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Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n

2017-12-19

Programming

Use RawCAN (CAN Layer 2)

8.5.3

RawCAN: Request and send remote CAN messages

23548

The following POUs are available to request remote messages in a CAN network or to send replies to
a remote request:

Function element

Short description

CAN_RemoteRequest

(→ p.

166

)

Send a request for a remote message

CAN_RemoteResponse

(→ p.

168

)

reply to the request of a remote message

Содержание CR711S

Страница 1: ...1 Original Programming Manual ecomatController 60 1 CR711S Operating System V2 5 0 n CODESYS V3 5 SP11 English 7391123_02_UK 2017 12 19...

Страница 2: ...4 Installation 18 4 1 System requirements 18 4 1 1 Hardware 18 4 1 2 Software 18 4 1 3 Licensing 18 4 2 Carry out installation 19 4 2 1 CODESYS programming software 19 4 2 2 Complete package for ecoma...

Страница 3: ...d programming languages 78 8 2 2 Supported variable types 79 8 2 3 Options to access input and output data 80 8 2 4 Configure task processing 80 8 3 Use ifm function libraries 81 8 3 1 Access to input...

Страница 4: ...fo GVL 113 10 3 5 SysInfoStruct STRUCT 114 10 3 6 LED_COLOUR ENUM 114 10 3 7 LED_FLASH_FREQ ENUM 114 10 4 ifmFastInput library 115 10 4 1 FastCount 116 10 4 2 IncEncoder 118 10 4 3 Period 120 10 4 4 C...

Страница 5: ...176 10 9 9 CAN_Info GVL 178 10 9 10 CAN_BUS_STATE STRUCT 178 11 Troubleshooting 179 11 1 Error classes 179 11 2 Error messages 180 11 3 Messages diagnostic codes of the function blocks 180 12 Appendix...

Страница 6: ...ternational 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 co...

Страница 7: ...mode Firmware update of the device in the recovery mode Configuration of the device using CODESYS Programming of the device internal PLC of the CR711S using the CODESYS programming system Description...

Страница 8: ...Know how about the following topics examples Overview Templates and demo programs CAN CANopen Control outputs Visualisations Overview of the files and libraries 1 5 Overview documentation for CODESYS...

Страница 9: ...terms Appendix In case of malfunctions or uncertainties please contact the manufacturer at Contact ifm weltweit ifm worldwide ifm l chelle internationale p 205 We want to become even better Each sepa...

Страница 10: ...his device is used to control processes in applications For this device 2 contains 2 PLCs that can be programmed independently of each other In the CODESYS software platform these PLCs are called stan...

Страница 11: ...y damage 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 thi...

Страница 12: ...LC programming with IEC 61131 3 To program the PLC the people should also be familiar with the CODESYS software The document is intended for specialists These specialists are people who are qualified...

Страница 13: ...electrical electronic programmable electronic safety related systems ISO 13849 Standard Safety of machinery safety related parts of control systems Part 1 General design principles Part 2 Validation...

Страница 14: ...o staff members who have the primary responsibility Tasks prepare specifications prepare safety concept and machine specifications prepare functional specifications determine or calculate the reliabil...

Страница 15: ...ith the applicable directives and standards adhere to the mechanical and electrical layout of the safety functions when designing the mobile machine document the respective steps of the specification...

Страница 16: ...SE in the program A restart can for example be caused by Voltage restoration after power failure Reset after the watchdog responded because the cycle time was too long Error elimination after an E sto...

Страница 17: ...serial number 20780 In the user s production facility draw a diagram of the controller network in the machine Enter the serial number of each controller installed into the network diagram Before downl...

Страница 18: ...nterface of the CR711S installation instructions 4 1 2 Software 22913 To program the device internal PLC of the CR711S the following software components are required Component of Description version C...

Страница 19: ...ing system of the device 24 23077 4 2 1 CODESYSprogramming software 7282 The CODESYS Development System short CODESYS serves as platform for the creation of PLC applications according to the standard...

Страница 20: ...omponents Data name path Description CODESYS for ifm R360III Products zip Complete package CODESYS_Package Folder PlugIn Folder CODESYS Safety SIL2 xyz package Package CODESYS Safety SIL2 Plugin ifm S...

Страница 21: ...select the required file package and carry out a full installation The Package Manager window shows the installed package Click on Close to quit the Package Manager Save the project Close CoDeSys Sta...

Страница 22: ...Selected package version is uninstalled Click on Close to quit the Package Manager 4 2 3 Check theoperating system version of the device 23560 Check the operating system version of the device 23590 To...

Страница 23: ...path of PLC p 61 Copy the fifle info devinfo txt by clicking on to a local PC drive Manage files p 66 Open and check devinfo txt in an editor e g notepad devinfo txt contains the following information...

Страница 24: ...vice with the batch file 23825 ATTENTION Strictly follow the instructions on the screen during the entire update process Otherwise the controller may be destroyed To update the operating system of the...

Страница 25: ...ntroller Update Start Menu Follow the instructions on the screen The updated process is executed ATTENTION After loading the first file cmd ifm and after the instruction on the screen execute a power...

Страница 26: ...ption 26 Interfaces 51 Software description 53 975 5 1 Hardware description Hardware structure 26 Device supply technology 33 Monitoring concept 36 Inputs technology 38 Outputs technology 43 Feedback...

Страница 27: ...nality is in preparation At present the device has NO safety functionality Do NOT use the device for safety related functions All devices of this controller family can execute both security levels sim...

