IFM PDM360NG Series System Manual
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IFM PDM360NG Series System Manual

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Table of Contents

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System Manual
PDM360NG
CR1080
CR1081
®
CoDeSys
2.3
English
preliminary !

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Table of Contents
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Summary of Contents for IFM PDM360NG Series

  • Page 1 System Manual PDM360NG CR1080 CR1081 ® CoDeSys English preliminary !

  • Page 2: Table Of Contents

    Programming interfaces....................45 5.2.1 Programming via the Ethernet interface ..............45 Install character sets (fonts)..................52 5.3.1 Symbol files ......................53 Set up programming system..................54 5.4.1 Set up programming system manually ..............54 5.4.2 Set up programming system via templates .............59 5.4.3 ifm demo programs....................69...
  • Page 3 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Contents Function configuration of the inputs and outputs............73 5.5.1 Configuration of the inputs and outputs (default setting).........73 5.5.2 System variables .....................73 5.5.3 Configure inputs.......................74 Hints to wiring diagrams ....................79 First steps ........................81 5.7.1 Add missing libraries....................81 5.7.2...
  • Page 4 Units for J1939 (receive)..................233 CAN POUs to CANopen .................... 242 9.6.1 Technical about CANopen..................242 9.6.2 ifm CANopen SDO units ..................276 9.6.3 CANopen network management ................287 CAN errors and error handling................... 313 9.7.1 Structure of an EMCY message ................313 9.7.2...
  • Page 5 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Contents Input/output functions 10.1 Processing input values..................... 325 10.1.1 INPUT ........................326 10.1.2 TOGGLE....................... 328 10.2 Adapting analogue values ..................329 10.2.1 NORM_DINT ......................330 10.2.2 NORM_REAL ....................... 332 Managing the data 11.1 Saving, reading and converting data in the memory ..........
  • Page 6 Overview of the files and libraries used ..............434 13.5.1 Installation of the files and libraries ..............434 13.5.2 General overview....................435 13.5.3 What are the individual files and libraries used for?..........437 Glossary of Terms Index ifm weltweit • ifm worldwide • ifm à l’échelle internationale...

  • Page 7: About This Manual

    Nobody is perfect. Send us your suggestions for improvements to this manual and you will receive a little gift from us to thank you. © All rights reserved by gmbh. No part of this manual may be reproduced and used ifm electronic without the consent of ifm electronic gmbh.

  • Page 8: How Is This Manual Structured

    Abbreviations and technical terms are listed in the glossary. In case of malfunctions or uncertainties please contact the manufacturer at:  www.ifm.com > select your country > [Contact]. We want to become even better! Each separate section has an identification number in the top right corner.

  • Page 9: Safety Instructions

    Property damage or bodily injury possible when the notes in this manual are not adhered to! does not assume any liability in this regard. ifm electronic gmbh ► 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 10: What Previous Knowledge Is Required

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Safety instructions What previous knowledge is required? NOTICE Danger of burn-in effects! If the device is operated with the same visualisation for many hours, the image may be burned into the screen.

  • Page 11: System Description

    Fastening and installation ......................12 Colour display..........................13 Operating elements ........................14 Accessories ..........................16 7300 This manual describes the PDM360 monitor family of with a Linux operating ifm electronic gmbh system for mobile vehicles:  PDM360NG: CR108n, CR9042 Software release: Operating system: V01.01.00 3.1.1...

  • Page 12: Fastening And Installation

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 System description Information concerning the device 3.1.2 Fastening and installation 7330 Fastening 7973 Types of fastening Installation in the cutout of the operating panel 182 x 136 mm using the frame EC2110. Fastening on the back using the RAM Mount accessories ®...

  • Page 13: Colour Display

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 System description Information concerning the device 3.1.3 Colour display 7362 Description Data Technology Screen diagonal 7" (15.7 cm) Aspect ratio 15:9 Resolution 800 x 480 pixels Colour depth 6 bits per colour channel = 18 bits = 262,144 representable colours (create image as "True Color"...

  • Page 14: Operating Elements

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 System description Information concerning the device 3.1.4 Operating elements Key LEDs programmable ......................15 Audio signalling device (buzzer) programmable ................15 Numbering of the operating elements ..................16 Arrangement of the operating elements..................16 7329 The PDM360NG device family is fitted with up to 3 groups of operating elements.

  • Page 15: Key Leds Programmable

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 System description Information concerning the device Key LEDs programmable 7365 All operating elements are backlit with LEDs. The LEDs can be controlled in the application program. Suggestion: ► Only switch on those key LEDs in the program which can be sensibly actuated in the current screen.

  • Page 16: Accessories

    1.5 m patch cable: M12 pins B-coded -- USB socket type A DVD "Software, tools and documentation" ecomatmobile You can find accessories for the article on website: ifm's  www.ifm.com > Select your country > [data sheet search] > article number > [accessories]...

  • Page 17: Information Concerning The Software (Linux | Codesys 2.3)

    In this manual we refer to the CoDeSys version 2.3 or higher. In the "programming manual CoDeSys 2.3" you will find more details how to use the programming system "CoDeSys for Automation Alliance". This manual can be downloaded free of charge from ifm's website at: ...

  • Page 18: Plc Configuration

    If necessary, special functions and hardware solutions can be implemented. In addition, the current version of the ecomatmobile software can be downloaded from our website at: www.ifm.com  Setup the target (→ page 55) Before using the devices it must be checked whether certain functions, hardware options, inputs and outputs described in the documentation are available in the hardware.

  • Page 19: Interfaces

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 System description Interfaces Interfaces 7339 The devices of the PDM360NG product family have the following interfaces: Interface Number Available in... Function CAN1 CAN ID and baud rate configurable PDM360NG: CR108n, CR9042 20, 50, 100, 125, 250, 500, 800, 1 000 kBaud PDM360NG: CR1080, CR1081, CAN2...

  • Page 20: Usb Interface

    NTSC / PAL recognition  only 1 camera image representable at the same time  changing between 2 cameras possible  tested reference cameras: - Motec: MC3100-3R - Vision Techniques: VT70 use of other cameras without warranty from ifm electronic gmbh...

  • Page 21: Real-Time Clock (Rtc)

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 System description Real-time clock (RTC) The following applies to all camera interfaces:  Brightness of the camera image 0...100 % adjustable in 1% steps.  Visualisation and camera image representable at the same time (overlaid). ...

  • Page 22: Operating States And Operating System Operating States

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Operating states and operating system Operating states Operating states and operating system Operating states ...........................22 Status LED ...........................22 1074 Operating states 7370 For this device we distinguish the following operating states: ...

  • Page 23: Setting The Led Via Application Program

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Operating states and operating system Status LED 4.2.1 Setting the LED via application program 9989 For this controller the status LED can also be set by the application program. To do so, the following system variables are used: LED colour for "active"...

  • Page 24: Configurations

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Set device parameters (setup) Configurations Set device parameters (setup) .....................24 Programming interfaces .......................45 Install character sets (fonts) ......................52 Set up programming system ......................54 Function configuration of the inputs and outputs .................73 Hints to wiring diagrams.......................79 First steps.............................81 Install and configure the mobile camera ..................86...

  • Page 25: Start Setup

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Set device parameters (setup) 5.1.1 Start setup 7375 You access the setup menu as follows: > If no valid project is saved in the PDM: After rebooting the PDM opens the setup menu automatically. ►...
  • Page 26 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Set device parameters (setup) Setup properties 7377  The setup always starts with the optimum visual settings.  Language = English  After selection of a menu item the currently set value is indicated. ...

  • Page 27: Setup: System Settings

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Set device parameters (setup) 5.1.2 Setup: system settings Setup: set the Ethernet interface....................28 Setup: set the CAN interfaces......................30 Setup: set the real-time clock (RTC) ....................31 Setup: set the display brightness ....................31 9603 ►...

  • Page 28: Setup: Set The Ethernet Interface

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Set device parameters (setup) Setup: set the Ethernet interface 7408 ► Select the menu item [ETHERNET] in the menu [System Settings]. The menu [Ethernet Settings] appears. ► Change to the next menu with [MANUAL].
  • Page 29 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Set device parameters (setup) NOTE In the Ethernet network every IP address MUST be unique. The following IP addresses, however, are reserved for network-internal purposes and are therefore not allowed as addresses for participants: xxx.xxx.xxx.0 and xxx.xxx.xxx.255.

  • Page 30: Setup: Set The Can Interfaces

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Set device parameters (setup) Setup: set the CAN interfaces 7413 ► Select the menu item [CAN] in the menu [System Settings]. The menu [CAN Bus Selection] appears. ► Select the requested CAN bus with [SELECT] and confirm with [ENTER].

  • Page 31: Setup: Set The Real-Time Clock (Rtc)

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Set device parameters (setup) Setup: set the real-time clock (RTC) 7414 ► Select the menu item [RTC] in the menu [System Settings]. The menu [RTC Settings] appears. ► Select the requested group of numbers with [SELECT] or [BACKSEL].

  • Page 32: Setup: Display System Information

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Set device parameters (setup) 5.1.3 Setup: display system information 7407 ► Select the menu item [SYSTEM INFORMATION] in the setup splash screen. The menu [System Information] appears. ► Change to the previous menu with [EXIT].

  • Page 33: Setup: More Functions

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Set device parameters (setup) 5.1.4 Setup: more functions Setup: reboot the device ......................34 Setup: test the CAN interfaces.....................35 Setup: define the splash screen....................37 Setup: function test of the keys ....................40 Setup: format the memory......................41 Setup: backup / restore ........................42 7409...

  • Page 34: Setup: Reboot The Device

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Set device parameters (setup) Setup: reboot the device 7410 ► Select the menu item [REBOOT] in the menu [Actions]. The menu [Reboot] appears. ► Select the function [Perform reboot now] with [SELECT] and confirm with [ENTER].

  • Page 35: Setup: Test The Can Interfaces

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Set device parameters (setup) Setup: test the CAN interfaces 7411 ► Select the menu item [CAN TEST] in the menu [Actions]. The menu [CAN Test Bus Selection] appears. ► Select the requested CAN bus with [SELECT] and confirm with [ENTER].
  • Page 36 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Set device parameters (setup) CAN test: data transmission 9625 ► Select the menu item [CAN Transmit Test] in the menu [CAN Test Test Selection]. The menu [CAN Test Transmit Test] appears.

  • Page 37: Setup: Define The Splash Screen

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Set device parameters (setup) Setup: define the splash screen 9629 Specifications for the splash screen  Power reserves of the device (→ page 123) ► Select the menu item [SPLASH SCREEN] in the menu [Actions]. The menu [Splash Screen] appears.
  • Page 38 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Set device parameters (setup) Setup: load the splash screen from the USB stick 9631 ► Connect the USB stick to the PDM. ► Select the menu item [Select Splash Screen from USB device] in the menu [Splash Screen]. The menu [Splash Screen from USB device] appears.
  • Page 39 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Set device parameters (setup) Setup: load the standard splash screen from the directory /tmp 9637 ► Stay in the menu [Splash Screen]. ► Select the menu item [Load Splash Screen /tmp/pdm360ng- splash.bmp] with [SELECT].

  • Page 40: Setup: Function Test Of The Keys

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Set device parameters (setup) Setup: function test of the keys 7415 ► Select the menu item [KEYBOARD TEST] in the menu [Actions]. The menu [Keyboard Test] appears. ► Press any function key. The key-related area is shown bright.

  • Page 41: Setup: Format The Memory

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Set device parameters (setup) Setup: format the memory 9643 ► Select the menu item [FORMAT STORAGE] in the menu [Actions]. The menu [Format internal mass storage] appears. ► Select the function [Format internal mass storage now] with [SELECT] and confirm with [ENTER].

  • Page 42: Setup: Backup / Restore

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Set device parameters (setup) Setup: backup / restore Setup: save the system information .....................43 7412 ► Select the menu item [BACKUP/RESTORE] in the menu [Actions]. The menu [System Backup and Restore] appears.
  • Page 43 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Set device parameters (setup) Setup: save the system information 9648 ► Select the menu item [Backup System Information] in the menu [System Backup and Restore]. The menu [Backup System Information] appears.

  • Page 44: Exit Setup, Reboot Device

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Set device parameters (setup) 5.1.5 Exit setup, reboot device 7416 ► Return to the setup menu by clicking [EXIT] several times. ► Quit the setup with [EXIT]. > The device reboots. >...

  • Page 45: Programming Interfaces

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Programming interfaces Programming interfaces Programming via the Ethernet interface..................45 7310 For programming 3 different interfaces are at present available in the device:  programming via the Ethernet interface,  programming via the CAN interface (! Not yet realized !).

