IFM Electronic CR0403 Programming Manual
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IFM Electronic CR0403 Programming Manual

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See also: Instruction and Installation Manual
Original Programming Manual
BasicController
CR0403
Runtime system v03.02
CODESYS
®
v2.3
English
1

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Summary of Contents for IFM Electronic CR0403

  • Page 1 Original Programming Manual BasicController CR0403 Runtime system v03.02 CODESYS ® v2.3 English...

  • Page 2: Table Of Contents

    Configure outputs ........................53 Variables ..........................56 4.5.1 Retain variables .......................... 56 4.5.2 Network variables ........................57 ifm function elements ifm libraries for the device CR0403 ..................58 5.1.1 Library ifm_CR0403_V03yyzz.LIB ....................59 5.1.2 Library ifm_RAWCan_NT_Vxxyyzz.LIB..................60 5.1.3 Library ifm_CANopen_NT_Vxxyyzz.LIB ..................61 5.1.4...
  • Page 3 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Contents ifm function elements for the device CR0403 ..............64 5.2.1 Function element outputs ......................65 5.2.2 Function elements: RAW-CAN (Layer 2) ..................66 5.2.3 Function elements: CANopen ..................... 92 5.2.4 Function elements: SAE J1939 ....................137 5.2.5...

  • Page 4: About This Manual

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 About this manual Copyright About this manual Copyright ............................... 4 Overview: documentation modules for ecomatmobile devices ............. 5 CODESYS programming manual ......................5 What do the symbols and formats mean? ..................... 6 How is this documentation structured? ....................

  • Page 5: Overview: Documentation Modules For Ecomatmobile Devices

    Contents Technical data in a table Source → www.ifm.com > select your country > [Data sheet search] > CR0403 > [Technical data in PDF format] Installation instructions / operating instructions Contents Instructions for installation, electrical installation, (commissioning*), technical data Source...

  • Page 6: What Do The Symbols And Formats Mean

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 About this manual What do the symbols and formats mean? > What do the symbols and formats mean? The following symbols or pictograms illustrate the notes in our instructions: WARNING Death or serious irreversible injuries may result.

  • Page 7: How Is This Documentation Structured

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 About this manual How is this documentation structured? > How is this documentation structured? 1508 This documentation is a combination of different types of manuals. It is for beginners and also a reference for advanced users.

  • Page 8: History Of The Instructions (Cr040N)

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 About this manual History of the instructions (CR040n) > History of the instructions (CR040n) 12110 What has been changed in this manual? An overview: Date Theme Change 2012-07-24 Target upgrade to v02...

  • Page 9: Safety Instructions

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Safety instructions Please note! Safety instructions Please note! ............................9 What previous knowledge is required? ....................10 Start-up behaviour of the controller ..................... 10 > Please note! 6091 11212 No characteristics are warranted with the information, notes and examples provided in this manual.

  • Page 10: What Previous Knowledge Is Required

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Safety instructions What previous knowledge is required? > What previous knowledge is required? This document is intended for people with knowledge of control technology and PLC programming with IEC 61131-3. To program the PLC, the people should also be familiar with the CODESYS software.

  • Page 11: System Description

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 System description Information about the device System description Information about the device ....................... 11 Hardware description........................... 11 Interface description ..........................27 Software description ..........................28 > Information about the device 14551...

  • Page 12: Hardware Setup

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 System description Hardware description > 3.2.1 Hardware setup 14561 Basic device without cover Protection IP 20 > Available memory 13736 > FLASH-Speicher 13053 FLASH memory (non-volatile, slow memory) 1 536 kByte overall existing in the device Thereof the following memory areas are reserved for ...

  • Page 13: Inputs (Technology)

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 System description Hardware description > 3.2.2 Inputs (technology) Analogue inputs ........................... 13 Digital inputs ............................14 Input group I0 (IN0...IN3) ........................15 Input group I1 (IN4...IN7) ........................15 Input group I2 (IN8...IN11) ........................17 14090 >...
  • Page 14 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 System description Hardware description > Digital inputs 1015 7345 The binary input can be operated in following modes: • binary input plus switching (BL) for positive sensor signal • binary input minus switching (BH) for negative sensor signal Depending on the device the binary inputs can configured differently.
  • Page 15 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 System description Hardware description > Input group I0 (IN0...IN3) 14568 These inputs are a group of multifunction channels. These inputs can be used as follows (each input separately configurable): • analogue input 0...20 mA •...
  • Page 16 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 System description Hardware description > Resistance measurement 9773 Typical sensors on these inputs: • tank level • temperature (PT1000, NTC) 8972 Figure: block diagram of the resistor survey input In = pin resistor survey input n...
  • Page 17 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 System description Hardware description > Input group I2 (IN8...IN11) 14570 These inputs are a group 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) Possible operating modes inputs/outputs →...

