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ifm

Programming Manual

ecomat

mobile

BasicController (CR0403) Runtime System V03.02

2015-04-01

ifm function elements

ifm function elements for the device CR0403

5.2.3

Function elements: CANopen

Function elements: CANopen status ................................................................................................... 92

Function elements: CANopen network management ........................................................................ 101

Function elements: CANopen object directory .................................................................................. 105

Function elements: CANopen SDOs ................................................................................................. 110

Function elements: CANopen SYNC ................................................................................................ 123

Function elements: CANopen guarding ............................................................................................ 127

Function elements: CANopen emergency ........................................................................................ 131

15059

For CANopen,

ifm electronic

provides a number of function elements which will be explained in the

following.

Function elements: CANopen status

CANOPEN_ENABLE........................................................................................................................... 93

CANOPEN_GETBUFFERFLAGS ....................................................................................................... 95

CANOPEN_GETSTATE ...................................................................................................................... 97

CANOPEN_SETSTATE ...................................................................................................................... 99

15061

Содержание CR0403

Страница 1: ...1 Original Programming Manual BasicController CR0403 Runtime system v03 02 CODESYS v2 3 English 7391000_04_UK 2015 04 01 ...

Страница 2: ...3 3 1 CAN interfaces 27 3 4 Software description 28 3 4 1 Software modules for the device 28 3 4 2 Programming notes for CODESYS projects 31 3 4 3 Operating states 35 3 4 4 Performance limits of the device 37 4 Configurations 39 4 1 Set up the runtime system 39 4 1 1 Reinstall the runtime system 40 4 1 2 Update the runtime system 41 4 1 3 Verify the installation 41 4 2 Set up the programming syste...

Страница 3: ...nction elements system 184 6 Diagnosis and error handling 202 6 1 Diagnosis 202 6 2 Fault 202 6 3 Response to system errors 203 6 3 1 Example process for response to an error message 203 6 4 CAN CANopen errors and error handling 203 7 Annex 204 7 1 System flags 204 7 2 Address assignment and I O operating modes 205 7 2 1 Address assignment inputs outputs 205 7 2 2 Possible operating modes inputs o...

Страница 4: ... property of the respective rights owners AS i is the property of the AS International Association www as interface net CAN is the property of the CiA CAN in Automation e V Germany www can cia org CODESYS is the property of the 3S Smart Software Solutions GmbH Germany www codesys com DeviceNet is the property of the ODVA Open DeviceNet Vendor Association USA www odva org EtherNet IP is the propert...

Страница 5: ...ual online help Contents Description of the configuration and the functions of the device software Source www ifm com select your country Data sheet search CR0403 Operating instructions 4 System manual Know how ecomatmobile Contents Know how about the following topics Overview Templates and demo programs CAN CANopen Control outputs User flash memory Visualisations Overview of the files and librari...

Страница 6: ...trate the notes in our instructions WARNING Death or serious irreversible injuries may result CAUTION Slight reversible injuries may result NOTICE Property damage is to be expected or may result Important notes concerning malfunctions or disturbances Other remarks Request for action Reaction result see abc Cross reference 123 0x123 0b010 Decimal number Hexadecimal number Binary number Designation ...

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

Страница 8: ...REMOTE_RESPONSE More precise description of the function block ENABLE 2014 05 12 Limitations CAN Limitations added for CAN CANopen and CAN J1939 2014 06 30 Name of the documentation System manual renamed as Programming manual 2014 08 08 FB PERIOD completed by operating mode phase measurement LZS V03 02 zz or higher 2014 08 26 Description of inputs outputs highside lowside replaced by positive nega...

Страница 9: ...or bodily injury ifm electronic gmbh does not assume any liability in this regard The acting person must have read and understood the safety instructions and the corresponding chapters in this manual before working on and with this device The acting person must be authorised to work on the machine equipment The acting person must have the qualifications and training required to perform this work A...

Страница 10: ...due to unintentional and dangerous start of machine or plant sections When creating the program the programmer must ensure that no unintentional and dangerous start of machines or plant sections after a fault e g e stop and the following fault elimination can occur Realise restart inhibit In case of an error set the outputs concerned to FALSE in the program A restart can for example be caused by v...

Страница 11: ... Hardware description 11 Interface description 27 Software description 28 975 3 1 Information about the device 14551 This manual describes of the ecomatmobile family for mobile machines of ifm electronic gmbh BasicController CR0403 3 2 Hardware description Hardware setup 12 Inputs technology 13 Outputs technology 18 Note on wiring 25 Safety instructions about Reed relays 25 Status LED 26 14081 ...

Страница 12: ...ng rest of the memory is reserved for system internal purposes SRAM 14027 SRAM volatile fast memory overall existing in the device SRAM indicates here all kinds of volatile and fast memories 592 kByte Thereof the following memory areas are reserved for data reserved by the application program 128 kByte The remaining rest of the memory is reserved for system internal purposes FRAM 2262 FRAM non vol...

Страница 13: ...s potentiometers or joysticks can be evaluated without additional reference voltage A fluctuation of the supply voltage has no influence on this measured value As an alternative an analogue channel can also be evaluated binarily In case of ratiometric measurement the connected sensors should be supplied with VBBS of the device So faulty measurements caused by offset voltage are avoided 8971 In pin...

Страница 14: ...tage This enables diagnosis of the input signals But in the application software the switching signal is directly available as bit information In pin binary input n CR device 1 input filter 2a input minus switching 2b input plus switching 3 voltage Figure basic circuit of binary input minus switching plus switching for negative and positive sensor signals In pin binary input n S sensor In pin bina...

Страница 15: ...dress assignment inputs outputs page 205 Configuration of each input is made via the application program FB INPUT page 173 input MODE FBs FASTCOUNT page 169 INC_ENCODER page 171 or PERIOD page 175 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...

Страница 16: ... 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 Ω the resolution is 1 2 Ω In the range of 1 kΩ the resolution is approx 2 Ω In the range of 2 kΩ the resolutio...

Страница 17: ... of multifunction channels These inputs can be used as follows each input separately configurable binary input plus switching BL for positive sensor signal with without diagnosis chapter Possible operating modes inputs outputs page 207 Sensors with diagnostic capabilities to NAMUR can be evaluated Configuration of each input is made via the application program FB INPUT page 173 input MODE ...

