Page 1 Programming Manual BasicController relay CR0431 Runtime system V03.03.00 ® CODESYS > v2.3.9.33 (< v3.0) English...
Page 2: Table Of Contents
Configuration of the inputs (default setting) ................42 4.4.2 Configure inputs ......................... 43 4.4.3 Configure outputs ........................48 Variables ..........................50 4.5.1 Retain variables .......................... 51 4.5.2 Network variables ........................52 ifm function elements ifm libraries for the device CR0431 ..................53 5.1.1 Library ifm_CR0431_V03yyzz.LIB ....................54...
Page 3 5.1.3 Library ifm_RAWCan_NT_Vxxyyzz.LIB..................55 5.1.4 Library ifm_CANopen_NT_Vxxyyzz.LIB ..................56 5.1.5 Library ifm_J1939_NT_Vxxyyzz.LIB ................... 57 ifm function elements for the device CR0431 ..............58 5.2.1 Function element outputs ......................59 5.2.2 Function elements: RAW-CAN (Layer 2) ..................60 5.2.3 Function elements: CANopen ..................... 86 5.2.4...
Page 4: About This Manual
History of the instructions (CR043n) ...................... 7 > Copyright 6088 © All rights reserved by ifm electronic gmbh. No part of this manual may be reproduced and used without the consent of ifm electronic gmbh. All product names, pictures, companies or other brands used on our pages are the property of the respective rights owners: •...
Page 5: Overview: Documentation Modules For Cr0431
About this manual Overview: documentation modules for CR0431 > Overview: documentation modules for CR0431 22853 The documentation for this devices consists of the following modules: (Downloads from ifm's website → www.ifm.com Document Contents / Description Data sheet Technical data in a table ...
Page 6: What Do The Symbols And Formats Mean
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 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. CAUTION Slight reversible injuries may result.
Page 7: How Is This Documentation Structured
What has been changed in this manual? An overview: Date Theme Change 2016-04-27 FBs for fast inputs Note in case of higher frequencies added 2017-01-13 Software manual for CODESYS 2.3 hint to download from the ifm homepage removed 2018-07-09 List of the ifm branch offices removed...
Page 8: Safety Instructions
WARNING Non-observance of these instructions can lead to property damage or personal injury. ifm electronic gmbh does not assume any liability in this regard. ► The acting person must have read and understood the safety instructions and the corresponding chapters in this manual before working on and with this device.
Page 9: Start-Up Behaviour Of The Controller
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Safety instructions Start-up behaviour of the controller > Start-up behaviour of the controller 6827 15233 11575 WARNING Danger due to unintentional and dangerous start of machine or plant sections! ► When creating the program, the programmer must ensure that no unintentional and dangerous start of machines or plant sections after a fault (e.g.
Page 10: System Description
Information about the device System description Information about the device ........................10 Hardware description ..........................11 Interface description ..........................22 Software description ..........................23 > Information about the device 19587 This manual describes of the ecomatmobile family for mobile machines of ifm electronic gmbh:  BasicRelay: CR0431...
Page 11: Hardware Description
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 System description Hardware description > Hardware description Hardware structure ..........................11 Inputs (technology) ..........................14 Outputs (technology) ..........................18 Note on wiring ............................20 Safety instructions about Reed relays ....................20 Status-LED .............................21 14081 3.2.1 Hardware structure Start conditions ............................12 Important note to program the device ....................12 Principle block diagram ..........................12...
Page 12: Start Conditions
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 System description Hardware description > Start conditions 19673 The device does not start before sufficient voltage is applied to the supply connection VBB15. In vehicles VBB15 is the plus cable switched by the ignition lock. A voltage >...
Page 13: Available Memory
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 System description Hardware description > Available memory 13736 > FLASH memory 13053 FLASH memory (non-volatile, slow memory) 1 536 kByte overall existing in the device Thereof the following memory areas are reserved for ... maximum size of the application program 128 kByte data other than the application program...
Page 14: Inputs (Technology)
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 System description Hardware description > 3.2.2 Inputs (technology) Analogue inputs ............................14 Binary inputs ............................15 Input group IN0...IN3 ..........................16 Input group IN4...IN7 ..........................16 14090 > Analogue inputs 15444 The analogue inputs can be configured via the application program. The measuring range can be set as follows: •...
Page 15 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 System description Hardware description > Binary 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 16 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 System description Hardware description > Input group 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 17 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 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 (CR) = device (1) = input filter (2) = constant-current source...
Page 18: Outputs (Technology)
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 System description Hardware description 3.2.3 Outputs (technology) Protective functions of the outputs ......................18 Output group K0...K5 ..........................18 Output group LED0...LED6........................19 14093 > Protective functions of the outputs 15248 The outputs of this device are protected against overload and short circuit within specific ranges. →...
Page 19 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 System description Hardware description > Output group LED0...LED6 19682 These outputs are a group of channels with a single specified function. These outputs have the following fixed setting: • binary output with LED (e.g. diagnostic message) The LED outputs can be freely used in the application.
Page 20: Note On Wiring
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 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 21: Status-Led
 Reload the BasicSystem into the device  Reload the application into the device If without success:  Hardware error: send device to ifm! The status LED can be changed by the programming system for the operating states STOP and RUN. >...