Страница 28: ...Hardware description System overview 23405 Overview of the system modules Details Module see Power supply Device supply technology p 33 Inputs Inputs technology p 38 Interfaces Interfaces Memory port...

Страница 29: ...and outputs are assigned in groups Input groups are required for 2 channel safety related inputs The identifier of an input or output results from the following principle 1 Type IN OUT 2 Group number...

Страница 30: ...y functionality is in preparation At present the device has NO safety functionality Do NOT use the device for safety related functions The device features separate controllers for standard functions f...

Страница 31: ...specific data in one data format IEC memory bytes permanent storage of application specific data at application specific addresses 23368 WARNING The safety functionality is in preparation At present t...

Страница 32: ...ry partitioning The configuration enables optimum separation between safety relevant application and standard application Memory Configuration IEC code safe IEC RAM safe IEC code non safe IEC RAM non...

Страница 33: ...e Nominal operating voltage all functions available VBB15 5 V AND VBB30 8 V The controller is booting 32 0 36 0 Overvoltage protected The device is not damaged by the voltage deviation If this conditi...

Страница 34: ...s the connection of the controller to the VBB30 potential via solid state switch The controller boots and starts Procedure when switching off the main switch Running tasks will continue till the end I...

Страница 35: ...m recognises the applied voltage VBB15 5 V AND VBB30 8 V and activates the connection of the controller to the VBB30 potential via solid state switch The ignition lock is bypassed Latching of the cont...

Страница 36: ...tput groups chapter List of outputs p 49 During the program process the output switches are under the user s full software control For further safety the corresponding applicable national regulations...

Страница 37: ...to logic 0 Error class A chapter Error classes To eliminate the fault Rebooting the PLC is necessary via voltage on off Configure IEC watchdog 23564 Familiarise yourself with the following CODESYS fun...

Страница 38: ...A B 39 Input type IN RESISTOR A 40 Input type IN DIGITAL A 40 Input type IN DIGITAL B 41 23078 We differentiate between the following input types Binary input block diagram plus minus switching 23080...

Страница 39: ...asurement 0 20 mA Analogue voltage measurement 0 10 V Analogue voltage measurement 0 32 V Analogue voltage measurement ratiometric to the reference voltage Input type IN FREQUENCY A B 23083 Binary and...

Страница 40: ...nput no CR device 1 input filter 2 CSI binary input plus switching 3 measured value analogue Configure input Chapter System configuration Possible operating modes Binary input CSI BL RE 10 k or Namur...

Страница 41: ...12 19 System description Hardware description Input type IN DIGITAL B 23089 Binary inputs Block diagram IN DIGITAL B IN Connection of binary input no CR device 1 input filter 2 measured value analogue...

Страница 42: ...n A IN0200 IN Multifunction A IN0201 IN Multifunction A IN0202 IN Multifunction A IN0203 IN Multifunction A IN0300 IN Digital B IN0301 IN Digital B IN0400 IN Resistor A IN0401 IN Resistor A IN0500 IN...

Страница 43: ...WM n A 44 Output type OUT PWM n B 45 Output type OUT PWM n BRIDGE A 46 Output type OUT Supply A 47 Output type OUT Voltage A 48 23079 We differentiate between the following output types Binary output...

Страница 44: ...controlled PWMI Block diagram OUT PWM n A OUT connection of PWM output no CR device 1 measured value analogue 2 measured value binary Configure input Chapter System configuration Possible operating m...

Страница 45: ...th modulation PWM Block diagram OUT PWM n B OUT connection of PWM output no CR device 1 measured value binary UADC current mirror Configure input Chapter System configuration Possible operating modes...

Страница 46: ...vice 1 measured value analogue 2 measured value binary Configure input Chapter System configuration Possible operating modes Binary output CSO BH Binary output CSI BL analogue output CSO with pulse wi...

Страница 47: ...Outputs tab Parameter OUT3000 Activate the required list element in the column Value for 5 V OUT_SENSOR_05 or for 10 V OUT_SENSOR_10 Monitoring of the values at the reference voltage output In the de...

Страница 48: ...ion 23424 Setting the reference voltage Select Local_IO Outputs tab Parameter OUT3001 OUT3002 in the device tree Enter the required value V in the column Value permissible 0 10 Monitoring of the value...

Страница 49: ...UT PWM 40 Bridge A OUT0007 OUT PWM 40 Bridge A OUT0008 OUT PWM 40 A OUT0100 OUT PWM 25 A OUT0101 OUT PWM 25 B OUT0102 OUT PWM 25 A OUT0103 OUT PWM 25 B OUT0104 OUT PWM 25 A OUT0105 OUT PWM 25 B OUT010...

Страница 50: ...e of the group all outputs are switched off all outputs will be switched off the controller reports the error to the IEC application To reboot the device remove the error cause do a power on reset OR...

Страница 51: ...download debugging Connections and data data sheet 5 2 2 Ethernet interface 23134 23450 NOTICE Only use the Ethernet interface in a secure network environment e g separate network or VPN Otherwise un...

Страница 52: ...CAN based fieldbuses Online help Fieldbus support CAN based fieldbuses The device has 4 CAN interfaces Each CAN interface supports the following protocols RawCAN CAN Layer 2 CANopen Manager CANopen De...

Страница 53: ...nt CODESYS Development System is installed in the PC notebook to create and debug both applications The controller supports service and maintenance via CODESYS or via other tools The CODESYS functions...