Страница 18: ...puts of this device are protected against overload and short circuit within specific ranges data sheet Definition overload 15249 Overload can only be detected on an output with current measurement Overload is defined as a nominal maximum current of 12 5 according to the data sheet Definition short circuit 15644 A short circuit can be detected on all outputs with diagnostic capabilities and is defi...

Страница 19: ... case of an overload or a short circuit the behaviour of the output depends on its operating mode FB OUTPUT page 180 input MODE MODE 2 binary output plus switched no diagnosis and no protection the output continues to be operated MODE 15 binary output plus switched with diagnosis error is detected and signalled on the output RESULT by the FB OUTPUT e g RESULT 128 141 142 or 145 This depends on the...

Страница 20: ...urrent and voltage measurement in the output Figure principle block diagram 1 Output channel 2a Read back channel for diagnosis via current measuring 2b Read back channel for diagnosis via voltage measuring 3 Pin output n 4 Load Diagnosis overload 19437 15249 Overload can only be detected on an output with current measurement Overload is defined as a nominal maximum current of 12 5 according to th...

Страница 21: ... V03 02 2015 04 01 System description Hardware description Diagnosis short circuit 19405 Short circuit detection is done via the read back channel When the output is switched Qn TRUE short circuit against GND is detected when the read back channel is pulled to LOW potential GND ...

Страница 22: ... data sheet Diagnosis binary outputs via voltage measuring 19403 19397 The diagnostics of these outputs is made via internal voltage measurement in the output Figure principle block diagram 1 Output channel 2 Read back channel for diagnosis 3 Pin output n 4 Load Diagnosis overload 19448 The outputs have no current measuring no overload detection Diagnosis wire break 19404 Wire break detection is d...

Страница 23: ...ovide several function options each output separately configurable binary output plus switching BH analogue output with Pulse Width Modulation PWM These outputs are not able for diagnosis chapter Possible operating modes inputs outputs page 207 Configuration of each output is made via the application program FB OUTPUT page 180 input MODE PWM output FB PWM1000 page 182 For the limit values please m...

Страница 24: ...a sheet Diagnosis binary outputs via voltage measuring 19403 19397 The diagnostics of these outputs is made via internal voltage measurement in the output Figure principle block diagram 1 Output channel 2 Read back channel for diagnosis 3 Pin output n 4 Load Diagnosis overload 19448 The outputs have no current measuring no overload detection Diagnosis wire break 19404 Wire break detection is done ...

Страница 25: ...er signals FRQ Frequency input H bridge Output with H bridge function PWM Pulse width modulated signal PWMi PWM output with current measurement IH Pulse counter input high side minus switching for negative sensor signal IL Pulse counter input low side plus switching for positive sensor signal R Read back channel for one output Allocation of the input output channels Catalogue mounting instructions...

Страница 26: ...te with error application is stopped Cause exceeded timeout of the application or visualisation Delete the application PowerOn reset Reload the application into the device Red permanently on FATAL ERROR application is stopped Cause software watchdog has failed PowerOn reset If without success Goto Bootloader PowerOn reset Reload the BasicSystem into the device Reload the application into the devic...

Страница 27: ...yer 2 page 66 CANopen master CANopen slave chapter Function elements CANopen page 92 CANopen network variables via CODESYS chapter Network variables page 57 SAE J1939 for drive management chapter Function elements SAE J1939 page 137 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 ...

Страница 28: ...ootloader 29 Runtime system 29 Application program 29 Libraries 30 14110 The software in this device communicates with the hardware as below software module Can user change the module By means of what tool Application program with libraries Yes CODESYS MaintenanceTool Runtime system Upgrade yes Downgrade no MaintenanceTool Bootloader No Hardware No The runtime system version number must correspond...

Страница 29: ...ng mode It provides the minimum functions for loading the runtime system among others support of the interfaces e g CAN Normally it is necessary to download the runtime system only once Then the application program can be loaded into the controller also repeatedly without affecting the runtime system The runtime system is provided with this documentation on a separate data carrier In addition the ...

Страница 30: ...Use ifm_CR0403_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...

Страница 31: ...nstance must be declared for each call Permitted Call FB and FUN in FB FUN function A function can have several inputs but only one output The output is of the same data type as the function itself PRG program A PRG can have several inputs and several outputs A PRG may only be called once in a project Permitted Call PRG FB and FUN in PRG NOTE Function blocks must NOT be called in functions Otherwi...

Страница 32: ...e devices in a wide range of applications As these units use more or fewer system resources depending on their complexity it is not always possible to use all units at the same time and several times NOTICE Risk that the device acts too slowly Cycle time must not become too long When designing the application program the above mentioned recommendations must be complied with and tested If necessary...

Страница 33: ...ng system and loaded in the controller several times during the program development for testing In CODESYS Online Login load the new program For each such download via CODESYS the source code is translated again The result is that each time a new checksum is formed in the controller memory This process is also permissible for safety controllers until the release of the software Graphics Creation a...

Страница 34: ...on under the tab R360 tools D E Distribution of the application program 8493 We recommend the following sequence if the application software is to be copied to the series machine and used Saving the software After completion of program development the latest version of the application program loaded in the controller using the ifm Maintenance Tool has to be read from the controller and saved on a ...

Страница 35: ...g for correctly power supply voltage This temporary state is replaced by the RUN or STOP state The LED lights orange Change out of this state possible into one of the following states RUN STOP STOP state 8288 A transition into this state is possible in the following cases from the INIT state if no application program is loaded From the RUN state if the following condition is met The STOP command i...

Страница 36: ... into one of the following states is possible INIT after power on reset STOP ERROR FATAL ERROR ERROR state 8290 A transition into this state is possible in the following cases if the supply voltage is too low In the ERROR state The outputs of the device are switched off Processing of the application program is stopped System parameters are saved The LED flashed red with 5 Hz A transition from this...

Страница 37: ...e changes to the Timeout Error state all processes are stopped reset all outputs are switched off the status LED flashes red at 10 Hz Eliminate the fault Delete application program PowerOn reset Reload the application program into the device If the watchdog in question fails a second watchdog leads the device to the state Fatal Error the status LED lights red Eliminate the fault PowerOn reset If w...

