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IFM Electronic CR0451 System Manual
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IFM Electronic CR0451 System Manual

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System manual
BasicDisplay
CR0451
®
CoDeSys
V2.3
Target V01
English

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Summary of Contents for IFM Electronic CR0451

  • Page 1 System manual BasicDisplay CR0451 ® CoDeSys V2.3 Target V01 English...

  • Page 2: Table Of Contents

    First steps...........................34 5.3.1 Create visualisation ....................34 5.3.2 Create PLC program ..................36 Limitations and programming notes Limits of the device ......................37 6.1.1 CPU frequency ....................37 6.1.2 Watchdog behaviour...................38 6.1.3 Available memory (CR0451) ................38 6.1.4 Limitations for visualisations (CR0451) ..............39...
  • Page 3 6.2.1 FB, FUN, PRG in CoDeSys................40 6.2.2 Operating sequence ...................41 6.2.3 Creating application program ................42 6.2.4 CoDeSys visualisation elements (CR0451) ............43 6.2.5 Texts (CR0451) ....................44 6.2.6 Movement of elements ..................44 6.2.7 Using ifm maintenance tool ................45 Visualisations in the device Recommendations for user interfaces ................46...
  • Page 4 System Manual BasicDisplay (CR0451) V01 ecomatmobile Contents CAN units acc. to SAE J1939 ..................113 9.5.1 CAN for the drive engineering ................. 113 9.5.2 Units for J1939 (management) ................ 117 9.5.3 Units for J1939 (send) ..................126 9.5.4 Units for J1939 (receive) ................. 136 CAN POUs to CANopen ....................

  • Page 5: About This Manual

    System Manual BasicDisplay (CR0451) V01 ecomatmobile About this manual What do the symbols and formats mean? About this manual What do the symbols and formats mean? ..................5 How is this manual structured? ......................6 In the additional "Programming Manual for CoDeSys V2.3" you will obtain more details about the use of the programming system "CoDeSys for Automation Alliance".

  • Page 6: How Is This Manual Structured

    System Manual BasicDisplay (CR0451) V01 ecomatmobile About this manual How is this manual structured? ► ... Required action > Response, effect  ... "see" Cross references (links) [...] Designations of keys, buttons or display How is this manual structured? This documentation is a combination of different types of manuals. It is for beginners and also a reference for advanced users.

  • Page 7: Safety Instructions

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Safety instructions Important! Safety instructions Important! ............................7 What previous knowledge is required? ..................8 Important! 6091 No characteristics are warranted with the information, notes and examples provided in this manual. The drawings, representations and examples imply no responsibility for the system and no application- specific particularities.

  • Page 8: What Previous Knowledge Is Required

    System Manual BasicDisplay (CR0451) V01 ecomatmobile 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. ® If this device contains a PLC, in addition these persons should know the CoDeSys software.

  • Page 9: System Description

    8317 A wide range of accessories is available for the BasicDisplay. Examples: EC0402 Cover for the BasicController: CR040n with opening for the BasicDisplay: CR0451 EC0403 Frame for front panel mounting EC0452 Cable for power supply and CAN between the display and the BasicController when the...

  • Page 10: Colour Display

    System Manual BasicDisplay (CR0451) V01 ecomatmobile System description Information about the device 3.1.2 Colour display 8341 Designation Data Technology Screen diagonal 2.8" (7.1 cm) Aspect ratio Resolution 320 x 240 pixels Colour depth 8 bits = 256 colours via defined colour palette (→ page 65) ►...

  • Page 11: Connection On The Rear Panel Of The Housing

    System Manual BasicDisplay (CR0451) V01 ecomatmobile System description Information concerning the software 3.1.4 Connection on the rear panel of the housing 8351 M12 connector, A-coded, for supply and CAN: Illustration Designation Note n.c. ---- 8...32 V DC terminal 31 CAN_H...

  • Page 12: Plc Configuration

    System Manual BasicDisplay (CR0451) V01 ecomatmobile System description PLC configuration IMPORTANT: the following files must also be loaded:  the internal libraries (created in IEC 1131) required for the project,  the configuration files (*.CFG)  and the target files (*.TRG).

  • Page 13: Operating States And Operating System

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Operating states and operating system Operating states Operating states and operating system Operating states ...........................13 Status LED ...........................15 Operating system .........................16 1074 Operating states 1075 After power on the controller can be in one of five possible operating states: ecomatmobile 4.1.1...

  • Page 14: Stop State

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Operating states and operating system Operating states A transition from this state into one of the following states is possible:  STOP  ERROR  FATAL ERROR  INIT (after power-on-reset) 4.1.3 STOP state...

  • Page 15: Fatal Error State

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Operating states and operating system Status LED 4.1.5 FATAL ERROR state 8289 A transition into this state is possible in the following cases:  memory error (RAM / Flash)  exception error  operating system error In the FATAL ERROR state: >...

  • Page 16: Operating System

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Operating states and operating system Operating system Operating system 8000 4.3.1 Load the operating system 8486 On delivery of the controller no operating system is normally loaded (LED flashes ecomatmobile green at 5 Hz). Only the boot loader is active in this operating mode. It provides the minimum functions for loading the operating system (e.g.

  • Page 17: Configurations

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Configurations Set device parameters (setup) Configurations Set device parameters (setup) .....................17 Set up programming system ......................17 First steps.............................34 3615 Set device parameters (setup) 8358 In this device the housing parameters can only be displayed, not changed.
  • Page 18 System Manual BasicDisplay (CR0451) V01 ecomatmobile Configurations Set up programming system Setup the target 2687 ® When creating a new project in CoDeSys the target file corresponding to the controller must be loaded. It is selected in the dialogue window for all hardware and acts as an interface to the hardware for the programming system.
  • Page 19 System Manual BasicDisplay (CR0451) V01 ecomatmobile Configurations Set up programming system Activating the PLC configuration 2688 During the configuration of the programming system ( previous section) automatically also the PLC configuration was carried out. The point [PLC Configuration] is reached via the tab [Resources]. Double-click on [PLC Configuration] to open the corresponding window.
  • Page 20 System Manual BasicDisplay (CR0451) V01 ecomatmobile Configurations Set up programming system Based on the configuration the following is available in the program environment for the user:  All important system and error flags Depending on the application and the application program, these flags must be processed and evaluated.

  • Page 21: Set Up Programming System Via Templates

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Configurations Set up programming system 5.2.2 Set up programming system via templates About the ifm templates .......................24 Supplement project with further functions..................28 3977 offers ready-to-use templates (program templates) for a fast, simple, and complete setting up of the programming system.
  • Page 22 System Manual BasicDisplay (CR0451) V01 ecomatmobile Configurations Set up programming system ► Find article number of the unit in the list, e.g. CR2500 as CANopen master: ► How is the CAN network organised? Do you want to work on layer 2 basis or is there a master with several slaves (for CANopen)? (Here an example: CANopen-Slave, ...
  • Page 23 System Manual BasicDisplay (CR0451) V01 ecomatmobile Configurations Set up programming system ► Configuration of the CAN network in the project: Double click the element [PLC configuration] above the tabulator [resources] in the CoDeSys project. ► Right mouse click in the entry [CR2500, CANopen Master] ►...
  • Page 24 System Manual BasicDisplay (CR0451) V01 ecomatmobile Configurations Set up programming system About the ifm templates Folder structure in general ......................24 Programs and functions in the folders of the templates...............25 Structure of the visualisations in the templates................27 3981 As a rule the following templates are offered for each unit: ...
  • Page 25 System Manual BasicDisplay (CR0451) V01 ecomatmobile Configurations Set up programming system Programs and functions in the folders of the templates 3980 The above folders contain the following programs and function blocks (all = POUs): POUs in the folder Description CAN_OPEN...
  • Page 26 System Manual BasicDisplay (CR0451) V01 ecomatmobile Configurations Set up programming system POUs in the folder Description CONTROL_CR10nn CONTROL_PDM for PDM, CAN operation with layer 2 or as master or slave: Organises the image control in the PDM. Contains the following parameterised POUs: - PACK (...
  • Page 27 System Manual BasicDisplay (CR0451) V01 ecomatmobile Configurations Set up programming system POUs in the root directory Description PLC_CYCLE for Controller, CAN operation with layer 2 or as master or slave: Determines the cycle time of the PLC in the unit.
  • Page 28 System Manual BasicDisplay (CR0451) V01 ecomatmobile Configurations Set up programming system Supplement project with further functions 3987 You have created a project using an template and you have defined the CAN network. Now you want to add further functions to this project.
  • Page 29 System Manual BasicDisplay (CR0451) V01 ecomatmobile Configurations Set up programming system ► Highlight the elements which contain only the requested function, in this case e.g.: NOTE: In other cases libraries and/or visualisations might be required. ► Confirm the selection with [OK].