  • Page 18: Outputs (Technology)

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 System description Hardware description > 3.2.3 Outputs (technology) Protective functions of the outputs ...................... 18 Output group Q0 (OUT0, OUT1) ......................20 Output group Q1 (OUT2, OUT3, OUT8, OUT9) .................. 22 Output group Q2 (OUT4...OUT7) ......................
  • Page 19 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 System description Hardware description > Reaction of the outputs to overload or short circuit 15251 > Self-protection of the output 15253 The hardware protects itself, irrespective of the operating mode of the output and of the fault detection.
  • Page 20 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 System description Hardware description > Output group Q0 (OUT0, OUT1) 14583 These outputs are a group of multifunction channels. These outputs provide several function options (each output separately configurable): • binary output, plus switching (BH) with diagnostic function and protection •...
  • Page 21 Programming Manual ecomatmobile BasicController (CR0403) Runtime System 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).
  • Page 22 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 System description Hardware description > Output group Q1 (OUT2, OUT3, OUT8, OUT9) 14577 These outputs are a group of multifunction channels. These outputs provide several function options (each output separately configurable): •...
  • Page 23 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 System description Hardware description > Output group Q2 (OUT4...OUT7) 15235 These outputs are a group of multifunction channels. These outputs provide several function options (each output separately configurable): • binary output, plus switching (BH) •...
  • Page 24 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 System description Hardware description > Output group Q3 (OUT10, OUT11) 15237 These outputs are a group of multifunction channels. These outputs provide several function options (each output separately configurable): • binary output, plus switching (BH) with/without diagnostic function •...

  • Page 25: Note On Wiring

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 System description Hardware description > 3.2.4 Note on wiring 1426 The wiring diagrams (→ installation instructions of the devices, chapter "Wiring") describe the standard device configurations. The wiring diagram helps allocate the input and output channels to the IEC addresses and the device terminals.

  • Page 26: Status Led

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 System description Hardware description > 3.2.6 Status LED 7998 The operating states are indicated by the integrated status LED (default setting). LED colour Flashing frequency Description permanently off no operating voltage...

  • Page 27: Interface Description

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 System description Interface description > Interface description CAN interfaces ............................ 27 14098 > 3.3.1 CAN interfaces CAN: interfaces and protocols ......................27 14101 Connections and data → data sheet > CAN: interfaces and protocols...

  • Page 28: Software Description

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 System description Software description > Software description Software modules for the device ......................28 Programming notes for CODESYS projects ..................31 Operating states ..........................35 Performance limits of the device ......................37 14107 >...

  • Page 29: Bootloader

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 System description Software description > Bootloader 14111 On delivery ecomatmobile controllers only contain the boot loader. The boot loader is a start program that allows to reload the runtime system and the application program on the device.

  • Page 30: Libraries

    CAN interface of the device is to be operated as CANopen master or CANopen slave ifm_J1939_NT_Vxxyyzz.LIB (optional) when a CAN interface of the device is to communicate with a motor control ifm libraries for the device CR0403 Detail information → (→ page 58)

  • Page 31: Programming Notes For Codesys Projects

    Here you receive tips how to program the device. ► See the notes in the CODESYS programming manual → www.ifm.com > select your country > [Data sheet search] > CR0403 > [Operating instructions] → ecomatmobile DVD "Software, tools and documentation".
  • Page 32 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 System description Software description > Note the cycle time! 8006 For the programmable devices from the controller family ecomatmobile numerous functions are available which enable use of the devices in a wide range of applications.
  • Page 33 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 System description Software description > Creating application program 8007 The application program is generated by the CODESYS programming system and loaded in the controller several times during the program development for testing: In CODESYS: [Online] >...
  • Page 34 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 System description Software description > Using ifm maintenance tool 8492 Maintenance Tool serves for easy transfer of the program code from the programming station to the controller. As a matter of principle each application software can be copied to the controllers using the Maintenance Tool.

  • Page 35: Operating States

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 System description Software description > 3.4.3 Operating states 1075 After power on the ecomatmobile device can be in one of five possible operating states: • BOOTLOADER • INIT • STOP • RUN •...
  • Page 36 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 System description Software description > RUN state 8287 A transition into this state is possible in the following cases: • from the INIT state (autostart) if the following conditions are met: •...

  • Page 37: Performance Limits Of The Device

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 System description Software description > 3.4.4 Performance limits of the device 7358 Note the limits of the device! → Data sheet > Watchdog behaviour 15365 In this device, a watchdog monitors the program runtime of the CODESYS application.
  • Page 38 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 System description Software description > Limitations for CAN in this device 17975 FIFO (First In, First Out) = Operating principle of the stack memory: The data packet that was written into the stack memory first, will also be read first. Each identifier has such a buffer (queue).

  • Page 39: Configurations

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Configurations Set up the runtime system Configurations Set up the runtime system ........................39 Set up the programming system ......................42 Function configuration in general ......................46 Function configuration of the inputs and outputs ................47 Variables ..............................

  • Page 40: Reinstall The Runtime System

    00...99 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 goes to the STOP mode. The values for "yy" (release number) and "zz" (patch number) do not have to match.

  • Page 41: Update The Runtime System

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Configurations Set up the runtime system > 4.1.2 Update the runtime system 13269 An older runtime system is already installed on the device. Now, you would like to update the runtime...

  • Page 42: Set Up The Programming System

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Configurations Set up the programming system > Set up the programming system Set up the programming system manually ..................42 Set up the programming system via templates ................... 46 14461 >...
  • Page 43 00...99 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 goes to the STOP mode. The values for "yy" (release number) and "zz" (patch number) do not have to match.
  • Page 44 The PLC configuration is automatically loaded with the target system. The PLC configuration maps the contents of the file CR0403.cfg in CODESYS. Like this, the programmer has easy access to predefined system and error flags, inputs and outputs as well as to the CAN interfaces of the device.
  • Page 45 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Configurations Set up the programming system > CAN declaration (e.g. CR1080) 10080 In the CODESYS PLC configuration you now have to declare the CAN interface(s). ► Right-click on the name of the PLC configuration. [CANopen Interface [FIX]] of the desired CAN interface.