  • Page 46: Configure The Interface

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Programming interfaces Configure the interface 7423 ► For communication between the PDM and the computer note the IP address and the subnet mask of the PDM! Factory setting IP address: 192.168.082.247 Factory setting subnet mask: 255.255.255.0 ►...

  • Page 47: Set Internet Protocol On The Computer

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Programming interfaces Set internet protocol on the computer 3029 NOTE: The administrator must have given you the right to make these settings. In case of doubt or problems please contact your system administrator. ►...

  • Page 48: Test Ethernet Connection

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Programming interfaces Test Ethernet connection 3030 After setting the IP addresses and the subnet mask on the PDM and computer the connection between your computer and the PDM can be established and tested. ►...
  • Page 49 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Programming interfaces Test Ethernet via HyperTerminal 7424 ► For test purposes start a terminal program which supports the TCP/IP protocol: e.g. [Start] > [All Programs] > [Accessories] > [Communications] > [HyperTerminal] Info Normally a terminal program, such as Telnet or HyperTerminal are available on every Windows installation.
  • Page 50 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Programming interfaces > The window "Connect to" appears: ► Connect via = select [TCP/IP (Winsock)]. > Input fields for TCP/IP appear. ► Host address = (e.g.) 192.168.082.247 (enter the actual IP address of the PDM,  screenshot). ►...

  • Page 51: Set Codesys Communication Parameters For The Ethernet Interface

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Programming interfaces Set CoDeSys communication parameters for the Ethernet interface 3075 ► In CoDeSys click on [Online] > [Communication Parameters...]. ► Click on [New...] ► The window "Communication Parameters: New Channel" appears. ►...

  • Page 52: Install Character Sets (Fonts)

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Install character sets (fonts) Install character sets (fonts) 10072 The character sets supplied by the factory (fonts) are not sufficient for all applications. Here we show you the example "Cyrillic" to learn how to add more character sets. ►...

  • Page 53: Symbol Files

    DVD "Software, tools and documentation" or – after the installation of CoDeSys ecomatmobile – on your hard disk in the directory ...Targets\ifm\Library\Fonts\ifm_ISO you can find the files ifm_iso_a.ttf ... ifm_iso_z.ttf. An overview and explanation of the ISO files are available in the file ifm_iso- documentation.pdf in the same directory. For example for...

  • Page 54: Set Up Programming System

    2011-07-28 Configurations Set up programming system Set up programming system Set up programming system manually..................54 Set up programming system via templates..................59 ifm demo programs ........................69 3968 5.4.1 Set up programming system manually Setup the target..........................55 Activating the PLC configuration ....................56 CAN declaration ...........................57...
  • Page 55 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 56 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Set up programming system Activating the PLC configuration 10079 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 57 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Set up programming system  The structure of the inputs and outputs These can be directly symbolically designated (highly recommended!) in the window [PLC Configuration] (example  figure below) and are available in the whole project as [Global Variables].
  • Page 58 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Set up programming system > The CAN parameters of the PLC configuration are displayed. Some CAN parameters are already set as default: ► If the device is operated on CAN Layer 2 or as a slave via network variables or CAN_RX / CAN_TX: Check whether the correct baud rate is set for the device (baud rate must be identical for all participants).

  • Page 59: Set Up Programming System Via Templates

    Configurations Set up programming system 5.4.2 Set up programming system via templates About the ifm templates .......................62 Supplement project with further functions..................66 3977 offers ready-to-use templates (program templates) for a fast, simple, and complete setting up of the programming system.
  • Page 60 Another example for CR1051 as CANopen slave: master: (via the folder structures in templates  section About the ifm templates (→ page 62)). ► Save the new project with [file] > [Save as...], and define suitable directory and project name.
  • Page 61 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Set up programming system ► Click in the context menu [Append subelement]: > A list of all available EDS files appears in the extended context menu. ► Select requested element, e.g. "System R360": I/O CompactModule CR2011 (EDS)". The EDS files are in directory C:\\CoDeSys V\Library\PLCConf\.
  • Page 62 PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Set up programming system About the ifm templates Folder structure in general ......................62 Programs and functions in the folders of the templates...............63 Structure of the visualisations in the templates................65 3981 As a rule the following templates are offered for each unit: ...
  • Page 63 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 CANopen...
  • Page 64 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 65 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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. PDM_CYCLE_MS for PDM, CAN operation with layer 2 or as master or slave:...
  • Page 66 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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. For the example we take a CabinetController CR2500 as CAN open Master to which an I/O CabinetModule CR2011 and an I/O CompactModule are connected as slaves: Example: PLC configuration...
  • Page 67 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 68 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Set up programming system ► After possibly required corrections and addition of missing libraries ( Error messages after rebuild) save the project again. ► Follow this principle to step by step (!) add further functions from other projects and check the results.

  • Page 69: Ifm Demo Programs

    PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Set up programming system 5.4.3 ifm demo programs Demo program for controller ......................69 Demo programs for PDM and BasicDisplay ................71 3982 In directory DEMO_PLC_CDV (for Controller) or DEMO_PDM_CDV (für PDMs) under C:\\CoDeSys V\Projects\ we explain certain functions in tested demo programs. If required, these functions can be implemented in own projects.
  • Page 70 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Set up programming system Demo program Function I/O compact module CR2033 as slave of a Controller (CANopen master), CR2500Demo_CR2033_xx.pro 4 x digital input, 4 x digital input analogue evaluation, 4 x digital output, Inclination sensor CR2101 as slave of a Controller (CANopen master).
  • Page 71 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Set up programming system Demo programs for PDM and BasicDisplay 3996 Demo program Function separate for PDM360, PDM360compact, PDM360smart and Controller: CR1051Demo_CanTool_xx.pro CR1053Demo_CanTool_xx.pro Contains FBs to set and analyse the CAN interface. CR1071Demo_CanTool_xx.pro Allows to enter any character in a character string: CR1051Demo_Input_Character_xx.pro...
  • Page 72 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Set up programming system Demo program Function Simple example for entering a REAL value in the PDM. CR1051Demo_Real_in_xx.pro Figure P01000: Enter and display REAL value Writes a CVS data block in the internal flash memory when [F3] is CR1051Demo_Ringlogging_on_flash pressed or a CAN message is received on ID 100.

  • Page 73: Function Configuration Of The Inputs And Outputs

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Function configuration of the inputs and outputs Function configuration of the inputs and outputs Configuration of the inputs and outputs (default setting) .............73 System variables ..........................73 Configure inputs ...........................74 7308 For specific in- and outputs, additional diagnostic functions can be activated.

  • Page 74: Configure Inputs

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Function configuration of the inputs and outputs 5.5.3 Configure inputs Safety instructions ........................74 Digital inputs..........................75 Analogue inputs..........................76 Input I1 ............................77 3973 Safety instructions 7348 For use of non-electronic switches please note the following: NOTE Contacts of Reed relays may be clogged (reversibly) if connected to the device inputs without series resistor.

  • Page 75: Digital Inputs

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Function configuration of the inputs and outputs Digital inputs 7345 Depending on the device, the digital inputs can be configured differently. In addition to the protective mechanisms against interference, the digital inputs are internally evaluated via an analogue stage. This enables diagnosis of the input signals.

  • Page 76: Analogue Inputs

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Function configuration of the inputs and outputs Analogue inputs 7346 2426 The inputs can also be configured as analogue inputs via the application program. The measuring range can be set as follows: ...

  • Page 77: Input I1

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Function configuration of the inputs and outputs Input I1 7347 This input can be used as follows:  digital low-side input for positive sensor signal  digital high-side input for negative sensor signal ...
  • Page 78 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Function configuration of the inputs and outputs Activation of the input diagnosis 7352 If the diagnosis is to be used, it needs to be activated additionally. Diagnosis of non-electronic switches: To monitor the input signals of non-electronic switches, they must be equipped with an additional resistor connection.

  • Page 79: Hints To Wiring Diagrams

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Hints to wiring diagrams Hints to wiring diagrams 1426 The wiring diagrams ( installation instructions of the controllers, chapter "Wiring") show the standard device configurations. The wiring diagrams help allocate the input and output channels to the IEC addresses and the device terminals.
  • Page 80 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Hints to wiring diagrams NOTE Contacts of Reed relays may be clogged (reversibly) if connected to the device inputs without series resistor. ► Remedy: Install a series resistor for the Reed relay: Series resistor = max.

  • Page 81: First Steps

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations First steps First steps Add missing libraries ........................81 Create visualisation ........................83 Create PLC program ........................85 Save project in the device ......................86 3044 ► Setup the target (→ page 55). ►...
  • Page 82 ► Add the following libraries one after the other if they are not yet integrated in the project: - Standard library Standard.Lib from C:\...\CoDeSys\Library\ - Device library CRnnnn_Vxxyyzz.Lib from C:\...\CoDeSys\Targets\ifm\Library\ifm_CRnnnn\ ► Save the project with [Ins]+[s]. > The project is now prepared for the PLC program of the application.

  • Page 83: Create Visualisation

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations First steps 5.7.2 Create visualisation 3100 For this project we first create the visualisation and only then the PLC program. ► Click on the tab [Visualizations] in CoDeSys: ► Beside the folder symbol right-click on [Visualizations] followed by a click on [Add Object ...]: >...
  • Page 84 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations First steps ► Right-click on the rectangle to open the context menu and select [Configure ...]: > The window [Regular Element Configuration (#0)] appears: ► In the field [Category] select the entry [Text]. ►...

  • Page 85: Create Plc Program

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations First steps 5.7.3 Create PLC program 7351 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 86: Save Project In The Device

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Install and configure the mobile camera 5.7.4 Save project in the device 3046 Available for the following devices: - Controller CRnn32 - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR108n, CR9042 ►...

  • Page 87: Operating Elements - Functions

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Operating elements - functions Operating elements - functions 10160 The following tasks have to be solved in the visualisations of the application: - jump to the visualisation pages, - change parameter values in the input fields, - confirm messages.
  • Page 88 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Operating elements - functions Keywords for edit controls 10163 Keyword Meaning in MAPPING Meaning in EDIT MODE DOWN Decrement the value Quit the EDIT MODE Quit the EDIT MODE ESCAPE LEFT Cursor by 1 position to the left...

  • Page 89: Device Update To New Software Version

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Device update to new software version 5.10 Device update to new software version Key assignment in the setup mode ....................89 Prepare device update .........................90 Device update via web browser ....................92 Device update via USB stick ......................93 3084 When the operating system software or the CoDeSys runtime system is considerably improved,...

  • Page 90: Prepare Device Update

    DVD "Software, tools and documentation" ecomatmobile OR: USB stick Computer store (USB device < V 2.0 partitioned as FAT16, FAT32 or VFAT as well as EXT2 or EXT3) Update file Vxx.yy.zz_PDM360NG.ifm ifm electronic gmbh Size slightly over 100 MBytes...
  • Page 91 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Device update to new software version Preparatory work: ► Copy the update file: - to any directory on the PC, - to the main directory on the USB stick. ►...

  • Page 92: Device Update Via Web Browser

    ► Click the button [Browse]. > The Windows browser opens. ► Open the directory with the update file. ► Double click the update file (Vxx.yy.zz_PDM360NG.ifm). ► Click the button [send]. > The installation process is running. ► Remove the cover of the reset key on the rear panel of the PDM.

  • Page 93: Device Update Via Usb Stick

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Configurations Device update to new software version 5.10.4 Device update via USB stick 9382 ► Remove the cover of the reset key on the rear panel of the PDM. ► Insert the USB stick with the saved update file into the USB port. IMPORTANT: The update file must be in the main directory! Only ONE update file is allowed in this directory.

  • Page 94: Limitations And Programming Notes

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Limitations and programming notes Limits of the device Limitations and programming notes Limits of the device........................94 Programming notes for CoDeSys projects...................98 3055 Here we show you the limits of the device and help you with programming notes. Limits of the device 7358 NOTE...

  • Page 95: Watchdog Behaviour

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Limitations and programming notes Limits of the device 6.1.2 Watchdog behaviour 1490 For (nearly) all programable devices the program runtime is monitored by a watchdog ecomatmobile of CoDeSys. If the maximum watchdog time is exceeded: - the device carries out a reset and starts again BUT: BasicController: CR040n:...

  • Page 96: Limitations For Visualisations

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Limitations and programming notes Limits of the device 6.1.3 Limitations for visualisations 7359 NOTE This information only applies to the CR108n standard devices. Special devices may differ ( data sheet). Description Limitation ...