  • Page 30: Ifm Demo Programs

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Configurations Set up programming system ► Adapt input and output variables as well as parameters and possible visualisations to your own conditions. ► [Project] > [Save] and [Project] > [Rebuild all]. ► After possibly required corrections and addition of missing libraries ( Error messages after rebuild) save the project again.
  • Page 31 System Manual BasicDisplay (CR0451) V01 ecomatmobile Configurations Set up programming system Demo program Function CR2500Demo_CR2032_xx.pro I/O compact module CR2032 as slave of a Controller (CANopen master), 4 x digital input, 4 x digital input analogue evaluation, 4 x digital output, 4 x PWM output.
  • Page 32 System Manual BasicDisplay (CR0451) V01 ecomatmobile Configurations Set up programming system Demo programs for PDM and BasicDisplay 3996 Demo program Function CR1051Demo_CanTool_xx.pro separate for PDM360, PDM360compact, PDM360smart and Controller: CR1053Demo_CanTool_xx.pro Contains FBs to set and analyse the CAN interface. CR1071Demo_CanTool_xx.pro CR1051Demo_Input_Character_xx.pro...
  • Page 33 System Manual BasicDisplay (CR0451) V01 ecomatmobile Configurations Set up programming system Demo program Function CR1051Demo_Ringlogging_on_flash Writes a CVS data block in the internal flash memory when [F3] is _intern_xx.pro pressed or a CAN message is received on ID 100. The file names can be freely defined.

  • Page 34: First Steps

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Configurations First steps First steps Create visualisation ........................34 Create PLC program ........................36 3044 ► Setup the target (→ page 18)). ► Activate PLC configuration (→ page 17)). 5.3.1 Create visualisation 3100 For this project we first create the visualisation and only then the PLC program.
  • Page 35 System Manual BasicDisplay (CR0451) V01 ecomatmobile Configurations First steps To complete the test program we now create a simple visualisation. ► Select the symbol "rectangle". ► Indicate to a point on the drawing area which is the start point of a rectangle.

  • Page 36: Create Plc Program

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Configurations First steps 5.3.2 Create PLC program 7433 For this project we first create the visualisation and only then the PLC program. ► For the actual programming you go to programming (PLC_PRG) via the tab [POUs]: Only some networks are necessary for an executable program.

  • Page 37: Limitations And Programming Notes

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Limitations and programming notes Limits of the device Limitations and programming notes Limits of the device........................37 Programming notes for CoDeSys projects...................40 3055 Here we show you the limits of the device and help you with programming notes.

  • Page 38: Watchdog Behaviour

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Limitations and programming notes Limits of the device 6.1.2 Watchdog behaviour 1490 For all controllers the program runtime is monitored by a watchdog. If the maximum ecomatmobile watchdog time is exceeded, the controller carries out a reset and starts again (SafetyController: controller remains in the reset;...

  • Page 39: Limitations For Visualisations (Cr0451)

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Limitations and programming notes Limits of the device 6.1.4 Limitations for visualisations (CR0451) 8319 Designation Limitation Length of character strings < 80 characters Length of path names not relevant Number of visualisation pages < 15 Number of graphical objects per visualisation page <...

  • Page 40: Programming Notes For Codesys Projects

    Programming notes for CoDeSys projects Programming notes for CoDeSys projects FB, FUN, PRG in CoDeSys ......................40 Operating sequence ........................41 Creating application program .......................42 CoDeSys visualisation elements (CR0451) .................43 Texts (CR0451) ..........................44 Movement of elements.........................44 Using ifm maintenance tool......................45 7426 Here you receive tips how to program the device.

  • Page 41: Operating Sequence

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Limitations and programming notes Programming notes for CoDeSys projects 6.2.2 Operating sequence 7427 In principle, there are two options to create a PDM project: A) First the visualisation, then the PLC program. Advantages: Disadvantage: ...

  • Page 42: Creating Application Program

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Limitations and programming notes Programming notes for CoDeSys projects 6.2.3 Creating application program 8490 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 43: Codesys Visualisation Elements (Cr0451)

    Limitations and programming notes Programming notes for CoDeSys projects 6.2.4 CoDeSys visualisation elements (CR0451) 8371 Bitmap graphics (BMP)  Power reserves of the device (→ page 62) NOTE: Not all CoDeSys functions can be executed successfully on this device:...

  • Page 44: Texts (Cr0451)

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Limitations and programming notes Programming notes for CoDeSys projects 6.2.5 Texts (CR0451) 8436  The smallest font size which is clearly visible on the device is 11 point.  Permissible fonts: - Arial (standard) - Lucida Console ...

  • Page 45: Using Ifm Maintenance Tool

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Limitations and programming notes Programming notes for CoDeSys projects 6.2.7 Using ifm maintenance tool 8492 Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451 - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056...

  • Page 46: Visualisations In The Device

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Visualisations in the device Recommendations for user interfaces Visualisations in the device Recommendations for user interfaces ..................46 Basic information about colours and bitmap graphics ..............60 Power reserves of the device.......................62 Special information about bitmap graphics ..................64 3111 In this chapter you find important information about bitmap graphics in CoDeSys visualisations.

  • Page 47: Recommendations For A User-Friendly Product Design

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Visualisations in the device Recommendations for user interfaces 7.1.1 Recommendations for a user-friendly product design 7436 All important interfaces between humans and machines are determined by the user platform and design. Important criteria for the design of interfaces between humans and machines are...

  • Page 48: Do You Know The Future Users

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Visualisations in the device Recommendations for user interfaces 7.1.2 Do you know the future users? 7444 The future users of the product should be known:   Gender  Senses:  Eyesight  Hearing ability ...

  • Page 49: Check Suitability For Use

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Visualisations in the device Recommendations for user interfaces 7.1.3 Check suitability for use 7422 In many cases a test set-up with potential users can provide important results where and how the product is/has to be improved to be successful in the market.

  • Page 50: Cultural Details Are Often Not Transferable

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Visualisations in the device Recommendations for user interfaces Unicode Unicode is a standard for the consistent representation and use of characters found in the writing systems of the world. It war not easy to adapt languages to computers, partly due to the large number of characters of some languages.
  • Page 51 System Manual BasicDisplay (CR0451) V01 ecomatmobile Visualisations in the device Recommendations for user interfaces Colours 7464 The selection of the "right" colour is an important element for the text and product design. Many colours are culture-specific and can lead to misunderstandings if used incorrectly and even to an image loss of the product as a result of handling faults.
  • Page 52 System Manual BasicDisplay (CR0451) V01 ecomatmobile Visualisations in the device Recommendations for user interfaces Illustrations 7466 An image is not always a sensible substitute for a text. The representation of more complex processes can become impossible. How is, for example, the request "press the button until you feel a slight resistance"...

  • Page 53: Directives And Standards

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Visualisations in the device Recommendations for user interfaces 7.1.6 Directives and standards ISO 7001 _ Graphical symbols - Public information symbols ............53 ISO 9126 _ Software engineering - Product quality..............54 ISO 9241 _ Ergonomics of human-system interaction..............55 ISO 10646 _ Information technology —...
  • Page 54 System Manual BasicDisplay (CR0451) V01 ecomatmobile Visualisations in the device Recommendations for user interfaces ISO 9126 _ Software engineering - Product quality 7446 The standard describes the following criteria: Functionality: To what extent does the software have the required functions? ...
  • Page 55 System Manual BasicDisplay (CR0451) V01 ecomatmobile Visualisations in the device Recommendations for user interfaces ISO 9241 _ Ergonomics of human-system interaction 7447 The standard ISO 9241 is an international standard describing the guidelines of interaction between humans and computers. The series of standards describes requirements for the work environment, hardware and software.
  • Page 56 System Manual BasicDisplay (CR0451) V01 ecomatmobile Visualisations in the device Recommendations for user interfaces ISO 9241-11 _ Guidance on usability 7448 The usability of a software depends on its context of use. In part 11 of ISO 9241 three main criteria are defined for the usability of a software: ...
  • Page 57 System Manual BasicDisplay (CR0451) V01 ecomatmobile Visualisations in the device Recommendations for user interfaces ISO 10646 _ Information technology — Universal multiple-octet coded character set (UCS) 7455 The universal character set (UCS) is a standard set of characters which is defined in the international standard ISO 10646.
  • Page 58 System Manual BasicDisplay (CR0451) V01 ecomatmobile Visualisations in the device Recommendations for user interfaces ISO 13406 _Ergonomic requirements for work with visual displays based on flat panels 7453 Part 2: Ergonomic requirements for flat panel displays According to the international standard ISO 13406-2 LCD screens are classified on the basis of the following criteria: ...
  • Page 59 System Manual BasicDisplay (CR0451) V01 ecomatmobile Visualisations in the device Recommendations for user interfaces ISO 20282 _ Ease of operation of everyday products 7443 This draft consists of  Part 1: Design requirements for context of use and user characteristics...