Page 22: Interface Description
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 System description Interface description > Interface description CAN interfaces ............................22 14098 3.3.1 CAN interfaces CAN: interfaces and protocols ........................22 14101 Connections and data → data sheet > CAN: interfaces and protocols 14589 15238 The devices are equipped with several CAN interfaces depending on the hardware design.
Page 23: Software Description
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 System description Software description Software description Software modules for the device ......................23 Programming notes for CODESYS projects ...................26 Operating states .............................29 Performance limits of the device ......................31 14107 3.4.1 Software modules for the device Bootloader ..............................24 Runtime system ............................24 Application program ..........................24...
Page 24: Bootloader
(also repeatedly) without affecting the runtime system. The runtime system is provided with this documentation on a separate data carrier. In addition, the current version can be downloaded from the website of ifm electronic gmbh: →...
Page 25: 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 CR0431 Details: → chapter (→ p. 53)
Page 26: Programming Notes For Codesys Projects
FB, FUN, PRG in CODESYS .........................26 Note the cycle time! ..........................27 Important note to program the device ....................27 Creating application program .........................28 Using ifm maintenance tool ........................29 Distribution of the application program ....................29 7426 Here you receive tips how to program the device.
Page 27 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 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. As these units use more or fewer system resources depending on their complexity it is not always possible to use all units at the same time and several times.
Page 28 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 System description Software description > Creating application program 8007 The application program is generated by the CODESYS 2.3 programming system and loaded in the controller several times during the program development for testing: In CODESYS: [Online] >...
Page 29: Operating States
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 30 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 System description Software description > STOP state 8288 A transition into this state is possible in the following cases: • from the INIT state if no application program is loaded. • From the RUN state if the following condition is met: •...
Page 31: Performance Limits Of The Device
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 System description Software description > ERROR state 8290 A transition into this state is possible in the following cases: • if the supply voltage is too low. In the ERROR state: >...
Page 32  PowerOn reset  Reload the runtime system into the device  Reload the application program into the device If without success:  Hardware error: send device to ifm! > Limitations for CAN in this device 17975 FIFO (First In, First Out) = Operating principle of the stack memory: The data packet that was written into the stack memory first, will also be read first.
Page 33 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 System description Software description > Limitations for CANopen in this device 17976 The following limitations of the devices are valid: Device BasicController: CR040n, CR041n, CR043n Criterion BasicDisplay: CR045n PDM360 NG: CR108n, CR120n ioControl: CR205n SmartController: CR253n max.
Page 34: Configurations
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Configurations Set up the runtime system Configurations Set up the runtime system ........................34 Set up the programming system ......................37 Function configuration in general ......................41 Function configuration of the inputs and outputs ...................42 Variables ..............................50 1016 Appendix...
Page 35: Reinstall The Runtime System
(also several times) without influencing the runtime system. The runtime system is provided with this documentation on a separate data carrier. In addition, the current version can be downloaded from the website of ifm electronic gmbh: →...
Page 36: Update The Runtime System
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 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 system on the device? 14158 NOTICE...
Page 37: Set Up The Programming System
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Configurations Set up the programming system > Set up the programming system Set up the programming system manually .....................37 Set up the programming system via templates ..................41 14461 4.2.1 Set up the programming system manually Set up the target .............................38 Activate the PLC configuration .......................39 CAN declaration (e.g.
Page 38 ► If necessary, in the window [Target settings] > tab [Network functionality] > activate [Support parameter manager] and / or activate [Support network variables]. ► If necessary, remove the loaded (3S) libraries or complement them by further (ifm) libraries. ► Always complement the appropriate device library ifm_CR0431_Vxxyyzz.LIB manually!
Page 39 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Configurations Set up the programming system > Activate the PLC configuration 10079 The PLC configuration is automatically loaded with the target system. The PLC configuration maps the contents of the file CR0431.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 40 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 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 41: Set Up The Programming System Via Templates
When installing the ecomatmobile DVD "Software, tools and documentation", projects with templates have been stored in the program directory of your PC: …\ifm electronic\CoDeSys V…\Projects\Template_DVD_V… ► Open the requested template in CODESYS via: [File] > [New from template…] > CODESYS creates a new project which shows the basic program structure. It is strongly recommended to follow the shown procedure.
Page 42: Function Configuration Of The Inputs And Outputs
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Configurations Function configuration of the inputs and outputs > Function configuration of the inputs and outputs Configuration of the inputs (default setting) ....................42 Configure inputs .............................43 Configure outputs ...........................48 7995 1394 For some devices of the ecomatmobile controller family, additional diagnostic functions can be...