  • Page 97: Limitations For Program And Data Memories

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Limitations and programming notes Limits of the device 6.1.4 Limitations for program and data memories 7360 NOTE This information only applies to the CR108n standard devices. Special devices may differ ( data sheet). Description Data RAM 128 MBytes...

  • Page 98: Programming Notes For Codesys Projects

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Limitations and programming notes Programming notes for CoDeSys projects Programming notes for CoDeSys projects FB, FUN, PRG in CoDeSys ......................98 Libraries ............................99 Operating sequence ........................100 CoDeSys visualisation elements....................101 Texts ...........................

  • Page 99: Libraries

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Limitations and programming notes Programming notes for CoDeSys projects Background: By calling a function all variables... - will become initialised and - after return will lose their validity. Function blocks have two calls: - one initialising call and - the call to do something.

  • Page 100: Operating Sequence

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Limitations and programming notes Programming notes for CoDeSys projects 6.2.3 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 101: Codesys Visualisation Elements

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Limitations and programming notes Programming notes for CoDeSys projects 6.2.4 CoDeSys visualisation elements 7388 Bitmap graphics (BMP)  Power reserves of the device (→ page 123) NOTE: Not all CoDeSys functions can be executed successfully on this device: Visualisation element Functional safety for the PDM A polyline is to consist of maximum 99 anchor points.

  • Page 102: Texts

     Permissible fonts: - Arial (standard) - Courier New - Times New Romxxxn - loadable fonts (e.g. ifm ISO symbols)  Permissible font size: - standard = 10 pixels - max. = 512 pixels - permissible nuances = 1 pixel ...

  • Page 103: Movement Of Elements

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Limitations and programming notes Programming notes for CoDeSys projects 6.2.6 Movement of elements 7392 Image and text elements can be moved on the display in a defined manner. Element movement Description Rotate Rotate the element around a defined pivot point...

  • Page 104: Visualisations In The Device

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Visualisations in the device Recommendations for user interfaces Visualisations in the device Recommendations for user interfaces ..................104 Basic information about colours and bitmap graphics .............. 119 Power reserves of the device....................123 Special information about bitmap graphics ................

  • Page 105: Recommendations For A User-Friendly Product Design

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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.

  • Page 106: Do You Know The Future Users

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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: ...

  • Page 107: Check Suitability For Use

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 108 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Visualisations in the device Recommendations for user interfaces Korean characters The modern Korean writing system is called Hangul and officially used in North and South Korea. In addition, Hanja is used which refers to the characters borrowed from Chinese. Arabic alphabet This script is used for writing several languages in Asia (e.g.

  • Page 109: Cultural Details Are Often Not Transferable

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Visualisations in the device Recommendations for user interfaces 7.1.5 Cultural details are often not transferable 7461 Country, culture or language-specific details should be avoided in the source text because their use is often not necessary and adaptation to the target culture is time-consuming.
  • Page 110 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Visualisations in the device Recommendations for user interfaces Symbols 7465 As symbols are often produced in analogy to culture-specific concepts or use allusions to familiar areas of the source culture, they pose a problem for localisation. Example: The symbol for a house that is to stand for start or beginning is not clearly understandable because the English term "home"...

  • Page 111: Directives And Standards

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Visualisations in the device Recommendations for user interfaces 7.1.6 Directives and standards ISO 7001 _ Graphical symbols - Public information symbols ........... 111 ISO 9126 _ Software engineering - Product quality..............112 ISO 9241 _ Ergonomics of human-system interaction..............

  • Page 112: Functional Specifications

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 113 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Visualisations in the device Recommendations for user interfaces Transferability: How easily can the software be transferred to another environment? An environment can be an organisational, hardware or software environment.  Adaptability: ability of the software to adapt to different environments.
  • Page 114 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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.
  • Page 115 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 116 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 117 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 118 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 The following criteria are described: - Scope - User interface...

  • Page 119: Basic Information About Colours And Bitmap Graphics

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Visualisations in the device Basic information about colours and bitmap graphics Basic information about colours and bitmap graphics Image size vector graphics / pixel graphics ................120 Colour for bitmap graphics ......................122 What colours are shown?......................

  • Page 120: Image Size Vector Graphics / Pixel Graphics

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 information about start and end point, thickness million and more pixels (resolution...
  • Page 121 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Visualisations in the device Basic information about colours and bitmap graphics Example: reducing a pixel image 7402 Task: An existing digital photo with a resolution of 5 megapixels has, for example, an image size of 2560 x 1920 pixels (= 4,915,200 pixels).

  • Page 122: Colour For Bitmap Graphics

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Visualisations in the device Basic information about colours and bitmap graphics 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.

  • Page 123: Power Reserves Of The Device

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Visualisations in the device Power reserves of the device Power reserves of the device 7382 Embedded displays, used e.g. in devices, cannot provide the full colour scope of bitmap graphics because the available power reserves are restricted.

  • Page 124: Resample / Scale Image

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Visualisations in the device Power reserves of the device 7.3.1 Resample / scale image 3117 If an image is loaded in the device which does not meet the requirements for size or colour, it is resized before it is displayed and the colours used are "checked".

  • Page 125: Special Information About Bitmap Graphics

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Visualisations in the device Special information about bitmap graphics Special information about bitmap graphics Additive colour mixing ....................... 125 What graphics are suitable for which PDM and what steps must be carried out?....126 3113 Here the interested reader finds more details about bitmap graphics.

  • Page 126: What Graphics Are Suitable For Which Pdm And What Steps Must Be Carried Out

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Visualisations in the device Special information about bitmap graphics Table: examples of colour mixtures 100 % red + 100 % green = 100 % yellow 100 % green + 100 % blue = 100 % cyan 100 % blue + 100 % red...

  • Page 127: Operate Camera(S) On The Pdm

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Visualisations in the device Operate camera(s) on the PDM Operate camera(s) on the PDM Using Ethernet camera(s) with PDM..................127 Operation of analogue camera(s) on the PDM ................. 133 9728 7.5.1 Using Ethernet camera(s) with PDM Configure an Ethernet camera image in CoDeSys ..............
  • Page 128 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Visualisations in the device Operate camera(s) on the PDM > The dialogue [Bitmap Configuration] opens. NOTE: The terms which are used in the dialogue [Bitmap Configuration] have another meaning when used for the camera configuration. ►...
  • Page 129 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Visualisations in the device Operate camera(s) on the PDM ► Program the switching on and off of the camera: Enter a Boolean type variable in the category [Variables] in the field [Conversion factor]. ►...
  • Page 130 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Visualisations in the device Operate camera(s) on the PDM The size and position of the camera image is directly controlled via the bitmap. ► In the menu [Extras] select [Elementlist...]. >...
  • Page 131 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Visualisations in the device Operate camera(s) on the PDM Configure the camera bitmap in the dialogue [Bitmap Configuration] 9600 The terms which are used in the dialogue [Bitmap Configuration] have another meaning when used for the camera configuration.
  • Page 132 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Visualisations in the device Operate camera(s) on the PDM Use the Ethernet camera image in CoDeSys 9585 Applies only to the following devices: - PDM360NG: CR1080, CR1081, CR1082, CR9042 NOTE ►...

  • Page 133: Operation Of Analogue Camera(S) On The Pdm

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Visualisations in the device Operate camera(s) on the PDM 7.5.2 Operation of analogue camera(s) on the PDM Capture mode..........................134 Overlay mode ..........................135 Configure an analogue camera image in CoDeSys..............136 Use the analogue camera image in CoDeSys ................
  • Page 134 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Visualisations in the device Operate camera(s) on the PDM Capture mode 9589 Examples (top: original image): The original image can only be scaled in any manner as full-size image, also asymmetrically.
  • Page 135 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Visualisations in the device Operate camera(s) on the PDM Overlay mode 9560 Examples (top: original image): The image cannot be scaled. The centre of the image section is identical with the centre of the original image.
  • Page 136 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Visualisations in the device Operate camera(s) on the PDM Configure an analogue camera image in CoDeSys 9601 ► In CoDeSys create and name a new visualisation object in the tab [Visualizations]. ►...
  • Page 137 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Visualisations in the device Operate camera(s) on the PDM Only allowed in the capture mode: ► Rotate the image of the camera. In the category [Motion absolute] enter an INT type variable in the field [Angle]. Only the values 0, 90, 180 and 270 are supported (example ...
  • Page 138 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Visualisations in the device Operate camera(s) on the PDM The size and position of the camera image is directly controlled via the bitmap. ► In the menu [Extras] select [Elementlist...]. >...
  • Page 139 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Visualisations in the device Operate camera(s) on the PDM Configure the camera bitmap in the dialogue [Bitmap Configuration] 9600 The terms which are used in the dialogue [Bitmap Configuration] have another meaning when used for the camera configuration.
  • Page 140 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Variable Operate camera(s) on the PDM Variable Retain variable .......................... 141 Network variable via UDP ......................142 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: Variable Declaration...

  • Page 141: Variable Retain Variable

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Variable Retain variable Retain variable 3131 Retain variables can be saved automatically or on request (via a FB) in a protected memory area and be reloaded automatically during a reboot or on request (via a FB). Typical applications for retain variables are for example: ...

  • Page 142: Network Variable Via Udp

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Variable Network variable via UDP Network variable via UDP Select first target system and create project................145 Set communication parameters ....................147 Activate network variable support ..................... 148 Integrate libraries........................149 Complete and transmit the project (global network variables)..........
  • Page 143 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Variable Network variable via UDP Example: Information is to be exchanged between 3 devices (controller/PDM) and 1 PC. This is done by means of the "global network variables" ( figure below). The example only shows the variables x1, x2 and x3 in the global network variable lists of the corresponding projects.
  • Page 144 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Variable Network variable via UDP To work with network variables the following steps are required: Step 1 ► Connect devices via Ethernet Step 2 ► Set IP addresses and subnet mask Step 3 ►...

  • Page 145: Select First Target System And Create Project

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Variable Network variable via UDP 8.2.1 Select first target system and create project 3620 When a new project is created in CoDeSys the target file corresponding to the controller must be loaded.
  • Page 146 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Variable Network variable via UDP > The following window appears: ► Add the entries shown on the following screenshot to the program POU PLC_PRG: ► With [File] > [Save as ...] save the project in the requested directory. Here: filename = "DemoProj1"...

  • Page 147: Set Communication Parameters

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Variable Network variable via UDP 8.2.2 Set communication parameters 3625 The same communication parameters must be set for the PC, the device (controller/PDM) and the project. ► Open the following dialogue with [Online] > [Communication Parameters...]. >...

  • Page 148: Activate Network Variable Support

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Variable Network variable via UDP ► Enter the corresponding IP address of the controller (compare with step 2). ► Set [Motorola byteorder] = YES for the PDM360 and PDM360compact. ► Confirm with [OK]. 8.2.3 Activate network variable support 3630...

  • Page 149: Integrate Libraries

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Variable Network variable via UDP 8.2.4 Integrate libraries 3633 ► Menu [Window] > [Library Manager] > Display of the libraries already loaded: ► Menu [Insert] > [Additional Library... Ins] or: Key [Ins] ►...

  • Page 150: Complete And Transmit The Project (Global Network Variables)

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Variable Network variable via UDP 8.2.5 Complete and transmit the project (global network variables) 3637 To demonstrate the exchange of data via global network variables, write one project each for all three devices.
  • Page 151 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Variable Network variable via UDP ► Confirm with [OK]. ► Enter the variable x1 in the window that appears ( screenshot): ► Right-click on the resource element [Global_Variablen_Export_Proj1]. ► Click on [Object Properties...] ( screenshot): >...
  • Page 152 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Variable Network variable via UDP > The window becomes larger ( window): ► Adopt the properties of the list similarly as shown here, but:  For export list: Activate [Export before compile] and [Write]! For import list: Activate [Import before compile] and [Read]! ...
  • Page 153 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Variable Network variable via UDP Excursus: variable list identification (COB ID) Here we work with variable lists which are exported from one device and imported to one or more devices. This assignment of the variable lists is identified by a COB ID. The relationship is shown in the following figure: Export list Import list...
  • Page 154 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Variable Network variable via UDP Continuation "Complete project" ► In the window [Properties] of the global variable list click on the button [Settings...] beside [Network type]. > The following window appears: ►...

  • Page 155: Write Projects For More Devices

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Variable Network variable via UDP 8.2.6 Write projects for more devices 3647 Also create export lists for the projects DemoProj2 and DemoProj3. ► Now create corresponding projects with export lists for the two other devices: DemoProj2.pro and DemoProj3.pro.
  • Page 156 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Variable Network variable via UDP ► Reduce the selection to the requested list: ► Confirm with [OK]. ► From the menu "[Project] > [Merge…]" repeat the process with DemoProj3.pro and its export list.