Страница 38: ...y CR045n SmartController CR253n PDM360 NG CR108n Criterion max FiFo transmit with FB CAN_TX with FB CAN_TX_ENH 4 messages 16 messages 4 messages 16 messages max FiFo receive with FB CAN_RX_ _FIFO 32 messages 32 messages Limitations for CANopen in this device 17976 The following limitations of the devices are valid Device BasicController CR040n CR041n CR043n BasicDisplay CR045n SmartController CR25...

Страница 39: ...vice configurations described in the corresponding installation instructions or in the Annex page 204 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 cha...

Страница 40: ...able for the selected target must always be used runtime system ifm_CR0403_Vxxyyzz RESX PLC configuration ifm_CR0403_Vxx CFG device library ifm_CR0403_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 CR0403 and the software version number xx e g 01 must always have the same value Otherwise the device go...

Страница 41: ... have a device with an older version and if the conditions for the hardware and your project are OK you can update your device to the new software version For this operation the same instructions apply as in the previous chapter Reinstall the runtime system 4 1 3 Verify the installation 14637 After loading of the runtime system into the controller Check whether the runtime system was transmitted c...

Страница 42: ...urations Set up the programming system 4 2 Set up the programming system Set up the programming system manually 42 Set up the programming system via templates 46 14461 4 2 1 Set up the programming system manually Set up the target 43 Activate the PLC configuration 44 CAN declaration e g CR1080 45 3963 ...

Страница 43: ...braries Always complement the appropriate device library ifm_CR0403_Vxxyyzz LIB manually NOTE The software versions suitable for the selected target must always be used runtime system ifm_CR0403_Vxxyyzz RESX PLC configuration ifm_CR0403_Vxx CFG device library ifm_CR0403_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 basi...

Страница 44: ...e To access 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 an...

Страница 45: ...ssible 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 CAN_TX Check whether the correct baud rate is set for the device baud rate must be identical fo...

Страница 46: ...talling the ecomatmobile DVD Software tools and documentation projects with templates have been stored in the program directory of your PC ifm electronic CoDeSys V Projects Template_DVD_V Open the requested template in CODESYS via File New from template CODESYS creates a new project which shows the basic program structure It is strongly recommended to follow the shown procedure 4 3 Function config...

Страница 47: ... the inputs and outputs So the corresponding input and output signal can be monitored and the application program can react in case of a fault Depending on the input and output certain marginal conditions must be taken into account when using the diagnosis It must be checked by means of the data sheet if the device used has the described input and output groups data sheet Constants are predefined ...

Страница 48: ...ter Possible operating modes inputs outputs page 207 Safety instructions about Reed relays 7348 For use of non electronic switches please note the following Contacts of Reed relays may be clogged reversibly if connected to the device inputs without series resistor Remedy Install a series resistor for the Reed relay Series resistor max input voltage permissible current in the Reed relay Example 32 ...

Страница 49: ...pass filter 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 58...

Страница 50: ...surement range 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 binar...

Страница 51: ... switching 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 3 600 Ω from HW state AD 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 page 173 ...

Страница 52: ...function blocks are e g FAST_COUNT Counter block for fast input pulses INC_ENCODER page 171 Up down counter function for the evaluation of encoders PERIOD page 175 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...

Страница 53: ...t For outputs without current 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 freque...

Страница 54: ...application program FB OUTPUT page 180 input MODE WARNING Dangerous restart possible Risk of personal injury Risk of material damage to the machine plant If in case of a fault an output is switched off via the hardware the logic state generated by the application program is not changed Remedy Reset the output logic in the application program Remove the fault Reset the outputs depending on the situ...

Страница 55: ...onously Otherwise the entire load current could flow through only one output The current measurement would no longer function Availability of PWM 15577 Device Number of available PWM outputs of which current controlled PWMi PWM frequency Hz BasicController CR0403 12 2 20 250 FBs for PWM functions 14718 The following function blocks are available for the PWM function of the outputs CURRENT_CONTROL ...

Страница 56: ...al Variables declaration list Values are available to all CODESYS projects in the whole network if the variable is contained in its declaration lists volatile Network retain nonvolatile CODESYS programming manual ecomatmobile DVD Software tools and documentation 4 5 1 Retain variables 8672 Retain variables can be saved automatically in a protected memory area and be reloaded automatically during a...

Страница 57: ...k retain variables 9854 After power on and before the first program cycle the device automatically writes the saved data back to the working memory once To do so no additional FBs must be integrated into the application program NOTE In this device do NOT use the following functions from the 3S library SysLibPlcCtrl lib FUN SysSaveRetains FUN SysRestoreRetains 4 5 2 Network variables 15242 9856 Glo...

Страница 58: ...d 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 CR0403 Library ifm_CR0403_V03yyzz LIB 59 Library ifm_RAWCan_NT_Vxxyyzz LIB 60 Library ifm_CANopen_NT_Vxxyyzz LIB 61 Library ifm_J1939_NT_Vxxyyzz LIB 63 14235 Legend for _Vxxyyzz LIB V xx 00 99 yy 00 99 zz 00 99 version target ver...

Страница 59: ...ge 190 Delivers information about the system software of the device software name software version build number build date GET_SW_VERSION page 191 Delivers information about the software versions stored in the device BasicSystem version bootloader version SIS version application program version user flash version INC_ENCODER page 171 Up down counter function for the evaluation of encoders INPUT pa...

Страница 60: ...6 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 page 78 Configures a range of data receive objects and reads out the receive buffer of the data objects Frame type and mask can be selected CAN_RX_RANGE_FIFO page 80 Configures a range of data receive objects and reads out t...

Страница 61: ...e Signals the network operating status of the node CANOPEN_GETODCHANGEDFLAG page 106 Get object directory changed flag Reports any change of value for a particular object directory entry CANOPEN_GETSTATE page 97 CANopen set state Request the parameters of the master a slave device or a specific node in the network CANOPEN_GETSYNCSTATE page 124 CANopen get SYNC state Reads the setting of the SYNC f...