Страница 54: ...g system enables separate execution of the safe and the non safe software components in the controller 23368 WARNING The safety functionality is in preparation At present the device has NO safety func...

Страница 55: ...tart program with which the operating system and the application can be reloaded on the device 23561 Only execute the bootloader update when explicitly requested by ifm Operating system 23504 Basic pr...

Страница 56: ...nction libraries for the programming of the device under CODESYS 3 5 Name Description ifmCANopenManager Functions for use of the CAN interfaces as CANopen Manager ifmDeviceCR711S Data structures enume...

Страница 57: ...with CODESYS 6 1 Start CODESYS 23383 Requirements Software components are correctly installed Installation Start CODESYS Double click on 3 5 SP11 symbol CODESYS starts CODESYS user interface appears...

Страница 58: ...R711S project Select File New Project The window New Project appears Set the following values 1 Templates Select the device project template e g CR0721 Project 2 Name Enter the project name 3 Location...

Страница 59: ...lled SafetyPLC StandardPLC ifm CR711S Standard Content of the PLC called StandardPLC PLC logic contains the applications of the CR711S Objects of a PLC application p 77 System info provides access to...

Страница 60: ...l be used Standard functions and methods of CODESYS will not be described At the beginning of each section there will be a reference to the corresponding chapters of the CODESYS online help To access...

Страница 61: ...read or manipulate data or tamper with the functions of the device 6 4 1 Set communicationpath of PLC 13901 To configure the communication path between the programming system CODESYS and the device in...

Страница 62: ...th the ifm package The user can add the libraries individually to an application he she needs for the programming By means of the container library ifmR360 3 library the user can add all functions ava...

Страница 63: ...e help CODESYS Development System Protect and save project The user can use a password to protect the device from unauthorised access Select Project Project Settings Window Project Settings appears Se...

Страница 64: ...Do NOT use the device for safety related functions Further information Memory allocation variants p 32 To allocate the memory partitions to the PLCs 1 Select memory partition In the device tree Double...

Страница 65: ...tion In the CODESYS device tree Double click on symbol Device CR711S In the editor window Select I O Assignment tab Editor window shows the PLC allocation of the inputs outputs excerpt Section Element...

Страница 66: ...ow shows the file structure on the PC on the left and on the device on the right 2 Transfer file from PC to device Highlight the file on the left Select device target directory on the right Star trans...

Страница 67: ...required PLC Element Local_IO Double click on Inputs Outputs Click on Parameters tab The parameter setting view of the inputs outputs appears Select input output from the list Double click in the col...

Страница 68: ...8 82 21 UDP port 12345 23450 NOTICE Only use the Ethernet interface in a secure network environment e g separate network or VPN Otherwise unauthorised persons can read or manipulate data or tamper wit...

Страница 69: ...her are possible in the network In the same physical network different subnet masks of the participants are allowed They form different groups of participants which cannot communicate with groups of p...

Страница 70: ...will find among others the following entries CIA CANopen CIA CANopenManager CANopen_Manager CANopen_Manager_SIL2 CIA Local Device CANopen Device CANopen Device SIL2 SAE J1939 SAE J1939 Manager J1939_...

Страница 71: ...ect ifmCANbus Confirm the selection with Add Device Close the window Add Device with the Close button Assign CAN interface In the CODESYS device tree Double click on Communication CAN ifmCANBus Tab Ge...

Страница 72: ...ts e g Configure the heartbeat protocol in the section Nodeguarding Click on the field of options in order to activate Heartbeat Producing Set the parameters Node ID and Producer Time ms Configure the...

Страница 73: ...tach CANopen device In the CODESYS device tree Right mouse click on Communication CAN ifmCANBus Add Device Select Window Add Device appears Select Vendor All vendors In the list below Select Fieldbuss...

Страница 74: ...Network assign this setting with to a CAN interface permissible 0 3 Select the required value for baud rate Baudrate bit s from the list field Attach J1939 manager In the CODESYS device tree Right mo...

Страница 75: ...rs In the CODESYS device tree Double click on Communication CAN J1939_Manager J1939_ECU Make the following settings in the tab General in the section General according to the specific application user...

Страница 76: ...T Number 1 ETHERNET0 IpV4Address 192 168 82 247 IpV4SubnetMask 255 255 255 0 IpV4Gateway 192 168 82 21 UDPPort 12345 CAN Number 4 CAN0 Baud rate 250000 NodeId 127 CAN1 Baud rate 250000 NodeId 126 CAN2...

Страница 77: ...on are listed as sub elements of the node Application in the device tree In the basic configuration a PLC application contains the following objects Application Container for objects of a PLC applicat...

Страница 78: ...Application PLC_PRG PRG Editor window shows input mask of the selected programming language Enter program code 8 2 1 Supported programming languages 23454 The following table shows which ifm function...

Страница 79: ...U Applies only to the POU in which it has been declared volatile local retain non volatile global in the global variable list GVL applies to all POUs of the project volatile global retain non volatile...

Страница 80: ...controlled by parameters The user can set the parameters for each task CODESYS automatically creates the following task when the project is created Name Description Task Task for the processing of the...

Страница 81: ...witches ifmOutHBridge Functions to access H bridge outputs ifmOutPWM Functions to access PWM outputs ifmRawCAN Functions for use of the CAN interfaces as CAN Layer 2 ifmSysInfo Functions to set read s...

