IFM Electronic CR0301 Programming Manual
Original Programming Manual
CabinetController
CR0301
Runtime system V05
CODESYS® > V2.3.9.33 (< V 3.0)
English
7391083_01_UK 2016-04-21
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ifm Programming Manual ecomatmobile CabinetController (CR0301) Runtime System V05 2016-04-21
Contents
Contents
1 About this manual 4
1.1 Copyright .............................................................................................................................. 4
1.2 Overview: documentation modules for ecomatmobile devices ............................................ 5
1.3 CODESYS programming manual ........................................................................................ 5
1.4 What do the symbols and formats mean? ........................................................................... 6
1.5 How is this documentation structured? ................................................................................ 7
1.6 History of the instructions (CR030n) .................................................................................. 8
2 Safety instructions 9
2.1 Please note! ......................................................................................................................... 9
2.2 What previous knowledge is required? ..............................................................................10
2.3 Start-up behaviour of the controller....................................................................................10
2.4 Notes: serial number ..........................................................................................................11
2.5 Notes: TEST inputs ............................................................................................................11
3 System description 12
3.1 Information about the device ..............................................................................................12
3.2 Hardware description .........................................................................................................12
3.2.1 Hardware structure ..................................................................................................................... 13
3.2.2 Monitoring concept ..................................................................................................................... 15
3.2.3 Inputs (technology) ..................................................................................................................... 17
3.2.4 Outputs (technology) .................................................................................................................. 21
3.2.5 Note on wiring ............................................................................................................................ 24
3.2.6 Safety instructions about Reed relays ........................................................................................ 24
3.2.7 Status LED ................................................................................................................................. 25
3.3 Interface description ...........................................................................................................26
3.3.1 Serial interface ........................................................................................................................... 26
3.3.2 CAN interfaces ........................................................................................................................... 27
3.4 Software description ..........................................................................................................28
3.4.1 Software modules for the device ................................................................................................ 28
3.4.2 Programming notes for CODESYS projects ............................................................................... 31
3.4.3 Operating states ......................................................................................................................... 35
3.4.4 Operating modes ........................................................................................................................ 39
3.4.5 Performance limits of the device ................................................................................................ 41
4 Configurations 42
4.1 Set up the runtime system .................................................................................................42
4.1.1 Reinstall the runtime system ...................................................................................................... 43
4.1.2 Update the runtime system ......................................................................................................... 44
4.1.3 Verify the installation .................................................................................................................. 44
4.2 Set up the programming system ........................................................................................45
4.2.1 Set up the programming system manually ................................................................................. 45
4.2.2 Set up the programming system via templates ........................................................................... 47
4.3 Function configuration of the inputs and outputs ...............................................................48
4.3.1 Configure inputs ......................................................................................................................... 49
4.3.2 Configure outputs ....................................................................................................................... 52
4.4 Note on wiring ....................................................................................................................54
4.5 Safety instructions about Reed relays ...............................................................................54
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Contents
5 ifm function elements 55
5.1 ifm libraries for the device CR0301 ....................................................................................55
5.1.1 Bibliothek ifm_CR0301_V05yyzz.LIB ......................................................................................... 56
5.1.2 Library ifm_CR0301_CANopenMaster_V04yynn.LIB ................................................................. 58
5.1.3 Library ifm_CR0301_CANopenSlave_V04yynn.LIB ................................................................... 58
5.1.4 Library ifm_CAN1_EXT_Vxxyyzz.LIB ......................................................................................... 59
5.1.5 Bibliothek ifm_J1939_1_Vxxyyzz.LIB ......................................................................................... 59
5.2 ifm function elements for the device CR0301 ....................................................................60
5.2.1 Function elements: CAN layer 2 ................................................................................................. 60
5.2.2 Function elements: CANopen master ......................................................................................... 76
5.2.3 Function elements: CANopen slave ........................................................................................... 86
5.2.4 Function elements: CANopen SDOs .......................................................................................... 94
5.2.5 Function elements: SAE J1939 .................................................................................................. 99
5.2.6 Function elements: serial interface ........................................................................................... 111
