147 483 648 2 147 483 647 area of DINT UP BOOL TRUE counter counts upwards in the las...

Page 169: ... FB provides the current state at the selected channel The measurement and the output value result from the operating mode indicated via MODE binary input plus switching BL for positive sensor signal with without diagnosis binary input minus switching BH for negative sensor signal analogue input 0 20 mA analogue input 0 10 V analogue input 0 32 V analogue input ratiometric 0 32 V analogue input Re...

Page 170: ...ut plus switching BL with diagnosis Namur 12 0x0C binary input minus switching BH 18 0x12 resistance input 16 30 000 Ω FILTER BYTE filter for the measurement on the input valid 0 8 recommended 4 chapter Configure the software filters of the inputs p 45 Parameters of the outputs 8106 Parameter Data type Description VALUE WORD current value or status of the input channel according to the selected op...

Page 171: ...duration and ratio measurement Measure the time interval between two positive edges Specify the average value over a certain number of periods 25 19 LZS version 03 02 zz or higher Phase shift 0 359 between channel A and channel B of an input channel pair message makes only sense if no great jumps 179 can occur in the system The operating mode should not be changed during operation If MODE 19 or MO...

Page 172: ... fast input channel 0 3 for the inputs IN0 IN3 MODE 25 Number of the fast input A channel 0 2 for the inputs IN0 IN2 B channel A channel 1 MODE BYTE Operating mode of the function block 0 0x00 no measurement 14 0x0E frequency measurement 19 0x13 interval measurement 20 0x14 invertal and ratio measurement 25 0x19 phase shift of two input signals PERIODS BYTE Number of periods to be averaged 1 4 if ...

Page 173: ...lue 0 not detected MODE 19 20 Time elapsed since the last positive edge MODE 25 Time elapsed since the last valid measurement VALUE_RATIO WORD MODE 14 Value 0 not detected MODE 19 20 Mark to space ratio of the input signal in MODE 25 Phase shift in RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive ...

Page 174: ... LIB Symbol in CODESYS Description 19739 The program STATUS_F_V_EXT determines the status of the fuse for the potential V_EXT The calculation basis is the measured VBBs value SUPPLY_VOLTAGE_VBBS voltage measured on the fuse STAT_FUSE exceeds 70 of VBBs changes to TRUE falls below 30 of VBBs changes to FALSE Parameters of the inputs 19740 Parameter Data type Description STAT_FUSE BOOL Status of the...

Page 175: ... 2018 ifm function elements ifm function elements for the device CR0431 5 2 6 Function elements output functions OUTPUT 176 PWM1000 178 RELAY 180 15075 10462 For this device you can set the mode of some or all outputs Here we show you a couple of function elements to it ...

Page 176: ...07 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs are not specified CHANNEL BYTE Number of the output channel 0 5 for the outputs K00 K05 6 12 for the outputs LED00 LED06 VALUE BOOL TRUE activate output FALSE deactivate output MODE BYTE Operating mode of the function block 0 0x00 ...

Page 177: ... RESULT Value dec hex Description 0 00 FB is inactive 1 01 FB execution completed without error data is valid 2 02 function block is active action not yet completed 3 03 function block is active valid values not yet available 128 80 undervoltage on VBBx 129 81 overvoltage on VBBx 130 82 channel setting is invalid 132 84 mode setting is invalid 136 88 filter setting is invalid 141 8D a wire break w...

Page 178: ...1 Parameters of the inputs 19709 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed initiated processes continue in the background FB outputs are not updated CHANNEL BYTE Number of the output channel 0 5 for the outputs K00 K05 FREQUENCY WORD PWM frequency in Hz allowed 15 000 25 000 0x3A98 0x61A8 VALUE WORD PWM value mark to space ratio in al...

Page 179: ...A RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 FB execution completed without error data is valid 2 02 function block is active action not yet completed 3 03 function block is active valid values not yet available 128 80 undervoltage on VBBx 130 82 channel setting is invalid 131 83 value ...

Page 180: ...If REF_VOLTAGE 32 000 value is not adopted error message RESULT 140 For the status messages the measured voltage the status message STAT xx exceeds 70 of the reference voltage changes to TRUE falls below 30 of the reference voltage changes to FALSE The status messages indicate only meaningful values if the reference voltage used for calculating the ON OFF threshold is tolerance of the voltage meas...