Страница 82: ...be switched on or off HBridge p 148 H bridge on a PWM channel pair PWM1000 p 156 Initialises and configures a PWM capable output channel the mark to space ratio can be indicated in steps of 1 CurrentC...

Страница 83: ...O image global variables are coupled to the IEC addresses Ixx Qxx Via symbol names the user has access to the following elements from the application inputs and outputs Functions of the operating ele...

Страница 84: ...g direction upwards FALSE not active TRUE active ValueLastCountWasDown BIT r Counting direction downwards FALSE not active TRUE active ValueCycle UDINT r cCcle time 0 4294967295 ValueFreq REAL r Frequ...

Страница 85: ...oltage value of the analogue output in mV 0 65535 OutCurrentDiag UINT r Measured current value of the analogue output in mA 0 65535 OutState BIT r w Output status 0 4294967295 Error BIT r w Error FALS...

Страница 86: ...current diagnostic data of the device Name Data type Access Description Possible values iTemperature0 INT r Temperature on the system board value in C 32768 32767 iTemperature1 INT r Temperature on t...

Страница 87: ...vailable to control a node in a CAN network Function element Short description CAN_Enable p 162 initialises the specified CAN interface configures the CAN baud rate CAN_Recover p 164 controls the proc...

Страница 88: ...3 RawCAN Request and send remote CAN messages 23548 The following POUs are available to request remote messages in a CAN network or to send replies to a remote request Function element Short descript...

Страница 89: ...n CODESYS libraries from 3S Requirements The device is configured as CANopen manager master via system configuration CANopen Manager p 71 8 6 1 CANopen Send and receive SDO 23537 The following POUs ar...

Страница 90: ...Programming Manual ecomatController 60 1 CR711S Operating System V2 5 0 n 2017 12 19 Programming Use SAE J1939 8 7 Use SAE J1939 23802 To use the SAE J1939 network protocol 3S provides the library IoD...

Страница 91: ...e following component Application Load the application to the device p 91 Observe notes on the operating modes of the PLC of the device Operating states of CR711S 9 1 1 Load the application to the dev...

Страница 92: ...highlight application as active application Use Online Login to establish connection to the device CODESYS is in the online mode 2 Delete application In the editor window Select Device Applications ta...

Страница 93: ...ng states 9 2 Operating states 23421 The following figure shows the possible operating modes of the device It contains status of the application status of the process communication inputs outputs CAN...

Страница 94: ...terface 1 APPL0 APPL1 APPL2 APPL3 LEDs for free use in the application 9 3 1 Status LED system ifmoperating system SYS0 SYS1 23429 For the status of the ifm operating system both LEDs SYS0 and SYS1 ar...

Страница 95: ...RATING Application RUN time frame 200 ms Yellow Flashing with 2 Hz RUNTIME_DEBUG_RUN Application RUN time frame 200 ms Yellow permanently on RUNTIME_DEBUG_STOP Application STOP Red flashes with 10 Hz...

Страница 96: ...s follows LED colour Display Description Green permanently on Ethernet connection is established non data traffic Green blinks Ethernet connection is established with data traffic 9 3 5 Controlling LE...

Страница 97: ...warm p 97 Reset cold application changes to the STOP state All variables VAR VAR RETAIN of the application are initialised Reset application cold p 98 Reset default application goes to STOP state The...

Страница 98: ...de Select Online Reset cold to reset the application Application changes to the STOP state All variables are newly initialised 9 4 4 Reset application origin 22672 To reset the application In the devi...

Страница 99: ...s 9 5 1 Transmission of the files with CODESYS 23579 23520 To transfer files between PC and device 1 Select file view In the device tree Double click on symbol Device CR711S In the editor window Selec...

Страница 100: ...urce file on the PC Target target file on the device Example tftp i 192 168 82 247 PUT Windows Pfad ifmOS ifm os ifmOS ifm 9 5 3 Files for seriesproduction 23578 The following files must be transferre...

Страница 101: ...2 168 0 100 IP Mask Subnet mask of the network E g 255 255 255 0 Gateway Address IP address of the network gateway E g 192 168 0 2 Version Firmware Version of the installed firmware E g V1 4 0 Serial...

Страница 102: ...brary 161 7034 This chapter contains the detailed description of the function libraries provided by ifm electronic for programming the device under CODESYS 3 5 10 1 General 23828 General information a...

Страница 103: ...ifmCANopenManager library Symbol in CODESYS Description 18445 The FB indicates the current state of a CANopen node Input parameter 18446 Parameter Data type Description Possible values xExecute BOOL...

Страница 104: ...ecuted Note diagnostic information eDiagInfo DIAG_INFO Diagnostic information List below diagnostic codes eNMT_State NMT_ STATES State of the CANopen node NMT_STATES ENUM p 111 Diagnostic codes STAT_I...

Страница 105: ...object directory The CANopen node has to reply to the request of the FB within a period of time defined by the user Input parameters 19832 Parameters Data type Description Possible values xExecute BO...

Страница 106: ...fo DIAG_INFO Diagnostic information List below diagnostic codes udiLen UDINT Number of received bytes Diagnostic codes STAT_INACTIVE State FB Function is inactive STAT_DONE State FB Function has been...

Страница 107: ...ode as well as index and subindex of the object directory Input parameters 7011 Parameters Data type Description Possible values xExecute BOOL Control execution of the FB FALSE TRUE FB is executed onc...