5.2.7 Function elements: Optimising the PLC cycle via processing interrupts .................................. 116
5.2.8 Function elements: processing input values ............................................................................. 122
5.2.9 Function elements: adapting analog ue val ues ......................................................................... 127
5.2.10 Function elements: counter functions for frequency and period measurement ........................ 130
5.2.11 Function elements: PWM functions .......................................................................................... 140
5.2.12 Function elements: controllers .................................................................................................. 149
5.2.13 Function elements: softwar e reset ............................................................................................ 158
5.2.14 Function elements: measuring / setting of time ........................................................................ 160
5.2.15 Function elements: saving, rea ding and conv ert ing data in the memory .................................. 163
5.2.16 Function elements: data access and data check ...................................................................... 170
6 Diagnosis and error handling 177
6.1 Diagnosis .........................................................................................................................177
6.2 Fault .................................................................................................................................177
6.3 Reaction in case of an error .............................................................................................178
6.4 Reaction in case of a system error ..................................................................................178
6.5 CAN / CANopen: errors and error handling .....................................................................178
7 Appendix 179
7.1 System flags .....................................................................................................................179
7.1.1 System flags: CAN ................................................................................................................... 180
7.1.2 System flags: error flags ........................................................................................................... 180
7.1.3 System flags: status LED ......................................................................................................... 181
7.1.4 System flags: voltages.............................................................................................................. 181
7.1.5 System flags: inputs and outputs .............................................................................................. 182
7.1.6 System flags: system ............................................................................................................... 182
7.2 Address assignment and I/O operating modes ................................................................183
7.2.1 Addresses / variables of the I/Os .............................................................................................. 183
7.2.2 Possible operating modes inp uts/o utpu t s ................................................................................. 187
7.3 Error tables .......................................................................................................................190
7.3.1 Error flags ................................................................................................................................. 190
7.3.2 Errors: CAN / CANopen............................................................................................................ 190
8 Glossary of Terms 191
9 Index 204
10 Notizen • Notes • Notes 208
11 ifm weltweit • ifm worldwide • ifm à l’échelle internationale 213
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History of the instructions (CR030n) ................................................................................................... 8
About this manual Copyright
1 About this manual
Copyright ............................................................................................................................................... 4
Overview: documentation modules for ecomatmobile devices ............................................................. 5
CODESYS programming manual .......................................................................................................... 5
What do the symbols and formats mean? ............................................................................................. 6
How is this documentation structured? ................................................................................................. 7
>
1.1 Copyright
6088
© All rights reserved by ifm electronic gmbh. No part of this manual may be reproduced and used
without the consent of ifm electronic gmbh.
All product names, pictures, companies or other brands used on our pages are the property of the respective rights owners:
• AS-i is the property of the AS-International Association, (→ www.as-interface.net
• CAN is the property of the CiA (CAN in Automation e.V.), Germany (→ www.can-cia.org)
• CODESYS™ is the property of the 3S – Smart Software Solutions GmbH, Germany (→ www.codesys.com)
• DeviceNet™ is the property of the ODVA™ (Open DeviceNet Vendor Association), USA (→ www.odva.org)
• EtherNet/IP® is the property of the →ODVA™
®
• IO-Link
(→ www.io-link.com) is the property of the →PROFIBUS Nutzerorganisation e.V., Germany
• ISOBUS is the property of the AEF – Agricultural Industry Electronics Foundation e.V., Deutschland
(→ www.aef-online.org)
• Microsoft® is the property of the Microsoft Corporation, USA (→ www.microsoft.com)
• PROFIBUS® is the property of the PROFIBUS Nutzerorganisation e.V., Germany (→ www.profibus.com)
• PROFINET® is the property of the →PROFIBUS Nutzerorganisation e.V., Germany
®
• Windows
is the property of the →Microsoft Corporation, USA
)
202
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About this manual Overview: documentation modules for ecomatmobile devic es
>
1.2 Overview: documentation m odules for ecomatmobile devices
The documentation for ecomatmobile devices consists of the following modules:
1. Data sheet
Contents Technical data in a table
Source → www.ifm.com > select your country > [Data sheet search] > CR0301 > [Technical data in PDF format]
2. Installation instructions / operating instructions
Contents Instructions for installation, electrical installation, (commissioning*), technical data
Source The instructions are supplied with the device
They are also found on ifm's homepage:
→ www.ifm.com
3. Programming manual + online help
Contents Description of the configuration and the functions of the device software
Source → www.ifm.com > select your country > [Data sheet search] > CR0301 > [Operating instructions]
4. System manual "Know-how ecomatmobile"
> select your country > [Data sheet search] > CR0301 > [Operating instructions]
17405
Contents Know-how about the following topics:
• Overview Templates and demo programs
• CAN, CANopen
• Control outputs
• User flash memory
• Visualisations
• Overview of the files and libraries used
Source → www.ifm.com > select your country > [Data sheet search] > CR0301 > [Operating instructions]
5. System manual "The ISOBUS in the ifm controller"
Contents Description of the configuration and the functions of the ISOBUS software in the device
Source → www.ifm.com > select your country > [Data sheet search] > CRnnnn > [Operating instructions]
thereby "CRnnnn" stands for the articel numbers of the devices which are pre-installed with ISOBUS
*) The descriptions in brackets are only included in the instructions of certain devices.