  • Page 60: Basic Information About Colours And Bitmap Graphics

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Visualisations in the device Basic information about colours and bitmap graphics Basic information about colours and bitmap graphics Image size vector graphics / pixel graphics .................61 Colour for bitmap graphics ......................62 What colours are shown?......................62...

  • Page 61: Image Size Vector Graphics / Pixel Graphics

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Visualisations in the device Basic information about colours and bitmap graphics 7.2.1 Image size vector graphics / pixel graphics 7380 Vector graphics Pixel graphics Graphical elements are described as vectors: Pixel graphics of modern digital cameras have 5...

  • Page 62: Colour For Bitmap Graphics

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Visualisations in the device Power reserves of the device 7.2.2 Colour for bitmap graphics 3121 A second important factor is the colour information (the RGB value) which is stored for every pixel. RGB stands for red, green and blue. For each of these three primary colours 255 intensity levels are available.

  • Page 63: Resample / Scale Image

    ► First carry out all transformations of the bitmap or the image in an image processing program on your computer. For BasicDisplay: CR0451 only: Transformation to the colour table (→ page 65) will be done during inserting the bitmap into the project by CoDeSys. On the device itself there won't happen any transformations (image size, scaling, colour) ►...

  • Page 64: Special Information About Bitmap Graphics

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Visualisations in the device Special information about bitmap graphics Special information about bitmap graphics Additive colour mixing ........................64 What graphics are suitable for which PDM and what steps must be carried out?.......65 Colour palettes ..........................65 3113 Here the interested reader finds more details about bitmap graphics.

  • Page 65: What Graphics Are Suitable For Which Pdm And What Steps Must Be Carried Out?65

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Visualisations in the device Special information about bitmap graphics Nuances in the colour saturation result from smaller shares of the respective primary colour: Screenshot: RGB colour mixture at Photoshop; 100 %  255 = FF 7.4.2...
  • Page 66 System Manual BasicDisplay (CR0451) V01 ecomatmobile Visualisations in the device Special information about bitmap graphics Original image: True Color Colour depth: 24 bits Colour image transformed with PDM colour palette Colour depth: 8 bits Without dither Colour image transformed with PDM colour...
  • Page 67 System Manual BasicDisplay (CR0451) V01 ecomatmobile Visualisations in the device Special information about bitmap graphics Black-white image transformed with PDM colour palette Only 2 colours Colour depth: 8 bits Without dither Black-white image transformed with PDM colour palette Only 2 colours...

  • Page 68: Variable

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Variable Special information about bitmap graphics Variable Retain variable ..........................69 3130 In this chapter you will learn more about how to handle variables. In principle, a distinction is made between the following variable types in CoDeSys:...

  • Page 69: Retain Variable

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Variable Retain variable Retain variable 8672 Retain variables can be saved automatically in a protected memory area and be reloaded automatically during a reboot or. Typical applications for retain variables are for example: ...

  • Page 70: Can In The Pdm360

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 General about CAN CAN in the PDM360 General about CAN ........................70 Physical connection of CAN......................73 Exchange of CAN data.........................77 CAN-FBs on layer 2 (RAW-CAN)....................82 CAN units acc. to SAE J1939 ....................113 CAN POUs to CANopen ......................

  • Page 71: Can Interfaces

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 General about CAN 9.1.2 CAN interfaces 7401 The controllers have several CAN interfaces depending on the hardware structure. In principle, all interfaces can be used with the following functions independently of each other: ...

  • Page 72: System Configuration

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 General about CAN 9.1.3 System configuration 7475 The controllers are delivered with the following download identifier (= ID):  ID 127 for CAN interface 1  ID 126 for CAN interface 2 The download system uses this identifier for the first communication with a non configured module via CAN.

  • Page 73: Physical Connection Of Can

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 Physical connection of CAN Physical connection of CAN Network structure .........................73 CAN bus level..........................74 Bus cable length...........................75 Wire cross-sections ........................76 1177 The mechanisms of the data transmission and error handling described in the chapters Exchange of CAN data (→...

  • Page 74: Can Bus Level

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 Physical connection of CAN 9.2.2 CAN bus level 1179 The CAN bus is in the inactive (recessive) state if the output transistor pairs are switched off in all bus participants. If at least one transistor pair is switched on, a bit is transferred to the bus. This activates the bus (dominant).

  • Page 75: Bus Cable Length

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 Physical connection of CAN 9.2.3 Bus cable length 1180 The length of the bus cable depends on:  type of the bus cable (cable, connector),  cable resistance,  required transmission rate (baud rate), ...

  • Page 76: Wire Cross-Sections

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 Physical connection of CAN 9.2.4 Wire cross-sections 1181 For the layout of the CAN network the wire cross-section of the bus cable used must also be taken into account. The following table describes the dependence of the wire cross-section referred to the cable length and the number of the connected nodes.

  • Page 77: Exchange Of Can Data

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 Exchange of CAN data Exchange of CAN data Hints ............................78 CAN functions in the IEC user cycle ....................80 7477 CAN data is exchanged via the CAN protocol of the link layer (level 2) of the seven-layer ISO/OSI reference model specified in the international standard ISO 11898.

  • Page 78: Hints

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 Exchange of CAN data 9.3.1 Hints 8394 CAN-ID 1166 Depending of the CAN-ID the following CAN identifiers are free available for the data transfer: CAN-ID base CAN-ID extended 11 bits...
  • Page 79 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 Exchange of CAN data Summary CAN / CANopen 7946  The COB ID of the network variables must differ from the CANopen Device ID in the controller configuration and from the IDs of the transmit and receive blocks! ...

  • Page 80: Can Functions In The Iec User Cycle

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 Exchange of CAN data 9.3.2 CAN functions in the IEC user cycle Processing of the program POUs ....................80 POU inputs ...........................81 POU outputs..........................81 Libraries for CAN POUs .......................82 7396 INFO: IEC user cycle = PLC cycle in the CoDeSys application program.

  • Page 81: Pou Inputs

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 Exchange of CAN data POU inputs 8353 Almost all POUs have an ENABLE or EXECUTE input.  The ENABLE input relates to the level. As long as it is set or remains set, the POU will be executed and "counted"...

  • Page 82: Can-Fbs On Layer 2 (Raw-Can)

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) Libraries for CAN POUs 8355 We provide several libraries for CAN POUs:  CAN POUs on layer 2 (RAW-CAN): (→ page 82) Contained in the library: ifm_RawCAN_NT_Vxxyyzz.LIB ...

  • Page 83: Notes

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) 9.4.1 Notes 8468 FiFo limitations 7555 INFO: FiFo (First In, First Out) = operation of the stack: the data package which was written into a stack at first will be read at first too.

  • Page 84: Fbs For Raw-Can (Management)

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) 9.4.2 FBs for RAW-CAN (management) CAN_ENABLE..........................85 CAN_RECOVER ..........................87 CAN_STATUS..........................88 CAN_SETDOWNLOADID......................90 7557 Here you will find function blocks for the management of the CAN function on the OSI layer 2.