Страница 108: ...information eDiagInfo DIAG_INFO Diagnostic information List below diagnostic codes Diagnostic codes STAT_INACTIVE State FB Function is inactive STAT_DONE State FB Function has been successfully execut...

Страница 109: ...iption 7001 The FB sends a command for the control of a CANopen node Input parameter 6981 Parameter Data type Description Possible values xExecute BOOL Control execution of the FB FALSE TRUE FB is exe...

Страница 110: ...No error occurred or the FB is still being executed TRUE Error occurred Action could not be executed Note diagnostic information eDiagInfo DIAG_INFO Diagnostic information List below diagnostic codes...

Страница 111: ...DE Initiate CAN node INT 0 SET_PRE_OPERATIONAL Set preoperational state INT 1 SET_OPERATIONAL Set operational state INT 2 RESET_NODE Reset CAN node INT 3 RESET_COMM Reset communication INT 4 STOP_NODE...

Страница 112: ...ifmDeviceCR0721 library 10 3 Library ifmDeviceCR0721 library CAN_BAUDRATE ENUM 113 CAN_CHANNEL ENUM 113 CANconstants GVL 113 SysInfo GVL 113 SysInfoStruct STRUCT 114 LED_COLOUR ENUM 114 LED_FLASH_FRE...

Страница 113: ..._500 500 kilobaud INT 500 KBAUD_800 800 kilobaud INT 800 KBAUD_1000 1000 kilobaud INT 1000 10 3 2 CAN_CHANNEL ENUM 17131 Name Description Possible values Data type Value CAN_CHANNEL Identifier of the...

Страница 114: ...FW Device 10 3 6 LED_COLOUR ENUM 23232 Name Description Possible values Data type Value LED_COLOUR Colour of the LED RGB code BLACK OFF Off UINT 0x00 0000 WHITE White UINT 0xFF FFFF RED Red UINT 0xFF...

Страница 115: ...ary 10 4 ifmFastInput library FastCount 116 IncEncoder 118 Period 120 COUNT_DIRECTION ENUM 122 ENCODER_RESOLUTION ENUM 122 FREQ_SENSE_PERIODS ENUM 122 MODE_FAST_COUNT ENUM 122 MODE_INC_ENCODER ENUM 12...

Страница 116: ...FALSE When switching from FALSE TRUE Reset request to the lower level system TRUE uiChannel UINT Input channel Group channel Data sheet Note on wiring p 29 Examples 403 Group 4 channel 3 502 Group 5...

Страница 117: ...alueCycle UDINT Cycle time of the input signal in s rValueFreq REAL frequency of the input signal in Hz udiValueTime UDINT Time elapsed since the last edge evaluation in s 0 4 294 967 295 Diagnostic c...

Страница 118: ...to the maximum value of the applicable area outside range Input parameter 23300 Parameters Data type Description Possible values xResetError BOOL Reset request for an occurring error FALSE When switc...

Страница 119: ...own BOOL Code sequence downwards FALSE No count down since the last call up TRUE Count up or underflow since the last call up udiValueCycle UDINT Cycle time of the input signal in s rValueFreq REAL fr...

Страница 120: ...the input channel pair channel A at the input uiChannel In the other operating modes a signal evaluation is carried out at the input channel defined at the uiChannel input Input parameters 23315 Para...

Страница 121: ..._RATIO_CSO Phase shift of the input signal at the B channel to the signal at the A channel in IN_PHASE_CSI IN_PHASE_CSO Diagnostic codes Messages diagnostic codes of the function blocks p 180 STAT_PRE...

Страница 122: ...ising and falling edge on one channel A EVERY_EDGE Counts each rising and falling edge on al channels A and B 10 4 6 FREQ_SENSE_PERIODS ENUM 23270 Name Description Possible values FREQ_SENSE_PERIODS N...

Страница 123: ...ata are not written For applications that are not owners of the resource 10 4 9 MODE_PERIOD ENUM 23272 Name Description Possible values MODE_PERIOD Operating mode of the period input UNCHANGED Setting...

Страница 124: ...Library ifmIOcommon library Input 125 Output 128 SetLED 131 SupplySwitch 133 SystemSupply 135 Temperature 137 FILTER_INPUT ENUM 139 FILTER_OUTPUT ENUM 139 MODE_INPUT ENUM 140 MODE_OUTPUT ENUM 141 SYS_...

Страница 125: ...nged with a digital low pass filter Configure the filter via the input eFilter Input parameters 23157 Parameters Data type Description Possible values xResetError BOOL Reset request for an occurring e...

Страница 126: ...cuted Note diagnostic information eDiagInfo DIAG_INFO Diagnostic information List below diagnostic codes xPrepared BOOL State of the FB outputs FALSE FB outputs still invalid FB is still processed TRU...

Страница 127: ...ror Reference voltage exceeded For outputs Error Voltage of the corresponding output groups supply or at VBB30 VBB15 not reached DIAG_INVALID_VALUE At least one input parameter is invalid or exceeds t...

Страница 128: ...g from FALSE TRUE Reset request to the lower level system TRUE uiChannel UINT Output channel Group channel Data sheet Note on wiring p 29 Examples 703 Group 7 channel 3 1203 Group 12 channel 3 eMode M...

Страница 129: ...the FB outputs FALSE FB outputs still invalid FB is still processed TRUE FB outputs valid FB has been processed xOutState BOOL Return value activation state of the selected output The state may devia...