  • Page 157: Transmit Projects

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Variable Network variable via UDP Adapt PLC_PRG in all projects. So far we have "only" organised the data management. Now the executable parts of the projects will be dealt with. For each project only one POU is written which increases the contents of the corresponding variables (x1, x2 or x3, ...

  • Page 158: Can In The Pdm360 General About Can

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 General about CAN CAN in the PDM360 General about CAN ........................158 Physical connection of CAN...................... 163 Exchange of CAN data......................167 CAN-FBs on layer 2 (RAW-CAN)....................174 CAN units acc.

  • Page 159: Topology

    The devices of equipped with a CAN interface have no terminating resistors. ifm electronic The disadvantage of spurs and star-type bus is that the wave resistance is difficult to determine. In the worst case the bus no longer functions.

  • Page 160: Can Interfaces

    Which CAN interface of the device has which potential,  data sheet of the device. The actual data sheet you will find on the homepage:  www.ifm.com > select your country > [data sheet search] > (article no.) Informative: more interesting CAN protocols: ...
  • Page 161 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 General about CAN Interface CAN 1 CAN 2 CAN 3 CAN 4 Device default download identifier ID 127 ID 126 ID 125 ID 124 ClassicController: CR0032 CAN layer 2 CAN layer 2 CAN layer 2...

  • Page 162: System Configuration

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 General about CAN 9.1.4 System configuration 2270 The controllers are delivered with the following download identifier (= ID): - ID 127 for CAN interface 1 - ID 126 for CAN interface 2 (if available) - ID 125 for CAN interface 3 (if available) - ID 124 for CAN interface 4 (if available) The download system uses this identifier for the first communication with a non configured module via...

  • Page 163: Physical Connection Of Can

    The devices of equipped with a CAN interface have no terminating resistors. ifm electronic Spurs Ideally no spur should lead to the bus participants (node 1 ... node n) because reflections occur depending on the total cable length and the time-related processes on the bus. To avoid system errors, spurs to a bus participant (e.g.

  • Page 164: Can Bus Level

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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.

  • Page 165: Bus Cable Length

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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, ...

  • Page 166: Wire Cross-Sections

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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.

  • Page 167: Exchange Of Can Data

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 Exchange of CAN data Exchange of CAN data Hints ........................... 168 CAN functions in the IEC user cycle ..................170 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 168: Hints

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 29 bits...
  • Page 169 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 Exchange of CAN data Summary CAN / CANopen 7946  The COB ID of the network variables must differ from the CANopen slave ID in the controller configuration and from the IDs of the transmit and receive blocks! ...

  • Page 170: Can Functions In The Iec User Cycle

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 Exchange of CAN data 9.3.2 CAN functions in the IEC user cycle Processing of the program POUs ..................... 170 POU inputs ..........................171 POU outputs..........................172 Libraries for CAN POUs ......................

  • Page 171: Pou Inputs

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 172: Pou Outputs

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 Exchange of CAN data POU outputs 8354 Some POUs return a RESULT message. Possibly values for RESULT: Value Description dec | hex function block is not active 1...31 Global return values;...

  • Page 173: Libraries For Can Pous

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 Exchange of CAN data Libraries for CAN POUs 8355 We provide several libraries for CAN POUs:  CAN POUs on layer 2 (RAW-CAN): (→ page 174) Contained in the library: ifm_RawCAN_NT_Vxxyyzz.LIB ...

  • Page 174: Can-Fbs On Layer 2 (Raw-Can)

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) CAN-FBs on layer 2 (RAW-CAN) Notes FBs for RAW-CAN (management) .................... 176 FBs for RAW-CAN (transmitting messages)................184 FBs for RAW-CAN (receiving messages) ................. 191 FBs for RAW-CAN (remote access)..................
  • Page 175 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) FB feedbacks (overview) 7556 Some POUs return a RESULT message. Possibly values for RESULT: Value Description dec | hex function block is not active 1...31 Global return values;...

  • Page 176: Fbs For Raw-Can (Management)

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) 9.4.2 FBs for RAW-CAN (management) CAN_ENABLE........................... 177 CAN_RECOVER ........................179 CAN_STATUS........................... 180 CAN_SETDOWNLOADID......................182 7557 Here you will find function blocks for the management of the CAN function on the OSI layer 2.

  • Page 177: Can_Enable

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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, CR9042 Symbol in CoDeSys:...
  • Page 178 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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: Value Description...

  • Page 179: Can_Recover

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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, CR9042 Symbol in CoDeSys:...

  • Page 180: Can_Status

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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, CR9042 Symbol in CoDeSys:...
  • Page 181 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 WARNING_RX...

  • Page 182: Can_Setdownloadid

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - PDM360NG: CR108n, CR9042...
  • Page 183 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) Parameters of the outputs 7520 Parameter Data type Description RESULT BYTE current download ID Possibly values for RESULT: Value Description dec | hex function block is not active FB execution completed without error –...

  • Page 184: Fbs For Raw-Can (Transmitting Messages)

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) 9.4.3 FBs for RAW-CAN (transmitting messages) CAN_TX ........................... 185 CAN_TX_ENH........................... 187 CAN_TX_ENH_CYCLIC ......................189 7610 Here you will find function blocks for transmitting CAN messages on the OSI layer 2.
  • Page 185 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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, CR9042 Symbol in CoDeSys:...
  • Page 186 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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: Value Description...
  • Page 187 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - BasicDisplay: CR0451 - PDM360NG: CR108n, CR9042...
  • Page 188 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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: Value Description...
  • Page 189 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - BasicDisplay: CR0451 - PDM360NG: CR108n, CR9042...
  • Page 190 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) Parameters of the inputs 7582 Parameter Data type Description ENABLE BOOL TRUE: unit is executed FALSE: unit is not executed > POU inputs and outputs are not active CHANNEL BYTE CAN interface (1...n) depending on the device...

  • Page 191: Fbs For Raw-Can (Receiving Messages)

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) 9.4.4 FBs for RAW-CAN (receiving messages) CAN_RX ........................... 192 CAN_RX_RANGE ........................194 CAN_RX_RANGE_FIFO......................196 CAN_RX_ENH .......................... 198 CAN_RX_ENH_FIFO ........................ 200 7611 Here you will find function blocks for receiving CAN messages on the OSI layer 2.

  • Page 192: Can_Rx

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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, CR9042 Symbol in CoDeSys:...
  • Page 193 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) Parameters of the outputs 7590 Parameter Data type Description DATA ARRAY [0...7] OF BYTE received data, (1...8 bytes) RESULT BYTE feedback of the function block (possible messages ...

  • Page 194: Can_Rx_Range

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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, CR9042 Symbol in CoDeSys:...
  • Page 195 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 DATALENGTHCOUNT...

  • Page 196: Can_Rx_Range_Fifo

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - BasicDisplay: CR0451 - PDM360NG: CR108n, CR9042...
  • Page 197 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) Parameters of the inputs 7595 Parameter Data type Description ENABLE BOOL TRUE: unit is executed FALSE: unit is not executed > POU inputs and outputs are not active CHANNEL BYTE CAN interface (1...n) depending on the device...

  • Page 198: Can_Rx_Enh

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - BasicDisplay: CR0451 - PDM360NG: CR108n, CR9042...
  • Page 199 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 CHANNEL BYTE CAN interface (1...n) depending on the device...

  • Page 200: Can_Rx_Enh_Fifo

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - BasicDisplay: CR0451 - PDM360NG: CR108n, CR9042...
  • Page 201 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 CHANNEL BYTE CAN interface (1...n) depending on the device...

  • Page 202: Fbs For Raw-Can (Remote Access)

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN) 9.4.5 FBs for RAW-CAN (remote access) CAN_REMOTE_REQUEST...................... 203 CAN_REMOTE_RESPONSE ....................205 7623 Here you will find function blocks...  for transmitting CAN remote messages ...
  • Page 203 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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, CR9042 Symbol in CoDeSys:...
  • Page 204 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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) RESULT BYTE...
  • Page 205 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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, CR9042 Symbol in CoDeSys:...
  • Page 206 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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: Value Description...

  • Page 207: Can Units Acc. To Sae J1939

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN units acc. to SAE J1939 CAN units acc. to SAE J1939 CAN for the drive engineering....................207 Units for J1939 (management)....................212 Units for J1939 (send)....................... 222 Units for J1939 (receive) ......................

  • Page 208: Identifier Acc. To Sae J1939

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 209: Example: Detailed Message Documentation

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 Default priority...

  • Page 210: Example: Short Message Documentation

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 211: Limitations Of The Devices (Sae J1939)

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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: Device BasicController: CR040n PDM360NG: CR108n, BasicDisplay: CR0451 CR9042 Criterion...

  • Page 212: Units For J1939 (Management)

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN units acc. to SAE J1939 9.5.2 Units for J1939 (management) J1939_ENABLE ........................213 J1939_NAME ..........................215 J1939_GETDABYNAME......................217 J1939_STATUS ........................220 7639 Here you find function blocks for management CAN functions with SAE J1939.

  • Page 213: 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 214 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN units acc. to SAE J1939 Parameters of the inputs 7643 Parameter Data type Description ENABLE BOOL FALSETRUE (edge): J1939 stack is initialised TRUE: J1939 stack is active FALSE: J1939 stack is out of use CHANNEL...

  • Page 215: J1939_Name

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys:...
  • Page 216 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 FALSE:...

  • Page 217: J1939_Getdabyname

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - BasicDisplay: CR0451 - PDM360NG: CR108n, CR9042...
  • Page 218 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN units acc. to SAE J1939 Parameters of the inputs 7667 Parameter Data type Description ENABLE BOOL TRUE: unit is executed FALSE: unit is not executed >...
  • Page 219 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN units acc. to SAE J1939 Parameters of the outputs 7668 Parameter Data type Description ARRAY (0...254) OF BYTE List of found participants. Entries without a found participant are assigned with 255. NUMBER BYTE Number of found bus participants...

  • Page 220: J1939_Status

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys:...
  • Page 221 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 TIMEOUT BYTE source address of the node which did not provided data for the...

  • Page 222: Units For J1939 (Send)

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN units acc. to SAE J1939 9.5.3 Units for J1939 (send) J1939_TX ..........................223 J1939_TX_ENH ........................225 J1939_TX_ENH_MULTI ......................227 J1939_TX_ENH_CYCLIC ......................229 J1939_DM1TX .......................... 231 7685 Here you find function blocks for transmit CAN functions with SAE J1939.

  • Page 223: J1939_Tx

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys:...
  • Page 224 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN units acc. to SAE J1939 Parameters of the outputs 7693 Parameter Data type Description RESULT BYTE feedback of the function block (possible messages  following table) Possibly values for RESULT: Value Description...

  • Page 225: J1939_Tx_Enh

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - BasicDisplay: CR0451 - PDM360NG: CR108n, CR9042...
  • Page 226 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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: Value Description...

  • Page 227: J1939_Tx_Enh_Multi

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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: - BasicController: CR040n - BasicDisplay: CR0451 - PDM360NG: CR108n, CR9042...
  • Page 228 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN units acc. to SAE J1939 Parameters of the inputs 7712 Parameter Data type Description EXECUTE BOOL FALSETRUE (edge): POU is executed once otherwise: POU not active A POU already started is processed.

  • Page 229: J1939_Tx_Enh_Cyclic

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - BasicDisplay: CR0451 - PDM360NG: CR108n, CR9042...
  • Page 230 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN units acc. to SAE J1939 Parameters of the inputs 7719 Parameter Data type Description ENABLE BOOL TRUE: unit is executed FALSE: unit is not executed >...

  • Page 231: J1939_Dm1Tx

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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: - BasicController: CR040n - BasicDisplay: CR0451 - PDM360NG: CR108n, CR9042...
  • Page 232 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 233: Units For J1939 (Receive)

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN units acc. to SAE J1939 9.5.4 Units for J1939 (receive) J1939_RX..........................234 J1939_RX_FIFO ........................236 J1939_RX_MULTI........................238 J1939_DM1RX .......................... 240 7722 Here you find function blocks for receive CAN functions with SAE J1939.

  • Page 234: J1939_Rx

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys:...
  • Page 235 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN units acc. to SAE J1939 Parameters of the outputs 7727 Parameter Data type Description BYTE Source address of the transmitter PRIO BYTE message priority (0…7) WORD number of the bytes received (0...8) DATA...

  • Page 236: J1939_Rx_Fifo

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - BasicDisplay: CR0451 - PDM360NG: CR108n, CR9042...
  • Page 237 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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...