Page 43: Configure Inputs
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Configurations Function configuration of the inputs and outputs > 4.4.2 Configure inputs Safety instructions about Reed relays ....................43 Analogue inputs: configuration and diagnosis ..................44 Binäry inputs: configuration and diagnosis .....................46 Fast inputs ..............................47 3973 Possible operating modes inputs/outputs Valid operating modes →...
Page 44: Analogue Inputs: Configuration And Diagnosis
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Configurations Function configuration of the inputs and outputs > Analogue inputs: configuration and diagnosis 14656 Configuration of each input is made via the application program: • FB INPUT (→ p. 169) > input MODE ►...
Page 45 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Configurations Function configuration of the inputs and outputs > Configure the software filters of the inputs 15418 INPUT Via the input FILTER in the FB (→ p. 169) a software filter can be configured which filters the measured input voltage at the analogue inputs.
Page 46: Binäry Inputs: Configuration And Diagnosis
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Configurations Function configuration of the inputs and outputs > Binäry inputs: configuration and diagnosis 19689 Configuration of each input is made via the application program: • FB INPUT (→ p. 169) > input MODE MODE BYTE operating mode of the input channel:...
Page 47: Fast Inputs
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 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). 14677 If, for example, mechanical switches are connected to these inputs, there may be faulty signals in the controller due to contact bouncing.
Page 48: Configure Outputs
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Configurations Function configuration of the inputs and outputs 4.4.3 Configure outputs Configure the software filters of the outputs ...................48 Relay outputs ............................49 LED outputs ............................49 3976 Possible operating modes inputs/outputs Valid operating modes → chapter (→...
Page 49 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Configurations Function configuration of the inputs and outputs > Relay outputs 19693 The following operating modes are possible for the device outputs (→ data sheet): • binary output with relay (change-over contacts) •...
Page 50: Variables
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Configurations Variables > Variables Retain variables ............................51 Network variables ...........................52 3130 In this chapter you will learn more about how to handle variables. 14486 The device supports the following types of variables: Variable Declaration place Validity area...
Page 51: Retain Variables
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Configurations Variables > 4.5.1 Retain variables 8672 Retain variables can be saved automatically in a protected memory area and be reloaded automatically during a reboot. 14166 Typical applications for retain variables are for example: •...
Page 52: Network Variables
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Configurations Variables > 4.5.2 Network variables 15242 9856 Global network variables are used for data exchange between controllers in the network. The values of global network variables are available to all CODESYS projects in the whole network if the variables are contained in their declaration lists.
Page 53: Ifm Function Elements
CR0431 ifm function elements ifm libraries for the device CR0431 ......................53 ifm function elements for the device CR0431..................58 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 54: Library Ifm_Cr0431_V03Yyzz.lib
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm libraries for the device CR0431 > 5.1.1 Library ifm_CR0431_V03yyzz.LIB 19699 This is the device library. This library contains the following function blocks: Function element Short description FASTCOUNT (→...
Page 55: Library Ifm_Cr0431_Util_V03Yyzz.lib
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm libraries for the device CR0431 > 5.1.2 Library ifm_CR0431_util_V03yyzz.LIB 19735 This library contains the following function blocks: Function element Short description RELAY (→ p. 180) switches the relay of the selected output channel with an adjustable voltage STATUS_F_V_EXT (→...
Page 56: Library Ifm_Canopen_Nt_Vxxyyzz.lib
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm libraries for the device CR0431 > 5.1.4 Library ifm_CANopen_NT_Vxxyyzz.LIB 14914 This library contains the following function blocks: Function element Short description CANOPEN_ENABLE (→ p. 87) Initialises the indicated CANopen master interface...
Page 57: Library Ifm_J1939_Nt_Vxxyyzz.lib
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm libraries for the device CR0431 Function element Short description CANOPEN_SETSTATE (→ p. 93) = CANopen set state Set the parameters of the master, a slave device or a specific node in the network CANOPEN_SETSYNCSTATE (→...
Page 58: Ifm Function Elements For The Device Cr0431
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > ifm function elements for the device CR0431 Function element outputs ........................59 Function elements: RAW-CAN (Layer 2) ....................60 Function elements: CANopen ........................86 Function elements: SAE J1939 ......................132...
Page 59: Function Element Outputs
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > 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 60: Function Elements: Raw-Can Status
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > 5.2.2 Function elements: RAW-CAN (Layer 2) Function elements: RAW-CAN status ....................60 Function elements: receive RAW-CAN data ..................66 Function elements: transmit RAW-CAN data ..................76 Function elements: RAW-CAN remote ....................82...
Page 61: Can_Enable
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > 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 62: Can_Recover
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 CAN_RECOVER 7512 Unit type = function block (FB) Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB Symbol in CODESYS: > Description 7513 CAN_RECOVER has the following tasks: ...
Page 63: Can_Setdownloadid
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 64: Can_Status
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 65 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 7504 Parameter Data type Description BAUDRATE WORD current baudrate of the CANopen node in [kBaud] DOWNLOAD_ID...
Page 66: Function Elements: Receive Raw-Can Data
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 Function elements: receive RAW-CAN data CAN_RX ..............................67 CAN_RX_ENH ............................68 CAN_RX_ENH_FIFO ..........................70 CAN_RX_RANGE ..........................72 CAN_RX_RANGE_FIFO ........................74 15050...