>
1.3 CODESYS programming manual
17542
In the additional "Programming Manual for CODESYS V2.3" you obtain more details about the use of
the programming system.
This manual can be downloaded free of charge from ifm's website:
→ www.ifm.com
You also find manuals and online help for ecomatmobile at:
→ ecomatmobile DVD "Software, tools and documentation"
> Select your country > [Service] > [Download] > [Systems for mobile machines]
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ifm Programming Manual ecomatmobile CabinetController (CR0301) Runtime System V05 2016-04-21
About this manual What do the sy m bols and formats mean?
>
1.4 What do the symbols and formats mean?
The following symbols or pictograms illustrate the notes in our instructions:
WARNING
Death or serious irreversible injuries may result.
CAUTION
Slight reversible injuries may result.
NOTICE
Property damage is to be expected or may result.
Important notes concerning malfunctions or disturbances
Other remarks
► ... Request for action
203
> ... Reaction, result
→ ... "see"
abc Cross-reference
123
0x123
0b010
[...] Designation of pushbuttons, buttons or indications
Decimal number
Hexadecimal number
Binary number
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About this manual How is this documentation structured?
>
1.5 How is this documentation str uctured?
This documentation is a combination of different types of manuals. It is for beginners and also a
reference for advanced users. This document is addressed to the programmers of the applications.
How to use this manual:
• Refer to the table of contents to select a specific subject.
• Using the index you can also quickly find a term you are looking for.
• At the beginning of a chapter we will give you a brief overview of its contents.
• Abbreviations and technical terms → Appendix.
In case of malfunctions or uncertainties please contact the manufacturer at:
→ www.ifm.com
We want to become even better! Each separate section has an identification number in the top right
corner. If you want to inform us about any inconsistencies, indicate this number with the title and the
language of this documentation. Thank you very much for your support!
We reserve the right to make alterations which can result in a change of contents of the
documentation. You can find the current version on ifm's websi te at:
→ www.ifm.com
> Select your country > [Contact].
> Select country > [Data sheet search] > (Article no.) > [Operating instructions]
204
1508
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About this manual History of t he instructions (CR030n)
>
1.6 History of the instructions (CR030n)
9181
What has been changed in this manual? An overview:
Date Theme Change
2010-09-09 PID2 (FB) parameters of the inputs corrected
2010-11-10 Terminating resistors correction in topic 1244
2011-02-14 TIMER_READ_US (FB) conversion of max. counter value corrected
2011-04-05 Memory POUs FRAMREAD, FRAMWRITE,
FLASHREAD, FLASHWRITE
2011-04-13 CANopen overview new: CANopen tables in the appendix
2011-04-14 CR0303 several corrections: - device has an own hydraulic library
2011-05-24 CR0303: memory FBs FRAMREAD, FRAMWRITE permitted values of the parameters SRC, DST
2012-01-09 Memory modules FRAMREAD, FRAMWRITE Swapped parameters SRC, DST in the table
2012-10-04 diverse corrections
2013-06-24 various new document structure
2014-04-28 Various function blocks More precise description of the function block input
2014-06-30 Name of the documentation "System manual" renamed as "Programming manual"
2014-07-18 CR0303: Error flag Wrong: ERROR_A_INx
2014-07-31 FB PHASE Description of parameters of outputs C, ET corrected
2014-08-26 Description of inputs, outputs highside / lowside replaced by positive / negative
2015-01-13 Structure of documentation for error codes, system
flags
2015-03-10 Available memory Description improved
2015-05-26 FB J1939_x_GLOBAL_REQUEST More precise description
2015-06-10 Various function blocks Description of the FB input CHANNEL corrected
>
permitted values of the parameters SRC, LEN, DST
- some system flags do not exist
- IEC addresses of in- and outputs
- configuration of the inputs
- set the status LED in the application program
corrected
"Permissible values"
CHANNEL
Correct: ERROR_Ix
switching
• error flags:
now only in the appendix, chapter System flags
• CAN / CANopen errors and error handling:
now only in the system manual "Know-How"
• error codes, EMCY codes:
now in the appendix, chapter Error tables
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Notes: TEST inputs ............................................................................................................................. 11
Safety instructions Please note!
2 Safety instructions
Please note! ........................................................................................................................................... 9
What previous knowledge is required? ............................................................................................... 10
Start-up behaviour of the controller ..................................................................................................... 10
Notes: serial number ........................................................................................................................... 11
>
213
2.1 Please note!
214
11212
No characteristics are warranted with the information, notes and examples provided in this manual.
With the drawings, representations and examples given no responsibility for the system is assumed
and no application-specific particularities are taken into account.
► The manufacturer of the machine/equipment is responsible for ensuring the safety of the
machine/equipment.