  • Page 238: J1939_Rx_Multi

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - BasicDisplay: CR0451 - PDM360NG: CR108n, CR9042...
  • Page 239 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN units acc. to SAE J1939 Parameters of the outputs 7744 Parameter Data type Description BYTE Source address of the transmitter PRIO BYTE message priority (0…7) WORD number of the bytes received permissible values = 0000 0000...0000 06F9...

  • Page 240: J1939_Dm1Rx

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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: - BasicController: CR040n - BasicDisplay: CR0451 - PDM360NG: CR108n, CR9042...
  • Page 241 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 242: Can Pous To Canopen

    CAN in the PDM360 CAN POUs to CANopen CAN POUs to CANopen Technical about CANopen ......................242 ifm CANopen SDO units ......................276 CANopen network management ....................287 7485 NOTE The following devices support CANopen only for the 1st CAN interface:...

  • Page 243: Overview

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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.

  • Page 244: Canopen Support By Codesys

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 245 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen IDs (addresses) in CANopen 3952 In CANopen there are different types of addresses (IDs):  COB ID The Communication Object Identifier addresses the message (= the communication object) in the list of devices.

  • Page 246: Canopen Master

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen CANopen master Differentiation from other CANopen libraries ................246 Create a CANopen project ......................247 Add and configure CANopen slaves ..................249 Master at runtime ........................
  • Page 247 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen  Emergency Reception of emergency messages from the configured slaves and message storage.  Set Node-ID and baud rate in the slaves By calling a simple function, node ID and baud rate of a slave can be set at runtime of the application.
  • Page 248 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen > The following libraries and software modules must still be integrated:  The device library for the corresponding hardware, e.g. ifm_CR0403_Vxxyyzz.LIB. This library provides all device-specific functions.
  • Page 249 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen Add and configure CANopen slaves CANopen slave: Tab [CAN parameters] ................... 249 Tab [Receive PDO-Mapping] and [Send PDO-Mapping]............251 Tab [Service Data Objects] ....................... 252 8516 Next, you can add the CANopen slaves.
  • Page 250 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen CAN parameters: Write DCF 10037 If [Write DCF] is activated, a DCF file is created after adding an EDS file to the set directory for compilation files.
  • Page 251 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen CAN parameters: Communication cycle 10044 In special applications a monitoring time for the SYNC messages generated by the master can be set here.
  • Page 252 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen PDO-Mapping: Properties 10047 The PDO properties defined in the standard can be edited in a dialogue via properties. COB-ID Every PDO message requires a clear COB ID (communication object identifier). If an option is not supported by the module or the value must not be changed, the field is grey and cannot be edited.
  • Page 253 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen Master at runtime Reset of all configured slaves on the bus at the system start........... 253 Polling of the slave device type....................253 Configuration of all correctly detected devices .................
  • Page 254 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen Configuration of all correctly detected devices 8022 Every SDO is monitored for a response and repeated if the slave does not respond within the monitoring time.
  • Page 255 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 256 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen Network states Boot up of the CANopen master ....................256 Boot up of the CANopen slaves ....................257 Start-up of the network without [Automatic startup] ..............260 The object directory of the CANopen master................
  • Page 257 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen NMT state for CANopen master 9964 State Description hex | dec not defined Master waits for a boot-up message of the node. OR: Master waits for the expiry of the given guard time.
  • Page 258 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen NMT state for CANopen slave 9965 State Description hex | dec The slave is reset by the NMT message "Reset Node" and automatically goes to state 1. not defined state = waiting for BOOTUP After max.
  • Page 259 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen CANopen status of the node 1973 Node status according to CANopen (with these values the status is also coded by the node in the corresponding messages).
  • Page 260 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen Start-up of the network without [Automatic startup] Starting the network with GLOBAL_START ................260 Starting all nodes of the network via CAN telegram ..............260 Reset all nodes of the network via CAN telegram ..............
  • Page 261 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen Reset all nodes of the network via CAN telegram 8037 The same reasons which apply to a NMT command for starting of all nodes in an network, there are cases you better should use a NMT command to reset all nodes (instead of a NMT command for every individual node).
  • Page 262 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen The object directory of the CANopen master 8039 In some cases it is helpful if the CANopen master has its own object directory. This enables, for example, the exchange of data of the application with other CAN nodes.

  • Page 263: Canopen Slave

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen CANopen slave Functionality of the CANopen slave library ................263 CANopen slave configuration....................264 Access to the CANopen slave at runtime ................. 269 1865 A CoDeSys programmable controller can also be a CANopen slave in a CAN network.
  • Page 264 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen CANopen slave configuration Tab [Base settings]........................264 Tab [Default PDO mapping] ...................... 266 Changing the standard mapping by the master configuration ..........268 7707 To use the controller as CANopen slave the CANopen slave must first be added via [Insert] >...
  • Page 265 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen Example of an object directory 1991 The following entries could for example be in the object directory: [FileInfo] FileName=D:\CoDeSys\lib2\plcconf\MyTest.eds FileVersion=1 FileRevision=1 Description=EDS for CoDeSys-Project: D:\CoDeSys\CANopenTestprojekte\TestHeartbeatODsettings_Device.pro CreationTime=13:59 CreationDate=09-07-2005...
  • Page 266 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen In addition to the prescribed entries, the EDS file contains the definitions for SYNC, guarding, emergency and heartbeat. If these objects are not used, the values are set to 0 (preset). But as the objects are present in the object directory of the slave at runtime, they are written to in the EDS file.
  • Page 267 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen Example: list of variables 10052 On the first receive PDO (COB ID = 512 + node ID) of the CANopen slave the data für variable PLC_PRG.a shall be received.
  • Page 268 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 269 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen Access to the CANopen slave at runtime 1985 Setting of the node numbers and the baud rate of a CANopen slave 8042 For the CANopen slave the node number and the baud rate can be set at runtime of the application program.

  • Page 270: Canopen Network Variables

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen CANopen network variables General information........................270 Configuration of CANopen network variables ................271 Particularities for network variables ..................275 1868 General information 2076 Network variables Network variables are one option to exchange data between two or several controllers.
  • Page 271 - 3S_CanDrv.lib, - 3S_CANopenManager.lib, - 3S_CANopenNetVar.lib and - 3S_CANopenNetVar_NT_Vxxyyzz.lib. from the directory \Targets\ifm\Library\ifm_CANopen. You also need the library SysLibCallback.lib. CoDeSys automatically generates the required initialisation code and the call of the network blocks at the start and end of the cycle.
  • Page 272 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 273 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen Meaning of the options: Global variable list: Network type 10055 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 274 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen Global variable list: Transmit checksum 10058 This option is not supported. Global variable list: Acknowledgement 10059 This option is not supported. Global variable list: Read 10060 The variable values of one (or several) controllers are read.
  • Page 275 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 CANopen master ExtendedController: CR0200 Transmit and receive lists are processed directly.

  • Page 276: Ifm Canopen Sdo Units

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen 9.6.2 ifm CANopen SDO units CANOPEN_ENABLE ........................ 277 CANOPEN_SDOREAD......................279 CANOPEN_SDOREADMULTI....................281 CANOPEN_SDOWRITE ......................283 CANOPEN_SDOWRITEMULTI ....................285 7783 here offers to the application programmer a set of efficient units.

  • Page 277: Canopen_Enable

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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, CR9042 Symbol in CoDeSys: Description...
  • Page 278 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 Description dec | hex...

  • Page 279: Canopen_Sdoread

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys:...
  • Page 280 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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...

  • Page 281: Canopen_Sdoreadmulti

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - PDM360NG: CR108n, CR9042...
  • Page 282 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen Parameters of the outputs 7810 Parameter Data type Description DWORD number of the bytes received permissible values = 0000 0001...0000 0800 = 1...2 048 DATA ARRAY [0...2048] OF BYTE buffer memory for user data of the SDO data transmission...

  • Page 283: Canopen_Sdowrite

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys:...
  • Page 284 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen Parameters of the inputs 7828 Parameter Data type Description EXECUTE BOOL FALSETRUE (edge): POU is executed once otherwise: POU not active A POU already started is processed. CHANNEL BYTE CAN interface (1...n) depending on the device...

  • Page 285: Canopen_Sdowritemulti

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - PDM360NG: CR108n, CR9042...
  • Page 286 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 Description dec | hex...

  • Page 287: Canopen Network Management

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen 9.6.3 CANopen network management State diagram of a CANopen node ................... 287 CANOPEN_NMTSERVICES ....................288 CANOPEN_GETNMTSTATESLAVE ..................290 CANOPEN_SETSTATE......................292 CANOPEN_GETSTATE ......................294 CANOPEN_SETSYNCSTATE....................

  • Page 288: Canopen_Nmtservices

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - PDM360NG: CR108n, CR9042...
  • Page 289 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 Description dec | hex...

  • Page 290: Canopen_Getnmtstateslave

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - BasicDisplay: CR0451 - PDM360NG: CR108n, CR9042...
  • Page 291 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen Parameters of the outputs 7855 Parameter Data type Description NMTSTATE BYTE Network operating status of the node 0 = INIT 1 = OPERATIONAL 2 = PRE-OPERATIONAL 3 = STOPPED RESULT...

  • Page 292: Canopen_Setstate

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys:...
  • Page 293 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 294: Canopen_Getstate

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys:...
  • Page 295 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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: master is booting up configuration of the nodes is running normal operating status of the master when PLC runs as slave...
  • Page 296 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen Possibly values for RESULT: Value Description dec | hex function block is not active FB execution completed without error – data is valid FB is active –...

  • Page 297: Canopen_Setsyncstate

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - PDM360NG: CR108n, CR9042...
  • Page 298 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 Description dec | hex...

  • Page 299: Canopen_Getsyncstate

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - PDM360NG: CR108n, CR9042...
  • Page 300 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 301: Canopen_Getbufferflags

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys:...
  • Page 302 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 RXWARN...

  • Page 303: Canopen_Getguardhberrlist

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen CANOPEN_GETGUARDHBERRLIST 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 - BasicDisplay: CR0451 - PDM360NG: CR108n, CR9042...
  • Page 304 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 ...

  • Page 305: Canopen_Getguardhbstatslv

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - BasicDisplay: CR0451 - PDM360NG: CR108n, CR9042...
  • Page 306 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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) = 7F...

  • Page 307: Canopen_Getodchangedflag

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - BasicDisplay: CR0451 - PDM360NG: CR108n, CR9042...
  • Page 308 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN POUs to CANopen Parameters of the outputs 7931 Parameter Data type Description DATA DWORD parameter value RESULT BYTE feedback of the function block (possible messages  following table) Possibly values for RESULT: Value Description...

  • Page 309: Canopen_Readobjectdict

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - PDM360NG: CR108n, CR9042...
  • Page 310 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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: Value Description...

  • Page 311: Canopen_Writeobjectdict

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - PDM360NG: CR108n, CR9042...
  • Page 312 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 Description dec | hex...

  • Page 313: Can Errors And Error Handling

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN errors and error handling CAN errors and error handling Structure of an EMCY message....................313 Overview CANopen error codes ....................315 CANopen POUs for error handling.................... 318 7948 9.7.1 Structure of an EMCY message...
  • Page 314 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN errors and error handling Structure of an error message 8047 The structure of an error message (EMCY message) is as follows: Byte 0 Byte 1 Byte 2 Byte 3 Byte 4...

  • Page 315: Overview Canopen Error Codes

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 22xx Current inside the device...
  • Page 316 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN errors and error handling Object 0x1001 (error register) 8547 This object reflects the general error state of a CANopen device. The device is to be considered as error free if the object 1001 signals no error any more.
  • Page 317 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN errors and error handling Overview CANopen EMCY codes (CR108n) 8414 All indications (hex) for the 1st CAN interface. EMCY code object Object Manufacturer-specific information 1003 1001 Byte 0 Description...

  • Page 318: Canopen Pous For Error Handling

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN errors and error handling 9.7.3 CANopen POUs for error handling CANOPEN_SENDEMCYMESSAGE ..................319 CANOPEN_GETERRORREGISTER..................321 CANOPEN_GETEMCYMESSAGES ..................323 8522...
  • Page 319 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - PDM360NG: CR108n, CR9042...
  • Page 320 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 CAN in the PDM360 CAN errors and error handling Parameters of the inputs 7911 Parameter Data type Description EXECUTE BOOL FALSETRUE (edge): POU is executed once otherwise: POU not active A POU already started is processed.
  • Page 321 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - PDM360NG: CR108n, CR9042...
  • Page 322 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 DWORD Index 0 = number of stored errors Index 1...MAXERR = stored errors...
  • Page 323 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 - PDM360NG: CR108n, CR9042...
  • Page 324 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 OF T_EMCY...