Страница 62: ...nt Short description CANOPEN_SETSTATE page 99 CANopen set state Set the parameters of the master a slave device or a specific node in the network CANOPEN_SETSYNCSTATE page 126 CANopen set SYNC state Switch the SYNC functionality on and off CANOPEN_WRITEOBJECTDICT page 108 CANopen write object directory Writes configuration data into the object directory of the device ...

Страница 63: ..._NAME page 142 Give the device a name for identification in the network J1939_RX page 149 Receives a single frame message Shows the message last read on the CAN bus J1939_RX_FIFO page 150 J1939 RX with FIFO Receives all specific messages and successively reads them from a FiFo J1939_RX_MULTI page 151 J1939 RX multiframe message Receives multiframe messages J1939_SPEC_REQ page 146 J1939 specific re...

Страница 64: ...ments for the device CR0403 Function element outputs 65 Function elements RAW CAN Layer 2 66 Function elements CANopen 92 Function elements SAE J1939 137 Function elements processing input values 168 Function elements output functions 177 Function elements system 184 13988 3826 Here you will find the description of the ifm function elements suitable for this device sorted by topic ...

Страница 65: ... 08 function 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 moda...

Страница 66: ...CAN Layer 2 Function elements RAW CAN status 66 Function elements receive RAW CAN data 72 Function elements transmit RAW CAN data 82 Function elements RAW CAN remote 88 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 67 CAN_RECOVER 68 CAN_SETDOWNLOADID 69 CAN_STATUS 70 15049 ...

Страница 67: ...e CAN interface 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...

Страница 68: ...g 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 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...

Страница 69: ... can be set 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_I...

Страница 70: ...ormation on 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 th...

Страница 71: ...at the interface 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 ...

Страница 72: ...icController CR0403 Runtime System V03 02 2015 04 01 ifm function elements ifm function elements for the device CR0403 Function elements receive RAW CAN data CAN_RX 73 CAN_RX_ENH 74 CAN_RX_ENH_FIFO 76 CAN_RX_RANGE 78 CAN_RX_RANGE_FIFO 80 15050 ...

Страница 73: ...ata 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 0x0000 07FF Extended Frame 229 IDs 2 048 536 870 911 0x0000 0800 0x1FFF FFFF Paramete...

Страница 74: ...t The CAN IDs 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 ...

Страница 75: ...he data object 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 C...

Страница 76: ...tivate and reactive the FB via ENABLE The FiFo is deleted and can be newly filled 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 object identifier nor...

Страница 77: ...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 block execution completed without error 5 05 FB is...

Страница 78: ...test message 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 0x00...

Страница 79: ...000 0x0000 07FF Extended Frame 229 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 ...

Страница 80: ... ENABLE to deactivate 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 da...

Страница 81: ...F DATALENGTHCOUNT 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 func...

Страница 82: ... ecomatmobile BasicController CR0403 Runtime System V03 02 2015 04 01 ifm function elements ifm function elements for the device CR0403 Function elements transmit RAW CAN data CAN_TX 83 CAN_TX_ENH 84 CAN_TX_ENH_CYCLIC 86 15055 ...

Страница 83: ...ED Therefore extended 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 identif...

Страница 84: ...ed 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 edge Initialise block only 1 cycle Read block inputs 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...

Страница 85: ...e CR0403 Parameters 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 ...

Страница 86: ...h could affect 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 0x...

Страница 87: ...ments for the device CR0403 Parameters of the outputs 7510 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 9 09 CAN is not active 250 FA Error FiFo is full data was lost ...

Страница 88: ...nual ecomatmobile BasicController CR0403 Runtime System V03 02 2015 04 01 ifm function elements ifm function elements for the device CR0403 Function elements RAW CAN remote CAN_REMOTE_REQUEST 89 CAN_REMOTE_RESPONSE 90 15057 ...

Страница 89: ...ment already 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...

Страница 90: ...45n max 40 remote messages PDM360 NG CR108n max 100 remote messages Parameters of the inputs 7634 Parameter Data type Description ENABLE BOOL FALSE TRUE edge Initialise block only 1 cycle Read block inputs 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...

Страница 91: ...ts for the device CR0403 Parameters of the outputs 7636 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 6 06 FB is being processed remote for ID not active 7 07 FB is being processed remote for ID active ...

Страница 92: ... network management 101 Function elements CANopen object directory 105 Function elements CANopen SDOs 110 Function elements CANopen SYNC 123 Function elements CANopen guarding 127 Function elements CANopen emergency 131 15059 For CANopen ifm electronic provides a number of function elements which will be explained in the following Function elements CANopen status CANOPEN_ENABLE 93 CANOPEN_GETBUFFE...

Страница 93: ...started after 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 page 67 has not been activated before Parameters of the inputs 7788 Parameter Data type Description ENABLE BOOL TRUE TRUE Enable CANopen for the s...

Страница 94: ...he 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 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 ...

Страница 95: ...al inputs The 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 P...

Страница 96: ...ceive buffer 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...

Страница 97: ...e 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 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 ...

Страница 98: ... 0x01 guard 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 OPERATIO...

Страница 99: ...in the library ifm_CANopen_NT_Vxxyyzz LIB Symbol in CODESYS Description 7860 Via CANOPEN_SETSTATE parameters of the master a slave device or a node in the network can be set The treatment of the NMT state of master node or device is carried out in the CAN stack or via the commands of the FB CANOPEN_NMTSERVICES page 103 At the same time admissibility checks are carried out For reasons of consistenc...

Страница 100: ... block adopts this value as the new node ID of the device GlobalStart optional use of the parameter BOOL TRUE Requirement FB must be called immediately after starting the IEC program This setting overwrites the setting of the configuration TRUE Start all participants simultaneously FALSE Start all participants one after the other CfgTimeout optional use of the parameter TIME T 0ms set configuratio...

Страница 101: ...tmobile BasicController CR0403 Runtime System V03 02 2015 04 01 ifm function elements ifm function elements for the device CR0403 Function elements CANopen network management CANOPEN_GETNMTSTATESLAVE 102 CANOPEN_NMTSERVICES 103 15063 ...

Страница 102: ...id state transition 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 opera...

Страница 103: ...ANopen device 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 NODEID BYTE node ID ID of ...

Страница 104: ... 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 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 043 2B master slave is not initialised 241 F...