  • Page 46: Set Up The Programming System Via Templates

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Configurations Function configuration in general > 4.2.2 Set up the programming system via templates 13745 offers ready-to-use templates (program templates), by means of which the programming system can be set up quickly, easily and completely.

  • Page 47: Function Configuration Of The Inputs And Outputs

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Configurations Function configuration of the inputs and outputs > Function configuration of the inputs and outputs Configure inputs ..........................48 Configure outputs ..........................53 7995 1394 For some devices of the...

  • Page 48: Configure Inputs

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Configurations Function configuration of the inputs and outputs > 4.4.1 Configure inputs Safety instructions about Reed relays ....................48 Configure the software filters of the inputs ..................49 Analogue inputs: configuration and diagnosis ..................50 Binary inputs: configuration and diagnosis ..................

  • Page 49: Configure The Software Filters Of The Inputs

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Configurations Function configuration of the inputs and outputs > Configure the software filters of the inputs 15418 INPUT Via the input FILTER in the FB (→ page 173) a software filter can be configured which filters the measured input voltage at the analogue inputs.

  • Page 50: Analogue Inputs: Configuration And Diagnosis

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Configurations Function configuration of the inputs and outputs > Analogue inputs: configuration and diagnosis 14656 Configuration of each input is made via the application program: INPUT • FB (→ page 173) > input MODE ►...

  • Page 51: Binary Inputs: Configuration And Diagnosis

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Configurations Function configuration of the inputs and outputs > Binary inputs: configuration and diagnosis 14672 Configuration of each input is made via the application program: INPUT • FB (→ page 173) > input MODE...

  • Page 52: Fast Inputs

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Configurations Function configuration of the inputs and outputs > Fast inputs 8292 The devices dispose of fast counting/pulse inputs for an input frequency up to 30 kHz (→ data sheet). If, for example, mechanical switches are connected to these inputs, there may be faulty signals in the controller due to contact bouncing.

  • Page 53: Configure Outputs

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Configurations Function configuration of the inputs and outputs > 4.4.2 Configure outputs Configure the software filters of the outputs ..................53 Binary outputs: configuration and diagnosis ..................54 PWM outputs ............................55...
  • Page 54 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Configurations Function configuration of the inputs and outputs > Binary outputs: configuration and diagnosis 14689 The following operating modes are possible for the device outputs (→ data sheet): • binary output, plus switching (BH) with/without diagnostic function...
  • Page 55 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Configurations Function configuration of the inputs and outputs > PWM outputs 14705 The following operating modes are possible for the device outputs (→ data sheet): • PWM output, plus switching (BH) without diagnostic function...

  • Page 56: Variables

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Configurations Variables > Variables Retain variables ........................... 56 Network variables ..........................57 3130 In this chapter you will learn more about how to handle variables. 14486 The device supports the following types of variables:...

  • Page 57: Network Variables

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Configurations Variables > Save retain variables 9853 In the device the data type RETAIN is only stored in the volatile memory (RAM) during the runtime. To save the data permanently, at the end of each cycle they are automatically be saved in the FRAM memory ¹).

  • Page 58: Ifm Function Elements

    CR0403 ifm function elements ifm libraries for the device CR0403 ..................... 58 ifm function elements for the device CR0403 ..................64 13586 All CODESYS function elements (FBs, PRGs, FUNs) are stored in libraries. Below you will find a list of all the libraries you can use with this device.

  • Page 59: Library Ifm_Cr0403_V03Yyzz.lib

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm libraries for the device CR0403 > 5.1.1 Library ifm_CR0403_V03yyzz.LIB 14791 This is the device library. This library contains the following function blocks: Function element Short description CURRENT_CONTROL (→...

  • Page 60: Library Ifm_Rawcan_Nt_Vxxyyzz.lib

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm libraries for the device CR0403 > 5.1.2 Library ifm_RAWCan_NT_Vxxyyzz.LIB 14715 This library contains the following function blocks: Function element Short description CAN_ENABLE (→ page 67) Initialises the indicated CAN interface...

  • Page 61: Library Ifm_Canopen_Nt_Vxxyyzz.lib

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm libraries for the device CR0403 > 5.1.3 Library ifm_CANopen_NT_Vxxyyzz.LIB 14914 This library contains the following function blocks: Function element Short description CANOPEN_ENABLE (→ page 93) Initialises the indicated CANopen master interface...
  • Page 62 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm libraries for the device CR0403 Function element 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 63: Library Ifm_J1939_Nt_Vxxyyzz.lib

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm libraries for the device CR0403 > 5.1.4 Library ifm_J1939_NT_Vxxyyzz.LIB 14912 This library contains the following function blocks: Function element Short description J1939_DM1RX (→ page 161) J1939 Diagnostic Message 1 RX...

  • Page 64: Ifm Function Elements For The Device Cr0403

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > ifm function elements for the device CR0403 Function element outputs ........................65 Function elements: RAW-CAN (Layer 2) .................... 66 Function elements: CANopen ......................92 Function elements: SAE J1939 ......................

  • Page 65: Function Element Outputs

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > 5.2.1 Function element outputs 8354 7556 Some function elements return a RESULT message. Possible results for RESULT: Value Description dec | hex FB is inactive 1...31...

  • Page 66: Function Elements: Raw-Can (Layer 2)

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > 5.2.2 Function elements: RAW-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....................

  • Page 67: Can_Enable

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CAN_ENABLE 7492 Unit type = function block (FB) Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB Symbol in CODESYS: > Description 7494 With CAN_ENABLE the CAN hardware is initialised.