  • Page 325: Input/Output Functions

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Input/output functions Processing input values Input/output functions Processing input values ......................325 Adapting analogue values......................329 1590 In this chapter you will find FBs which allow you to read and process the signals of the inputs and outputs.

  • Page 326: Input/Output Functions

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Input/output functions Processing input values 10.1.1 INPUT 9673 Unit type = function block (FB) Contained in the library: ifm_CRnnnn_Vxxyyzz.LIB Available for the following devices: - PDM360NG: CR108n, CR9042 Symbol in CoDeSys: Description 8104 INPUT enables determining the state at the input channels (...
  • Page 327 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Input/output functions Processing input values Parameters of the outputs 9677 Parameter Data type Description VALUE WORD vurrent value or status of the input channel RESULT feedback of the function block (possible messages ...

  • Page 328: Toggle

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Input/output functions Processing input values 10.1.2 TOGGLE 3194 Unit type = function block (FB) Contained in the library: Available for the following devices: - PDM360: CR1050, CR1051, CR1060 ifm_PDM_UTIL_Vxxyyzz.LIB - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR108n, CR9042 ifm_PDMng_UTIL_Vxxyyzz.LIB - PDM360smart: CR1070, CR1071...

  • Page 329: Adapting Analogue Values

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Input/output functions Adapting analogue values 10.2 Adapting analogue values NORM_DINT ..........................330 NORM_REAL ..........................332 1603 If the values of analogue inputs or the results of analogue functions must be adapted, the following FBs will help you.

  • Page 330: Norm_Dint

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Input/output functions Adapting analogue values 10.2.1 NORM_DINT 3200 Unit type = function block (FB) Contained in the library: Available for the following devices: - PDM360: CR1050, CR1051, CR1060 ifm_PDM_UTIL_Vxxyyzz.LIB - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR108n, CR9042 ifm_PDMng_UTIL_Vxxyyzz.LIB - PDM360smart: CR1070, CR1071...
  • Page 331 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Input/output functions Adapting analogue values Parameters of the outputs 3309 Parameter Data type Description DINT normalised value X_OUT_OF_RANGE BOOL input value X is outside the defined value range XL/XH...

  • Page 332: Norm_Real

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Input/output functions Adapting analogue values 10.2.2 NORM_REAL 3202 Unit type = function block (FB) Contained in the library: Available for the following devices: - PDM360: CR1050, CR1051, CR1060 ifm_PDM_UTIL_Vxxyyzz.LIB - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR108n, CR9042 ifm_PDMng_UTIL_Vxxyyzz.LIB - PDM360smart: CR1070, CR1071...
  • Page 333 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Input/output functions Adapting analogue values Parameters of the outputs 3312 Parameter Data type Description REAL normalised value X_OUT_OF_RANGE BOOL input value X is outside the defined value range XL/XH...

  • Page 334: Managing The Data

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data Saving, reading and converting data in the memory Managing the data Saving, reading and converting data in the memory..............334 Data access and data check ..................... 339 File managing..........................

  • Page 335: Usb_Storage_Handler

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data Saving, reading and converting data in the memory 11.1.1 USB_STORAGE_HANDLER 10090 Unit type = program (PRG) Contained in the library: ifm_PDM360NG_USB_Vxxyyzz.Lib Available for the following devices: - PDM360NG: CR108n, CR9042 Symbol in CoDeSys: Description 10092...
  • Page 336 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data Saving, reading and converting data in the memory Parameters of the outputs 10094 Parameter Data type Description USB_PATH STRING (80) Path of the active USB device USB_IDX BYTE Index of the active USB device (1...16) NUMBER_USB_DEVICES...

  • Page 337: Copy_Pdm_To_Usb

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data Saving, reading and converting data in the memory 11.1.2 COPY_PDM_TO_USB 10098 Unit type = program (PRG) Contained in the library: ifm_PDM360NG_USB_Vxxyyzz.Lib Available for the following devices: - PDM360NG: CR108n, CR9042 Symbol in CoDeSys: Description 10100...

  • Page 338: Copy_Usb_To_Pdm

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data Saving, reading and converting data in the memory 11.1.3 COPY_USB_TO_PDM 10107 Unit type = program (PRG) Contained in the library: ifm_PDM360NG_USB_Vxxyyzz.Lib Available for the following devices: - PDM360NG: CR108n, CR9042 Symbol in CoDeSys: Description 10109...

  • Page 339: Data Access And Data Check

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data Data access and data check 11.2 Data access and data check VERSION ..........................340 SYSTEM_ASYNCH........................341 1598 The FBs described in this chapter control the data access and enable a data check.

  • Page 340: Version

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data Data access and data check 11.2.1 VERSION 9688 Unit type = program (PRG) Contained in the library: ifm_PDMng_UTIL_Vxxyyzz.LIB Available for the following devices: - PDM360NG: CR108n, CR9042 Symbol in CoDeSys: Description 9698...

  • Page 341: System_Asynch

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data Data access and data check 11.2.2 SYSTEM_ASYNCH 9693 Unit type = function block (FB) Contained in the library: ifm_PDM360NG_linux_syscall_asynch_Vxxyyzz.Lib Available for the following devices: - PDM360NG: CR108n, CR9042 Symbol in CoDeSys: Description 9700...

  • Page 342: File Managing

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing 11.3 File managing File functions ..........................342 8611 Here we show you functions for management of files and their content. 11.3.1 File functions General file functions ........................ 344 File functions for text files......................
  • Page 343 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing The library contains the following functions:  File_Functions  General file functions - DELETE_FILE (→ page 345) - OPEN_PCMCIA (→ page 346) - OPEN_PCMCIA_VFAT (→ page 347) - SYNC (→...
  • Page 344 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing General file functions DELETE_FILE........................... 345 OPEN_PCMCIA ........................346 OPEN_PCMCIA_VFAT ......................347 SYNC ........................... 348 3428 General FBs for file management:  DELETE_FILE Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR1082, CR9042...
  • Page 345 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing DELETE_FILE 3392 Unit type = function block (FB) Contained in the library: ifm_PDM_FILE_Vxxyyzz.LIB Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys: Description...
  • Page 346 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing OPEN_PCMCIA 3395 Unit type = function block (FB) Contained in the library: ifm_PDM_FILE_Vxxyyzz.LIB Available for the following devices: - PDM360: CR1050, CR1051, CR1060 Symbol in CoDeSys: Description 3497 OPEN_PCMCIA opens the FAT file system of the inserted PCMCIA card (integrates the PCMCIA...
  • Page 347 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing OPEN_PCMCIA_VFAT 3469 Unit type = function block (FB) Contained in the library: ifm_PDM_FILE_Vxxyyzz.LIB Available for the following devices: - PDM360: CR1050, CR1051, CR1060 (from device version 4.12 on) Symbol in CoDeSys: Description 3502...
  • Page 348 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing SYNC 3475 Unit type = function block (FB) Contained in the library: ifm_PDM_FILE_Vxxyyzz.LIB Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys: Description...
  • Page 349 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing File functions for text files READ_TEXTFILE........................350 READ_TEXTLINE ........................351 3429 Text files can be processed using the following FBs:  READ_TEXTFILE  READ_TEXTLINE Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR1082, CR9042...
  • Page 350 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing READ_TEXTFILE 3398 Unit type = function block (FB) Contained in the library: ifm_PDM_FILE_Vxxyyzz.LIB Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys: Description...
  • Page 351 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing READ_TEXTLINE 3401 Unit type = function block (FB) Contained in the library: ifm_PDM_FILE_Vxxyyzz.LIB Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys: Description...
  • Page 352 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing Parameters of the outputs 3511 Parameter Data type Description BOOL TRUE: file end reached FALSE: file end not yet reached TEXT_OUT STRING(39) line read from the text file FILE_HANDLER DWORD file description:...
  • Page 353 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing File functions for CSV files READ_CSV_8BYTE........................354 WRITE_CSV_8BYTE ........................ 356 3430 CSV = Comma-Separated Values A CSV file is a text file which contains comma-separated elements in every line. Every line describes a dataset.
  • Page 354 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing READ_CSV_8BYTE 3404 Unit type = function block (FB) Executeable from the CoDeSys version 2.3.6.1. Don't use it for older projects! Contained in the library: ifm_PDM_FILE_Vxxyyzz.LIB Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056...
  • Page 355 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing Parameters of the outputs 3514 Parameter Data type Description BOOL TRUE: file end reached FASLE: file end not yet reached TEXT_READ STRING(53) dataset red from the file consisting of: time stamp,Byte1,Byte2,...,Byte8 BYTEARRAY ARRAY[1..8] OF BYTE...
  • Page 356 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing WRITE_CSV_8BYTE 3407 Unit type = function block (FB) Executeable from the CoDeSys version 2.3.6.1. Don't use it for older projects! Contained in the library: ifm_PDM_FILE_Vxxyyzz.LIB Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056...
  • Page 357 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing Parameters of the inputs 3516 Parameter Data type Description ENABLE BOOL TRUE: unit is executed FALSE: unit is not executed > POU inputs and outputs are not active WRITE_EVENT BOOL edge FALSE ...
  • Page 358 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing File functions for parameter files READ_PARAMETER_WORD ....................359 WRITE_PARAMETER_WORD....................361 READ_SINGLE_PARAMETER....................363 WRITE_SINGLE_PARAMETER ....................364 3431 For parameter files the library provides the following FBs: ...
  • Page 359 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing READ_PARAMETER_WORD 3410 Unit type = function block (FB) Executeable from the CoDeSys version 2.3.6.1. Don't use it for older projects! Contained in the library: ifm_PDM_FILE_Vxxyyzz.LIB Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056...
  • Page 360 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing Parameters of the outputs 3520 Parameter Data type Description BOOL TRUE: file end reached FALSE: file end not yet reached TEXT_READ STRING(6) line read from the text file FILE_HANDLER DWORD file description:...
  • Page 361 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing WRITE_PARAMETER_WORD 3413 Unit type = function block (FB) Executeable from the CoDeSys version 2.3.6.1. Don't use it for older projects! Contained in the library: ifm_PDM_FILE_Vxxyyzz.LIB Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056...
  • Page 362 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing Parameters of the inputs 3522 Parameter Data type Description WRITE BOOL edge FALSE  TRUE: parameter is written (only for 1 cycle) FALSE: during further processing of the program FILENAME STRING(80) path and name of the file,...
  • Page 363 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing READ_SINGLE_PARAMETER 3416 Unit type = function block (FB) Contained in the library: ifm_PDM_FILE_Vxxyyzz.LIB Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys: Description...
  • Page 364 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing WRITE_SINGLE_PARAMETER 3419 Unit type = function block (FB) Contained in the library: ifm_PDM_FILE_Vxxyyzz.LIB Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys: Description...
  • Page 365 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing File functions for alarm management READ_ALARM .......................... 366 STORE_ALARM........................368 3432 The library provides the following functions:  READ_ALARM  STORE_ALARM Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR1082, CR9042...
  • Page 366 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing READ_ALARM 3422 Unit type = function block (FB) Contained in the library: ifm_PDM_FILE_Vxxyyzz.LIB Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys: Description...
  • Page 367 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing File structure Pointer File structure in linear mode Timestamp, alarm code (byte 0), alarm code (byte 1), alarm state,..., alarm value (byte 3) Timestamp, alarm code (byte 0), alarm code (byte 1), alarm state,..., alarm value (byte 3) Timestamp, alarm code (byte 0), alarm code (byte 1), alarm state,..., alarm value (byte 3) Timestamp, alarm code (byte 0), alarm code (byte 1), alarm state,..., alarm value (byte 3) Parameters of the inputs...
  • Page 368 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing STORE_ALARM 3425 Unit type = function block (FB) Contained in the library: ifm_PDM_FILE_Vxxyyzz.LIB Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys: Description...
  • Page 369 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing If an alarm event occurs, the alarm state of the alarm message is set from FALSE to TRUE by the application program and the alarm code (i.e. the array index of the changed array element) as well as additional information, if any, are transferred to STORE_ALARM.
  • Page 370 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing File structure Pointer File structure in linear mode Timestamp, alarm code (byte 0), alarm code (byte 1), alarm state,..., alarm value (byte 3) Timestamp, alarm code (byte 0), alarm code (byte 1), alarm state,..., alarm value (byte 3) Timestamp, alarm code (byte 0), alarm code (byte 1), alarm state,..., alarm value (byte 3) Timestamp, alarm code (byte 0), alarm code (byte 1), alarm state,..., alarm value (byte 3) Parameters of the inputs...
  • Page 371 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing Help functions for arrays ARRAY_TO_WORD........................372 ARRAY_TO_DWORD ....................... 373 WORD_TO_ARRAY........................374 DWORD_TO_ARRAY....................... 375 BYTE_ARRAY_TO_CSV ......................376 BYTE_ARRAY_TO_STRING....................377 READBUFFER_TO_STRING ....................378 3433 The library provides the following FBs: ...
  • Page 372 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing ARRAY_TO_WORD 3434 Unit type = function block (FB) Contained in the library: ifm_PDM_FILE_Vxxyyzz.LIB Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys: Description...
  • Page 373 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing ARRAY_TO_DWORD 3437 Unit type = function block (FB) Contained in the library: ifm_PDM_FILE_Vxxyyzz.LIB Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys: Description...
  • Page 374 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing WORD_TO_ARRAY 3440 Unit type = function block (FB) Contained in the library: ifm_PDM_FILE_Vxxyyzz.LIB Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys: Description...
  • Page 375 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing DWORD_TO_ARRAY 3443 Unit type = function (FUN) Contained in the library: ifm_PDM_FILE_Vxxyyzz.LIB Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys: Description...
  • Page 376 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing BYTE_ARRAY_TO_CSV 3446 Unit type = function block (FB) Contained in the library: ifm_PDM_FILE_Vxxyyzz.LIB Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys: Description...
  • Page 377 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing BYTE_ARRAY_TO_STRING 3449 Unit type = function block (FB) Contained in the library: ifm_PDM_FILE_Vxxyyzz.LIB Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys: Description...
  • Page 378 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing READBUFFER_TO_STRING 3452 Unit type = function block (FB) Contained in the library: ifm_PDM_FILE_Vxxyyzz.LIB Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys: Description...
  • Page 379 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing More help functions PDM_FILE_VERSION ......................380 DUMP_FILESYSTEM ....................... 381 LOG_TIMESTAMP........................382 3455 The library provides the following FBs:  PDM_FILE_VERSION  DUMP_FILESYSTEM  LOG_TIMESTAMP Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR1082, CR9042...
  • Page 380 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing PDM_FILE_VERSION 3456 Unit type = function block (FB) Contained in the library: ifm_PDM_FILE_Vxxyyzz.LIB Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys: Description...
  • Page 381 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing DUMP_FILESYSTEM 3459 Unit type = function block (FB) Contained in the library: ifm_PDM_FILE_Vxxyyzz.LIB Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys: Description...
  • Page 382 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Managing the data File managing LOG_TIMESTAMP 3462 Unit type = function block (FB) Contained in the library: ifm_PDM_FILE_Vxxyyzz.LIB Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys: Description...