Страница 105: ...ontroller CR0403 Runtime System V03 02 2015 04 01 ifm function elements ifm function elements for the device CR0403 Function elements CANopen object directory CANOPEN_GETODCHANGEDFLAG 106 CANOPEN_READOBJECTDICT 107 CANOPEN_WRITEOBJECTDICT 108 15065 ...

Страница 106: ... 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 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 p...

Страница 107: ...cription 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 7937 Parameter Data type Description DATA DWORD param...

Страница 108: ...ata to the 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 ...

Страница 109: ...s of the outputs 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 ...

Страница 110: ...ts ifm function elements for the device CR0403 Function elements CANopen SDOs CANOPEN_SDOREAD 111 CANOPEN_SDOREADBLOCK 113 CANOPEN_SDOREADMULTI 115 CANOPEN_SDOWRITE 117 CANOPEN_SDOWRITEBLOCK 119 CANOPEN_SDOWRITEMULTI 121 2071 Here you will find ifm function elements for CANopen handling of Service Data Objects SDOs ...

Страница 111: ...d 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 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 ...

Страница 112: ... DATA DWORD the received data 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 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 n...

Страница 113: ...hange to segmented 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...

Страница 114: ... function for device without file 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 c...

Страница 115: ...ding to CANopen 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 0x01 0x7F 1 127 The COB ID of the SDO is calculated from the ...

Страница 116: ...Y 0 SDOMAXDATA 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 ...

Страница 117: ...data because 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 o...

Страница 118: ...rameter 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 32 20 SDO transmission aborted by client or server SDO abort code 0x80 33 21 TIMEOUT elapsed 242 F2 Error setting is not possible ...

Страница 119: ... network via 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 t...

Страница 120: ...ithout function for devices with 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 t...

Страница 121: ... 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 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 D...

Страница 122: ...rameter 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 32 20 SDO transmission aborted by client or server SDO abort code 0x80 33 21 TIMEOUT elapsed 242 F2 Error setting is not possible ...

Страница 123: ...ual ecomatmobile BasicController CR0403 Runtime System V03 02 2015 04 01 ifm function elements ifm function elements for the device CR0403 Function elements CANopen SYNC CANOPEN_GETSYNCSTATE 124 CANOPEN_SETSYNCSTATE 126 15069 ...

Страница 124: ...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 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 EXEC...

Страница 125: ...ing 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 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...

Страница 126: ...n element already 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 activ...

Страница 127: ...matmobile BasicController CR0403 Runtime System V03 02 2015 04 01 ifm function elements ifm function elements for the device CR0403 Function elements CANopen guarding CANOPEN_GETGUARDHBERRLIST 128 CANOPEN_GETGUARDHBSTATSLV 129 15071 ...

Страница 128: ...E CAN interface 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 guardin...

Страница 129: ...g states to 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 ...

Страница 130: ...r as heartbeat 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 r...

Страница 131: ...icController CR0403 Runtime System V03 02 2015 04 01 ifm function elements ifm function elements for the device CR0403 Function elements CANopen emergency CANOPEN_GETEMCYMESSAGES 132 CANOPEN_GETERRORREGISTER 134 CANOPEN_SENDEMCYMESSAGE 135 15073 ...

Страница 132: ...ce the last 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 activ...

Страница 133: ...MCY Emergency 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 execu...

Страница 134: ...e device Reset_1001 optional use of the parameter BOOL FALSE TRUE Reset error register 0x1001 FALSE function element is not executed Reset_1003 optional use of the parameter BOOL FALSE TRUE Reset error register 0x1003 Set number of entries to 0 FALSE function element is not executed The inputs remain unchanged Parameters of the outputs 7919 Parameter Data type Description ER BYTE Content of the er...

Страница 135: ...t is not active 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...

Страница 136: ... of the outputs 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 ...

Страница 137: ...ts SAE J1939 status 137 Function elements SAE J1939 request 145 Function elements receive SAE J1939 148 Function elements transmit SAE J1939 152 Function elements SAE J1939 diagnosis 160 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 138 J1939_GETDABYNAME 140 J1939_NAME 142 J1939_STAT...

Страница 138: ... ACE FALSE 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 J193...

Страница 139: ...03 Parameters 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 ...

Страница 140: ...tained in the 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 entr...

Страница 141: ... 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 must be r...

Страница 142: ...lue is set 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 veh...

Страница 143: ...evice permissible values 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 0xFF...

Страница 144: ...ve 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 current source address e g after address claiming 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 ...

Страница 145: ...ual ecomatmobile BasicController CR0403 Runtime System V03 02 2015 04 01 ifm function elements ifm function elements for the device CR0403 Function elements SAE J1939 request J1939_SPEC_REQ 146 J1939_SPEC_REQ_MULTI 147 15079 ...

Страница 146: ... 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 PGN DWORD PGN Parameter Group Number allowed 1 0x00000001 0x DA BYTE J1939 address of the requested device Parameters of the outputs 15029 Parameter Data type Description PRIO BYTE message priority 0 7 L...

Страница 147: ...ement 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 allowed 1 0x00000001 0x 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 transmi...

Страница 148: ... ecomatmobile BasicController CR0403 Runtime System V03 02 2015 04 01 ifm function elements ifm function elements for the device CR0403 Function elements receive SAE J1939 J1939_RX 149 J1939_RX_FIFO 150 J1939_RX_MULTI 151 15081 ...

Страница 149: ...n block inputs 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 receiv...

Страница 150: ...fied 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 7735 Parameter Data type Description SA BYTE Source address of the transmitter PRIO BYTE message priority 0 7 LEN BYTE number of the bytes received 0 8 DATA ARRAY 0 7 OF BYTE received data 1 8 bytes MORE_DATA_AV...

Страница 151: ...tion 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 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 0000 00...

Страница 152: ...BasicController CR0403 Runtime System V03 02 2015 04 01 ifm function elements ifm function elements for the device CR0403 Function elements transmit SAE J1939 J1939_TX 153 J1939_TX_ENH 154 J1939_TX_ENH_CYCLIC 156 J1939_TX_ENH_MULTI 158 15083 ...

Страница 153: ...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 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 ty...

Страница 154: ...NH_MULTI page 158 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 paramete...

Страница 155: ...ce CR0403 Parameters 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 ...

