IFM Electronic CR0403 Programming Manual

Original Programming Manual

BasicController

CR0403

Runtime system v03.02

CODESYS® v2.3

English

7391000_04_UK 2015-04-01

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ifm Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01

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 (CR040n) .................................................................................. 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

3 System description 11

3.1 Information about the device ..............................................................................................11

3.2 Hardware description .........................................................................................................11

3.2.1 Hardware setup .......................................................................................................................... 12

3.2.2 Inputs (technology) ..................................................................................................................... 13

3.2.3 Outputs (technology) .................................................................................................................. 18

3.2.4 Note on wiring ............................................................................................................................ 25

3.2.5 Safety instructions about Reed relays ........................................................................................ 25

3.2.6 Status LED ................................................................................................................................. 26

3.3 Interface description ...........................................................................................................27

3.3.1 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 Performance limits of the device ................................................................................................ 37

4 Configurations 39

4.1 Set up the runtime system .................................................................................................39

4.1.1 Reinstall the runtime system ...................................................................................................... 40

4.1.2 Update the runtime system ......................................................................................................... 41

4.1.3 Verify the installation .................................................................................................................. 41

4.2 Set up the programming system ........................................................................................42

4.2.1 Set up the programming system manually ................................................................................. 42

4.2.2 Set up the programming system via templates ........................................................................... 46

4.3 Function configuration in general .......................................................................................46

4.3.1 System variables ........................................................................................................................ 46

4.4 Function configuration of the inputs and outputs ...............................................................47

4.4.1 Configure inputs ......................................................................................................................... 48

4.4.2 Configure outputs ....................................................................................................................... 53

4.5 Variables ............................................................................................................................56

4.5.1 Retain variables .......................................................................................................................... 56

4.5.2 Network variables ....................................................................................................................... 57

5 ifm function elements 58

5.1 ifm libraries for the device CR0403 ....................................................................................58

5.1.1 Library ifm_CR0403_V03yyzz.LIB .............................................................................................. 59

5.1.2 Library ifm_RAWCan_NT_Vxxyyzz.LIB...................................................................................... 60

5.1.3 Library ifm_CANopen_NT_Vxxyyzz.LIB ..................................................................................... 61

5.1.4 Library ifm_J1939_NT_Vxxyyzz.LIB ........................................................................................... 63

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Contents

5.2 ifm function elements for the device CR0403 ....................................................................64

5.2.1 Function element outputs ........................................................................................................... 65

5.2.2 Function elements: RAW-CAN (Layer 2) .................................................................................... 66

5.2.3 Function elements: CANopen ..................................................................................................... 92

5.2.4 Function elements: SAE J1939 ................................................................................................ 137

5.2.5 Function elements: processing input values ............................................................................. 168

5.2.6 Function elements: output functions ......................................................................................... 177

5.2.7 Function elements: system ....................................................................................................... 184

6 Diagnosis and error handling 202

6.1 Diagnosis .........................................................................................................................202

6.2 Fault .................................................................................................................................202

6.3 Response to system errors ..............................................................................................203

6.3.1 Example process for response to an error message ................................................................ 203

6.4 CAN / CANopen: errors and error handling .....................................................................203

7 Annex 204

7.1 System flags .....................................................................................................................204

7.2 Address assignment and I/O operating modes ................................................................205

7.2.1 Address assignment inputs / outputs ........................................................................................ 205

7.2.2 Possible operating modes inputs/outputs ................................................................................. 207

7.3 Error tables .......................................................................................................................210

7.3.1 Error flags ................................................................................................................................. 210

7.3.2 Errors: CAN / CANopen............................................................................................................ 210

8 Glossary of Terms 212

9 Index 225

10 Notizen • Notes • Notes 229

11 ifm weltweit • ifm worldwide • ifm à l’échelle internationale 233

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History of the instructions (CR040n) ................................................................................................... 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

• 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

®

(→ www.io-link.com) is the property of the →PROFIBUS Nutzerorganisation e.V., Germany

®

is the property of the →Microsoft Corporation, USA

202

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About this manual Overview: documentation modules for ecomatmobile devices

>

1.2 Overview: documentation modules 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] > CR0403 > [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:

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] > CR0403 > [Operating instructions]

4. System manual "Know-how ecomatmobile"

→ www.ifm.com > select your country > [Data sheet search] > CR0403 > [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] > CR0403 > [Operating instructions]

*) 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 > Select your country > [Service] > [Download] > [Systems for mobile machines]
You also find manuals and online help for ecomatmobile at:
→ ecomatmobile DVD "Software, tools and documentation"

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ifm Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01

NOTICE

About this manual What do the symbols 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.