► Follow the national and international regulations of the country in which the machine/installation is
to be placed on the market!
WARNING
Non-observance of these instructions can lead to property damage or personal injury.
ifm electronic gmbh does not assume any liability in this regard.
► The acting person must have read and understood the safety instructions and the corresponding
chapters in this manual before working on and with this device.
► The acting person must be authorised to work on the machine/equipment.
► The acting person must have the qualifications and training required to perform this work.
► Adhere to the technical data of the devices!
You can find the current data sheet on ifm's homepage at:
→ www.ifm.com
in PDF format]
► Note the installation and wiring information as well as the functions and features of the devices!
→ supplied installation instr uc tions or on ifm's homepage:
→ www.ifm.com
instructions]
► Please note the corrections and notes in the release notes for the existing documentation,
available on the ifm website:
→ www.ifm.com
instructions]
> Select your country > [Data sheet search] > (article number.) > [Technical data
> Select your country > [Data sheet search] > (article number.) > [Operating
> Select your country > [Data sheet search] > (article number.) > [Operating
5020
NOTICE
The driver module of the serial interface can be damaged!
Disconnecting or connecting the serial interface while live can cause undefined states which damage
the driver module.
► Do not disconnect or connect the serial interface while live.
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Safety instructions What previous k nowledge is required?
>
2.2 What previous knowledge is required?
215
This document is intended for people with knowledge of control technology and PLC programming
with IEC 61131-3.
To program the PLC, the people should also be familiar with the CODESYS software.
The document is intended for specialists. These specialists are people who are qualified by their
training and their experience to see risks and to avoid possible hazards that may be caused during
operation or maintenance of a product. The document contains information about the correct handling
of the product.
Read this document before use to familiarise yourself with operating conditions, installation and
operation. Keep the document during the entire duration of use of the device.
Adhere to the safety instructions.
>
2.3 Start-up behaviour of the controller
6827
15233
11575
WARNING
Danger due to unintentional and dangerous start of machine or plant sections!
► When creating the program, the programmer must ensure that no unintentional and dangerous
start of machines or plant sections after a fault (e.g. e-stop) and the following fault elimination can
occur!
Realise restart inhibit.
► In case of an error, set the outputs concerned to FALSE in the program!
A restart can, for example, be caused by:
• voltage restoration after power failure
• reset after watchdog response because of too long a cycle time
• error elimination after an E-stop
To ensure a safe behaviour of the controller:
► Monitor the voltage supply in the application program.
► In case of an error switch off all relevant outputs in the application program.
► Monitor actuators which can cause hazardous movements in the application program (feedback).
► Monitor relay contacts which can cause hazardous movements in the application program
(feedback).
► If necessary, ensure that welded relay contacts in the application project cannot trigger or continue
hazardous movements.
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Safety instructions Notes: serial number
>
2.4 Notes: serial number
20780
► In the user's production facility, draw a diagram of the controller network in the machine. Enter the
serial number of each controller installed into the network diagram.
► Before downloading a software component, read out this serial number and check the network
diagram to make sure that you are accessing the right controller.
>
2.5 Notes: TEST inputs
20781
► The TEST inputs of all the controllers in the machine should be wired individually and marked
clearly so that they can be properly allocated to the controllers.
► During a service access only activate the TEST input of the controller to be accessed.
>
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Software description ............................................................................................................................ 28
Status LED .......................................................................................................................................... 25
System description Information ab o ut the dev ic e
3 System description
Information about the device ............................................................................................................... 12
Hardware description........................................................................................................................... 12
Interface description ............................................................................................................................ 26
>
3.1 Information about the device
This manual describes of the ecomatmobile family for mobile machines of ifm electronic gmbh:
• CabinetController: CR0301, CR0302
>
3.2 Hardware description
Hardware structure .............................................................................................................................. 13
Monitoring concept .............................................................................................................................. 15
Inputs (technology) .............................................................................................................................. 17
Outputs (technology) ........................................................................................................................... 21
Note on wiring ...................................................................................................................................... 24
Safety instructions about Reed relays ................................................................................................. 24
975
1310
14081
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Available memory ................................................................................................................................ 14
System description Hardware des cription
>
3.2.1 Hardware structure
Conditions ............................................................................................................................................ 13
Prinziple block diagram ....................................................................................................................... 13
>
Conditions
The device does not start until sufficient voltage is applied to the supply connection VBBs.
A voltage > 10 V is deemed sufficient.