Page 67: Can_Rx
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 68: Can_Rx_Enh
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 69 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 7613 Parameter Data type Description MATCHED_ID DWORD number of the data object identifier DATALENGTHCOUNT BYTE = Data Length Count...
Page 70: Can_Rx_Enh_Fifo
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 71 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 7617 Parameter Data type Description MATCHED_ID DWORD number of the data object identifier DATALENGTHCOUNT BYTE = Data Length Count...
Page 72: Can_Rx_Range
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 CAN_RX_RANGE 7592 Unit type = function block (FB) Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB Symbol in CODESYS: > Description 7594 CAN_RX_RANGE provides the following settings: ...
Page 73 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 7598 Parameter Data type Description DWORD Number of the data object identifier: normal frame (2 048 IDs): 0...2 047 = 0x0000 0000...0x0000 07FF...
Page 74: Can_Rx_Range_Fifo
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 75 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 7604 Parameter Data type Description DWORD Number of the data object identifier: normal frame (2 048 IDs): 0...2 047 = 0x0000 0000...0x0000 07FF...
Page 76: Function Elements: Transmit Raw-Can Data
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 Function elements: transmit RAW-CAN data CAN_TX..............................77 CAN_TX_ENH ............................78 CAN_TX_ENH_CYCLIC .........................80 15055...
Page 77 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 78 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 79 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 7527 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages → following table)
Page 80 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 81 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 7510 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages → following table)
Page 82: Function Elements: Raw-Can Remote
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 Function elements: RAW-CAN remote CAN_REMOTE_REQUEST ........................83 CAN_REMOTE_RESPONSE.........................84 15057...
Page 83 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 CAN_REMOTE_REQUEST 7625 Unit type = function block (FB) Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB Symbol in CODESYS: > Description 7627 In order to request a remote message, an according requirement is dispatched via CAN_REMOTE_REQUEST and the response of the other device is sent back as result.
Page 84 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 CAN_REMOTE_RESPONSE 7631 Unit type = function block (FB) Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB Symbol in CODESYS: > Description 7633 CAN_REMOTE_RESPONSE provides data to the CAN controller in the device which is automatically sent upon the request of a remote message.
Page 85 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 7636 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages → following table)
Page 86: Function Elements: Canopen Status
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 5.2.3 Function elements: CANopen Function elements: CANopen status ......................86 Function elements: CANopen network management ................95 Function elements: CANopen object directory ..................99 Function elements: CANopen SDOs ....................104...
Page 87: Canopen_Enable
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 88 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 7789 Parameters Data type Description RESULT BYTE feedback of the function block (possible messages → following table)
Page 89: Canopen_Getbufferflags
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 90 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 7894 Parameter Data type Description RXOVFL BOOL condition of the RX overflow flag TRUE: overflow in the receive buffer...
Page 91: Canopen_Getstate
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 92 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 7869 Parameter Data type Description MASTERSTATE BYTE Master state = internal state of the master: 0 = 0x00 = master starts up...
Page 93: Canopen_Setstate
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 94 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 Parameter Data type Description InitNoSdos BOOL := FALSE To the node indicated in NODE, during initialisation,... (optional use of the parameter)
Page 95: Function Elements: Canopen Network Management
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 Function elements: CANopen network management CANOPEN_GETNMTSTATESLAVE .....................96 CANOPEN_NMTSERVICES ........................97 15063...
Page 96 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 97 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 98 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 7848 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages → following table)
Page 99: Function Elements: Canopen Object Directory
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 Function elements: CANopen object directory CANOPEN_GETODCHANGEDFLAG ....................100 CANOPEN_READOBJECTDICT ......................101 CANOPEN_WRITEOBJECTDICT .......................102 15065...
Page 100 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 101 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 102 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 103 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 7945 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages → following table)
Page 104: Function Elements: Canopen Sdos
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 Function elements: CANopen SDOs CANOPEN_SDOREAD ........................105 CANOPEN_SDOREADBLOCK ......................107 CANOPEN_SDOREADMULTI ......................109 CANOPEN_SDOWRITE ........................111 CANOPEN_SDOWRITEBLOCK ......................113 CANOPEN_SDOWRITEMULTI ......................115 2071 Here you will find...
Page 105: Canopen_Sdoread
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 106 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 7795 Parameter Data type Description BYTE number of the bytes received (1...4) DATA DWORD the received data value (up to 4 bytes)
Page 107: Canopen_Sdoreadblock
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 108 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the inputs 14945 Parameter Data type Description EXECUTE BOOL := FALSE FALSE  TRUE (edge): execute function element once otherwise: function element is not active A function element already started is processed.
Page 109: Canopen_Sdoreadmulti