Page 181: ...SUPPLY_VOLTAGE_VBBS VOLTAGE optional use of the parameter WORD 0 Required relay coil voltage in mV permissible 0 32 000 0 not used SUPPLY_VOLTAGE_VBBS_SW 400 mV Parameters of the outputs 19725 Parameter Data type Description STAT_FUSE BOOL Status of the fuse TRUE OK FALSE failled or not plugged in STAT_NC BOOL Status of the relay s contact NC TRUE contact closed FALSE contact opened STAT_NO BOOL S...

Page 182: ...LASH_INFO 183 FLASH_READ 184 GET_APP_INFO 185 GET_HW_INFO 186 GET_IDENTITY 187 GET_SW_INFO 188 GET_SW_VERSION 189 MEM_ERROR 190 MEMCPY 191 OHC 193 SET_IDENTITY 195 SET_LED 196 SET_PASSWORD 198 TIMER_READ_US 199 15067 Here we show you ifm functions that enable you to manage memory contents read information from software and hardware set or read various data and parameters ...

Page 183: ...ters of the inputs 11589 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs are not specified Parameters of the outputs 11590 Parameter Data type Description NAME STRING 24 Name of the memory area user defined VERSION STRING 24 Software version START_ADDR DWORD Start address of the da...

Page 184: ...e it to the POU Parameters of the inputs 8148 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs are not specified DST DWORD destination address Determine the address by means of the operator ADR and assigne it to the POU SRC DWORD relative start address in the memory valid 0 65 407 0...

Page 185: ...mber CoDeSys build date Parameters of the inputs 11594 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs are not specified Parameters of the outputs 11595 Parameter Data type Description NAME STRING 24 Name of the application VERSION STRING 24 Version of the application program BUILD...

Page 186: ...ption ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs are not specified Parameters of the outputs 11601 Parameter Data type Description ORDER_NUM STRING 24 ifm article no e g CR0403 NAME STRING 24 Article designation e g BasicController 12 12 SERIAL STRING 24 Serial number of the device e g 000045784 REVISION STR...

Page 187: ...rs of the inputs 8167 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs are not specified Parameters of the outputs 8168 Parameter Data type Description APP_IDENT STRING 80 identifier of the application as a string of max 80 characters e g Crane1704 RESULT BYTE feedback of the functi...

Page 188: ...iption ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs are not specified Parameters of the outputs 11598 Parameter Data type Description NAME STRING 24 Name of the system software e g BasicSystem VERSION STRING 24 Version of the system software e g V02 00 03 BUILD_NUM STRING 24 Build number of the system software...

Page 189: ...66 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs are not specified Parameters of the outputs 14767 Parameter Data type Description BS_VERSION STRING 24 Basic system version BL_VERSION STRING 24 Bootloader version SIS_VERSION STRING 24 SIS version SIS System Information Service IE...

Page 190: ...pecified RESET_RETAIN BOOL TRUE Delete non volatile retain memory FALSE No changes to memory contents RESET_OHC BOOL TRUE Delete non volatile OHC memory FALSE No changes to memory contents Parameters of the outputs 14774 Parameter Data type Description COM_ERR BOOL Download ID and baud rate are set to default values download parameters got lost CALIB_ERR BOOL Calibration values are invalid analogu...

Page 191: ...ytes as indicated under LEN are transmitted So it is also possible to transmit exactly one byte of a word variable Parameters of the inputs 8162 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs are not specified DST DWORD destination address Determine the address by means of the ope...

Page 192: ...ion RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 FB execution completed without error data is valid 152 98 inadmissible memory area invalid source address invalid destination address invalid number of bytes 156 9C inadmissible values invalid value for SWAP_TYPE LEN does not match SWAP_TYP...

Page 193: ...90 293 years 25 days 15 hours Parameters of the inputs 19713 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed initiated processes continue in the background FB outputs are not updated OHC_NUM BYTE Operating Hours Counter Number of the counter 0 3 MODE BYTE Operating mode of the counter permissible values 0 stop counter 1 continue counting at...

Page 194: ...294 967 295 0x0000 0000 0xFFFF FFFF MINUTES BYTE Counter value minutes 0 59 0x00 0x3B RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 FB execution completed without error data is valid 130 82 Counter number in OHC_NUM is invalid 131 83 Preset value is invalid 132 84 mode setting is invalid 1...