  • Page 85: Can_Enable

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) CAN_ENABLE 7492 Unit type = function block (FB) Contained in the library: ifm_RawCAN_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451 - PDM360NG: CR108n...
  • Page 86 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) Parameters of the outputs 8530 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages  following table) Possibly values for RESULT:...
  • Page 87 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) CAN_RECOVER 7512 Unit type = function block (FB) Contained in the library: ifm_RawCAN_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451 - PDM360NG: CR108n...
  • Page 88 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) CAN_STATUS 7499 Unit type = function block (FB) Contained in the library: ifm_RawCAN_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451 - PDM360NG: CR108n...
  • Page 89 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) Parameters of the outputs 7504 Parameter Data type Description BAUDRATE WORD currently set baud rate DOWNLOAD_ID BYTE current download ID BUSOFF BOOL Error CAN BUS OFF at the interface...
  • Page 90 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) CAN_SETDOWNLOADID 7516 = Set Download-ID Unit type = function block (FB) Contained in the library: ifm_RawCAN_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451...

  • Page 91: Fbs For Raw-Can (Transmitting Messages)

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) 9.4.3 FBs for RAW-CAN (transmitting messages) CAN_TX ............................92 CAN_TX_ENH..........................94 CAN_TX_ENH_CYCLIC ......................96 7610 Here you will find function blocks for transmitting CAN messages on the OSI layer 2.
  • Page 92 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) CAN_TX 7522 Unit type = function block (FB) Contained in the library: ifm_RawCAN_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451 - PDM360NG: CR108n...
  • Page 93 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) Parameters of the outputs 7527 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages  following table) Possibly values for RESULT:...
  • Page 94 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) CAN_TX_ENH 7558 = CAN TX enhanced Unit type = function block (FB) Contained in the library: ifm_RawCAN_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n...
  • Page 95 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) Parameters of the outputs 7527 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages  following table) Possibly values for RESULT:...
  • Page 96 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) CAN_TX_ENH_CYCLIC 7568 = CAN TX enhanced Cyclic Unit type = function block (FB) Contained in the library: ifm_RawCAN_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n...
  • Page 97 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) Parameters of the outputs 7510 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages  following table) Possibly values for RESULT:...

  • Page 98: Fbs For Raw-Can (Receiving Messages)

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) 9.4.4 FBs for RAW-CAN (receiving messages) CAN_RX............................99 CAN_RX_RANGE ........................100 CAN_RX_RANGE_FIFO......................102 CAN_RX_ENH .......................... 104 CAN_RX_ENH_FIFO ........................ 106 7611 Here you will find function blocks for receiving CAN messages on the OSI layer 2.

  • Page 99: Can_Rx

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) CAN_RX 7586 Unit type = function block (FB) Contained in the library: ifm_RawCAN_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451 - PDM360NG: CR108n...

  • Page 100: Can_Rx_Range

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) CAN_RX_RANGE 7592 Unit type = function block (FB) Contained in the library: ifm_RawCAN_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451 - PDM360NG: CR108n...
  • Page 101 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) Parameters of the outputs 7598 Parameter Data type Description DWORD number of the data object identifier: normal frame: 0...2 047 (2 extended frame: 2 048...536 870 912 (2...

  • Page 102: Can_Rx_Range_Fifo

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) CAN_RX_RANGE_FIFO 7601 = CAN RX Range with FiFo Unit type = function block (FB) Contained in the library: ifm_RawCAN_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n...
  • Page 103 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) Parameters of the outputs 7604 Parameter Data type Description DWORD number of the data object identifier: normal frame: 0...2 047 (2 extended frame: 2 048...536 870 912 (2...

  • Page 104: Can_Rx_Enh

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) CAN_RX_ENH 7606 = CAN RX enhanced Unit type = function block (FB) Contained in the library: ifm_RawCAN_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n...
  • Page 105 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) Parameters of the inputs 7609 Parameter Data type Description ENABLE BOOL TRUE: unit is executed FALSE: unit is not executed > POU inputs and outputs are not active...

  • Page 106: Can_Rx_Enh_Fifo

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) CAN_RX_ENH_FIFO 7615 = CAN RX enhanced with FiFo Unit type = function block (FB) Contained in the library: ifm_RawCAN_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n...
  • Page 107 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) Parameters of the outputs 7617 Parameter Data type Description MATCHED_ID DWORD number of the data object identifier: normal frame: 0...2 047 (2 extended frame: 2 048...536 870 912 (2...

  • Page 108: Fbs For Raw-Can (Remote Access)

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) 9.4.5 FBs for RAW-CAN (remote access) CAN_REMOTE_REQUEST...................... 109 CAN_REMOTE_RESPONSE ....................111 7623 Here you will find function blocks...  for transmitting CAN remote messages ...
  • Page 109 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) CAN_REMOTE_REQUEST 7625 Unit type = function block (FB) Contained in the library: ifm_RawCAN_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451 - PDM360NG: CR108n...
  • Page 110 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) Parameters of the outputs 7629 Parameter Data type Description DATALENGTHCOUNT BYTE number of the data bytes received (0...8) DATA ARRAY [0...7] OF BYTE received data, (1...8 bytes)
  • Page 111 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) CAN_REMOTE_RESPONSE 7631 Unit type = function block (FB) Contained in the library: ifm_RawCAN_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451 - PDM360NG: CR108n...
  • Page 112 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) Parameters of the outputs 7636 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages  following table) Possibly values for RESULT:...

  • Page 113: Can Units Acc. To Sae J1939

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN units acc. to SAE J1939 CAN units acc. to SAE J1939 CAN for the drive engineering....................113 Units for J1939 (management)....................117 Units for J1939 (send)....................... 126 Units for J1939 (receive) ......................136...

  • Page 114: Identifier Acc. To Sae J1939

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN units acc. to SAE J1939 The following information and tools should be available to develop programs for functions to SAE J1939:  List of the data to be used by the aggregates ...

  • Page 115: Example: Detailed Message Documentation

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN units acc. to SAE J1939 Example: detailed message documentation 7679 ETC1: Electronic Transmission Controller #1 (3.3.5) 0CF00203 Transmission repetition rate 10 ms Data length 8 Bytes PDU format PDU specific...

  • Page 116: Example: Short Message Documentation

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN units acc. to SAE J1939 Example: short message documentation 7680 But even if the aggregate manufacturer only provides a short documentation, the function parameters can be derived from the identifier. In addition to the ID, the "transmission repetition rate" and the meaning of the data fields are also always needed.

  • Page 117: Units For J1939 (Management)

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN units acc. to SAE J1939 Limitations of the devices (SAE J1939) 7637 The following limitations of the devices are valid: BasicController: CR040n PDM360NG: CR108n Device BasicDisplay: CR0451 Criterion max. FiFo transmit...
  • Page 118 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN units acc. to SAE J1939 J1939_ENABLE 7641 Unit type = function block (FB) Contained in the library: ifm_J1939_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451...
  • Page 119 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN units acc. to SAE J1939 Parameters of the outputs 8542 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages  following table) Possibly values for RESULT:...
  • Page 120 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN units acc. to SAE J1939 J1939_NAME 7646 Unit type = function block (FB) Contained in the library: ifm_J1939_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451...
  • Page 121 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN units acc. to SAE J1939 Parameters of the inputs 7652 Parameter Data type Description CHANNEL BYTE CAN interface (1...n) depending on the device ENABLE BOOL TRUE: any address available...
  • Page 122 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN units acc. to SAE J1939 J1939_GETDABYNAME 7664 = Get Destination Arbitrary Name Unit type = function block (FB) Contained in the library: ifm_J1939_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n...
  • Page 123 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN units acc. to SAE J1939 Parameter Data type Description ECUInstance BYTE instance of the control device (optional use of the parameter) permissible values = 0...7 preset = 255 = F16 **)
  • Page 124 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN units acc. to SAE J1939 J1939_STATUS 7670 Unit type = function block (FB) Contained in the library: ifm_J1939_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451...
  • Page 125 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN units acc. to SAE J1939 Parameters of the outputs 7674 Parameter Data type Description BYTE current source address (e.g. after address claiming) CYCLIC WORD number of the cyclic messages...

  • Page 126: Units For J1939 (Send)

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN units acc. to SAE J1939 9.5.3 Units for J1939 (send) J1939_TX ..........................127 J1939_TX_ENH ........................128 J1939_TX_ENH_MULTI ......................130 J1939_TX_ENH_CYCLIC ......................132 J1939_DM1TX .......................... 134 7685 Here you find function blocks for transmit CAN functions with SAE J1939.

  • Page 127: J1939_Tx

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN units acc. to SAE J1939 J1939_TX 7688 Unit type = function block (FB) Contained in the library: ifm_J1939_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451...