Страница 130: ...erence voltage exceeded For outputs Error Voltage of the corresponding output groups supply or at VBB30 VBB15 not reached DIAG_INVALID_VALUE At least one input parameter is invalid or exceeds the perm...

Страница 131: ...on library Symbol in CODESYS Description 23221 The FB is used to configure and control an LED Input parameters 23222 Parameters Data type Description Possible values uiChannel UINT Output channel of t...

Страница 132: ...s diagnostic codes of the function blocks p 180 STAT_INACTIVE State FB Function is inactive STAT_BUSY State FB Function is currently executed STAT_DONE State FB Function has been successfully executed...

Страница 133: ...applications and switches off the voltage supply latching terminal 30 in order to shut down the device safely The voltage supply latching is only deactivated if the following conditions are met Volta...

Страница 134: ...codes xPrepared BOOL State of the FB outputs FALSE FB outputs still invalid FB is still processed TRUE FB outputs valid FB has been processed Diagnostic codes Messages diagnostic codes of the function...

Страница 135: ...OLTAGE_CHANNEL ENUM p 141 Output parameters 23239 Parameters Data type Description Possible values xError BOOL Indication if an error occurred during the FB execution FALSE No error occurred or the FB...

Страница 136: ...d For outputs Error The voltage of the corresponding output group supply or at VBB30 VBB15 is not reached ERR_OVERVOLTAGE_VBBX For inputs Error Reference voltage exceeded For outputs Error Voltage of...

Страница 137: ...e 23245 Function block type Function block FB Library ifmIOcommon library Symbol in CODESYS Description 23247 The FB indicates the value of the system temperature Input parameters 23246 Parameters Dat...

Страница 138: ...s valid FB has been processed iTemperatureC INT Measured temperature in C e g 35 iTemperatureF INT Measured temperature in F e g 95 Diagnostic codes Messages diagnostic codes of the function blocks p...

Страница 139: ...filter is set FILTER_1 0 9 ms 3 3 ms FILTER_2 2 1 ms 7 0 ms FILTER_3 4 0 ms 14 1 ms FILTER_4 7 6 ms 28 9 ms FILTER_5 15 2 ms 58 4 ms FILTER_6 30 8 ms 117 2 ms FILTER_7 61 6 ms 235 2 ms FILTER_8 123 2...

Страница 140: ...CSI IN_VOLTAGE_10 Input for analogue current measurement 0 10 V CSI IN_VOLTAGE_32 Input for analogue current measurement 0 32 V CSI IN_VOLTAGE_RATIO Input for ratiometric current measurement in relat...

Страница 141: ...diagnostics Generated with the help of a filtered PWM signal CSO OUT_SENSOR_05 Output with fixed output voltage 5 V for the sensor supply without diagnostics and without protection CSO OUT_SENSOR_10 O...

Страница 142: ...erating System V2 5 0 n 2017 12 19 ifm function libraries Library ifmOutGroup 10 6 Library ifmOutGroup OutputGroup 143 FILTER_OUTPUT_GROUP ENUM 146 MODE_OUTPUT_GROUP ENUM 146 23341 The library contain...

Страница 143: ...nput parameters 23328 Parameter Data type Description Possible values xResetError BOOL Reset request for an occurring error FALSE When switching from FALSE TRUE Reset request to the lower level system...

Страница 144: ...utputs FALSE FB outputs still invalid FB is still processed TRUE FB outputs valid FB has been processed xGroupState BOOL Return value activation state of the selected output group The state may deviat...

Страница 145: ...30 VBB15 not reached DIAG_INVALID_VALUE At least one input parameter is invalid or exceeds the permissible area DIAG_INTERNAL Internal system error DIAG_ACCESS FB Function cannot access the required r...

Страница 146: ...0 1 7 ms FILTER_1 1 8 ms FILTER_2 2 4 ms FILTER_3 3 9 ms FILTER_4 7 4 ms FILTER_5 14 7 ms FILTER_6 29 3 ms FILTER_7 58 8 ms FILTER_8 117 7 ms FILTER_9 235 6 ms FILTER_10 471 4 ms FILTER_11 943 0 ms FI...

Страница 147: ...CR711S Operating System V2 5 0 n 2017 12 19 ifm function libraries Library ifmOutHBridge 10 7 Library ifmOutHBridge HBridge 148 MODE_BRAKE ENUM 151 23467 The library contains function blocks POU to c...

Страница 148: ...3 1203 Group 12 channel 3 uiFrequency UINT PWM frequency of the output signal in Hz Data sheet xDirection BOOL The direction in which the current flows via the bridge connections Determines the direct...

Страница 149: ...ill being executed TRUE Error occurred Action could not be executed Note diagnostic information eDiagInfo DIAG_INFO Diagnostic information List below diagnostic codes xPrepared BOOL State of the FB ou...

Страница 150: ...VBBX For inputs Error Reference voltage exceeded For outputs Error Voltage of the corresponding output groups supply or at VBB30 VBB15 not reached DIAG_INVALID_VALUE At least one input parameter is in...

Страница 151: ...uiValue 0 UNCHANGED Setting remains unchanged BRAKE_OFF No braking The voltage direction is changed immediately BRAKE_EMCY Emergency brakes In case of change of direction Braking only during tBrakeTi...