Page 195: ...m via the software Maintenance Tool in the application program via the FB GET_IDENTITY p 187 Parameters of the inputs 8175 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs are not specified APP_IDENT STRING 80 identifier of the application as a string of max 80 characters e g Crane1...

Page 196: ...ype Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs are not specified COLOR_1 BYTE LED color for switched on color constant from the data structure System LED Color allowed 00 LED_BLACK LED out 01 LED_RED 02 LED_GREEN 03 LED_YELLOW COLOR_2 BYTE LED color for switched off color constant from the data s...

Page 197: ...8227 Parameter Data type Description RESULT BYTE feedback of the function block possible messages following table Possible results for RESULT Value dec hex Description 0 00 FB is inactive 1 01 function block execution completed without error 2 02 function block is active action not yet completed 133 85 value for FREQUENCY is invalid 151 97 value for color is invalid ...

Page 198: ...ssigned to the PASSWORD input the password is reset Than an upload of the application software or of the data memory is possible at any time The password is reset when loading a new application program Parameters of the inputs 8180 Parameter Data type Description ENABLE BOOL TRUE execute this function element FALSE unit is not executed Function block inputs are not active Function block outputs ar...

Page 199: ... which is counted upwards in a register This register can be read by means of the FB call and can for example be used for time measurement Info The system timer runs up to the counter value 4 294 967 295 µs at the maximum and then starts again from 0 4 294 967 295 µs 1h 11min 34s 967ms 295µs Parameters of the outputs 8220 Parameter Data type Description TIME_US DWORD current system time s RESULT B...

Page 200: ...value outside range For diagnosis configuration and log data can be used created during the normal operation of the device The correct start of the system components is monitored during the initialisation and start phase Errors are recorded in the log file For further diagnosis self tests can also be carried out 6 2 Fault 19602 A fault is the state of an item characterized by the inability to perf...

Page 201: ... detects the device temperature by retrieving the INT variable If permissible values for the application are exceeded or not reached The application program deactivates the outputs Rectify the cause of the error The application program detects the temperature value which has returned to normal The machine system can be restarted or operation can be continued 6 4 CAN CANopen errors and error handli...

Page 202: ...he indications in the data sheets you find summary tables in the appendix 7 1 System flags System flags voltages 203 System flags inputs and outputs 203 System flags system 203 12167 The addresses of the system flags can change if the PLC configuration is extended While programming only use the symbol names of the system flags System manual Know How ecomatmobile chapter Error codes and diagnostic ...

Page 203: ... name Type Description INnn BOOL Status on binary input nn Requirement input is configured as binary input MODE IN_DIGITAL_H or IN_DIGITAL_L TRUE Voltage on binary input 70 of VBBS FALSE Voltage on binary input 30 of VBBS or not configured as binary input or wrong configuration Qxx xx 00 15 BOOL Status on binary output xx TRUE output activated FALSE output deactivated LEDnn BOOL Status on LED outp...

Page 204: ...ng modes inputs outputs 206 1656 also data sheet 7 2 1 Address assignment inputs outputs Inputs address assignment 204 Outputs address assignment 205 2371 Inputs address assignment 16654 Abbreviations chapter Note on wiring p 20 Operating modes of the inputs outputs chapter Possible operating modes inputs outputs p 206 IEC address Symbolic address IB00 IN00 IB01 IN01 IB02 IN02 IB03 IN03 IB04 IN04 ...

Page 205: ...modes Outputs address assignment 19798 Abbreviations chapter Note on wiring p 20 Operating modes of the inputs outputs chapter Possible operating modes inputs outputs p 206 IEC address Symbolic address QB0 K00 QB1 K01 QB2 K02 QB3 K03 QB4 K04 QB5 K05 QB6 LED00 QB7 LED01 QB8 LED02 QB9 LED03 QB10 LED04 QB11 LED05 QB12 LED06 ...

Page 206: ...t 0 30 000 Hz PERIOD MODE 14 0E period duration measurement 0 1 3 000 Hz PERIOD MODE 19 13 period and ratio measurement 0 1 3 000 Hz PERIOD MODE 20 14 upwards counter downwards counter 0 30 000 Hz FASTCOUNT MODE 21 22 15 16 Phase difference 0 359 PERIOD MODE 25 19 detect encoder 0 1 000 Hz INC_ENCODER IN04 IN07 off INPUT MODE 0 00 binary input plus switching INPUT MODE 10 0A binary input with diag...

