IFM Electronic Ecomat Mobile Series System Manual page 3

Contents
7 Programming and system resources
7.1 Above-average stress .....................................................................................................42
7.2 Limits of the SmartController...........................................................................................43
7.3 Watchdog behaviour .......................................................................................................44
7.4 Available memory ............................................................................................................44
7.5 Program creation and download in the PLC ...................................................................45
8 CAN in the ecomatmobile controller
8.1 General about CAN .........................................................................................................47
8.1.1
8.1.2
8.1.3
8.2 Exchange of CAN data....................................................................................................49
8.2.1
8.2.2
8.2.3
8.3 Physical connection of CAN ............................................................................................51
8.3.1
8.3.2
8.3.3
8.3.4
8.4 Software for CAN and CANopen.....................................................................................55
8.5 CAN errors and error handling ........................................................................................55
8.5.1
8.5.2
8.5.3
8.5.4
8.5.5
8.6 Description of the CAN functions ....................................................................................58
8.6.1
8.6.2
8.6.3
8.6.4
8.6.5
8.6.6
8.6.7
8.6.8
8.6.9
8.6.10
8.6.11
8.6.12
8.7 ifm CANopen library ........................................................................................................83
8.7.1
8.7.2
8.7.3
8.7.4
8.7.5
8.7.6
8.7.7
8.7.8
8.7.9
8.8 Summary CAN / CANopen........................................................................................... 144
8.9 Use of the CAN interfaces to SAE J1939..................................................................... 145
8.9.1
8.9.2
ifm System Manual ecomatmobile
Topology .......................................................................................................47
CAN interfaces ..............................................................................................48
System configuration.....................................................................................48
CAN-ID ..........................................................................................................49
Data reception...............................................................................................50
Data transmission .........................................................................................50
Network structure ..........................................................................................51
Bus level........................................................................................................52
Bus cable length............................................................................................53
Wire cross-sections.......................................................................................54
Error message...............................................................................................55
Error counter .................................................................................................56
Participant, error active .................................................................................56
Participant, error passive ..............................................................................56
Participant, bus off ........................................................................................57
Function CAN1_BAUDRATE ........................................................................59
Function CAN1_DOWNLOADID...................................................................61
Function CAN1_EXT.....................................................................................63
Function CAN1_EXT_TRANSMIT ................................................................65
Function CAN1_EXT_RECEIVE...................................................................67
Function CAN1_EXT_ERRORHANDLER ....................................................69
Function CAN2..............................................................................................70
Function CANx_TRANSMIT .........................................................................72
Function CANx_RECEIVE ............................................................................74
Function CANx_RECEIVE_RANGE .............................................................76
Function CANx_EXT_RECEIVE_ALL...........................................................79
Function CANx_ERRORHANDLER..............................................................81
CANopen support by CoDeSys ....................................................................83
CANopen master...........................................................................................85
Start-up of the network without [Automatic startup] ......................................96
CAN device ................................................................................................ 100
CAN network variables............................................................................... 108
Information on the EMCY and error codes ................................................ 113
Library for the CANopen master ................................................................ 117
Library for the CANopen slave................................................................... 129
Further ifm libraries for CANopen .............................................................. 139
Function J1939_x....................................................................................... 148
Function J1939_x_RECEIVE..................................................................... 150
SmartController (CR2500) V05
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