  • Page 68: Can_Recover

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CAN_RECOVER 7512 Unit type = function block (FB) Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB Symbol in CODESYS: > Description...

  • Page 69: Can_Setdownloadid

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CAN_SETDOWNLOADID 7516 = Set download ID Unit type = function block (FB) Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB Symbol in CODESYS: >...

  • Page 70: Can_Status

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CAN_STATUS 7499 Unit type = function block (FB) Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB Symbol in CODESYS: > Description 7501 CAN_STATUS provides information on the chosen CAN bus.
  • Page 71 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 7504 Data type Description Parameter BAUDRATE WORD current baudrate of the CANopen node in [kBaud] DOWNLOAD_ID...

  • Page 72: Function Elements: Receive Raw-Can Data

    Programming Manual ecomatmobile BasicController (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...
  • Page 73 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CAN_RX 7586 Unit type = function block (FB) Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB Symbol in CODESYS: > Description 7588 CAN_RX is used for receiving a message.
  • Page 74 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CAN_RX_ENH 7606 = CAN RX enhanced Unit type = function block (FB) Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 75 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 7613 Data type Description Parameter MATCHED_ID DWORD number of the data object identifier DATALENGTHCOUNT BYTE = Data Length Count...
  • Page 76 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CAN_RX_ENH_FIFO 7615 = CAN RX enhanced with FiFo Unit type = function block (FB) Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 77 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 7617 Data type Description Parameter MATCHED_ID DWORD number of the data object identifier DATALENGTHCOUNT BYTE = Data Length Count...
  • Page 78 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CAN_RX_RANGE 7592 Unit type = function block (FB) Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB Symbol in CODESYS: > Description...
  • Page 79 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 7598 Data type Description Parameter DWORD Number of the data object identifier: normal frame (2 IDs): 0...2 047 = 0x0000 0000...0x0000 07FF...
  • Page 80 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CAN_RX_RANGE_FIFO 7601 = CAN RX range with FiFo Unit type = function block (FB) Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 81 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 7604 Data type Description Parameter DWORD Number of the data object identifier: normal frame (2 IDs): 0...2 047 = 0x0000 0000...0x0000 07FF...

  • Page 82: Function Elements: Transmit Raw-Can Data

    Programming Manual 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...
  • Page 83 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CAN_TX 7522 Unit type = function block (FB) Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB Symbol in CODESYS: > Description 7523 CAN_TX sends a standard message per cycle.
  • Page 84 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CAN_TX_ENH 7558 = CAN TX enhanced Unit type = function block (FB) Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 85 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 7527 Data type Description Parameter RESULT BYTE feedback of the function block (possible messages → following table)
  • Page 86 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CAN_TX_ENH_CYCLIC 7568 = CAN TX enhanced cyclic Unit type = function block (FB) Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 87 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 7510 Data type Description Parameter RESULT BYTE feedback of the function block (possible messages → following table)

  • Page 88: Function Elements: Raw-Can Remote

    Programming Manual 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...
  • Page 89 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CAN_REMOTE_REQUEST 7625 Unit type = function block (FB) Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB Symbol in CODESYS: > Description...
  • Page 90 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CAN_REMOTE_RESPONSE 7631 Unit type = function block (FB) Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB Symbol in CODESYS: > Description...
  • Page 91 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 7636 Data type Description Parameter RESULT BYTE feedback of the function block (possible messages → following table)

  • Page 92: Function Elements: Canopen

    Programming Manual ecomatmobile 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 ....................
  • Page 93 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CANOPEN_ENABLE 7785 Unit type = function block (FB) Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB Symbol in CODESYS: > Description 7787 CANOPEN_ENABLE allows to switch the CANopen master on or off.
  • Page 94 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 7789 Parameters Data type Description RESULT BYTE feedback of the function block (possible messages → following table)
  • Page 95 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CANOPEN_GETBUFFERFLAGS 7890 = Get buffer flags Unit type = function block (FB) Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 96 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 7894 Data type Description Parameter RXOVFL BOOL condition of the RX overflow flag TRUE: overflow in the receive buffer...
  • Page 97 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CANOPEN_GETSTATE 7865 = Get state Unit type = function block (FB) Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 98 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 7869 Data type Description Parameter MASTERSTATE BYTE Master state = internal state of the master: 0 = 0x00 = master starts up...
  • Page 99 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CANOPEN_SETSTATE 7858 = Set state Unit type = function block (FB) Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 100 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the inputs 7861 Data type Description Parameter EXECUTE BOOL := FALSE FALSE  TRUE (edge): execute function element once otherwise: function element is not active A function element already started is processed.
  • Page 101 Programming Manual ecomatmobile 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...
  • Page 102 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CANOPEN_GETNMTSTATESLAVE 7851 = Get network management state slave Unit type = function block (FB) Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 103 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CANOPEN_NMTSERVICES 7843 = Network management services Unit type = function block (FB) Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 104 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 7848 Data type Description Parameter RESULT BYTE feedback of the function block (possible messages → following table)
  • Page 105 Programming Manual ecomatmobile BasicController (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...
  • Page 106 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CANOPEN_GETODCHANGEDFLAG 7927 = Get object directory changed flag Unit type = function block (FB) Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 107 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CANOPEN_READOBJECTDICT 7933 = Read object directory Unit type = function block (FB) Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 108 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CANOPEN_WRITEOBJECTDICT 7940 = Write object directory Unit type = function block (FB) Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 109 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 7945 Data type Description Parameter RESULT BYTE feedback of the function block (possible messages → following table)
  • Page 110 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements 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...