  • Page 128: J1939_Tx_Enh

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN units acc. to SAE J1939 J1939_TX_ENH 7696 = J1939 TX enhanced Unit type = function block (FB) Contained in the library: ifm_J1939_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n...
  • Page 129 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN units acc. to SAE J1939 Parameters of the outputs 7969 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages  following table) Possibly values for RESULT:...

  • Page 130: J1939_Tx_Enh_Multi

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN units acc. to SAE J1939 J1939_TX_ENH_MULTI 7699 = J1939 TX enhanced Multiframe Message Unit type = function block (FB) Contained in the library: ifm_J1939_NT_Vxxyyzz.LIB Available for the following devices:...
  • Page 131 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN units acc. to SAE J1939 Parameters of the outputs 7714 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages  following table) Possibly values for RESULT:...

  • Page 132: J1939_Tx_Enh_Cyclic

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN units acc. to SAE J1939 J1939_TX_ENH_CYCLIC 7716 = J1939 TX enhanced Cyclic Unit type = function block (FB) Contained in the library: ifm_J1939_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n...
  • Page 133 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN units acc. to SAE J1939 Parameters of the outputs 7720 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages  following table) Possibly values for RESULT:...

  • Page 134: J1939_Dm1Tx

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN units acc. to SAE J1939 J1939_DM1TX 7746 = J1939 Diagnostic Message 1 TX Unit type = function block (FB) Contained in the library: ifm_J1939_NT_Vxxyyzz.LIB Available for the following devices:...
  • Page 135 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN units acc. to SAE J1939 Parameters of the inputs 7748 Parameter Data type Description EXECUTE BOOL FALSETRUE (edge): POU is executed once otherwise: POU not active A POU already started is processed.

  • Page 136: Units For J1939 (Receive)

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN units acc. to SAE J1939 9.5.4 Units for J1939 (receive) J1939_RX..........................137 J1939_RX_FIFO ........................138 J1939_RX_MULTI........................140 J1939_DM1RX .......................... 141 7722 Here you find function blocks for receive CAN functions with SAE J1939.

  • Page 137: J1939_Rx

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN units acc. to SAE J1939 J1939_RX 7724 Unit type = function block (FB) Contained in the library: ifm_J1939_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451...

  • Page 138: J1939_Rx_Fifo

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN units acc. to SAE J1939 J1939_RX_FIFO 7732 = J1939 RX with FiFo Unit type = function block (FB) Contained in the library: ifm_J1939_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n...
  • Page 139 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN units acc. to SAE J1939 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) DATA ARRAY [0...7] OF BYTE...

  • Page 140: J1939_Rx_Multi

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN units acc. to SAE J1939 J1939_RX_MULTI 7736 = J1939 RX Multiframe Message Unit type = function block (FB) Contained in the library: ifm_J1939_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n...

  • Page 141: J1939_Dm1Rx

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN units acc. to SAE J1939 J1939_DM1RX 7758 = J1939 Diagnostic Message 1 RX Unit type = function block (FB) Contained in the library: ifm_J1939_NT_Vxxyyzz.LIB Available for the following devices:...
  • Page 142 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN units acc. to SAE J1939 Parameters of the outputs 7763 Parameter Data type Description REDSTOPLAMP BOOL red stop lamp TRUE: FALSE: AMBERWARNINGLAMP BOOL Amber warning lamp TRUE: FALSE: PROTECTLAMP...

  • Page 143: Can Pous To Canopen

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen CAN POUs to CANopen Technical about CANopen ......................143 ifm CANopen SDO units ......................173 CANopen network management ....................184 7485 NOTE The following devices support CANopen only for the 1st CAN interface:...

  • Page 144: Overview

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Overview 7780 Master / slave 7771 For a CAN channel the controller is either running in master or in slave operation. Combined operation is not intended. The function blocks derive from the configuration data whether the controller is operated as master or as slave in the CAN network.

  • Page 145: Canopen Support By Codesys

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen CANopen support by CoDeSys 1857 General information about CANopen with CoDeSys 7777 CoDeSys is one of the leading systems for programming control systems to the international standard IEC 61131.

  • Page 146: Canopen Master

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen CANopen master Differentiation from other CANopen libraries ................146 Create a CANopen project ......................147 Add and configure CANopen slaves ..................149 Master at runtime ........................151 Start the network ........................
  • Page 147 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen The following functions defined in CANopen are at present not supported by the CANopen 3S (Smart Software Solutions) library:  Dynamic identifier assignment  Dynamic SDO connections ...
  • Page 148 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Tab [CAN parameters] 7584 The most important parameters for the master can be set in this dialogue window. If necessary, the contents of the master EDS file can be viewed via the button [EDS...]. This button is only indicated if the EDS file (e.g.
  • Page 149 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Add and configure CANopen slaves Tab "CAN settings"........................150 Tab [Default PDO mapping] ...................... 150 8516 Next, you can add the CAN slaves. To do so, please call the dialogue in the PLC configuration [Insert] >...
  • Page 150 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Tab "CAN settings" 8531 Node ID The node ID is used to clearly identify the CAN module and corresponds to the number on the module set between 1 and 127. The ID is entered decimally and is automatically increased by 1 if a new module is added.
  • Page 151 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Master at runtime Reset of all configured slaves on the bus at the system start........... 151 Polling of the slave device type....................151 Configuration of all correctly detected devices ................. 151 Automatic configuration of slaves .....................
  • Page 152 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Automatic configuration of slaves 8023 Automatic configuration of slaves using SDOs while the bus is in operation: Prerequisite: The slave logged in the master via a bootup message.
  • Page 153 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Start the network 8029 Here you find information about how to start the CANopen network. After downloading the project to the controller or a reset of the application the master starts up the CAN network again.
  • Page 154 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Network states Boot up of the CANopen master ....................154 Boot up of the CANopen slaves ....................155 Start-up of the network without [Automatic startup] ..............157 The object directory of the CANopen master................
  • Page 155 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Boot up of the CANopen slaves 8032 You can read the states of a slave via the outputs of CANOPEN_GETSTATE (→ page 190). During boot up of the CAN network the slave passes the states -1, 1 and 2 automatically. The states...
  • Page 156 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Nodeguarding / heartbeat error 8033 State Description In case of a nodeguarding timeout the output NODESTATE of CANOPEN_GETSTATE (→ page 190) is set to 99. As soon as the node reacts again to nodeguard requests and the option [Automatic startup] is activated, it is automatically started by the master.
  • Page 157 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Start-up of the network without [Automatic startup] Starting the network with GLOBAL_START ................157 Starting all nodes of the network via CAN telegram ..............157 Reset all nodes of the network via CAN telegram ..............157 Access to the status of the CANopen master ................
  • Page 158 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Access to the status of the CANopen master 8038 You should poll the status of the master so that the application code is not processed before the IO network is ready.

  • Page 159: Can Device

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen CAN device Functionality of the CAN device library ..................159 CAN device configuration......................160 Access to the CAN device at runtime..................166 1865 CAN device is another name for a CANopen slave or CANopen node.
  • Page 160 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen CAN device configuration Tab [Base settings]........................160 Tab [CAN settings] ........................162 Tab [Default PDO mapping] ...................... 163 Changing the standard mapping by the master configuration ..........165 7707 To use the controller as CANopen slave (device) the CANopen slave must first be added via [Insert] >...
  • Page 161 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen ProductVersion=1 ProductRevision=1 OrderCode=xxxx.yyyy.zzzz LMT_ManufacturerName=3S GmbH LMT_ProductName=3S_Dev BaudRate_10=1 BaudRate_20=1 BaudRate_50=1 BaudRate_100=1 BaudRate_125=1 BaudRate_250=1 BaudRate_500=1 BaudRate_800=1 BaudRate_1000=1 SimpleBootUpMaster=1 SimpleBootUpSlave=0 ExtendedBootUpMaster=1 ExtendedBootUpSlave=0 [1018sub0] ParameterName=Number of entries ObjectType=0x7 DataType=0x5 AccessType=ro...
  • Page 162 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Tab [CAN settings] 1982 Here you can set the node ID and the baud rate. Device type (this is the default value of the object 1000...
  • Page 163 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Tab [Default PDO mapping] 1983 In this tab the assignment between local object directory (OD editor) and PDOs transmitted/received by the CAN device can be defined. Such an assignment is called "mapping".
  • Page 164 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Example list of variables The data for the variable PLC_PRG.a is to be received on the first receive PDO (COB ID = 512 + node ID) of the CAN device.
  • Page 165 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen To be able to open the parameter manager the parameter manager must be activated in the target settings under [Network functionality]. The areas for index/sub-index already contain sensible values and should not be changed.
  • Page 166 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Access to the CAN device at runtime 1985 Setting of the node numbers and the baud rate of a CAN device 8042 For the CAN device the node number and the baud rate can be set at runtime of the application program.