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 110 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 7810 Parameter Data type Description DWORD number of the bytes received permissible values = 1...2 048 = 0x0000 0001...0x0000 0800 DATA ARRAY [0..SDOMAXDATA] OF...
Page 111: Canopen_Sdowrite
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 112 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 7829 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages → following table)
Page 113: Canopen_Sdowriteblock
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 114 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the inputs 14964 Parameter Data type Description EXECUTE BOOL := FALSE FALSE  TRUE (edge): execute function element once otherwise: function element is not active A function element already started is processed.
Page 115: Canopen_Sdowritemulti
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 116 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 7836 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages → following table)
Page 117: Function Elements: Canopen Sync
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 Function elements: CANopen SYNC CANOPEN_GETSYNCSTATE ......................118 CANOPEN_SETSYNCSTATE ......................120 15069...
Page 118 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 119 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 7875 Parameter Data type Description SYNC BOOL status of the SYNC functionality TRUE: SYNC is activated:...
Page 120 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 121: Function Elements: Canopen Guarding
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 Function elements: CANopen guarding CANOPEN_GETGUARDHBERRLIST ....................122 CANOPEN_GETGUARDHBSTATSLV ....................123 15071...
Page 122 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 123 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 124 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 7906 Parameter Data type Description GUARDSTATE BYTE Status of node guarding: 0 = 0x00 = no error (or: not active)
Page 125: Function Elements: Canopen Emergency
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 Function elements: CANopen emergency CANOPEN_GETEMCYMESSAGES ....................126 CANOPEN_GETERRORREGISTER ....................128 CANOPEN_SENDEMCYMESSAGE ....................130 15073...
Page 126 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 127 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 7925 Parameter Data type Description 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 128 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 129 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 7919 Parameter Data type Description BYTE Content of the error register 0x1001 ERROR_FIELD ARRAY [0..MAXERR] OF...
Page 130 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 131 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 7912 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages → following table)
Page 132: Function Elements: Sae J1939 Status
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 5.2.4 Function elements: SAE J1939 Function elements: SAE J1939 status ....................132 Function elements: SAE J1939 request ....................140 Function elements: receive SAE J1939 ....................143 Function elements: transmit SAE J1939 ....................148...
Page 133: J1939_Enable
A different baud rate is only adopted if CAN_ENABLE has not been activated before. ACE = Address Claiming Enable:  If an ifm controller communicates with only one engine controller via J1939: set ACE = FALSE.  If however several engine controllers are working on the same bus: set ACE = TRUE.
Page 134 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 8542 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages → following table)
Page 135: J1939_Getdabyname
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 136 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the inputs 7667 Parameter Data type Description ENABLE BOOL TRUE: execute this function element FALSE: unit is not executed >...
Page 137: J1939_Name
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 138 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the inputs 7652 Parameter Data type Description ENABLE BOOL := FALSE TRUE: Any desired address available FALSE: Fixed address...
Page 139: J1939_Status
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 140: Function Elements: Sae J1939 Request
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 Function elements: SAE J1939 request J1939_SPEC_REQ ..........................141 J1939_SPEC_REQ_MULTI .........................142 15079...
Page 141 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 142 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 143: Function Elements: Receive Sae J1939
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 Function elements: receive SAE J1939 J1939_RX .............................144 J1939_RX_FIFO ...........................145 J1939_RX_MULTI ..........................147 15081...
Page 144 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 145 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 146 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 7735 Parameter Data type Description BYTE Source address of the transmitter PRIO BYTE message priority (0…7) BYTE number of the bytes received (0...8)
Page 147 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 148: Function Elements: Transmit Sae J1939
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 Function elements: transmit SAE J1939 J1939_TX .............................149 J1939_TX_ENH ............................150 J1939_TX_ENH_CYCLIC ........................152 J1939_TX_ENH_MULTI ........................154 15083...
Page 149 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 150 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 151 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 7969 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages → following table)
Page 152 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 153 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 7720 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages → following table)
Page 154 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 155 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 7714 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages → following table)
Page 156: Function Elements: Sae J1939 Diagnosis
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 Function elements: SAE J1939 diagnosis J1939_DM1RX .............................157 J1939_DM1TX ............................159 J1939_DM1TX_CFG ..........................162 J1939_DM3TX ............................163 15085...
Page 157: J1939_Dm1Rx