  • Page 111: Canopen_Sdoread

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CANOPEN_SDOREAD 7791 = SDO read Unit type = function block (FB) Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 112 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 7795 Data type Description Parameter BYTE number of the bytes received (1...4) DATA DWORD the received data value...

  • Page 113: Canopen_Sdoreadblock

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CANOPEN_SDOREADBLOCK 14942 = SDO Read Block Unit type = function block (FB) Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 114 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the inputs 14945 Data type Description Parameter EXECUTE BOOL := FALSE FALSE  TRUE (edge): execute function element once otherwise: function element is not active A function element already started is processed.

  • Page 115: Canopen_Sdoreadmulti

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CANOPEN_SDOREADMULTI 7806 = SDO read multi Unit type = function block (FB) Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 116 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 7810 Data type Description Parameter DWORD number of the bytes received permissible values = 0x0000 0001...0x0000 0800 = 1...2 048 DATA ARRAY [0..SDOMAXDATA] OF...

  • Page 117: Canopen_Sdowrite

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CANOPEN_SDOWRITE 7825 = SDO write Unit type = function block (FB) Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 118 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 7829 Data type Description Parameter RESULT BYTE feedback of the function block (possible messages → following table)

  • Page 119: Canopen_Sdowriteblock

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CANOPEN_SDOWRITEBLOCK 14961 = SDO Write Block Unit type = function block (FB) Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 120 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the inputs 14964 Data type Description Parameter EXECUTE BOOL := FALSE FALSE  TRUE (edge): execute function element once otherwise: function element is not active A function element already started is processed.

  • Page 121: Canopen_Sdowritemulti

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CANOPEN_SDOWRITEMULTI 7832 = SDO write multi Unit type = function block (FB) Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 122 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 7836 Data type Description Parameter RESULT BYTE feedback of the function block (possible messages → following table)
  • Page 123 Programming Manual 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...
  • Page 124 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CANOPEN_GETSYNCSTATE 7871 = Get SYNC state Unit type = function block (FB) Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 125 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 7875 Data type Description Parameter SYNC BOOL status of the SYNC functionality TRUE: SYNC is activated:...
  • Page 126 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CANOPEN_SETSYNCSTATE 7883 = Set SYNC state Unit type = function block (FB) Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 127 Programming Manual ecomatmobile 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...
  • Page 128 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CANOPEN_GETGUARDHBERRLIST 7896 = Get guard and heartbeat error list Unit type = function block (FB) Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 129 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CANOPEN_GETGUARDHBSTATSLV 7902 = Get guard and heartbeat state slave Unit type = function block (FB) Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 130 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 7906 Data type Description Parameter GUARDSTATE BYTE Status of node guarding: 0 = 0x00 = no error (or: not active)
  • Page 131 Programming Manual ecomatmobile BasicController (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...
  • Page 132 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CANOPEN_GETEMCYMESSAGES 7921 = Get emergency messages Unit type = function block (FB) Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 133 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 7925 Data type Description Parameter N_MSGS DWORD Number of accumulated messages EMCY ARRAY [0..MAXEMCYMSGS] Emergency messages OF T_EMCY The most recent entry is in index 0.
  • Page 134 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CANOPEN_GETERRORREGISTER 7915 = Get error register Unit type = function block (FB) Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 135 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CANOPEN_SENDEMCYMESSAGE 7908 = Send emergency message Unit type = function block (FB) Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 136 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 7912 Data type Description Parameter RESULT BYTE feedback of the function block (possible messages → following table)

  • Page 137: Function Elements: Sae J1939

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > 5.2.4 Function elements: SAE J1939 Function elements: SAE J1939 status ....................137 Function elements: SAE J1939 request .................... 145 Function elements: receive SAE J1939 .................... 148 Function elements: transmit SAE J1939 ...................

  • Page 138: J1939_Enable

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > J1939_ENABLE 7641 Unit type = function block (FB) Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB Symbol in CODESYS: > Description 7642 For initialisation of the J1939 stack, J1939_ENABLE is set to TRUE=1.
  • Page 139 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 8542 Data type Description Parameter RESULT BYTE feedback of the function block (possible messages → following table)

  • Page 140: J1939_Getdabyname

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > J1939_GETDABYNAME 7664 = get destination arbitrary name Unit type = function block (FB) Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 141 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the inputs 7667 Data type Description Parameter BOOL TRUE: execute this function element ENABLE FALSE: unit is not executed >...

  • Page 142: J1939_Name

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > J1939_NAME 7646 Unit type = function block (FB) Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB Symbol in CODESYS: > Description 7648 Via J1939_NAME, the device can be given a name for identification in the network.
  • Page 143 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the inputs 7652 Data type Description Parameter ENABLE BOOL := FALSE TRUE: Any desired address available FALSE: Fixed address...

  • Page 144: J1939_Status

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > J1939_STATUS 7670 Unit type = function block (FB) Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB Symbol in CODESYS: > Description 7672 Via J1939_STATUS, relevant information can be read back to the J1939 stack.

  • Page 145: Function Elements: Sae J1939 Request

    Programming Manual 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...
  • Page 146 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > J1939_SPEC_REQ 15023 = J1939 Specific Request Unit type = function block (FB) Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 147 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > J1939_SPEC_REQ_MULTI 15033 = J1939 Specific Request Multiframe Message Unit type = function block (FB) Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB Symbol in CODESYS: >...