Permissible operating voltage → data sheet
>
Prinziple block diagram
15332
19971
20848
Figure: Block diagram of the supply
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System description Hardware des cription
>
Available memory
>
FLASH-Speicher
13736
14024
FLASH memory (non-volatile, slow memory)
512 kByte
overall existing in the device
Thereof the following memory areas are reserved for ...
maximum size of the application program 192 kByte
data other than the application program
48 kByte
user can write data such as files, bitmaps, fonts
data other than the application program
read data with FLASHREAD (→ page 167
) or write data with FLASHWRITE
16 kByte
(→ page 168)
(files: 128 bytes less for header)
The remaining rest of the memory is reserved for system internal purposes.
>
SRAM
SRAM (volatile, fast memory)
overall existing in the device
SRAM indicates here all kinds of volatile and fast memories.
Thereof the following memory areas are reserved for ...
data reserved by the application program 48 kByte
The remaining rest of the memory is reserved for system internal purposes.
>
256 kByte
18705
EEPROM
EEPROM (non-volatile, slow memory)
overall existing in the device
Thereof the following memory areas are reserved for ...
variables in the application program, declared as VAR_RETAIN 256 Byte
remanent memory freely available to the user
Access is made via E2READ (→ page 165) and E2WRITE (→ page 166)
4 kByte
3 840 Byte
3957
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One-time mechanisms ........................................................................................................................ 16
System description Hardware des cription
>
3.2.2 Monitoring conce pt
The controller monitors the supply voltages and the system error flags.
Depending on the status...
• the controller switches off completely
> the program stops
> the outputs become currentless and change to logic "0"
> the status LED goes out
>
Monitoring and securing mechanisms
After application of the supply voltage................................................................................................. 15
If runtime system / application is running ............................................................................................ 16
If the TEST pin is not active ................................................................................................................ 16
For the these devices the following monitoring activities are automatically carried out:
>
19973
3926
After application of the supply voltage
After application of the supply voltage (controller is in the boot loader) the following tests are carried
out in the device:
> RAM test (one-time)
> supply voltage
> system data consistency
> CRC of the boot loader
> if exists and is started: CRC of the runtime system
> if exists and is started: CRC of the application program
> memory error:
• If the test is running: flag ERROR_MEMORY = TRUE
(can be evaluated as from the first cycle).
• If the test is not running: red LED is lit.
3927
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System description Hardware des cription
>
If runtime system / application is running
then the following tests are cyclically carried out:
> Triggering of the watchdog (100 ms)
Then continuous program check watchdog
> Continuous temperature check
In case of a fault: system flag ERROR_TEMPERATURE = TRUE
> Continuous voltage monitoring
In case of a fault: system flag ERROR_POWER = TRUE or ERROR_VBBR = TRUE
> Continuous CAN bus monitoring
> Continuous system data monitoring:
- program loaded
- operating mode RUN / STOP,
- runtime system loaded,
- node ID,
- baud rate of CAN and RS232.
> In the operating mode RUN:
Cyclical I/O diagnosis:
- short circuit,
- wire break,
- overload (current) of the inputs and outputs,
- cross fault (only for SafetyController).
>
3928
If the TEST pin is not active
> Write protection for system data in FRAM ¹), e.g.:
• runtime system loaded,
• calibration data.
Implemented via hardware and software.
> Write protection for application program (in the flash memory)
> DEBUG mode
¹) FRAM indicates here all kinds of non-volatile and fast memories.
>
One-time mechanisms
> CRC monitoring during download or upload.
> It must be checked that the runtime system and the application are assigned to the same device.
3929
3930
16
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Input group IN12...IN15 ....................................................................................................................... 20
System description Hardware des cription
>
3.2.3 Inputs (tec hnol ogy)
Analogue inputs ................................................................................................................................... 17
Binary inputs ........................................................................................................................................ 18
Input group ANALOG0...7 ................................................................................................................... 19
Input group IN00...IN07 ....................................................................................................................... 19
Input group IN08...IN11 / FRQ00...FRQ03 .......................................................................................... 19
>
14090
Analogue inputs
2426
The analogue inputs can be configured via the application program. The measuring range can be set
as follows:
• current input 0...20 mA
• voltage input 0...10 V
• voltage input 0...32 V
The voltage measurement can also be carried out ratiometrically (0...1000 ‰, adjustable via f unction
blocks). This means potentiometers or joysticks can be evaluated without additional reference voltage.
A fluctuation of the supply voltage has no influence on this measured value.
As an alternative, an analogue channel can also be evaluated binarily.
In case of ratiometric measurement the connected sensors should be supplied with VBBs of the
device. So, faulty measurements caused by offset voltage are avoided.