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 158 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 14980 Parameter Data type Description REDSTOPLAMP BOOL red stop lamp (for older projects only) TRUE: FALSE:...
Page 159: J1939_Dm1Tx
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 160 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the inputs 14995 Parameter Data type Description EXECUTE BOOL := FALSE FALSE  TRUE (edge): execute function element once otherwise: function element is not active A function element already started is processed.
Page 161 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 7750 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages → following table)
Page 162: J1939_Dm1Tx_Cfg
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 163: J1939_Dm3Tx
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 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 164: Function Elements: Processing Input Values
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 5.2.5 Function elements: processing input values FASTCOUNT ............................165 INC_ENCODER ...........................167 INPUT ..............................169 PERIOD ..............................171 STATUS_F_V_EXT ..........................174 1302 In this chapter we show you FBs which allow you to read and process the analogue or digital signals at the device input.
Page 165: Fastcount
Overflow or underflow of the counter value is not detected. 14888 NOTE In case of higher frequencies (higher than those guaranteed by ifm) the following problems may occur:  The switch-on and switch-off times of the outputs become more important.
Page 166 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 8116 Parameter Data type Description VALUE DWORD ouput value RESULT BYTE feedback of the function block (possible messages →...
Page 167: Inc_Encoder
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 INC_ENCODER 8134 = Incremental Encoder Unit type = function block (FB) Unit is contained in the library ifm_CR0431_Vxxyyzz.LIB Symbol in CODESYS: >...
Page 168 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the inputs 8137 Parameter Data type Description ENABLE BOOL TRUE: execute this function element FALSE: unit is not executed >...
Page 169: Input
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 INPUT 8103 Unit type = function block (FB) Unit is contained in the library ifm_CR0431_Vxxyyzz.LIB Symbol in CODESYS: > Description 19702 INPUT enables determining the state at the input channels (→...
Page 170 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the inputs 19703 Parameter Data type Description ENABLE BOOL TRUE: execute this function element FALSE: unit is not executed >...
Page 171: Period
Performance limits of the device (→ p. 31) 14888 NOTE In case of higher frequencies (higher than those guaranteed by ifm) the following problems may occur:  The switch-on and switch-off times of the outputs become more important.  Undue heating of the components may occur.
Page 172 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the inputs 8124 Parameter Data type Description ENABLE BOOL TRUE: execute this function element FALSE: unit is not executed >...
Page 173 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 8125 Parameter Data type Description VALUE_CYCLE DWORD (MODE = 14 / 19 / 20) Cycle time in [µs] at the input (MODE = 25) Cycle time in [µs] at the A channel of the input pair...
Page 174: Status_F_V_Ext
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 STATUS_F_V_EXT 19737 Unit type = program (PRG) Unit is contained in the library ifm_CR0431_util_Vxxyyzz.LIB Symbol in CODESYS: > Description 19739 The program STATUS_F_V_EXT determines the status of the fuse for the potential V_EXT.
Page 175: Function Elements: Output Functions
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 5.2.6 Function elements: output functions OUTPUT ...............................176 PWM1000 .............................178 RELAY ..............................180 15075 10462 For this device you can set the mode of some or all outputs. Here we show you a couple of function...
Page 176 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 OUTPUT 8078 Unit type = function block (FB) Unit is contained in the library ifm_CR0431_Vxxyyzz.LIB Symbol in CODESYS: > Description 19721 OUTPUT assigns an operating mode to an output channel (→...
Page 177 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 8081 Parameter Data type Description OUTPUT BOOL TRUE: output is activated FALSE: output is deactivated CURRENT...
Page 178 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 PWM1000 8060 Unit type = function block (FB) Unit is contained in the library ifm_CR0431_Vxxyyzz.LIB Symbol in CODESYS: > Description 8062 PWM1000 handles the initialisation and parameter setting of the PWM outputs.
Page 179 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 8523 Parameter Data type Description CURRENT WORD only available for current controlable outputs: current output current in [mA]...
Page 180 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 RELAY 19719 Unit type = function block (FB) Unit is contained in the library ifm_CR0431_util_Vxxyyzz.LIB Symbol in CODESYS: > Description 19719 The FB RELAY switches the relay of the selected output channel with an adjustable voltage.
Page 181 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 relay coil (± 10 %). PWM1000 RELAY uses the FB (→ p. 178). The effect of RELAY is not visible in the control configuration.
Page 182: Function Elements: System
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 5.2.7 Function elements: system FLASH_INFO ............................183 FLASH_READ ............................184 GET_APP_INFO ..........................185 GET_HW_INFO ............................186 GET_IDENTITY ............................187 GET_SW_INFO ............................188 GET_SW_VERSION ..........................189 MEM_ERROR ............................190 MEMCPY ..............................191 OHC ..............................193...
Page 183: Flash_Info
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 FLASH_INFO 11580 Unit type = function block (FB) Unit is contained in the library ifm_CR0431_Vxxyyzz.LIB Symbol in CODESYS: > Description 11588 FLASH_INFO reads the information from the user flash memory: •...
Page 184: Flash_Read
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 FLASH_READ 8147 Unit type = function block (FB) Unit is contained in the library ifm_CR0431_Vxxyyzz.LIB Symbol in CODESYS: > Description 11579 FLASH_READ enables reading of different types of data directly from the flash memory.
Page 185: Get_App_Info
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 GET_APP_INFO 11581 = get application information Unit type = function block (FB) Unit is contained in the library ifm_CR0431_Vxxyyzz.LIB Symbol in CODESYS: >...
Page 186: Get_Hw_Info
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 GET_HW_INFO 11582 = get hardware information Unit type = function block (FB) Unit is contained in the library ifm_CR0431_Vxxyyzz.LIB Symbol in CODESYS: >...