  • Page 148: Function Elements: Receive Sae J1939

    Programming Manual 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...
  • Page 149 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > J1939_RX 7724 Unit type = function block (FB) Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB Symbol in CODESYS: > Description 7725 J1939_RX is the easiest method for receiving single frame messages.
  • Page 150 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > J1939_RX_FIFO 7732 = J1939 RX with FIFO Unit type = function block (FB) Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 151 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > J1939_RX_MULTI 7736 = J1939 RX multiframe message Unit type = function block (FB) Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB Symbol in CODESYS: >...

  • Page 152: Function Elements: Transmit Sae J1939

    Programming Manual ecomatmobile 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...
  • Page 153 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > J1939_TX 7688 Unit type = function block (FB) Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB Symbol in CODESYS: > Description 7689 J1939_TX is the easiest method for transmitting single frame messages.
  • Page 154 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > J1939_TX_ENH 7696 = J1939 TX enhanced Unit type = function block (FB) Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 155 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 7969 Data type Description Parameter RESULT BYTE feedback of the function block (possible messages → following table)
  • Page 156 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > J1939_TX_ENH_CYCLIC 7716 = J1939 TX enhanced cyclic Unit type = function block (FB) Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 157 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 7720 Data type Description Parameter RESULT BYTE feedback of the function block (possible messages → following table)
  • Page 158 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > J1939_TX_ENH_MULTI 7699 = J1939 TX enhanced multiframe message Unit type = function block (FB) Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 159 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 7714 Data type Description Parameter RESULT BYTE feedback of the function block (possible messages → following table)

  • Page 160: Function Elements: Sae J1939 Diagnosis

    Programming Manual ecomatmobile 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...

  • Page 161: J1939_Dm1Rx

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > J1939_DM1RX 14977 = J1939 Diagnostic Message 1 RX Unit type = function block (FB) Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 162 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 14980 Data type Description Parameter REDSTOPLAMP BOOL red stop lamp (for older projects only) TRUE: FALSE:...

  • Page 163: J1939_Dm1Tx

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > J1939_DM1TX 14993 = J1939 Diagnostic Message 1 TX Unit type = function block (FB) Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 164 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the inputs 14995 Data type Description Parameter EXECUTE BOOL := FALSE FALSE  TRUE (edge): execute function element once otherwise: function element is not active A function element already started is processed.
  • Page 165 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 7750 Data type Description Parameter RESULT BYTE feedback of the function block (possible messages → following table)

  • Page 166: J1939_Dm1Tx_Cfg

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > J1939_DM1TX_CFG 15424 = J1939 Diagnostic Message 1 TX configurable Unit type = function block (FB) Unit is contained in the library ifm_J1939_NT_V02.00.02.LIB or higher Symbol in CODESYS: >...

  • Page 167: J1939_Dm3Tx

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > J1939_DM3TX 15002 = J1939 Diagnostic Message 3 TX Unit type = function block (FB) Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB Symbol in CODESYS: >...

  • Page 168: Function Elements: Processing Input Values

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 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 FBs which allow you to read and process the analogue or digital signals at the device input.

  • Page 169: Fastcount

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > FASTCOUNT 8112 = Fast Count Unit type = function block (FB) Unit is contained in the library ifm_CR0403_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 170 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 8116 Data type Description Parameter VALUE DWORD ouput value RESULT BYTE feedback of the function block (possible messages →...

  • Page 171: Inc_Encoder

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > INC_ENCODER 8134 = Incremental Encoder Unit type = function block (FB) Unit is contained in the library ifm_CR0403_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 172 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the inputs 8137 Data type Description Parameter BOOL TRUE: execute this function element ENABLE FALSE: unit is not executed >...

  • Page 173: Input

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > INPUT 8103 Unit type = function block (FB) Unit is contained in the library ifm_CR0403_Vxxyyzz.LIB Symbol in CODESYS: > Description 8104 INPUT enables determining the state at the input channels (→...
  • Page 174 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the inputs 8105 Data type Description Parameter BOOL TRUE: execute this function element ENABLE FALSE: unit is not executed >...

  • Page 175: Period

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > PERIOD 8122 Unit type = function block (FB) Unit is contained in the library ifm_CR0403_Vxxyyzz.LIB Symbol in CODESYS: > Description 15850 PERIOD measures the frequency in [Hz] or the period time (cycle time) in [µs] or the phase shift in [°]...
  • Page 176 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the inputs 8124 Data type Description Parameter ENABLE BOOL TRUE: execute this function element FALSE: unit is not executed >...

  • Page 177: Function Elements: Output Functions

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 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...
  • Page 178 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > CURRENT_CONTROL 8082 Unit type = function block (FB) Unit is contained in the library ifm_CR0403_Vxxyyzz.LIB Symbol in CODESYS: > Description 8086 CURRENT_CONTROL operates as a current controller for the PWMI outputs.
  • Page 179 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the inputs 8087 Data type Description Parameter ENABLE BOOL TRUE: execute this function element FALSE: unit is not executed >...
  • Page 180 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > OUTPUT 8078 Unit type = function block (FB) Unit is contained in the library ifm_CR0403_Vxxyyzz.LIB Symbol in CODESYS: > Description 8079 OUTPUT assigns an operating mode to an output channel (→...
  • Page 181 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 8081 Data type Description Parameter OUTPUT BOOL TRUE: output is activated FALSE: output is deactivated CURRENT...
  • Page 182 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > PWM1000 8060 Unit type = function block (FB) Unit is contained in the library ifm_CR0403_Vxxyyzz.LIB Symbol in CODESYS: > Description 8062 PWM1000 handles the initialisation and parameter setting of the PWM outputs.
  • Page 183 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Output parameters 8523 Data type Description Parameter CURRENT WORD only available for current controlable outputs: current output current in [mA]...