In = pin multifunction input n
(CR) = device
(1) = input filter
(2) = analogu e current measuring
(3a) = binary -input plus switching
(3b) = binary -input minus switching
(4a) = analog ue voltage meas ur ing 0. .. 10 V
(4b) = analog ue voltage measuring 0.. .32 V
(5) = voltage
(6) = reference voltage
8971
Figure: principle block diagram multifunction input
17
ifm Programming Manual ecomatmobile CabinetController (CR0301) Runtime System V05 2016-04-21
System description Hardware des cription
>
Binary inputs
The binary input can be operated in following modes:
• binary input plus switching (BL) for positive sensor signal
• binary input minus switching (BH) for negative sensor signal
Depending on the device the binary inputs can configured differently. In addition to the protective
mechanisms against interference, the binary inputs are internally evaluated via an analogue stage.
This enables diagnosis of the input signals. But in the application software the switching signal is
directly available as bit information
In = pin binary-input n
(CR) = device
(1) = input filter
(2a) = input minus switchi ng
(2b) = input plus switching
(3) = voltage
1015
7345
Figure: basic circuit of binary input minus switching / plus switching for negative and positive sensor signals
In = pin binary input n
(S) = sensor
Basic circuit of binary input plus switching (BL)
for positive sensor signal:
Input = open signal = low (GND)
For some of these inputs (→ data sheet) the potential can be selected to which it will be switched.
Basic circuit of binary input minus switching (BH)
for negative sensor signal:
Input = open signal = high (supply)
In = pin binary input n
(S) = sensor
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System description Hardware des cription
>
Input group ANALOG0...7
20856
These inputs are a group of multifunction channels.
These inputs can be used as follows (each input separately configurable):
• analogue input 0...20 mA
• analogue input 0...10 V
• analogue input 0...32 V
• voltage measurement ratiometric 0...1000 ‰ von 32 V
• binary input plus switching (BL) for positive sensor signal (with/without diagnosis)
→ chapter Possible operating modes inputs/outputs (→ page 187
All inputs show the same behaviour concerning function and diagnosis.
► Configuration of each input is made via the application program:
• configuration byte ANALOGxy_MODE
• FB INPUT_ANALOG (→ page 123
) > input MODE
If the analogue inputs are configured for current measurement, the device switches to the safe voltage
measurement range (0...32V DC) and the corresponding error bit in the flag byte ERROR_A_INx is set
when the final value (> 23 mA) is exceeded.
> When the value is again below the limit value, the input automatically switches back to the current
measurement range.
>
)
Input group IN00...IN07
19976
These inputs are a group of multifunction channels.
These inputs can be used as follows (each input separately configurable):
• binary input plus switching (BL) for positive sensor signal (with/without diagnosis)
→ chapter Possible operating modes inputs/outputs (→ page 187
)
► Configuration of each input is made via the application program :
• configuration byte INxx_MODE
Sensors with diagnostic capabilities to NAMUR can be evaluated.
>
Input group IN08...IN11 / FRQ00...FRQ03
19979
These inputs are a group of multifunction channels.
These inputs can be used as follows (each input separately configurable):
• binary input plus switching (BL) for positive sensor signal (with/without diagnosis)
• fast input for e.g. incremental encoders and frequency or interval measurement
→ chapter Possible operating modes inputs/outputs (→ page 187
Sensors with diagnostic capabilities to NAMUR can be evaluated.
► Configuration of each input is made via the application program:
• configuration byte INxx_MODE
• Fast inputs with the following FBs:
FAST_COUNT (→ page 131) Counter block for fast input pulses
FREQUENCY (→ page 132) Measures th e frequency of the signal arriving at the selected channel
INC_ENCODER (→ page 133) Up/down counter function for the evaluation of encoders
PERIOD (→ page 135) Measures the frequency and the cycle period (cycle time) in [µs] at the indicated ch annel
PERIOD_RATIO (→ page 137) Measures the frequency and the cycle period (cycle time) in [ µ s] during th e indicated p eriods at
PHASE (→ page 139) Reads a pair of channels with fast inputs and compares the phase position of the signals
the indicate d channel. In addition, the mark-to-space ratio is indicated in [‰].
)
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ifm Programming Manual ecomatmobile CabinetController (CR0301) Runtime System V05 2016-04-21
System description Hardware des cription
>
Input group IN12...IN15
These inputs are a group of multifunction channels.
These inputs can be used as follows (each input separately configurable):
• binary input plus switching (BL) for positive sensor signal
• binary input minus switching (BH) for negative sensor signal
→ chapter Possible operating modes inputs/outputs (→ page 187
Sensors with diagnostic capabilities to NAMUR can be evaluated.
All inputs show the same behaviour concerning function and diagnosis.