  • Page 167: Can Network Variables

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen CAN network variables General information........................167 Configuration of CAN network variables ................... 167 Particularities for network variables ..................172 1868 General information 2076 Network variables Network variables are one option to exchange data between two or several controllers. For users the mechanism should be easy to use.
  • Page 168 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Settings in the target settings 1994 ► Select the dialogue box [Target settings]. ► Select the tab [Network functionality]. ► Activate the check box [Support network variables].
  • Page 169 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Settings in the global variable lists 1995 ► Create a new global variable list. In this list the variables to be exchanged with other controllers are defined.
  • Page 170 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Meaning of the options: Network type As network type you can enter one of the network names indicated in the target settings. If you click on the button [Settings] next to it, you can select the CAN interface: 1.
  • Page 171 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Read The variable values of one (or several) controllers are read. Write The variables of this list are transmitted to other controllers. NOTE You should only select one of these options for every variable list, i.e. either only read or only write.
  • Page 172 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Particularities for network variables 1992 Device Description ClassicController: CR0020, Network variables are only supported on interface 1 (enter the value 0). CR0505 CAN master ExtendedController: CR0200 Transmit and receive lists are processed directly.

  • Page 173: Ifm Canopen Sdo Units

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen 9.6.2 ifm CANopen SDO units CANOPEN_ENABLE ........................ 174 CANOPEN_SDOREAD......................176 CANOPEN_SDOREADMULTI....................178 CANOPEN_SDOWRITE ......................180 CANOPEN_SDOWRITEMULTI ....................182 7783 here offers to the application programmer a set of efficient units.

  • Page 174: Canopen_Enable

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen CANOPEN_ENABLE 7785 Unit type = function block (FB) Contained in the library: ifm_CANopen_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451 - PDM360NG: CR108n...
  • Page 175 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Parameters of the outputs 7789 Parameters Data type Description RESULT BYTE feedback of the function block (possible messages  following table) Possibly values for RESULT: Value...

  • Page 176: Canopen_Sdoread

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen CANOPEN_SDOREAD 7791 = SDO Read Unit type = function block (FB) Contained in the library: ifm_CANopen_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451...
  • Page 177 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Parameters of the outputs 7795 Parameter Data type Description BYTE number of the bytes received (1...4) DATA DWORD the received data value RESULT BYTE feedback of the function block (possible messages ...

  • Page 178: Canopen_Sdoreadmulti

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen CANOPEN_SDOREADMULTI 7806 = SDO Read Multi Unit type = function block (FB) Contained in the library: ifm_CANopen_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451...
  • Page 179 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Parameters of the outputs 7810 Parameter Data type Description DWORD number of the bytes received (1...2 048) DATA ARRAY [0...SDOMAXDATA] buffer memory for user data of the SDO data transmission...

  • Page 180: Canopen_Sdowrite

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen CANOPEN_SDOWRITE 7825 = SDO Write Unit type = function block (FB) Contained in the library: ifm_CANopen_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451...
  • Page 181 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Parameters of the outputs 7829 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages  following table) Possibly values for RESULT: Value...

  • Page 182: Canopen_Sdowritemulti

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen CANOPEN_SDOWRITEMULTI 7832 = SDO Write Multi Unit type = function block (FB) Contained in the library: ifm_CANopen_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451...
  • Page 183 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Parameters of the outputs 7836 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages  following table) Possibly values for RESULT: Value...

  • Page 184: Canopen Network Management

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen 9.6.3 CANopen network management State diagram of a CANopen node ................... 184 CANOPEN_NMTSERVICES ....................185 CANOPEN_GETNMTSTATESLAVE ..................187 CANOPEN_SETSTATE......................188 CANOPEN_GETSTATE ......................190 CANOPEN_SETSYNCSTATE....................192 CANOPEN_GETSYNCSTATE ....................194 CANOPEN_GETBUFFERFLAGS.....................

  • Page 185: Canopen_Nmtservices

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen CANOPEN_NMTSERVICES 7843 = Network Management Services Unit type = function block (FB) Contained in the library: ifm_CANopen_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451...
  • Page 186 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Parameters of the outputs 7848 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages  following table) Possibly values for RESULT: Value...

  • Page 187: Canopen_Getnmtstateslave

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen CANOPEN_GETNMTSTATESLAVE 7851 = Get Network Management State Slave Unit type = function block (FB) Contained in the library: ifm_CANopen_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n...

  • Page 188: Canopen_Setstate

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen CANOPEN_SETSTATE 7858 = Set State Unit type = function block (FB) Contained in the library: ifm_CANopen_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451...
  • Page 189 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Parameter Data type Description GlobalStart BOOL Requirement: FB must be called immediately after starting the IEC (optional use of the parameter) program. This setting overwrites the respective setting of the configuration.

  • Page 190: Canopen_Getstate

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen CANOPEN_GETSTATE 7865 = Get State Unit type = function block (FB) Contained in the library: ifm_CANopen_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451...
  • Page 191 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Parameters of the outputs 7869 Parameter Data type Description MASTERSTATE BYTE Master state = internal state of the master: = 00 = master is booting up...

  • Page 192: Canopen_Setsyncstate

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen CANOPEN_SETSYNCSTATE 7883 = Set Sync State Unit type = function block (FB) Contained in the library: ifm_CANopen_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451...
  • Page 193 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Parameters of the outputs 7887 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages  following table) Possibly values for RESULT: Value...

  • Page 194: Canopen_Getsyncstate

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen CANOPEN_GETSYNCSTATE 7871 = Get Sync State Unit type = function block (FB) Contained in the library: ifm_CANopen_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451...
  • Page 195 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Parameters of the outputs 7875 Parameter Data type Description SYNC BOOL status of the SYNC functionality TRUE: SYNC is activated: In the master mode SYNC telegrams are generated according to the settings in the configuration, and synchronous PDOs are transmitted and received.

  • Page 196: Canopen_Getbufferflags

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen CANOPEN_GETBUFFERFLAGS 7890 = Get Buffer-Flags Unit type = function block (FB) Contained in the library: ifm_CANopen_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451...
  • Page 197 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Parameters of the outputs 7894 Parameter Data type Description RXOVFL BOOL Condition of the RX overflow flag TRUE: Overflow in the receive buffer FALSE: No overflow in receive buffer...

  • Page 198: Canopen_Getguardandhberrorlist

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen CANOPEN_GETGUARDANDHBERRORLIST 7896 = Get Guard and Heartbeat Error-List Unit type = function block (FB) Contained in the library: ifm_CANopen_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n...
  • Page 199 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Parameters of the outputs 7900 Parameter Data type Description N_NODES WORD Value = 0: None of the nodes has a guarding or heartbeat error. Value  0:...

  • Page 200: Canopen_Getguardhbstatslv

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen CANOPEN_GETGUARDHBSTATSLV 7902 = Get Guard and Heartbeat State Slave Unit type = function block (FB) Contained in the library: ifm_CANopen_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n...
  • Page 201 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Parameters of the outputs 7906 Parameter Data type Description GUARDSTATE BYTE Status of node guarding: = 00 = no error (or: inactive) = 01 = timeout (configuration)

  • Page 202: Canopen_Getodchangedflag

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen CANOPEN_GETODCHANGEDFLAG 7927 = Get Object Directory Changed Flag Unit type = function block (FB) Contained in the library: ifm_CANopen_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n...

  • Page 203: Canopen_Readobjectdict

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen CANOPEN_READOBJECTDICT 7933 = Read Object Directory Unit type = function block (FB) Contained in the library: ifm_CANopen_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451...
  • Page 204 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Parameters of the outputs 7937 Parameter Data type Description DATA DWORD parameter value RESULT BYTE feedback of the function block (possible messages  following table) Possibly values for RESULT:...

  • Page 205: Canopen_Writeobjectdict

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen CANOPEN_WRITEOBJECTDICT 7940 = Write Object Directory Unit type = function block (FB) Contained in the library: ifm_CANopen_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451...
  • Page 206 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN POUs to CANopen Parameters of the outputs 7945 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages  following table) Possibly values for RESULT: Value...