Page 187: Get_Identity
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 GET_IDENTITY 8166 Unit type = function block (FB) Unit is contained in the library ifm_CR0431_Vxxyyzz.LIB Symbol in CODESYS: > Description 15411...
Page 188: Get_Sw_Info
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 GET_SW_INFO 11583 = get software information Unit type = function block (FB) Unit is contained in the library ifm_CR0431_Vxxyyzz.LIB Symbol in CODESYS: >...
Page 189: Get_Sw_Version
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 GET_SW_VERSION 14763 = get software version Unit type = function block (FB) Unit is contained in the library ifm_CR0431_Vxxyyzz.LIB Symbol in CODESYS: >...
Page 190: Mem_Error
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 MEM_ERROR 14770 = Memory Error Unit type = function block (FB) Unit is contained in the library ifm_CR0431_Vxxyyzz.LIB Symbol in CODESYS: >...
Page 191: Memcpy
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 MEMCPY 8160 = memory copy Unit type = function block (FB) Unit is contained in the library ifm_CR0431_Vxxyyzz.LIB Symbol in CODESYS: >...
Page 192 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 8163 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages → following table)
Page 193: Ohc
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 14777 = Operating Hours Counter Unit type = function block (FB) Unit is contained in the library ifm_CR0431_Vxxyyzz.LIB Symbol in CODESYS: >...
Page 194 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 14780 Parameter Data type Description HOURS DWORD Counter value hours (0...4 294 967 295 = 0x0000 0000...0xFFFF FFFF)
Page 195: Set_Identity
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 SET_IDENTITY 8174 Unit type = function block (FB) Unit is contained in the library ifm_CR0431_Vxxyyzz.LIB Symbol in CODESYS: > Description 8535 SET_IDENTITY sets an application-specific program identification.
Page 196: Set_Led
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 SET_LED 8052 Unit type = function block (FB) Unit is contained in the library ifm_CR0431_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 197 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 > Parameters of the outputs 8227 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages → following table)
Page 198: Set_Password
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 SET_PASSWORD 8178 Unit type = function block (FB) Unit is contained in the library ifm_CR0431_Vxxyyzz.LIB Symbol in CODESYS: > Description 8179 SET_PASSWORD sets a user password for program and memory upload via the maintenance tool.
Page 199: Timer_Read_Us
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 ifm function elements ifm function elements for the device CR0431 TIMER_READ_US 8219 Unit type = function block (FB) Unit is contained in the library ifm_CR0431_Vxxyyzz.LIB Symbol in CODESYS: > Description TIMER_READ_US reads the current system time in [µs].
Page 200: Diagnosis And Error Handling
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Diagnosis and error handling Diagnosis Diagnosis and error handling Diagnosis ..............................200 Fault ..............................200 Response to system errors........................200 CAN / CANopen: errors and error handling..................201 19598 The runtime-system (RTS) checks the device by internal error checks: •...
Page 201: Example Process For Response To An Error Message
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Diagnosis and error handling CAN / CANopen: errors and error handling > 6.3.1 Example process for response to an error message 8505 The runtime system cyclically writes the system flag TEMPERATURE. The application program detects the device temperature by retrieving the INT variable.
Page 202: Appendix
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Appendix System flags Appendix System flags ............................202 Address assignment and I/O operating modes ..................204 Error tables ............................208 1664 Additionally to the indications in the data sheets you find summary tables in the appendix. System flags System flags: voltages ..........................203 System flags: inputs and outputs ......................203...
Page 203: System Flags: Voltages
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Appendix System flags > 7.1.1 System flags: voltages 19746 System flags (symbol name) Type Description SUPPLY_VOLTAGE_VBB15 WORD supply voltage on VBB15 in [mV] SUPPLY_VOLTAGE_VBBS WORD supply voltage on VBBs in [mV] SUPPLY_VOLTAGE_VBBS_SW WORD supply voltage on VBBs after SUPPLY_SWITCH in [mV]...
Page 204: Address Assignment And I/O Operating Modes
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Appendix Address assignment and I/O operating modes Address assignment and I/O operating modes Address assignment inputs / outputs ....................204 Possible operating modes inputs/outputs .....................206 1656 → also data sheet 7.2.1 Address assignment inputs / outputs Inputs: address assignment........................204 Outputs: address assignment .......................205 2371...
Page 205 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Appendix Address assignment and I/O operating modes > Outputs: address assignment 19798 Note on wiring Abbreviations →chapter (→ p. 20) Operating modes of the inputs/outputs →chapter Possible operating modes inputs/outputs (→ p. 206) IEC address Symbolic address %QB0...
Page 206: Possible Operating Modes Inputs/Outputs
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Appendix Address assignment and I/O operating modes 7.2.2 Possible operating modes inputs/outputs Inputs: operating modes ........................206 Outputs: operating modes ........................207 2386 > Inputs: operating modes 16655 = this configuration value is default Value Inputs Possible operating mode...
Page 207 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Appendix Address assignment and I/O operating modes > Outputs: operating modes 19800 = this configuration value is default Value Outputs Possible operating mode Set with FB FB input K00…K05 OUTPUT MODE Binary output plus-switching OUTPUT...
Page 208: Error Tables
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Appendix Error tables Error tables Error flags .............................208 Errors: CAN / CANopen ........................208 19606 > 7.3.1 Error flags 19608 → chapter System flags (→ p. 202) > 7.3.2 Errors: CAN / CANopen 19610 19604 →...
Page 209 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Appendix 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 Byte 7 Description [hex]...
Page 210: Terms And Abbreviations
Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Terms and abbreviations Terms and abbreviations Address This is the "name" of the bus participant. All participants need a unique address so that the signals can be exchanged without problem. > Application software Software specific to the application, implemented by the machine manufacturer, generally containing logic sequences, limits and expressions that control the appropriate inputs, outputs, calculations and...
Page 211 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Terms and abbreviations > 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 212 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Terms and abbreviations > COB ID COB = Communication Object ID = Identifier ID of a CANopen communication object Corresponds to the identifier of the CAN message with which the communication project is sent via the CAN bus.
Page 213 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Terms and abbreviations > Data type Depending on the data type, values of different sizes can be stored. Data type min. value max. value size in the memory BOOL FALSE TRUE 8 bits = 1 byte BYTE 8 bits = 1 byte...
Page 214 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Terms and abbreviations > DRAM DRAM = Dynamic Random Access Memory. Technology for an electronic memory module with random access (Random Access Memory, RAM). The memory element is a capacitor which is either charged or discharged. It becomes accessible via a switching transistor and is either read or overwritten with new contents.
Page 215 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Terms and abbreviations > EUC = Equipment Under Control. EUC is equipment, machinery, apparatus or plant used for manufacturing, process, transportation, medical or other activities (→ IEC 61508-4, section 3.2.3). Therefore, the EUC is the set of all equipment, machinery, apparatus or plant that gives rise to hazards for which the safety-related system is required.
Page 216 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Terms and abbreviations > ID = Identifier Name to differentiate the devices / participants connected to a system or the message packets transmitted between the participants. > IEC 61131 Standard: Basics of programmable logic controllers •...
Page 217 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Terms and abbreviations > ISO 16845 Standard: Road vehicles – Controller area network (CAN) – Conformance test plan > J1939 → SAE J1939 > LED = Light Emitting Diode. Light emitting diode, also called luminescent diode, an electronic element of high coloured luminosity at small volume with negligible power loss.
Page 218 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Terms and abbreviations > MRAM MRAM = Magnetoresistive Random Access Memory The information is stored by means of magnetic storage elements. The property of certain materials is used to change their electrical resistance when exposed to magnetic fields. Advantages of MRAM as compared to conventional RAM memories: •...
Page 219 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Terms and abbreviations > Operational Operating state of a CANopen participant. In this mode →SDOs, →NMT commands and →PDOs can be transferred. > PC card →PCMCIA card > PCMCIA card PCMCIA = Personal Computer Memory Card International Association, a standard for expansion cards of mobile computers.
Page 220 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Terms and abbreviations > Pictogram Pictograms are figurative symbols which convey information by a simplified graphic representation. What do the symbols and formats mean? (→ chapter (→ p. 6)) > PID controller The PID controller (proportional–integral–derivative controller) consists of the following parts: •...
Page 221 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Terms and abbreviations > remanent Remanent data is protected against data loss in case of power failure. The →runtime system for example automatically copies the remanent data to a →flash memory as soon as the voltage supply falls below a critical value.
Page 222 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Terms and abbreviations > SDO = Service Data Object. The SDO is used for access to objects in the CANopen object directory. 'Clients' ask for the requested data from 'servers'. The SDOs always consist of 8 bytes. Examples: •...
Page 223 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Terms and abbreviations > UDP (User Datagram Protocol) is a minimal connectionless network protocol which belongs to the transport layer of the internet protocol family. The task of UDP is to ensure that data which is transmitted via the internet is passed to the right application.
Page 224: Index
CANOPEN_SDOREADBLOCK ............107 Index CANOPEN_SDOREADMULTI ............109 CANOPEN_SDOWRITE ..............111 CANOPEN_SDOWRITEBLOCK ............113 CANOPEN_SDOWRITEMULTI............115 About this manual ..................4 CANOPEN_SENDEMCYMESSAGE ..........130 Activate the PLC configuration .............. 39 CANOPEN_SETSTATE ................ 93 Activation of the input diagnosis ............46 CANOPEN_SETSYNCSTATE ............120 Address ....................
Page 225 ................53 Example process for response to an error message ......201 ifm function elements for the device CR0431 ........58 ifm libraries for the device CR0431 ............53 Important note to program the device ..........12, 27 Fast inputs .....................
Page 226 Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018 Index PGN ..................... 219 Pictogram ..................... 220 PID controller ..................220 MAC-ID ....................217 PLC configuration ................220 Manufacturer-specific information (detail) ........... 209 Please note ....................8 Master ....................217 Possible operating modes inputs/outputs ........... 206 MEM_ERROR ..................
Page 227 UDP ..................... 223 Update the runtime system ..............36 Use as binary inputs ................47 Use, intended ..................223 Using ifm maintenance tool ..............29 Variables ....................50 Verify the installation ................36 Watchdog ..................... 223 Watchdog behaviour ................32 What do the symbols and formats mean? ..........
Page 228: Notizen • Notes • Notes
Notizen • Notes • Notes...

This manual is also suitable for:

Iocontrol cr2050

IFM BasicController CR0431 Programming Manual

Runtime System V03.03.00

1 About this Manual

2 Safety Instructions

3 System Description

3.2 Hardware Description

3.4 Software Description

4 Configurations

4.4.2 Configure Inputs

Function Elements: Raw-Can Status

Function Elements: Receive Raw-Can Data

Function Elements: Canopen Status

Function Elements: Canopen Sdos

Function Elements: Sae J1939 Status

Function Elements: Sae J1939 Diagnosis

5.2.5 Function Elements: Processing Input Values

5.2.7 Function Elements: System

6 Diagnosis and Error Handling

7 Appendix

8 Terms and Abbreviations

9 Index

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