Page 207: ...T MODE 0 00 Binary output plus switching OUTPUT MODE 2 02 analogue output with pulse width modulation PWM1000 LED00 LED06 Off OUTPUT MODE 0 00 Binary output plus switching OUTPUT MODE 2 02 Set operating modes with the following function block OUTPUT p 176 Assigns an operating mode to an output channel Provides the current state of the selected channel PWM1000 p 178 Initialises and configures a PWM...

Page 208: ...apter CAN CANopen errors and error handling EMCY codes CANx 13094 The indications for CANx also apply to each of the CAN interfaces EMCY code object 0x1003 Object 0x1001 Manufactor specific information Byte 0 hex Byte 1 hex Byte 2 hex Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Description 00 80 11 CANx monitoring SYNC error only slave 00 81 11 CANx warning threshold 96 10 81 11 CANx receive buffer overrun...

Page 209: ... circuit 00 31 05 Power supply VBBS 00 33 05 Terminal voltage VU 08 33 05 Output voltage VBB1 VBB2 00 42 09 Excess temperature In the CANopen stack none of these EMCY codes are fix implemented Advice Make these EMCY codes with CANOPEN_SENDEMCYMESSAGE Manufacturer specific information detail 24551 The EMCY codes of the manufacturer specific information for the inputs and outputs if available are di...

Page 210: ...second over a transmission length But it is not defined how many bits per step are transmitted The name baud can be traced back to the French inventor J M Baudot whose code was used for telex machines 1 MBd 1024 x 1024 Bd 1 048 576 Bd Boot loader On delivery ecomatmobile controllers only contain the boot loader The boot loader is a start program that allows to reload the runtime system and the app...

Page 211: ...ce profile for binary and analogue I O modules CiA DS 402 DS Draft Standard CANopen device profile for drives CiA DS 403 DS Draft Standard CANopen device profile for HMI CiA DS 404 DS Draft Standard CANopen device profile for measurement and control technology CiA DS 405 DS Draft Standard CANopen specification of the interface to programmable controllers IEC 61131 3 CiA DS 406 DS Draft Standard CA...

Page 212: ...IEC 61131 3 development tool CODESYS Homepage www codesys com CSV file CSV Comma Separated Values also Character Separated Values A CSV file is a text file for storing or exchanging simply structured data The file extension is csv Example Source table with numerical values value 1 0 value 1 1 value 1 2 value 1 3 value 2 0 value 2 1 value 2 2 value 2 3 value 3 0 value 3 1 value 3 2 value 3 3 This r...

Page 213: ... the device is checked It is to be found out if and what faults are given in the device Depending on the device the inputs and outputs can also be monitored for their correct function wire break short circuit value outside range For diagnosis configuration and log data can be used created during the normal operation of the device The correct start of the system components is monitored during the i...

Page 214: ...bedded software System software basic program in the device virtually the runtime system The firmware establishes the connection between the hardware of the device and the application program The firmware is provided by the manufacturer of the controller as a part of the system and cannot be changed by the user EMC EMC Electro Magnetic Compatibility According to the EC directive 2004 108 EEC conce...

Page 215: ...ry and hard disks Similar to a hard disk the data are however written and deleted blockwise in data blocks up to 64 128 256 1024 bytes at the same time Advantages of flash memories The stored data are maintained even if there is no supply voltage Due to the absence of moving parts flash is noiseless and insensitive to shocks and magnetic fields Disadvantages of flash memories A storage cell can to...

Page 216: ...ystem manual programming manual etc Intended use Use of a product in accordance with the information provided in the instructions for use IP address IP Internet Protocol The IP address is a number which is necessary to clearly identify an internet participant For the sake of clarity the number is written in 4 decimal values e g 127 215 205 156 ISO 11898 Standard Road vehicles Controller area netwo...

Page 217: ...n external document LSB Least Significant Bit Byte M MAC ID MAC Manufacturer s Address Code manufacturer s serial number ID Identifier Every network card has a MAC address a clearly defined worldwide unique numerical code more or less a kind of serial number Such a MAC address is a sequence of 6 hexadecimal numbers e g 00 0C 6E D0 02 3F Master Handles the complete organisation on the bus The maste...