  • Page 207: Can Errors And Error Handling

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN errors and error handling CAN errors and error handling Structure of an EMCY message....................207 Overview CANopen error codes ....................209 CANopen POUs for error handling.................... 211 7948 9.7.1 Structure of an EMCY message A distinction is made between the following errors: ..............
  • Page 208 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN errors and error handling Identifier 8048 The identifier for the error message consists of the sum of the following elements: EMCY default identifier 128 (80 node ID EMCY error code 8049 It gives detailed information which error occurred.

  • Page 209: Overview Canopen Error Codes

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN errors and error handling 9.7.2 Overview CANopen error codes 8545 Error Code (hex) Meaning 00xx Reset or no error 10xx Generic error 20xx Current 21xx Current, device input side...
  • Page 210 ) is entered in the object 1001 (generic error, current error, communication error reset) It can be seen only from this information that the communication error is no longer present. Overview CANopen EMCY codes (CR0451) 8413 All indications (hex) for the 1st CAN interface.

  • Page 211: Canopen Pous For Error Handling

    System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN errors and error handling 9.7.3 CANopen POUs for error handling CANOPEN_SENDEMCYMESSAGE ..................212 CANOPEN_GETERRORREGISTER..................214 CANOPEN_GETEMCYMESSAGES ..................216 8522...
  • Page 212 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN errors and error handling CANOPEN_SENDEMCYMESSAGE 7908 = Send Emergency-Message Unit type = function block (FB) Contained in the library: ifm_CANopen_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451...
  • Page 213 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN errors and error handling Parameters of the outputs 7912 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages  following table) Possibly values for RESULT:...
  • Page 214 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN errors and error handling CANOPEN_GETERRORREGISTER 7915 = Get Error-Register Unit type = function block (FB) Contained in the library: ifm_CANopen_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451...
  • Page 215 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN errors and error handling Parameters of the outputs 7919 Parameter Data type Description BYTE Content of the error register 1001 ERROR_FIELD ARRAY [0...MAXERR] OF Content of the error register 1003...
  • Page 216 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN errors and error handling CANOPEN_GETEMCYMESSAGES 7921 = Get Emergency-Messages Unit type = function block (FB) Contained in the library: ifm_CANopen_NT_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451...
  • Page 217 System Manual BasicDisplay (CR0451) V01 ecomatmobile CAN in the PDM360 CAN errors and error handling Parameters of the outputs 7925 Parameter Data type Description N_MSGS DWORD number of accumulated messages highest index designates oldest message EMCY ARRAY [0...MAXEMCYMSGS] emergency messages...

  • Page 218: Managing The Data

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Managing the data Reading / writing the system time Managing the data Reading / writing the system time ..................... 218 Saving, reading and converting data in the memory..............220 Data access and data check ..................... 224 8606 Here we show you functions how to read or manage data in the device.

  • Page 219: Timer_Read_Us

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Managing the data Reading / writing the system time 10.1.1 TIMER_READ_US 8219 Unit type = function block (FB) Contained in the library: ifm_CRnnnn_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n Symbol in CoDeSys:...

  • Page 220: Saving, Reading And Converting Data In The Memory

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Managing the data Saving, reading and converting data in the memory 10.2 Saving, reading and converting data in the memory Automatic data backup......................220 Manual data storage ......................... 221 1595 10.2.1 Automatic data backup...

  • Page 221: Manual Data Storage

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Managing the data Saving, reading and converting data in the memory 10.2.2 Manual data storage FLASHREAD..........................222 MEMCPY........................... 223 1597 Besides the possibility to store the data automatically, user data can be stored manually, via FB calls, in integrated memories from where they can also be read.
  • Page 222 System Manual BasicDisplay (CR0451) V01 ecomatmobile Managing the data Saving, reading and converting data in the memory FLASHREAD 8147 = Flash Read Unit type = function block (FB) Contained in the library: ifm_CRnnnn_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n...
  • Page 223 System Manual BasicDisplay (CR0451) V01 ecomatmobile Managing the data Saving, reading and converting data in the memory MEMCPY 8160 = Memory Copy Unit type = function block (FB) Contained in the library: ifm_CRnnnn_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n...

  • Page 224: Data Access And Data Check

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Managing the data Data access and data check 10.3 Data access and data check GET_IDENTITY......................... 225 SET_IDENTITY ......................... 227 SET_PASSWORD ........................228 1598 The FBs described in this chapter control the data access and enable a data check.

  • Page 225: Get_Identity

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Managing the data Data access and data check 10.3.1 GET_IDENTITY 8166 Unit type = function block (FB) Contained in the library: ifm_CRnnnn_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451 Symbol in CoDeSys:...
  • Page 226 System Manual BasicDisplay (CR0451) V01 ecomatmobile Managing the data Data access and data check Parameters of the outputs 8168 Parameter Data type Description DEVICENAME STRING(31) hardware name as a string of max. 31 characters, e.g.: "CR0403" FIRMWARE STRING(31) firmware version as a character string of max.

  • Page 227: Set_Identity

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Managing the data Data access and data check 10.3.2 SET_IDENTITY 8174 Unit type = function block (FB) Contained in the library: ifm_CRnnnn_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451 Symbol in CoDeSys:...

  • Page 228: Set_Password

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Managing the data Data access and data check 10.3.3 SET_PASSWORD 8178 Unit type = function block (FB) Contained in the library: ifm_CRnnnn_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451 Symbol in CoDeSys:...

  • Page 229: Led, Buzzer, Visualisation

    System Manual BasicDisplay (CR0451) V01 ecomatmobile LED, buzzer, visualisation Control LED LED, buzzer, visualisation Control LED..........................229 Manage visualisation......................... 232 8615 Here we show the following functions:  LED control  Buzzer control  Management of the visualisation 11.1 Control LED SET_LED ..........................

  • Page 230: Set_Led

    System Manual BasicDisplay (CR0451) V01 ecomatmobile LED, buzzer, visualisation Control LED 11.1.1 SET_LED 8052 Unit type = function block (FB) Contained in the library: ifm_CRnnnn_Vxxyyzz.LIB Available for the following devices: - BasicController: CR040n - BasicDisplay: CR0451 Symbol in CoDeSys: SET_LED...
  • Page 231 System Manual BasicDisplay (CR0451) V01 ecomatmobile LED, buzzer, visualisation Control LED Parameters of the outputs 8227 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages  following table) Possibly values for RESULT: Value Description dec | hex...

  • Page 232: Manage Visualisation

    System Manual BasicDisplay (CR0451) V01 ecomatmobile LED, buzzer, visualisation Manage visualisation 11.2 Manage visualisation BASICDISPLAY_INIT ....................... 233 8617 Here we show you function to manage visualisations.

  • Page 233: Basicdisplay_Init

    System Manual BasicDisplay (CR0451) V01 ecomatmobile LED, buzzer, visualisation Manage visualisation 11.2.1 BASICDISPLAY_INIT 9310 Unit type = function (FUN) Contained in the library: ifm_CRRnnnn_Init_Vxxyyzz.LIB Available for the following devices: - BasicDisplay: CR0451 Symbol in CoDeSys: BASICDISPLAY_INIT Description 9312 The function BASICDISPLAY_INIT initialises the screen of the BasicDisplay in the first PLC cycle.

  • Page 234: Annex

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Annex Manage visualisation Annex System flags..........................235 Overview of the files and libraries used ..................236 1664 Additionally to the indications in the data sheets you find summary tables in the annex.

  • Page 235: System Flags

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Annex System flags 12.1 System flags 8376 NOTE For programming you should use only symbol names since the corresponding flag addresses could change when the controller configuration is extended. System flags Type Descriuption KEY_F1...

  • Page 236: Overview Of The Files And Libraries Used

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Annex Overview of the files and libraries used 12.2 Overview of the files and libraries used General overview ........................236 What are the individual files and libraries used for? ..............238 2711 (as on 03 November 2010) Depending on the unit and the desired function, different libraries and files are used.
  • Page 237 ²) valid for CRnn32 target version from V02 onwards, CR040n target version from V01 onwards, all other devices from V05 onwards ³) memory location of the files: System drive (C: / D:) \ program folder\ ifm electronic NOTE The software versions suitable for the selected target must always be used: ...