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 structured?

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 → Annex.

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. 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 website at:
→ www.ifm.com > Select country > [Data sheet search] > (Article no.) > [Operating instructions]

204

1508

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About this manual History of the instructions (CR040n)

>

1.6 History of the instructions (CR040n)

12110

What has been changed in this manual? An overview:

Date Theme Change

2012-07-24 Target upgrade to v02

2012-10-04 FB PWM1000 RESULT corrected

2013-06-24 various new document structure

2013-09-05 Target Upgrade to V03

2014-01-13 FBs FASTCOUNT, INC_ENCODER, PERIOD • permissible frequency areas corrected

2014-04-28 Various function blocks More precise description of the function block input

2014-04-29 FB CAN_REMOTE_RESPONSE More precise description of the function block ENABLE

2014-05-12 Limitations CAN Limitations added for CAN, CANopen and CAN J1939

2014-06-30 Name of the documentation "System manual" renamed as "Programming manual"

2014-08-08 FB PERIOD completed by operating mode "phase measurement"

2014-08-26 Description of inputs, outputs highside / lowside replaced by positive / negative

2014-11-12 Chapter "Outputs (technology)" Section "Diagnostics of the binary outputs"

2015-01-13 Structure of documentation for error codes, system

flags

2015-03-10 Available memory Description improved

>

• new RESULT for FB PERIOD

CHANNEL

(LZS V03.02.zz or higher)

switching

supplemented or corrected

• error flags:
now only in the annex, chapter System flags

• CAN / CANopen errors and error handling:
now only in the system manual "Know-How"

• error codes, EMCY codes:
now in the annex, chapter Error tables

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Start-up behaviour of the controller ..................................................................................................... 10

Safety instructions Please note!

2 Safety instructions

Please note! ........................................................................................................................................... 9

What previous knowledge is required? ............................................................................................... 10

>

213

2.1 Please note!

6091

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 bodily 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 > Select your country > [Data sheet search] > (article number.) > [Technical data
in PDF format]

► Note the installation and wiring information as well as the functions and features of the devices!

→ supplied installation instructions or on ifm's homepage:
→ www.ifm.com > Select your country > [Data sheet search] > (article number.) > [Operating

instructions]

► Please note the corrections and notes in the release notes for the existing documentation,

available on the ifm website:
→ www.ifm.com > Select your country > [Data sheet search] > (article number.) > [Operating
instructions]

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Safety instructions What previous knowledge 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

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.
► Additionally 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.

► Additionally 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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Software description ............................................................................................................................ 28

Status LED .......................................................................................................................................... 26

System description Information about the device

3 System description

Information about the device ............................................................................................................... 11

Hardware description........................................................................................................................... 11

Interface description ............................................................................................................................ 27

>

3.1 Information about the device

This manual describes of the ecomatmobile family for mobile machines of ifm electronic gmbh:

• BasicController: CR0403

>

3.2 Hardware description

Hardware setup ................................................................................................................................... 12

Inputs (technology) .............................................................................................................................. 13

Outputs (technology) ........................................................................................................................... 18

Note on wiring ...................................................................................................................................... 25

Safety instructions about Reed relays ................................................................................................. 25

975

14551

14081

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System description Hardware description

>

3.2.1 Hardware setup

Basic device without cover
Protection IP 20

>

Available memory

>

FLASH-Speicher

14561

13736

13053

FLASH memory (non-volatile, slow memory)

1 536 kByte

overall existing in the device

Thereof the following memory areas are reserved for ...

maximum size of the application program 512 kByte

data other than the application program

64 kByte

read data with FB FLASH_READ (→ page 186)
(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 128 kByte

The remaining rest of the memory is reserved for system internal purposes.

>

592 kByte

FRAM

14027

2262

FRAM (non-volatile, fast memory)

2 kByte
overall existing in the device
FRAM indicates here all kinds of non-volatile and fast memories.

Thereof the following memory areas are reserved for ...

variables in the application program, declared as VAR_RETAIN 128 Byte

fixed as remanent defined flags (%MB0...127) 128 Byte

The remaining rest of the memory is reserved for system internal purposes.