Страница 156: ... load The bus 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 parame...

Страница 157: ...m function elements for the device CR0403 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 ...

Страница 158: ...ription 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 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 Paramet...

Страница 159: ...ters of the 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 ...

Страница 160: ...ile BasicController CR0403 Runtime System V03 02 2015 04 01 ifm function elements ifm function elements for the device CR0403 Function elements SAE J1939 diagnosis J1939_DM1RX 161 J1939_DM1TX 163 J1939_DM1TX_CFG 166 J1939_DM3TX 167 15085 ...

Страница 161: ..._RX_DM1 receives 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 DTC...

Страница 162: ...e 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 BYTE Status of the ...

Страница 163: ...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 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 ...

Страница 164: ...ly TRUE OFF FALSE ON AMBERWARNINGLAMP BOOL Amber warning lamp for older projects only TRUE OUT FALSE ON PROTECTLAMP BOOL protect lamp for older projects only TRUE OFF FALSE ON SPN WORD Suspect Parameter Number FMI BYTE Failure Mode Indicator permissible values 0 31 0x00 0x1F SPN_CM BOOL conversion method MIL_FC BYTE Status of the electronic component Malfunction indicatation light status and flash...

Страница 165: ...n elements for the device CR0403 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 ...

Страница 166: ...ansmission of DM1 messages via the FB J1939_DM1TX page 163 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 page 163 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 Paramete...

Страница 167: ...ardware configuration 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 th...

Страница 168: ...1 ifm function elements ifm function elements for the device CR0403 5 2 5 Function elements processing input values FASTCOUNT 169 INC_ENCODER 171 INPUT 173 PERIOD 175 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 ...

Страница 169: ...put channels data sheet Overflow or underflow of the counter value is not detected Parameters of the inputs 8115 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 fast input channel 0 3 0 3 for the inputs I00 I03 MODE BYTE Operating mode of th...

Страница 170: ...ription VALUE 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...

Страница 171: ...n for the counter 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 ...

Страница 172: ...er 02 counts 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 upwar...

Страница 173: ...tate at the input channels data sheet The FB provides the current state at the selected channel The measurement and the output value results from the operating mode indicated via MODE digital input lowside with without diagnosis digital input highside analogue input 0 20 mA analogue input 0 10 V analogue input 0 32 V analogue input ratiometric measurement 0 32 V analogue input resistance measureme...

Страница 174: ...ted inputs binary input plus switching BL with diagnosis Namur 12 0x0C binary input minus switching BH 18 0x12 resistance input 16 3 600 Ω from HW state AD 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 page 49 Parameters of the outputs 8106 Parameter Data type Description VALUE WORD current value or stat...

Страница 175: ... time 19 13 Period duration measurement better replace by MODE 20 Measure the time interval between two positive edges Specify the average value over a certain number of periods 20 14 Period 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 cha...

Страница 176: ... periods to be averaged 1 4 if MODE 14 19 20 average arithmetically if MODE 25 average geometrically if PERIODS 1 no averaging TIMEBASE TIME only relevant if MODE 14 time for counting the edges in ms permissible values 1 2 000 Parameters of the outputs 8125 Parameter Data type Description VALUE_CYCLE DWORD period duration of the input signal in µs VALUE_FREQ REAL frequency of the input signal in H...

Страница 177: ... 2015 04 01 ifm function elements ifm function elements for the device CR0403 5 2 6 Function elements output functions CURRENT_CONTROL 178 OUTPUT 180 PWM1000 182 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 ...

Страница 178: ...roller is weaker slower At the desired value DESIRED_CURRENT 0 the output is immediately switched to 0 mA and is not adjusted downward to 0 mA in accordance with the set parameters The controller has a fast compensation mechanism for voltage drops of the supply voltage In addition to the controller behaviour of the controller and on the basis of the voltage drop the ratio of the PWM is increased s...

Страница 179: ...reases all other values to the next matching value DITHER_VALUE WORD peak to peak value of the dither in permissible values 0 1 000 0000 03E8 KP BYTE proportional component of the output signal KI BYTE integral component of the output signal Parameters of the outputs 8088 Parameter Data type Description PWM_RATIO WORD for monitoring purposes display PWM pulse ratio 0 1000 CURRENT WORD only availab...

Страница 180: ...ring operation Parameters of the inputs 17869 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 11 0 11 for the outputs OUT0 OUT11 VALUE BOOL TRUE activate output FALSE deactivate output MODE BYTE Operating mode of the fun...

Страница 181: ...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 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 w...

Страница 182: ...he mark to space ratio VALUE in steps of 1 Parameters of the inputs 17873 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 PWM output channel 0 11 0 11 for the outputs OUT0 OUT11 FREQUENCY WORD PWM frequency in Hz allowed 20 250 0x0014 0x00FA...

Страница 183: ... 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 for VALU...

Страница 184: ...ts system FLASH_INFO 185 FLASH_READ 186 GET_APP_INFO 187 GET_HW_INFO 188 GET_IDENTITY 189 GET_SW_INFO 190 GET_SW_VERSION 191 MEM_ERROR 192 MEMCPY 193 OHC 195 SET_IDENTITY 197 SET_LED 198 SET_PASSWORD 200 TIMER_READ_US 201 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 ...

Страница 185: ...ture Parameters 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 addres...

Страница 186: ...R and assigne it to the FB 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 FB SRC DWORD relative start address in the memory valid ...

Страница 187: ...ys build number 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 pr...

Страница 188: ...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 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 R...

Страница 189: ... 197 Parameters 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 ...

Страница 190: ... 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 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 syst...

Страница 191: ... inputs 14766 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...

Страница 192: ...s are not specified 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 inva...

Страница 193: ...o as many bytes as indicated under LEN are transmitted So it is also possible to transmit exactly one byte of a word variable Parameters of the inputs 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...

Страница 194: ...pe 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 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 mat...

Страница 195: ...dware version of device AD reset the memory area for OHC once In the FB MEM_ERROR page 192 set input RESET_OHC TRUE Only now can the operating hours counters be used Parameters of the inputs 14779 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 BYTE Operating hour...

Страница 196: ... hours 0 4 294 967 295 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 i...