  • Page 383: Led, Buzzer, Visualisation

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 LED, buzzer, visualisation Program LED + buzzer LED, buzzer, visualisation Program LED + buzzer......................383 Manage visualisation......................... 387 Edit input fields in the visualisation ................... 396 8615 Here we show the following functions: ...

  • Page 384: Buzzer_Click

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 LED, buzzer, visualisation Program LED + buzzer 12.1.1 BUZZER_CLICK 9651 Unit type = function (FUN) Contained in the library: ifm_CRnnnn_Vxxyyzz.LIB Available for the following devices: - PDM360NG: CR108n, CR9042 Symbol in CoDeSys: Description 9654 With BUZZER_CLICK the integrated buzzer of the device generates a click signal as soon as the...

  • Page 385: Buzzer_On

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 LED, buzzer, visualisation Program LED + buzzer 12.1.2 BUZZER_ON 9658 Unit type = function block (FB) Contained in the library: ifm_CRnnnn_Vxxyyzz.LIB Available for the following devices: - PDM360NG: CR108n, CR9042 Symbol in CoDeSys: Description 9660...

  • Page 386: Key_Click

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 LED, buzzer, visualisation Program LED + buzzer 12.1.3 KEY_CLICK 9667 Unit type = function block (FB) Contained in the library: ifm_CRnnnn_Vxxyyzz.LIB Available for the following devices: - PDM360NG: CR108n, CR9042 Symbol in CoDeSys: Description 9669...

  • Page 387: Manage Visualisation

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 LED, buzzer, visualisation Manage visualisation 12.2 Manage visualisation SET_BOOTUP_BACKLIGHT....................388 Library Instrumente ........................389 8617 Here we show you function to manage visualisations.

  • Page 388: Set_Bootup_Backlight

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 LED, buzzer, visualisation Manage visualisation 12.2.1 SET_BOOTUP_BACKLIGHT 9681 Unit type = function (FUN) Contained in the library: ifm_CRnnnn_Vxxyyzz.LIB Available for the following devices: - PDM360NG: CR108n, CR9042 Symbol in CoDeSys: Description 9683 With the function SET_BOOTUP_BACKLIGHT the brightness of the display can be set.

  • Page 389: Library Instrumente

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 LED, buzzer, visualisation Manage visualisation 12.2.2 Library Instrumente CONTROL_ANALOGCLOCK ....................391 SCALE_LED_GRAF........................392 SCALE_METER ........................394 3354 Integration of finished visualisation elements NOTE: This library continues to be available to remain compatible with older applications. Instead, we recommend the use of background bitmaps - because of the much better representation.
  • Page 390 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 LED, buzzer, visualisation Manage visualisation  SCALE_METER (→ page 394) shows input values as a circular scale of a meter: METER_NO = 1 METER_NO = 2 METER_NO = 3 METER_NO = 4 Visu = Meter1 Visu = Meter2 Visu = Meter3...
  • Page 391 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 LED, buzzer, visualisation Manage visualisation CONTROL_ANALOGCLOCK 3366 Unit type = program (PRG) Contained in the library: Instrumente_x.LIB Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR108n, CR9042 - PDM360smart: CR1070, CR1071 Symbol in CoDeSys:...
  • Page 392 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 LED, buzzer, visualisation Manage visualisation SCALE_LED_GRAF 3369 Unit type = function block (FB) Contained in the library: Instrumente_x.LIB Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR108n, CR9042 - PDM360smart: CR1070, CR1071 Symbol in CoDeSys:...
  • Page 393 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 LED, buzzer, visualisation Manage visualisation Parameters of the inputs 3382 Parameter Data type Description ENABLE BOOL TRUE: unit is executed FALSE: unit is not executed > POU inputs and outputs are not active input value upper limit of the value range lower limit of the value range...
  • Page 394 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 LED, buzzer, visualisation Manage visualisation SCALE_METER 3372 Unit type = function block (FB) Contained in the library: Instrumente_x.LIB Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR108n, CR9042 - PDM360smart: CR1070, CR1071 Symbol in CoDeSys:...
  • Page 395 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 LED, buzzer, visualisation Manage visualisation Parameters of the inputs 3385 Parameter Data type Description ENABLE BOOL TRUE: unit is executed FALSE: unit is not executed > POU inputs and outputs are not active METER_NO BYTE 1 = meter1 = 270°...

  • Page 396: Edit Input Fields In The Visualisation

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 LED, buzzer, visualisation Edit input fields in the visualisation 12.3 Edit input fields in the visualisation INPUT_INT..........................397 INPUT_DINT ..........................402 INPUT_REAL ..........................405 INIT_VAR_RETAIN_INT ......................408 INIT_VAR_RETAIN_DINT ......................410 INIT_VAR_RETAIN_REAL .......................

  • Page 397: Input_Int

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 LED, buzzer, visualisation Edit input fields in the visualisation 12.3.1 INPUT_INT 3220 Unit type = function block (FB) Contained in the library: ifm_PDM_INPUT_Vxxyyzz.Lib Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys:...
  • Page 398 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 LED, buzzer, visualisation Edit input fields in the visualisation Parameters of the inputs 3329 Parameter Data type Description INIT BOOL TRUE (only for 1 cycle): sets the focus to the first input field FALSE: during further processing of the program ENABLE...
  • Page 399 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 LED, buzzer, visualisation Edit input fields in the visualisation Parameters of the outputs 3330 Parameter Data type Description INPUT_ACTIV BOOL current visualisation number FIELDCOUNTER BYTE number of selected input field VALUE_FIELD1 external input value, is only adopted with the 2nd rising edge of ENTER...
  • Page 400 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 LED, buzzer, visualisation Edit input fields in the visualisation Example: INPUT_INT with 3 input elements 3332 ► Integrate the requested function block into the application program and link the inputs and outputs to the parameters and variables: ►...
  • Page 401 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 LED, buzzer, visualisation Edit input fields in the visualisation ► When the input elements are configured with the internal parameters FIELD1...FIELD3 a frame is shown for the selected input object (FIELDn = TRUE, alarm colour frame = black). For the other objects it is not visible.

  • Page 402: Input_Dint

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 LED, buzzer, visualisation Edit input fields in the visualisation 12.3.2 INPUT_DINT 3223 Unit type = function block (FB) Contained in the library: ifm_PDM_INPUT_Vxxyyzz.Lib Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys:...
  • Page 403 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 LED, buzzer, visualisation Edit input fields in the visualisation Parameters of the inputs 3334 Parameter Data type Description INIT BOOL TRUE (only for 1 cycle): Sets the focus to the first input field FALSE: during further processing of the program ENABLE...
  • Page 404 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 LED, buzzer, visualisation Edit input fields in the visualisation Parameters of the outputs 3335 Parameter Data type Description INPUT_ACTIV BOOL current visualisation number FIELDCOUNTER BYTE number of selected input field VALUE_FIELD1 DINT external input value, is only adopted with the 2nd rising edge of...

  • Page 405: Input_Real

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 LED, buzzer, visualisation Edit input fields in the visualisation 12.3.3 INPUT_REAL 3225 Unit type = function block (FB) Contained in the library: ifm_PDM_INPUT_Vxxyyzz.Lib Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys:...
  • Page 406 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 LED, buzzer, visualisation Edit input fields in the visualisation Parameters of the inputs 3338 Parameter Data type Description INIT BOOL TRUE (only for 1 cycle): Sets the focus to the first input field FALSE: during further processing of the program ENABLE...
  • Page 407 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 LED, buzzer, visualisation Edit input fields in the visualisation Parameters of the outputs 3339 Parameter Data type Description INPUT_ACTIV BOOL current visualisation number FIELDCOUNTER BYTE number of selected input field VALUE_FIELD1 REAL external input value, is only adopted with the 2nd rising edge of...

  • Page 408: Init_Var_Retain_Int

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 LED, buzzer, visualisation Edit input fields in the visualisation 12.3.4 INIT_VAR_RETAIN_INT 3229 Unit type = function block (FB) Contained in the library: ifm_PDM_INPUT_Vxxyyzz.Lib Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys:...
  • Page 409 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 LED, buzzer, visualisation Edit input fields in the visualisation > The following INPUT function block is then initialised with INIT_VALUE in the first cycle. Example with INIT_VAR_RETAIN_INT and INPUT_INT Parameters of the inputs 3342 Parameter Data type...

  • Page 410: Init_Var_Retain_Dint

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 LED, buzzer, visualisation Edit input fields in the visualisation 12.3.5 INIT_VAR_RETAIN_DINT 3232 Unit type = function block (FB) Contained in the library: ifm_PDM_INPUT_Vxxyyzz.Lib Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys:...
  • Page 411 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 LED, buzzer, visualisation Edit input fields in the visualisation > The following INPUT function block is then initialised with INIT_VALUE in the first cycle. Example with INIT_VAR_RETAIN_INT and INPUT_INT Parameters of the inputs 3345 Parameter Data type...

  • Page 412: Init_Var_Retain_Real

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 LED, buzzer, visualisation Edit input fields in the visualisation 12.3.6 INIT_VAR_RETAIN_REAL 3235 Unit type = function block (FB) Contained in the library: ifm_PDM_INPUT_Vxxyyzz.Lib Available for the following devices: - PDM360: CR1050, CR1051, CR1060 - PDM360compact: CR1052, CR1053, CR1055, CR1056 - PDM360NG: CR108n, CR9042 Symbol in CoDeSys:...
  • Page 413 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 LED, buzzer, visualisation Edit input fields in the visualisation > The following INPUT function block is then initialised with INIT_VALUE in the first cycle. Example with INIT_VAR_RETAIN_INT and INPUT_INT Parameters of the inputs 3348 Parameter Data type...

  • Page 414: Annex

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Annex Rectify faults and errors Annex Rectify faults and errors ......................414 Address assignment and I/O operating modes................. 415 System flags..........................417 CANopen tables ........................421 Overview of the files and libraries used ..................434 1664 Additionally to the indications in the data sheets you find summary tables in the annex.