Page 218: ...rding Node here network participant Configurable cyclic monitoring of each slave configured accordingly The master verfies if the slaves reply in time The slaves verify if the master regularly sends requests In this way failed network participants can be quickly identified and reported O Obj object Term for data messages which can be exchanged in the CANopen network Object directory Contains all C...

Page 219: ...ronous or synchronised Depending on the type of data to be transferred the correct selection of the type of transmission can lead to considerable relief for the CAN bus According to the protocol these services are unconfirmed data transmission it is not checked whether the receiver receives the message Exchange of network variables corresponds to a 1 to n connection 1 transmitter to n receivers PD...

Page 220: ... and outputs the PLC operates with within one cycle At the beginning of the cycle the PLC reads the conditions of all inputs into the process image During the cycle the PLC cannot detect changes to the inputs During the cycle the outputs are only changed virtually in the process image At the end of the cycle the PLC writes the virtual output states to the real outputs PWM PWM pulse width modulatio...

Page 221: ...hapter Software modules for the device p 23 rw RW read write Bidirectional data transmission Data can be read and also changed S SAE J1939 The network protocol SAE J1939 describes the communication on a CAN bus in commercial vehicles for transmission of diagnosis data e g engine speed temperature and control information Standard Recommended Practice for a Serial Control and Communications Vehicle ...

Page 222: ...que address in the bus stopped Operating status of a CANopen participant In this mode only NMT commands are transferred Symbols Pictograms are figurative symbols which convey information by a simplified graphic representation chapter What do the symbols and formats mean p 6 System variable Variable to which access can be made via IEC address or symbol name from the PLC T Target The target contains...

Page 223: ...hey are implemented as broadcast messages in CAN as PDOs According to the protocol these services are unconfirmed data transmission it is not checked whether the receiver receives the message Exchange of network variables corresponds to a 1 to n connection 1 transmitter to n receivers Use intended Use of a product in accordance with the information provided in the instructions for use W Watchdog I...

Page 224: ...JECTDICT 101 CANOPEN_SDOREAD 105 CANOPEN_SDOREADBLOCK 107 CANOPEN_SDOREADMULTI 109 CANOPEN_SDOWRITE 111 CANOPEN_SDOWRITEBLOCK 113 CANOPEN_SDOWRITEMULTI 115 CANOPEN_SENDEMCYMESSAGE 130 CANOPEN_SETSTATE 93 CANOPEN_SETSYNCSTATE 120 CANOPEN_WRITEOBJECTDICT 102 CiA 211 CiA DS 304 211 CiA DS 401 211 CiA DS 402 211 CiA DS 403 211 CiA DS 404 211 CiA DS 405 211 CiA DS 406 211 CiA DS 407 211 Clamp 15 211 CO...

Page 225: ...rtbeat 215 History of the instructions CR043n 7 HMI 215 How is this documentation structured 7 I ID 216 IEC 61131 216 IEC user cycle 216 ifm function elements 53 ifm function elements for the device CR0431 58 ifm libraries for the device CR0431 53 Important note to program the device 12 27 INC_ENCODER 167 Information about the device 10 INIT state Reset 29 INPUT 169 Input group IN0 IN3 16 Input gr...

Page 226: ... 163 166 168 170 173 177 179 181 183 184 185 186 187 188 189 190 192 194 195 197 198 199 PC card 219 PCMCIA card 219 PDM 219 PDO 219 PDU 219 Performance limits of the device 31 PERIOD 171 PES 219 PGN 219 Pictogram 220 PID controller 220 PLC configuration 220 Please note 8 Possible operating modes inputs outputs 206 Pre Op 220 Principle block diagram 12 Process image 220 Programming notes for CODES...

Page 227: ...e 222 System variables 41 T Target 222 TCP 222 Template 222 TIMER_READ_US 199 U UDP 223 Update the runtime system 36 Use as binary inputs 47 Use intended 223 Using ifm maintenance tool 29 V Variables 50 Verify the installation 36 W Watchdog 223 Watchdog behaviour 32 What do the symbols and formats mean 6 What previous knowledge is required 8 ...

Page 228: ...228 10 Notizen Notes Notes ...

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