Страница 152: ...2017 12 19 ifm function libraries Library ifmOutPWM 10 8 Library ifmOutPWM CurrentControl 153 PWM1000 156 MODE_CURRENT_CONTROL ENUM 160 MODE_PWM ENUM 160 23381 The library function blocks POU and enu...

Страница 153: ...E When switching from FALSE TRUE Reset request to the lower level system TRUE uiChannel UINT Output channel Group channel Data sheet Note on wiring p 29 Examples 703 Group 7 channel 3 1203 Group 12 ch...

Страница 154: ...nt of the output signal 0 255 uiDesiredCurrent UINT Default value at the output channel When 0 is set the output is immediately deactivated 0 65535 Output parameters 23358 Parameters Data type Descrip...

Страница 155: ...t VBB30 VBB15 not reached DIAG_INVALID_VALUE At least one input parameter is invalid or exceeds the permissible area DIAG_INTERNAL Internal system error DIAG_ACCESS FB Function cannot access the requi...

Страница 156: ...stem V2 5 0 n 2017 12 19 ifm function libraries Library ifmOutPWM 10 8 2 PWM1000 23343 Function block type Function block FB Library ifmIOutPWM library Symbol in CODESYS Description 23344 The FB is us...

Страница 157: ...lse pause ration of the PWM output signal in permissible 0 1 uiDitherFrequency UNIT Frequency for the dither signal at the PWM output in Hz permissible 0 uiFrequency 2 The value at uiDitherFrequency m...

Страница 158: ...formation eDiagInfo DIAG_INFO Diagnostic information List below diagnostic codes xPrepared BOOL State of the FB outputs FALSE FB outputs still invalid FB is still processed TRUE FB outputs valid FB ha...

Страница 159: ...t VBB30 VBB15 not reached DIAG_INVALID_VALUE At least one input parameter is invalid or exceeds the permissible area DIAG_INTERNAL Internal system error DIAG_ACCESS FB Function cannot access the requi...

Страница 160: ...ontrol with diagnostics and protection CSO MONITOR No parameters or process data are written Only the FB output data is updated For use in a PLC application to which the resource does not belong 10 8...

Страница 161: ...9 Library ifmRawCAN library CAN_Enable 162 CAN_Recover 164 CAN_RemoteRequest 166 CAN_RemoteResponse 168 CAN_Rx 170 CAN_RxMask 172 CAN_RxRange 174 CAN_Tx 176 CAN_Info GVL 178 CAN_BUS_STATE STRUCT 178 8...

Страница 162: ...erface into the global variable CAN State Changes of the transmission rate or of the CAN interface are applied at once All existing reception and send buffer storages are deleted The FB does not have...

Страница 163: ...mation List below diagnostic codes Diagnostic codes STAT_INACTIVE State FB Function is inactive STAT_DONE State FB Function has been successfully executed and completed There are valid results on the...

Страница 164: ...nd rebooted All buffer storages are emptied If the CAN channel keeps failing after the maximum number of recovery attempts has been exceeded the CAN bus remains in the error state Call FB again to rep...

Страница 165: ...ion could not be executed Note diagnostic information eDiagInfo DIAG_INFO Diagnostic information List below diagnostic codes usiRetryCount USINT Counter for retries carried out since the last activati...

Страница 166: ...nded frames Input parameter 10888 Parameter Data type Description Possible values xExecute BOOL Control execution of the FB FALSE TRUE FB is executed once Other No impact on FB processing eChannel CAN...

Страница 167: ...FO Diagnostic information List below diagnostic codes aData ARRAY 0 7 OF USINT Array for storage of the data received Diagnostic data STAT_INACTIVE State FB Function is inactive STAT_DONE State FB Fun...

Страница 168: ...matic reply Several FB calls are possible during one PLC cycle Input parameter 9237 Parameter Data type Description Possible values xEnable BOOL Control activity of the FB FALSE FB is deactivated TRUE...

Страница 169: ..._Cnt UINT Number of received remote requests after the last FB call Diagnostic code STAT_INACTIVE State FB Function is inactive STAT_DONE State FB Function has been successfully executed and completed...

Страница 170: ...buffer storage The number of the received CAN messages is displayed The CAN message received first is always provided on the output Input parameter 11784 Parameter Data type Description Possible value...

Страница 171: ...t 0 7 0 bytes 7 bytes uiAvailable UINT Number of received CAN messages since the last FB call Current CAN message is taken into account 0 No CAN messages received between 2 FB calls n n CAN messages r...

Страница 172: ...Result xxx 0010 0000 All CAN messages with an identifier whose 8 least significant bits have the value 0010 0000 are received E g 110 0010 0000 000 0010 0000 001 0010 0000 General behaviour of the FB...

Страница 173: ...ince the last FB call Current CAN message is taken into account 0 No CAN messages received between 2 FB calls n n CAN messages received udiID UDINT Identifier of the CAN message for Standard Frame 11...

Страница 174: ...limit must be the value of the upper limit Example Lower limit 000 0000 0010 Upper limit 000 0000 1000 Result All CAN messages with an identifier whose 4 least significant bits have a value between 0...

Страница 175: ...ince the last FB call Current CAN message is taken into account 0 No CAN messages received between 2 FB calls n n CAN messages received udiID UDINT Identifier of the CAN message for Standard Frame 11...

Страница 176: ...es during a PLC cycle The repeated call of the FB during a PLC cycle triggers a repeated transmission of the CAN message within the PLC cycle Input parameters 14057 Parameters Data type Description Po...