  • Page 184: Function Elements: System

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > 5.2.7 Function elements: 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 .........................

  • Page 185: Flash_Info

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > FLASH_INFO 11580 Unit type = function block (FB) Unit is contained in the library ifm_CR0403_Vxxyyzz.LIB Symbol in CODESYS: > Description...

  • Page 186: Flash_Read

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > FLASH_READ 8147 Unit type = function block (FB) Unit is contained in the library ifm_CR0403_Vxxyyzz.LIB Symbol in CODESYS: > Description 11579 FLASH_READ enables reading of different types of data directly from the flash memory.

  • Page 187: Get_App_Info

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > GET_APP_INFO 11581 = get application information Unit type = function block (FB) Unit is contained in the library ifm_CR0403_Vxxyyzz.LIB Symbol in CODESYS: >...

  • Page 188: Get_Hw_Info

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > GET_HW_INFO 11582 = get hardware information Unit type = function block (FB) Unit is contained in the library ifm_CR0403_Vxxyyzz.LIB Symbol in CODESYS: >...

  • Page 189: Get_Identity

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > GET_IDENTITY 8166 Unit type = function block (FB) Unit is contained in the library ifm_CR0403_Vxxyyzz.LIB Symbol in CODESYS: > Description...

  • Page 190: Get_Sw_Info

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > GET_SW_INFO 11583 = get software information Unit type = function block (FB) Unit is contained in the library ifm_CR0403_Vxxyyzz.LIB Symbol in CODESYS: >...

  • Page 191: Get_Sw_Version

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > GET_SW_VERSION 14763 = get software version Unit type = function block (FB) Unit is contained in the library ifm_CR0403_Vxxyyzz.LIB Symbol in CODESYS: >...

  • Page 192: Mem_Error

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > MEM_ERROR 14770 = Memory Error Unit type = function block (FB) Unit is contained in the library ifm_CR0403_Vxxyyzz.LIB Symbol in CODESYS: >...

  • Page 193: Memcpy

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > MEMCPY 8160 = memory copy Unit type = function block (FB) Unit is contained in the library ifm_CR0403_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 194 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 8163 Data type Description Parameter RESULT BYTE feedback of the function block (possible messages → following table)

  • Page 195: Ohc

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > 14777 = Operating Hours Counter Unit type = function block (FB) Unit is contained in the library ifm_CR0403_Vxxyyzz.LIB Symbol in CODESYS: >...
  • Page 196 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 14780 Data type Description Parameter HOURS DWORD Counter value hours (0...4 294 967 295 = 0x0000 0000...0xFFFF FFFF)

  • Page 197: Set_Identity

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > SET_IDENTITY 8174 Unit type = function block (FB) Unit is contained in the library ifm_CR0403_Vxxyyzz.LIB Symbol in CODESYS: > Description 8535 SET_IDENTITY sets an application-specific program identification.

  • Page 198: Set_Led

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > SET_LED 8052 Unit type = function block (FB) Unit is contained in the library ifm_CR0403_Vxxyyzz.LIB Symbol in CODESYS: > Description 8054 Via SET_LED frequency and color of the status LED can be changed in the application program.
  • Page 199 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > Parameters of the outputs 8227 Data type Description Parameter RESULT BYTE feedback of the function block (possible messages → following table)

  • Page 200: Set_Password

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > SET_PASSWORD 8178 Unit type = function block (FB) Unit is contained in the library ifm_CR0403_Vxxyyzz.LIB Symbol in CODESYS: > Description 8179 SET_PASSWORD sets a user password for program and memory upload via the maintenance tool.

  • Page 201: Timer_Read_Us

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 ifm function elements ifm function elements for the device CR0403 > TIMER_READ_US 8219 Unit type = function block (FB) Unit is contained in the library ifm_CR0403_Vxxyyzz.LIB Symbol in CODESYS: > Description TIMER_READ_US reads the current system time in [µs].

  • Page 202: Diagnosis And Error Handling

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Diagnosis and error handling Diagnosis Diagnosis and error handling Diagnosis ............................202 Fault ..............................202 Response to system errors ....................... 203 CAN / CANopen: errors and error handling ..................203 19598 The runtime-system (RTS) checks the device by internal error checks: •...

  • Page 203: Response To System Errors

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Diagnosis and error handling Response to system errors > Response to system errors 8504 In principle, the programmer is responsible to react to the error messages in the application program. An error description is provided via the error message.

  • Page 204: Annex

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Annex System flags Annex System flags ............................204 Address assignment and I/O operating modes ................. 205 Error tables ............................210 1664 Additionally to the indications in the data sheets you find summary tables in the annex.

  • Page 205: Address Assignment And I/O Operating Modes

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Annex Address assignment and I/O operating modes > Address assignment and I/O operating modes Address assignment inputs / outputs ....................205 Possible operating modes inputs/outputs ..................207 1656 → also data sheet >...
  • Page 206 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Annex Address assignment and I/O operating modes > Inputs: address assignment 8538 Note on wiring Abbreviations →chapter (→ page 25) Possible operating modes inputs/outputs Operating modes of the inputs/outputs →chapter (→ page 207)

  • Page 207: Possible Operating Modes Inputs/Outputs

    Programming Manual 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...
  • Page 208 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Annex Address assignment and I/O operating modes > Inputs: operating modes 15243 = this configuration value is default Value Inputs Possible operating mode Set with function block Function block input IN00…IN03...
  • Page 209 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Annex Address assignment and I/O operating modes > Outputs: operating modes 15244 = this configuration value is default Value Outputs Possible operating mode Set with FB FB input OUT00 OUTPUT MODE …OUT01...