  • Page 238: What Are The Individual Files And Libraries Used For

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Annex Overview of the files and libraries used 12.2.2 What are the individual files and libraries used for? Files for the operating system / runtime system ............... 238 Target file ..........................238 PLC configuration file ........................ 238 ifm device libraries........................
  • Page 239 System Manual BasicDisplay (CR0451) V01 ecomatmobile Annex Overview of the files and libraries used ifm device libraries 2717 File name Function Available for: device-specific library ecomatmobile controllers ifm_CRnnnn_Vxxyyzz.LIB BasicDisplay: CR0451 PDM: CR10nn library without extended functions ExtendedController: CR0200 ifm_CR0200_MSTR_Vxxyyzz.LIB library without extended functions, ExtendedController: CR0200 ifm_CR0200_SMALL_Vxxyyzz.LIB...
  • Page 240 System Manual BasicDisplay (CR0451) V01 ecomatmobile Annex Overview of the files and libraries used CoDeSys CANopen libraries 2719 For the following devices these libraries are NOT useable: - BasicController: CR040n - BasicDisplay: CR0451 - PDM360NG: CR108n File name Function Available for:...
  • Page 241 System Manual BasicDisplay (CR0451) V01 ecomatmobile Annex Overview of the files and libraries used Specific ifm libraries 2720 File name Function Available for: CANopen POUs in the CAN stack BasicController: CR040n ifm_RawCAN_NT_Vxxyyzz.LIB based on Layer 2 BasicDisplay: CR0451 PDM360NG: CR108n...
  • Page 242 System Manual BasicDisplay (CR0451) V01 ecomatmobile Annex Overview of the files and libraries used File name Function Available for: hydraulic POUs for R360 controllers up to target V04: ifm_Hydraulic_16bitOS04_Vxxyyzz.LIB ClassicController: CR0020, CR0505 ExtendedController: CR0200 SafetyController: CR7020, CR7200, CR7505 SmartController: CR25nn...

  • Page 243: Glossary Of Terms

    System Manual BasicDisplay (CR0451) V01 ecomatmobile Glossary of Terms Glossary of Terms CAN = Controller Area Network CAN is a priority controlled fieldbus system for larger data volumes. It is available in different Address variants, e.g. "CANopen" or "CAN in This is the "name"...
  • Page 244 System Manual BasicDisplay (CR0451) V01 ecomatmobile Glossary of Terms CiA DS 401 COB-ID DS = Draft Standard COB = Communication Object ID = Identifier CAN device profile for digital and analogue I/O modules Via the COB-ID the participants distinguish the different messages to be exchanged.
  • Page 245 System Manual BasicDisplay (CR0451) V01 ecomatmobile Glossary of Terms Formula: DC = failure rate detected dangerous failures / total dangerous failures Dither Designation Range Dither is a component of the PWM signals to none DC < 60 % control hydraulic valves. It has shown for 60 % <...
  • Page 246 System Manual BasicDisplay (CR0451) V01 ecomatmobile Glossary of Terms Ethernet DTC = Diagnostic Trouble Code = error code Ethernet is a widely used, manufacturer- Faults and errors well be managed and independent technology which enables data reported via assigned numbers – the DTCs.
  • Page 247 System Manual BasicDisplay (CR0451) V01 ecomatmobile Glossary of Terms Failure, systematic Firmware A systematic failure is a failure related in a System software, basic program in the device, deterministic way (not coincidental) to a certain virtually the operating system. cause. The systematic failure can only be...
  • Page 248 System Manual BasicDisplay (CR0451) V01 ecomatmobile Glossary of Terms Disadvantages of flash memories  Hazard A storage cell can tolerate a limited number of write and delete processes: Hazard is the potential source of harm. - Multi-level cells: typ. 10 000 cycles A distinction is made between the source of - Single level cells: typ.
  • Page 249 System Manual BasicDisplay (CR0451) V01 ecomatmobile Glossary of Terms Instructions ISO 16845 Superordinate word for one of the following Standard: "Road vehicles – Controller area terms: network (CAN) – Conformance test plan" installation instructions, data sheet, user information, operating instructions, device manual, installation information, online help, system manual, programming manual, etc.
  • Page 250 System Manual BasicDisplay (CR0451) V01 ecomatmobile Glossary of Terms Master MTTFd Handles the complete organisation on the bus. Mean Time To Failure (MTTF) or: mean life. The master decides on the bus access time The MTTF is the expectation of the mean time and polls the slaves cyclically.
  • Page 251 System Manual BasicDisplay (CR0451) V01 ecomatmobile Glossary of Terms PDO = Process Data Object Obj / object The time-critical process data is transferred by Term for data / messages which can be means of the "process data objects" (PDOs). exchanged in the CANopen network.
  • Page 252 System Manual BasicDisplay (CR0451) V01 ecomatmobile Glossary of Terms > Reading and writing the peripheral states (inputs/outputs) is possible. Pictogram Pictograms are figurative symbols which convey information by a simplified graphic representation. Using the "required performance level" PL  Chapter What do the symbols and formats risk reduction for each safety function mean? (→...
  • Page 253 System Manual BasicDisplay (CR0451) V01 ecomatmobile Glossary of Terms Programming language, Protective measure safety-related Measure intended to achieve risk reduction, e.g.: Only the following programming languages - fault-excluding design, shall be used for safety-related applications: - safeguarding measures (guards), ...
  • Page 254 System Manual BasicDisplay (CR0451) V01 ecomatmobile Glossary of Terms Residual risk Redundant Risk remaining after protective measures have Redundancy is the presence of more than the been taken. The residual risk has to be clearly necessary means so that a function unit...
  • Page 255 System Manual BasicDisplay (CR0451) V01 ecomatmobile Glossary of Terms Safety function RTC = Real Time Clock Function of the machine whose failure can result in an immediate increase of the risk(s). Provides (batter-backed) the current date and The designer of such a machine therefore has time.
  • Page 256 System Manual BasicDisplay (CR0451) V01 ecomatmobile Glossary of Terms SD card SRDO An SD memory card (short for Secure Digital Safe data is exchanged via SRDOs (Safety- Memory Card) is a digital storage medium that Related Data Objects). An SRDO always operates to the principle of flash storage.
  • Page 257 System Manual BasicDisplay (CR0451) V01 ecomatmobile Glossary of Terms At present network variables based on CAN and UDP are implemented. The values of the System variable variables are automatically exchanged on the Variable to which access can be made via IEC basis of broadcast messages.

  • Page 258: Index

    Automatic configuration of slaves ..... 152 CANopen master..........146 Automatic data backup........220 CANopen network management......184 Available memory (CR0451)....... 38 CANopen POUs for error handling ....211 Basic information about colours and bitmap graphics ............ 60 CANopen support by CoDeSys ......145 BASICDISPLAY_INIT ........
  • Page 259 EDS-file ............. 246 CoDeSys ............244 Embedded software..........246 CoDeSys CANopen libraries ......240 EMCY..............246 CoDeSys visualisation elements (CR0451) ..43 EMCY error code..........208 Colour display............10 EMV ..............246 Colour for bitmap graphics ........62 ERROR state............14 Colour palettes ......10, 43, 62, 63, 65...
  • Page 260 System Manual BasicDisplay (CR0451) V01 ecomatmobile Index Failure ..............246 ID ............... 248 Failure, dangerous..........246 Identifier ............208 Failure, systematic ..........247 Identifier acc. to SAE J1939 ......114 FATAL ERROR state .......... 15 IEC user cycle............ 248 Fault ..............247 ifm CANopen libraries master / slave....
  • Page 261 Load the operating system ........16 Operational ............251 LSB ..............249 Overview............144 MAC-ID............. 249 Overview CANopen EMCY codes (CR0451) ... 210 Manage visualisation.......... 232 Overview CANopen error codes....208, 209 Managing the data..........218 Overview of the files and libraries used....
  • Page 262 System Manual BasicDisplay (CR0451) V01 ecomatmobile Index PLC configuration file ........238 RUN state............. 13 PLr ..............252 rw ............... 255 Polling of the slave device type ......151 SAE J1939 ............255 POU inputs............81 Safety function........... 255 POU outputs............81 Safety instructions..........
  • Page 263 System Manual BasicDisplay (CR0451) V01 ecomatmobile Index Start-up of the network without Use, intended ............. 257 [Automatic startup] ..........157 Using ifm maintenance tool ......... 45 State diagram of a CANopen node..... 184, 185 Variable..............68 State, safe ............256 Visualisation in case of a controller failure..

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