Страница 177: ...on List below diagnostic codes Diagnostic codes STAT_INACTIVE State FB Function is inactive STAT_DONE State FB Function has been successfully executed and completed There are valid results on the outp...

Страница 178: ...ntRx Error counter Rx receive UINT 0 65535 uiErrorCntTx Error counter Tx send UINT 0 65535 xWarningRx Warning signal for error counter Rx BOOL FALSE uiErrorCntRx 96 TRUE uiErrorcntRx 96 xWarningTx War...

Страница 179: ...ed PLC The controller saves the information in the error log B Serious error One or several PLCs can no longer be executed The controller deactivates components allocated to the PLC The controller dea...

Страница 180: ...ic codes of the function blocks 23460 Status diagnostic error messages of the function blocs are defined in the global Enum DIAG_INFO They have one of the following prefixes depending on the type of m...

Страница 181: ...rd app Application non safe safe app Application safe os Folder ifmOS ifm ifmOS boot Folder boot ifm Bootloader sis Folder sissys ifm SIS SYS cfg Folder comconf cfg Communication configuration memconf...

Страница 182: ...BLE 23705 Function blocks that use the behaviour model ENABLE are cyclically processed as long as the status at the input is xEnable TRUE If xEnable FALSE the function block will not be executed All f...

Страница 183: ...ut If the function block has executed its function successfully the output is set xDone TRUE Response to errors 23827 In case of an error xError is set to TRUE and eDiagInfo indicates the error status...

Страница 184: ...indicates the number of changes of state steps cycles 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...

Страница 185: ...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...

Страница 186: ...Sourcing Input In connection of binary input n S Sensor Current Sourcing Output Qn connection of output n L load Binary input block diagram minus switching for negative sensor signal Input open Signa...

Страница 187: ...th of the device is checked It is to be found out if and what faults are given in the device Depending on the device the inputs and outputs can also be monitored for their correct function wire break...

Страница 188: ...way Embedded software System software basic program in the device virtually the runtime system The firmware establishes the connection between the hardware of the device and the application program Th...

Страница 189: ...r memory and hard disks Similar to a hard disk the data are however written and deleted blockwise in data blocks up to 64 128 256 1024 bytes at the same time Advantages of flash memories The stored da...

Страница 190: ...help system manual programming manual etc Intended use Use of a product in accordance with the information provided in the instructions for use IP address IP Internet Protocol The IP address is a numb...

Страница 191: ...r to an external document LSB Least Significant Bit Byte M MAC ID MAC Manufacturer s Address Code manufacturer s serial number ID Identifier Every network card has a MAC address a clearly defined worl...

Страница 192: ...e Guarding Node here network participant Configurable cyclic monitoring of each slave configured accordingly The master verfies if the slaves reply in time The slaves verify if the master regularly se...

Страница 193: ...of the process data objects PDOs The PDOs can be freely exchanged between the individual nodes PDO linking In addition it is defined whether data exchange is to be event controlled asynchronous or syn...

Страница 194: ...n of the supply voltage each participant automatically passes into this state In the CANopen network only SDOs and NMT commands can be transferred in this mode but no process data Process image Proces...

Страница 195: ...es batter backed the current date and time Frequent use for the storage of error message protocols rw RW read write Bidirectional data transmission Data can be read and also changed S SAE J1939 The ne...

Страница 196: ...and unique address in the bus stopped Operating status of a CANopen participant In this mode only NMT commands are transferred Symbols Pictograms are figurative symbols which convey information by a...

Страница 197: ...UDP they are implemented as broadcast messages in CAN as PDOs According to the protocol these services are unconfirmed data transmission it is not checked whether the receiver receives the message Exc...

Страница 198: ...operating system version of the device 22 CiA 184 CiA DS 304 185 CiA DS 401 185 CiA DS 402 185 CiA DS 403 185 CiA DS 404 185 CiA DS 405 185 CiA DS 406 185 CiA DS 407 185 Clamp 15 185 COB ID 185 CODES...

Страница 199: ...CTION A 39 Input type IN RESISTOR A 40 Inputs technology 38 Install CODESYS Development System 19 Install package PC laptop 21 Installation 18 Instructions 190 Intended use 190 Interface configuration...

Страница 200: ...CAN messages 88 Send and receive CAN messages 87 RAW CAN 195 Read device information 82 Read diagnostic data of the device 86 remanent 195 Reset 97 Reset application cold 98 Reset application origin 9...

Страница 201: ...ge PC laptop 22 Update package PC laptop 21 Update the operating system of the device 24 Update the operating system of the device with the batch file 24 Use CANopen 89 Use CODESYS user manual 60 Use...

Страница 202: ...202 ifm Programming Manual ecomatController 60 1 CR711S Operating System V2 5 0 n 2017 12 19 Notizen Notes Notes 15 Notizen Notes Notes...

Страница 203: ...203 ifm Programming Manual ecomatController 60 1 CR711S Operating System V2 5 0 n 2017 12 19 Notizen Notes Notes...

Страница 204: ...204 ifm Programming Manual ecomatController 60 1 CR711S Operating System V2 5 0 n 2017 12 19 Notizen Notes Notes...

Страница 205: ...mpton Middlesex TW12 2HD Tel 44 208 213 0000 ifm electronic Monoprosopi E P E 15125 Amaroussio Tel 30 210 6180090 ifm electronic kft 9028 Gy r Tel 36 96 518 397 ifm electronic s a 20041 Agrate Brianza...

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