  • Page 415: Address Assignment And I/O Operating Modes

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Annex Address assignment and I/O operating modes 13.2 Address assignment and I/O operating modes Address assignment inputs / outputs ..................415 Possible operating modes inputs / outputs ................416 1656 ...

  • Page 416: Possible Operating Modes Inputs / Outputs

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Annex Address assignment and I/O operating modes 13.2.2 Possible operating modes inputs / outputs 9736 Possible configuration combinations (where permissible) are created by adding the configuration values. = this configuration value is default Config.

  • Page 417: System Flags

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Annex System flags 13.3 System flags System flags of the keys + LEDs (inputs) ................. 418 System flags of the keys + LEDs (outputs) ................420 7958 NOTE For programming you should use only symbol names since the corresponding flag addresses could change when the controller configuration is extended.

  • Page 418: System Flags Of The Keys + Leds (Inputs)

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Annex System flags 13.3.1 System flags of the keys + LEDs (inputs) 9737 Groups of keys  chapter Numbering of the operating elements (→ page 16) System flags Type Description EDIT_MODE_ACTIVE BOOL Input mode is active...
  • Page 419 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Annex System flags System flags Type Description AR_KEYx_RIGHT BOOL Key signal repetition when key [] of the scroll key in the group of keys x is pressed AR_KEYx_PUSH BOOL Key signal repetition when key [PUSH] in the group of keys x is pressed - encoder: rotary button pressed - scroll key: key in the middle pressed...

  • Page 420: System Flags Of The Keys + Leds (Outputs)

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Annex System flags 13.3.2 System flags of the keys + LEDs (outputs) Groups of keys  chapter Numbering of the operating elements (→ page 16) System flags Type Description KEYS_AUTOREPEAT_DELAY TIME Waiting time until the key signal repetition sets in when the key is pressed.

  • Page 421: Canopen Tables

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Annex CANopen tables 13.4 CANopen tables IDs (addresses) in CANopen ....................421 Structure of CANopen messages....................422 Bootup messsage........................426 Network management (NMT)....................427 CANopen error code ......................... 431 9941 The following tables will inform you about important values and settings of the CANopen interfaces.

  • Page 422: Structure Of Canopen Messages

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Annex CANopen tables 13.4.2 Structure of CANopen messages Structure of the COB ID ......................422 Function code / Predefined Connectionset ................423 SDO command bytes ........................ 424 SDO abort code......................... 425 9971 A CANopen message consists of the COB ID and up to 8-byte data: COB ID...
  • Page 423 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Annex CANopen tables Function code / Predefined Connectionset 9966 In the "CANopen Predefined Connectionset" some function codes are predefined. When using the predefined connectionset you can operate a CANopen network of up to 127 participants without the risk of a double assignment of COB IDs.
  • Page 424 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Annex CANopen tables SDO command bytes 9968 Structure of an SDO message: COB ID Command Index Sub-index Data *) byte byte 0 byte 1 byte byte 0 byte 1 byte 2 byte 3 *) depending on the data to be transmitted NOTE: Please note the reversed byte order!
  • Page 425 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Annex CANopen tables SDO abort code 9970 NOTE: The SDO abort code is NOT part of the emergency message! Abord code Description [hex] 0503 0000 toggle bit not alternated 0504 0000 SDO protocol timed out 0504 0001 client/server command specifier not valid or unknown...

  • Page 426: Bootup Messsage

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Annex CANopen tables 13.4.3 Bootup messsage 9961 After booting the CAN participate sends the boot-up message once: + node ID 1 792 + node ID The participant is now capable of communicating in the CAN network. Structure: The node ID of the participant is 7D = 125...

  • Page 427: Network Management (Nmt)

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Annex CANopen tables 13.4.4 Network management (NMT) Network management commands .................... 427 NMT state..........................427 9974 Network management commands 9962 With the following network management commands the user can influence the operating mode of individual or all CAN participants.
  • Page 428 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Annex CANopen tables NMT state for CANopen master 9964 State Description hex | dec not defined Master waits for a boot-up message of the node. OR: Master waits for the expiry of the given guard time. - Master waits for 300 ms.
  • Page 429 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Annex CANopen tables NMT state for CANopen slave 9965 State Description hex | dec The slave is reset by the NMT message "Reset Node" and automatically goes to state 1. not defined state = waiting for BOOTUP After max.
  • Page 430 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Annex CANopen tables CANopen status of the node 1973 Node status according to CANopen (with these values the status is also coded by the node in the corresponding messages). Status CANopen status Description hex | dec...

  • Page 431: Canopen Error Code

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Annex CANopen tables 13.4.5 CANopen error code Emergency messages....................... 431 Overview CANopen error codes ....................432 Object 0x1001 (error register) ....................433 9967 Emergency messages 9973 Device errors in the slave or problems in the CAN bus trigger emergency messages: COB ID Byte 0 Byte 1...
  • Page 432 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Annex CANopen tables Overview CANopen error codes 8545 Error Code (hex) Meaning 00xx Reset or no error 10xx Generic error 20xx Current 21xx Current, device input side 22xx Current inside the device 23xx Current, device output side 30xx...
  • Page 433 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Annex CANopen tables Object 0x1001 (error register) 8547 This object reflects the general error state of a CANopen device. The device is to be considered as error free if the object 1001 signals no error any more.

  • Page 434: Overview Of The Files And Libraries Used

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Annex Overview of the files and libraries used 13.5 Overview of the files and libraries used Installation of the files and libraries ................... 434 General overview ........................435 What are the individual files and libraries used for? ..............437 2711 (as on 2011-03-02) Depending on the unit and the desired function, different libraries and files are used.

  • Page 435: General Overview

    ¹) valid for CRnn32 target version up to V01, all other devices up to V04 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...
  • Page 436 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Annex Overview of the files and libraries used NOTE The software versions suitable for the selected target must always be used:  operating system (CRnnnn_Vxxyyzz.H86 / CRnnnn_Vxxyyzz.RESX)  PLC configuration (CRnnnn_Vxx.CFG) ...

  • Page 437: What Are The Individual Files And Libraries Used For

    Files for the operating system / runtime system ............... 437 Target file ..........................437 PLC configuration file ........................ 437 ifm device libraries........................438 ifm CANopen libraries master / slave..................438 CoDeSys CANopen libraries..................... 439 Specific ifm libraries ........................440 2713 The following overview shows which files/libraries can and may be used with which unit.
  • Page 438 ExtendedController: CR0200 ifm_CR0200_SMALL_Vxxyyzz.LIB reduced functions ifm CANopen libraries master / slave 2718 These libraries are based on the CoDeSys libraries (3S CANopen POUs) and make them available to the user in a simple way. File name...
  • Page 439 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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, CR9042 File name Function Available for:...
  • Page 440 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Annex Overview of the files and libraries used Specific ifm libraries 2720 File name Function Available for: BasicController: CR040n CANopen POUs in the CAN stack BasicDisplay: CR0451 ifm_RawCAN_NT_Vxxyyzz.LIB based on Layer 2...
  • Page 441 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Annex Overview of the files and libraries used File name Function Available for: from target V05: CabinetController: CR030n ClassicController: CR0020, CR0505 ExtendedController: CR0200 changes the CAN bus from 11 bits ifm_CAN1_EXT_Vxxyyzz.LIB PCB controller: CS0015 to 29 bits...
  • Page 442 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Annex Overview of the files and libraries used File name Function Available for: PDM360: CR1050, CR1051, CR1060 predefined symbols Symbols_x.LIB PDM360compact: CR1052, CR1053, CR1055, CR1056 PDM360: CR1050, CR1051, CR1060 predefined 7-segment displays Segment_x.LIB PDM360compact: CR1052, CR1053, CR1055, CR1056...

  • Page 443: Glossary Of Terms

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Glossary of Terms variants, e.g. "CANopen" or "CAN in Glossary of Automation" (CiA). Terms CAN stack CAN stack = stack of tasks for CAN data communication. Address This is the "name" of the bus participant. All Category (CAT) participants need a unique address so that the signals can be exchanged without problem.
  • Page 444 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Glossary of Terms CiA DS 403 DS = Draft Standard CRC = Cyclic Redundancy Check CAN device profile for HMI CRC is a method of information technology to determine a test value for data, to detect faults during the transmission or duplication of data.
  • Page 445 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Glossary of Terms Dither Demand rate rd Dither is a component of the PWM signals to control hydraulic valves. It has shown for The demand rate r is the frequency of electromagnetic drives of hydraulic valves that demands to a safety-related reaction of an it is much easier for controlling the valves if the...
  • Page 446 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 –...
  • Page 447 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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.
  • Page 448 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 449: Intended Use

    System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 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 450 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Glossary of Terms Master Handles the complete organisation on the bus. Most Significant Bit/Byte The master decides on the bus access time and polls the slaves cyclically. MTBF Mean Time Between Failures (MTBF) Mission time TM Is the expected value of the operating time between two consecutive failures of items that...
  • Page 451 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Glossary of Terms Node PCMCIA card This means a participant in the network. PCMCIA = Personal Computer Memory Card International Association, a standard for Node Guarding expansion cards of mobile computers. Since the introduction of the cardbus standard Network participant in 1995 PCMCIA cards have also been called...
  • Page 452 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Glossary of Terms Programmable Electronic System Performance Level A programmable electronic system is a system According to ISO 13849-1, a specification (PL a...e) of safety-related parts of control - for control, protection or monitoring, systems to perform a safety function under - dependent for its operation on one or more foreseeable conditions.
  • Page 453 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Glossary of Terms ► Use meaningful variable names and comments. Process image ► Use easy functions (no indirect Process image is the status of the inputs and addressing, no variable fields). outputs the PLC operates with within one cycle.
  • Page 454 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Glossary of Terms Residual risk Redundant Risk remaining after protective measures have been taken. The residual risk has to be clearly Redundancy is the presence of more than the warned against in operating instructions and necessary means so that a function unit on the machine.
  • Page 455 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Glossary of Terms Safety function RTC = Real Time Clock Function of the machine whose failure can Provides (batter-backed) the current date and result in an immediate increase of the risk(s). time.
  • Page 456 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Glossary of Terms SRDO SD card Safe data is exchanged via SRDOs (Safety- Related Data Objects). An SRDO always An SD memory card (short for Secure Digital consists of two CAN messages with different Memory Card) is a digital storage medium that identifiers: operates to the principle of flash storage.
  • Page 457 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Glossary of Terms variables corresponds to a "1 to n connection" System variable (1 transmitter to n receivers). Variable to which access can be made via IEC address or symbol name from the PLC. Uptime, mean Mean Time Between Failures (MTBF) Is the expected value of the operating time...

  • Page 458: Index

    Index CAN stack................443 CAN test A distinction is made between the following errors: ....313 data transmission................36 About the ifm templates............62 receive data ...................36 CAN units acc. to SAE J1939..........207 About this manual..............7 CAN_ENABLE............... 177 Access to the CANopen slave at runtime......269 CAN_RECOVER ..............
  • Page 459 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Index CiA DS 404................444 EMV..................446 CiA DS 405................444 Ethernet ................. 446 CiA DS 406................444 EUC ..................446 CiA DS 407................444 Example Clamp 15 ................444 detailed message documentation..........209 edit controls in CR1081 ..............88 COB-ID ..................
  • Page 460 69 Life, mean................449 ifm device libraries..............438 Limitations and programming notes ........94 ifm weltweit • ifm worldwide • ifm à l’échelle internationale ... 463 Limitations for program and data memories......97 Illustrations ................110 Limitations for visualisations............ 96 Image size vector graphics / pixel graphics......
  • Page 461 System Manual ecomatmobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28 Index Operating mode of the row of LEDs ........393 Rectify faults and errors............414 Operating sequence .............. 100 Redundant ................454 Operating states ..............22 Remanent ................454 Operating states and operating system........22 Resample / scale image ............
  • Page 462 Slave..................456 Units for J1939 (management)..........212 Special information about bitmap graphics ......125 Units for J1939 (receive) ............233 Specific ifm libraries............... 440 Units for J1939 (send) ............222 SRDO ..................456 Uptime, mean ................ 457 SRP/CS ................. 456 USB interface ................

  • Page 463: Ifm Weltweit • Ifm Worldwide • Ifm À L'échelle Internationale

    Pte. Ltd • 80250 Johor Bahru Johor • Tel. +60 7 / 331 5022 ifm efector S. de R. L. de C. V. • Monterrey, N. L. 64630 • Tel. +52 81 8040-3535 Sivilingeniør J. F. Knudtzen A/S • 1396 Billingstad • Tel. +47 66 / 98 33 50 ifm electronic b.v.

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