Страница 197: ...ded program via the software Maintenance Tool in the application program via the FB GET_IDENTITY page 189 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 characte...

Страница 198: ...ameter 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 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 fr...

Страница 199: ...he outputs 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 ...

Страница 200: ...dition is assigned 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...

Страница 201: ...lock pulse which is counted upwards in a register This register can be read by means of the FB call and can for example be used for time measurement Info The system timer runs up to the counter value 4 294 967 295 µs at the maximum and then starts again from 0 4 294 967 295 µs 1h 11min 34s 967ms 295µs Parameters of the outputs 8220 Parameter Data type Description TIME_US DWORD current system time ...

Страница 202: ...at faults are given in the device Depending on the device the inputs and outputs can also be monitored for their correct function wire break short circuit value outside range For diagnosis configuration and log data can be used created during the normal operation of the device The correct start of the system components is monitored during the initialisation and start phase Errors are recorded in t...

Страница 203: ...6 3 1 Example process for response to an error message 8505 The runtime system cyclically writes the system flag TEMPERATURE The application program 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 temp...

Страница 204: ... 1 System flags 8374 8440 Die zur den Systemmerkern gehörenden Merkeradressen können sich bei einer Erweiterung der Steuerungskonfiguration ändern Für die Programmierung nur die Symbolnamen der Systemmerker nutzen System flags symbol name Type Description TEMPERATURE INT temperature in the device C SUPPLY_VOLTAGE_VBBS WORD supply voltage on VBBS in mV SUPPLY_VOLTAGE_VBBx WORD supply voltage on VBB...

Страница 205: ...ex Address assignment and I O operating modes 7 2 Address assignment and I O operating modes Address assignment inputs outputs 205 Possible operating modes inputs outputs 207 1656 also data sheet 7 2 1 Address assignment inputs outputs Inputs address assignment 206 Outputs address assignment 206 2371 ...

Страница 206: ...nputs outputs page 207 IEC address Symbolic address IB00 IN00 IB01 IN01 IB02 IN02 IB03 IN03 IB04 IN04 IB05 IN05 IB06 IN06 IB07 IN07 IB08 IN08 IB09 IN09 IB10 IN10 IB11 IN11 Outputs address assignment 8880 Abbreviations chapter Note on wiring page 25 Operating modes of the inputs outputs chapter Possible operating modes inputs outputs page 207 IEC address Symbolic address QB0 OUT00 QB1 OUT01 QB2 OUT...

Страница 207: ...al ecomatmobile BasicController CR0403 Runtime System V03 02 2015 04 01 Annex Address assignment and I O operating modes 7 2 2 Possible operating modes inputs outputs Inputs operating modes 208 Outputs operating modes 209 2386 ...

Страница 208: ...surement 0 1 3 000 Hz PERIOD MODE 20 14 Phase difference 0 359 PERIOD MODE 25 19 upwards counter downwards counter 0 30 000 Hz FASTCOUNT MODE 21 22 15 16 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 diagnosis Namur plus switching INPUT MODE 11 0B resistance input 16 3 600 ohms from HW state AD 16 30 000 ohms INPU...

Страница 209: ...hing OUTPUT MODE 15 0F binary output with diagnosis and protection plus switching OUTPUT MODE 16 10 analogue output with pulse width modulation PWM1000 OUT04 OUT07 off OUTPUT MODE 0 00 binary output plus switching OUTPUT MODE 2 02 analogue output with pulse width modulation PWM1000 OUT08 OUT11 off OUTPUT MODE 0 00 binary output plus switching OUTPUT MODE 2 02 binary output with diagnosis plus swit...

Страница 210: ...atmobile chapter 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 buf...

Страница 211: ...te 7 Description 00 21 03 I0 LSB I0 MSB Inputs interruption 08 21 03 I0 LSB I0 MSB Inputs short circuit 10 21 03 I0 LSB I0 MSB Excess current 4 20 mA 00 23 03 Q0 LSB Q0 MSB Outputs interruption 08 23 03 Q0 LSB Q0 MSB Outputs short circuit 00 31 05 Power supply VBBS 00 33 05 Terminal voltage VBBO 08 33 05 Output voltage VBBR 00 42 09 Excess temperature In the CANopen stack none of these EMCY codes ...

Страница 212: ... per second over a transmission length But it is not defined how many bits per step are transmitted The name baud can be traced back to the French inventor J M Baudot whose code was used for telex machines 1 MBd 1024 x 1024 Bd 1 048 576 Bd Boot loader On delivery ecomatmobile controllers only contain the boot loader The boot loader is a start program that allows to reload the runtime system and th...

Страница 213: ...ce profile for drives CiA DS 403 DS Draft Standard CANopen device profile for HMI CiA DS 404 DS Draft Standard CANopen device profile for measurement and control technology CiA DS 405 DS Draft Standard CANopen specification of the interface to programmable controllers IEC 61131 3 CiA DS 406 DS Draft Standard CANopen device profile for encoders CiA DS 407 DS Draft Standard CANopen application profi...

Страница 214: ...3 3 This results in the following CSV file value 1 0 value 1 1 value 1 2 value 1 3 value 2 0 value 2 1 value 2 2 value 2 3 value 3 0 value 3 1 value 3 2 value 3 3 Cycle time This is the time for a cycle The PLC program performs one complete run Depending on event controlled branchings in the program this can take longer or shorter D Data type Depending on the data type values of different sizes ca...

Страница 215: ... superimposed by a certain frequency of the PWM frequency This dither frequency must be an integer part of the PWM frequency DLC Data Length Code in CANopen the number of the data bytes in a message For SDO DLC 8 DRAM DRAM Dynamic Random Access Memory Technology for an electronic memory module with random access Random Access Memory RAM The memory element is a capacitor which is either charged or ...

Страница 216: ...led optimum data transmission on a non exclusive transmission medium The concept was developed in 1972 and specified as IEEE 802 3 in 1985 EUC EUC Equipment Under Control EUC is equipment machinery apparatus or plant used for manufacturing process transportation medical or other activities IEC 61508 4 section 3 2 3 Therefore the EUC is the set of all equipment machinery apparatus or plant that giv...