Detailed description → chapter Address assignment inputs / outputs
► Configuration of each input is made via the application program:
• inputs IN12+IN13 via configuration byte IN12_13_MODE
• inputs IN14+IN15 via configuration byte IN14_15_MODE
)
20858
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Output group OUT11...OUT17 ............................................................................................................ 23
System description Hardware des cription
>
3.2.4 Outputs (technology)
Binary outputs ...................................................................................................................................... 21
PWM outputs ....................................................................................................................................... 22
Output group OUT00...OUT03 ............................................................................................................ 22
Output group OUT04...OUT07 ............................................................................................................ 23
Output group OUT08...OUT10 ............................................................................................................ 23
>
Binary outputs
The following operating modes are possible for the device outputs (→ data sheet):
• binary output, plus switching (BH), short-circuit proof, overload protected
Qn = pin output n
(L) = load
Basic circuit of output plus switching (BH)
for positive output signal
14093
19986
15451
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System description Hardware des cription
>
PWM outputs
The following operating modes are possible for the device outputs (→ data sheet):
• PWM output, plus switching (BH) without diagnostic function
Qn = pin output n
(L) = load
Basic circuit of output plus switching (BH)
for positive output signal
>
Output group OUT00...OUT03
These outputs are a group of multifunction channels.
These outputs provide several function options (each output separately configurable):
• binary output, plus switching (BH), short-circuit proof, overload protected
• analogue output with Pulse Width Modulation (PWM)
→ chapter Possible operating modes inputs/outputs (→ page 187
► Configuration of each output is made via the application program:
PWM outputs: selectively
→ FB PWM (→ page 141
)
→ FB PWM100 (→ page 145)
→ FB PWM1000 (→ page 147)
)
14095
15451
20860
► For the limit values please make sure to adhere to the data sheet!
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System description Hardware descripti on
>
Output group OUT04...OUT07
These outputs are a group of channels with a single specified function.
These outputs have the following fixed setting:
• binary output, plus switching (BH), short-circuit proof, overload protected
→ chapter Possible operating modes inputs/outputs (→ page 187
► For the limit values please make sure to adhere to the data sheet!
>
)
Output group OUT08...OUT10
These outputs are a group of channels with a single specified function.
These outputs have the following fixed setting:
• binary output with relay (change-over contacts)
• The outputs have no current measurement, no overload detection.
► For the limit values please make sure to adhere to the data sheet!
>
Output group OUT11...OUT17
These outputs are a group of channels with a single specified function.
These outputs have the following fixed setting:
• binary output with relay (change-over contacts)
• The outputs have no current measurement, no overload detection.
20863
20865
20867
► For the limit values please make sure to adhere to the data sheet!
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System description Hardware des cription
>
3.2.5 Note on wiring
1426
The wiring diagrams (→ installation instructions of the devices, chapter "Wiring") describe the standard
device configurations. The wiring diagram helps allocate the input and output channels to the IEC
addresses and the device terminals.
The individual abbreviations have the following meaning:
A Analogue input
BH Binary high side input: minus switching for negative sensor signal
BL Binary low side input: plus switching for positive sensor signal
CYL Input period measurement
ENC Input encoder signals
FRQ Frequency input
H bridge Output with H-bridge function
PWM
PWMi PWM output with current measurement
IH Pulse/counter input, high side: minus switching for negative sensor signal
IL Pulse/counter input, low side: plus switching for positive sensor signal
R Read back channel for one output
Binary high side output: plus switching for posit i ve output signal
Binary low side output: minus switching for negative output signal
Pulse-width modulated signal
Allocation of the input/output channels: → Catalogue, mounting instructions or data sheet
>
3.2.6 Safety instructions about Reed relays
For use of non-electronic switches please note the following:
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. input voltage / permissible current in the Reed relay
Example: 32 V / 500 mA = 64 Ohm
► The series resistor must not exceed 5 % of the input resistance RE of the device input (→ data
sheet). Otherwise, the signal will not be detected as TRUE.
Example:
RE = 3 000 Ohm
⇒ max. series resistor = 150 Ohm
7348
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System description Hardware des cription
>
3.2.7 Status LED
The operating states are indicated by the integrated status LED (default setting).
LED colour Display Description
Permanently off No operat i ng voltage
Off
Briefly on Initialisation or reset checks
Orange
(time frame = 200 ms)
Flashing with 5 Hz TEST=TRUE: no runtim e system loaded
Green
(time frame = 200 ms)
Flashing with 2 Hz Application = RUN
Green
(time frame = 200 ms)
Permanently on Appl i cation = STOP
Green
Flashing with 2 Hz Application = RUN with error
Red
(time frame = 200 ms)
Briefly on FATAL ERROR
Red
(time frame = 200 ms)
Permanently on
Red
TEST=TRUE: Application = STOP and FATAL ERROR
TEST=FALSE: ERROR STOP / SYSTEM STOP
1437
The status LED can be changed by the programming system for the operating states STOP and RUN.