  • Page 210: Error Tables

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Annex Error tables > Error tables Error flags ............................210 Errors: CAN / CANopen ........................210 19606 > 7.3.1 Error flags 19608 System flags → chapter (→ page 204) > 7.3.2...
  • Page 211 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Annex Error tables > EMCY codes: I/Os, system 8412 EMCY code Object Manufactor specific information object 0x1003 0x1001 Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6...

  • Page 212: Glossary Of Terms

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Glossary of Terms Glossary of Terms Address This is the "name" of the bus participant. All participants need a unique address so that the signals can be exchanged without problem. >...
  • Page 213 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Glossary of Terms > CiA = CAN in Automation e.V. User and manufacturer organisation in Germany / Erlangen. Definition and control body for CAN and CAN-based network protocols. Homepage → www.can-cia.org >...
  • Page 214 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Glossary of Terms > CODESYS CODESYS is a registered trademark of 3S – Smart Software Solutions GmbH, Germany. ® 'CODESYS for Automation Alliance' associates companies of the automation industry whose hardware devices are all programmed with the widely used IEC 61131-3 development tool CODESYS ®...
  • Page 215 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Glossary of Terms > Diagnosis During the diagnosis, the "state of health" of the device is checked. It is to be found out if and what →faults are given in the device.
  • Page 216 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Glossary of Terms > 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.
  • Page 217 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Glossary of Terms Disadvantages of flash memories • A storage cell can tolerate a limited number of write and delete processes: • Multi-level cells: typ. 10 000 cycles • Single level cells: typ. 100 000 cycles •...
  • Page 218 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Glossary of Terms > Intended use Use of a product in accordance with the information provided in the instructions for use. > IP address IP = Internet Protocol. The IP address is a number which is necessary to clearly identify an internet participant. For the sake of clarity the number is written in 4 decimal values, e.g.
  • Page 219 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Glossary of Terms > MAC-ID MAC = Manufacturer‘s Address Code = manufacturer's serial number. →ID = Identifier Every network card has a MAC address, a clearly defined worldwide unique numerical code, more or less a kind of serial number.
  • Page 220 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Glossary of Terms > Obj / object Term for data / messages which can be exchanged in the CANopen network. > Object directory Contains all CANopen communication parameters of a device as well as device-specific parameters and data.
  • Page 221 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Glossary of Terms > PDU = Protocol Data Unit. The PDU is an item of the →CAN protocol →SAE J1939. PDU indicates a part of the destination or source address. >...
  • Page 222 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Glossary of Terms > PWM = pulse width modulation The PWM output signal is a pulsed signal between GND and supply voltage. Within a defined period (PWM frequency) the mark-to-space ratio is varied. Depending on the mark-to- space ratio, the connected load determines the corresponding RMS current.
  • Page 223 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Glossary of Terms > SAE J1939 The network protocol SAE J1939 describes the communication on a →CAN bus in commercial vehicles for transmission of diagnosis data (e.g.engine speed, temperature) and control information.
  • Page 224 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Glossary of Terms > System variable Variable to which access can be made via IEC address or symbol name from the PLC. > Target The target contains the hardware description of the target device for CODESYS, e.g.: inputs and outputs, memory, file locations.

  • Page 225: Index

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Index CANOPEN_GETGUARDHBSTATSLV ..........129 Index CANOPEN_GETNMTSTATESLAVE ..........102 CANOPEN_GETODCHANGEDFLAG ..........106 CANOPEN_GETSTATE ................ 97 CANOPEN_GETSYNCSTATE ............124 About this manual ..................4 CANOPEN_NMTSERVICES ............... 103 Activate the PLC configuration .............. 44 CANOPEN_READOBJECTDICT ............
  • Page 226 Ethernet ....................216 ifm function elements ................58 EUC ..................... 216 ifm function elements for the device CR0403 ........64 Example process for response to an error message ......203 ifm libraries for the device CR0403 ............58 ifm weltweit • ifm worldwide • ifm à l’échelle internationale ....233 INC_ENCODER ...................
  • Page 227 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Index J1939_TX..................... 153 J1939_TX_ENH ................... 154 PC card ....................220 J1939_TX_ENH_CYCLIC ..............156 PCMCIA card ..................220 J1939_TX_ENH_MULTI ..............158 PDM ..................... 220 PDO ..................... 220 PDU ..................... 221 LED ...................... 218 Performance limits of the device ............
  • Page 228 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Index SET_LED ..................... 198 SET_PASSWORD ................200 UDP ..................... 224 Slave ....................223 Update the runtime system ..............41 Software controller configuration ............43 Use as binary inputs ................52 Software description ................28 Use, intended ..................

  • Page 229: Notizen • Notes • Notes

    Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Notizen • Notes • Notes Notizen • Notes • Notes...
  • Page 230 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Notizen • Notes • Notes...
  • Page 231 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Notizen • Notes • Notes...
  • Page 232 Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01 Notizen • Notes • Notes...

  • Page 233: Ifm Weltweit • Ifm Worldwide • Ifm À L'échelle Internationale

    • 3843 GA Harderwijk • Tel. +31 341 / 438 438 ifm electronic s.a. • 4410-136 São Félix da Marinha • Tel. +351 223 / 71 71 08 ifm electronic Sp. z o.o. • 40-106 Katowice • Tel. +48 32-608 74 54 RA, ROU ifm electronic s.r.l.

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