Страница 217: ...mon EEPROMs but access time approx 100 ns nearly unlimited access cycles possible H Heartbeat The participants regularly send short signals In this way the other participants can verify if a participant has failed HMI HMI Human Machine Interface I ID ID Identifier Name to differentiate the devices participants connected to a system or the message packets transmitted between the participants IEC 61...

Страница 218: ...ependent interface Part 4 Time triggered communication Part 5 High speed medium access unit with low power mode ISO 11992 Standard Interchange of digital information on electrical connections between towing and towed vehicles Part 1 Physical and data link layers Part 2 Application layer for brakes and running gear Part 3 Application layer for equipment other than brakes and running gear Part 4 Dia...

Страница 219: ...ion MMI HMI page 217 MRAM MRAM Magnetoresistive Random Access Memory The information is stored by means of magnetic storage elements The property of certain materials is used to change their electrical resistance when exposed to magnetic fields Advantages of MRAM as compared to conventional RAM memories non volatile like FRAM but access time only approx 35 ns unlimited number of access cycles poss...

Страница 220: ...sferred P PC card PCMCIA card PCMCIA card PCMCIA Personal Computer Memory Card International Association a standard for expansion cards of mobile computers Since the introduction of the cardbus standard in 1995 PCMCIA cards have also been called PC card PDM PDM Process and Dialogue Module Device for communication of the operator with the machine plant PDO PDO Process Data Object The time critical ...

Страница 221: ...ler consists of the following parts P proportional part I integral part D differential part but not for the controller CR04nn CR253n PLC configuration Part of the CODESYS user interface The programmer tells the programming system which hardware is to be programmed CODESYS loads the corresponding libraries Reading and writing the periphery states inputs outputs is possible Pre Op Pre Op PRE OPERATI...

Страница 222: ...r 2 The CAN protocol is international defined according to ISO 11898 1 and garantees in ISO 16845 the interchangeability of CAN chips in addition remanent Remanent data is protected against data loss in case of power failure The runtime system for example automatically copies the remanent data to a flash memory as soon as the voltage supply falls below a critical value If the voltage supply is ava...

Страница 223: ... SD memory card short for Secure Digital Memory Card is a digital storage medium that operates to the principle of flash storage SDO SDO Service Data Object The SDO is used for access to objects in the CANopen object directory Clients ask for the requested data from servers The SDOs always consist of 8 bytes Examples Automatic configuration of all slaves via SDOs at the system start reading error ...

Страница 224: ... protocol which belongs to the transport layer of the internet protocol family The task of UDP is to ensure that data which is transmitted via the internet is passed to the right application At present network variables based on CAN and UDP are implemented The values of the variables are automatically exchanged on the basis of broadcast messages In UDP they are implemented as broadcast messages in...

Страница 225: ...34 CANOPEN_GETGUARDHBERRLIST 128 CANOPEN_GETGUARDHBSTATSLV 129 CANOPEN_GETNMTSTATESLAVE 102 CANOPEN_GETODCHANGEDFLAG 106 CANOPEN_GETSTATE 97 CANOPEN_GETSYNCSTATE 124 CANOPEN_NMTSERVICES 103 CANOPEN_READOBJECTDICT 107 CANOPEN_SDOREAD 111 CANOPEN_SDOREADBLOCK 113 CANOPEN_SDOREADMULTI 115 CANOPEN_SDOWRITE 117 CANOPEN_SDOWRITEBLOCK 119 CANOPEN_SDOWRITEMULTI 121 CANOPEN_SENDEMCYMESSAGE 135 CANOPEN_SETS...

Страница 226: ...eceive RAW CAN data 72 receive SAE J1939 148 SAE J1939 137 SAE J1939 diagnosis 160 SAE J1939 request 145 SAE J1939 status 137 system 184 transmit RAW CAN data 82 transmit SAE J1939 152 G GET_APP_INFO 187 GET_HW_INFO 188 GET_IDENTITY 189 GET_SW_INFO 190 GET_SW_VERSION 191 H Hardware description 11 Hardware setup 12 Heartbeat 217 History of the instructions CR040n 8 HMI 217 How is this documentation...

Страница 227: ... 18 Overview documentation modules for ecomatmobile devices 5 P PC card 220 PCMCIA card 220 PDM 220 PDO 220 PDU 221 Performance limits of the device 37 PERIOD 175 PES 221 PGN 221 Pictogram 221 Pictograms 6 PID controller 221 PLC configuration 43 221 Please note 9 Possible operating modes inputs outputs 207 Pre Op 221 Previous knowledge 10 Process image 221 Process input values 168 Programming note...

Страница 228: ... 10 Status LED 26 STOP state 35 stopped 223 Symbols 223 System description 11 System flags 204 System variable 224 System variables 46 T Target 224 TCP 224 Template 224 TIMER_READ_US 201 U UDP 224 Update the runtime system 41 Use as binary inputs 52 Use intended 224 Using ifm maintenance tool 34 V Variables 56 Verify the installation 41 W watchdog 224 Watchdog 224 Watchdog behaviour 37 What do the...

Страница 229: ...229 ifm Programming Manual ecomatmobile BasicController CR0403 Runtime System V03 02 2015 04 01 Notizen Notes Notes 10 Notizen Notes Notes ...

Страница 230: ...230 ifm Programming Manual ecomatmobile BasicController CR0403 Runtime System V03 02 2015 04 01 Notizen Notes Notes ...

Страница 231: ...231 ifm Programming Manual ecomatmobile BasicController CR0403 Runtime System V03 02 2015 04 01 Notizen Notes Notes ...

Страница 232: ...232 ifm Programming Manual ecomatmobile BasicController CR0403 Runtime System V03 02 2015 04 01 Notizen Notes Notes ...

Страница 233: ...0440 Helsinki Tel 358 75 329 5000 ifm electronic Ltd Hampton Middlesex TW12 2HD Tel 44 208 213 0000 ifm electronic Monoprosopi E P E 15125 Amaroussio Tel 30 210 6180090 ifm electronic kft 9028 Györ Tel 36 96 518 397 ifm electronic s a 20041 Agrate Brianza MI Tel 39 039 68 99 982 Astragal Ltd Azur 58001 Tel 972 3 559 1660 ifm electronic India Branch Office Kolhapur 416234 Tel 91 231 267 27 70 efect...

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