To do so, the following system variable is used:
LED_MODE Flashing frequency from the data structure "LED_MODES"
permissible: LED_2HZ, LED_1HZ, LED_05HZ, LED_0HZ (constant)
If the flashing mode is changed in the application program, the default setting table is no longer
valid.
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CAN interfaces .................................................................................................................................... 27
System description Interface description
>
3.3 Interface description
Serial interface ..................................................................................................................................... 26
>
3.3.1 Serial interface
This device features a serial interface.
The serial interface can generally be used in combination with the following functions:
• program download
• debugging
• free use of the application
NOTE
The serial interface is not available to the user by default, because it is used for program download
and debugging.
The interface can be freely used if the user sets the system flag bit SERIAL_MODE=TRUE.
Debugging of the application program is then only possible via one of the 4 CAN interfaces.
Connections and data → data sheet
14098
14099
12998
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Available CAN interfaces and CAN protocols ..................................................................................... 27
System description Interface description
>
3.3.2 CAN interfaces
Connections and data → data sheet
>
Available CAN interfaces and CAN protocols
The following CAN interfaces and CAN protocols are available in this ecomatmobile device:
14101
20872
CAN interface
Default download ID
CAN protocols
Standard baud rate = 125 kBit/s
CAN 1 CAN 2 CAN 3 CAN 4
ID 127 ID 126 ID 125 ID 124
CAN Layer 2
CANopen
Interface does not
exist
Interface does not
exist
Interface does not
SAE J1939
exist
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Performance limits of the device ......................................................................................................... 41
Libraries ............................................................................................................................................... 30
System description Software descripti o n
>
3.4 Software description
Software modules for the device ......................................................................................................... 28
Programming notes for CODESYS projects ....................................................................................... 31
Operating states .................................................................................................................................. 35
Operating modes ................................................................................................................................. 39
>
3.4.1 Software modules for the device
Bootloader ........................................................................................................................................... 29
Runtime system ................................................................................................................................... 29
Application program............................................................................................................................. 29
The software in this device communicates with the hardware as below:
software module Can user change the module? By means of what tool?
Application program
with libraries
Runtime system *)
Bootloader no --(Hardware) no ---
*) The runtime system version number must correspond to the target version number in the CODESYS target system setting.
→ chapter Set up the target (→ page 45
Below we describe this software module:
)
yes
Upgrade yes
Downgrade yes
CODESYS,
MaintenanceTool
MaintenanceTool
14107
14110
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System description Software description
>
Bootloader
14111
On delivery ecomatmobile controllers only contain the boot loader.
The boot loader is a start program that allows to reload the runtime system and the application
program on the device.
The boot loader contains basic routines...
• for communication between hardware modules,
• for reloading the operating system.
The boot loader is the first software module to be saved on the device.
>
Runtime system
14112
Basic program in the device, establishes the connection between the hardware of the device and the
application program.
On delivery, there is normally no runtime system loaded in the controller (LED flashes green at 5 Hz).
Only the bootloader is active in this operating mode. It provides the minimum functions for loading the
runtime system, among others support of the interfaces (e.g. CAN).
Normally it is necessary to download the runtime system only once. Then, the application program can
be loaded into the controller (also repeatedly) without affecting the runtime system.
The runtime system is provided with this documentation on a separate data carrier. In addition, the
current version can be downloaded from the website of ifm electronic gmbh:
→ www.ifm.com
>
> Select your country > [Service] > [Download]
Application program
14118
Software specific to the application, implemented by the machine manufacturer, generally containing
logic sequences, limits and expressions that control the appropriate inputs, outputs, calculations and
decisions.
8340
WARNING
The user is responsible for the reliable function of the application programs he designed. If necessary,
he must additionally carry out an approval test by corresponding supervisory and test organisations
according to the national regulations.
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System description Software descripti o n
>
Libraries
20880
ifm electronic offers several libraries (*.LIB) to match each device containing program modules for
the application program. Examples:
Library Usage
ifm_CR0301_Vxxyyzz.LIB Device-specific library
ifm_CR0301_CANopenMaster_Vxxyyzz.LIB (optional)
ifm_CR0301_CANopenSlave_Vxxyyzz.LIB (optional)
ifm_CAN1_EXT_Vxxyyzz.LIB (optional)
ifm_CR0301_J1939_1_Vxxyyzz.LIB (optional)
Details: → chapter ifm libraries for the device CR0301 (→ page 55)
Must always be contained in the application program!
if the CAN interface of the device is to be operated as a
CANopen master
if the CAN interface of the device is to be operated as a
CANopen-Slave
if the CAN interface of the device is to operate on 29 bits
if theCAN interface of the device is to communicate with a motor
control
30
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