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Input group I2 (IN8...IN11) ................................................................................................................... 17

System description Hardware description

>

3.2.2 Inputs (technology)

Analogue inputs ................................................................................................................................... 13

Digital inputs ........................................................................................................................................ 14

Input group I0 (IN0...IN3) ..................................................................................................................... 15

Input group I1 (IN4...IN7) ..................................................................................................................... 15

>

14090

Analogue inputs

15444

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

• resistance measurement 16...30 000 Ω (measurement to GND)
The voltage measurement can also be carried out ratiometrically (0...1000 ‰, adjustable via function

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) = analogue current measuring

(3a) = binary-input plus switching
(3b) = binary-input minus switching

(4a) = analogue voltage measuring 0...10 V
(4b) = analogue voltage measuring 0...32 V

(5) = voltage

(6) = reference voltage

8971

Figure: principle block diagram multifunction input

Figure: block diagram of the resistor survey input

In = pin resistor survey input n

(CR) = device

(1) = input filter

(2) = constant-current source

(3) = voltage

13

8972

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System description Hardware description

>

Digital 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 switching

(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 description

>

Input group I0 (IN0...IN3)

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 ‰

• binary input plus switching (BL) for positive sensor signal (with/without diagnosis)

• binary input minus switching (BH) for negative sensor signal

• fast input for e.g. incremental encoders and frequency or interval measurement
→ chapter Possible operating modes inputs/outputs (→ page 207)

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 (→ page 205)

Configuration of each input is made via the application program:

• FB INPUT (→ page 173) > input MODE

• FBs FASTCOUNT (→ page 169), INC_ENCODER (→ page 171) or PERIOD (→ page 175)

> If the analogue inputs are configured for current measurement, the device switches to the safe

voltage measurement range (0...32 V DC) and the output RESULT is set accordingly in the
function block INPUT when the final value (23 mA for > 40 ms) is exceeded. After about one
second the input automatically switches back to the current measuring range.

>

14568

Input group I1 (IN4...IN7)

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

• input for resistance measurement (e.g. temperature sensors or fuel sensors)
→ chapter Possible operating modes inputs/outputs (→ page 207)

Sensors with diagnostic capabilities to NAMUR can be evaluated.
► Configuration of each input is made via the application program:

• FB INPUT (→ page 173) > input MODE

14569

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System description Hardware description

>

Resistance measurement

Typical sensors on these inputs:

• tank level

• temperature (PT1000, NTC)

Figure: block diagram of the resistor survey input

In = pin resistor survey input n

(CR) = device

(1) = input filter

(2) = constant-current source

(3) = voltage

9773

8972

The resistance for this device is not linearly dependent on the resistance value, → figure:

Figure: resolution dependent on the

resistance value

(1) = resistance value at the input

(2) = resolution

By how many ohms does the measured value change when the signal of the A/D converter on the input changes by 1?
Examples:

• In the range of 1...100 Ω the resolution is 1.2 Ω.

• In the range of 1 kΩ the resolution is approx. 2 Ω.

• In the range of 2 kΩ the resolution is approx. 3 Ω.

• In the range of 3 kΩ the resolution is approx. 6 Ω.

• In the range of 6 kΩ the resolution is approx. 10 Ω.

• In the range of 10 kΩ the resolution is approx. 11 Ω

• In the range of 20 kΩ the resolution is approx. 60 Ω.

8970

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System description Hardware description

>

Input group I2 (IN8...IN11)

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 207)

Sensors with diagnostic capabilities to NAMUR can be evaluated.
► Configuration of each input is made via the application program:

• FB INPUT (→ page 173) > input MODE

14570

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Output group Q3 (OUT10, OUT11) ..................................................................................................... 24

System description Hardware description

>

3.2.3 Outputs (technology)

Protective functions of the outputs ...................................................................................................... 18

Output group Q0 (OUT0, OUT1) ......................................................................................................... 20

Output group Q1 (OUT2, OUT3, OUT8, OUT9) .................................................................................. 22

Output group Q2 (OUT4...OUT7) ........................................................................................................ 23

>

Protective functions of the outputs

The outputs of this device are protected against overload and short circuit within specific ranges.
→ data sheet

>

Definition: overload

Overload can only be detected on an output with current measurement.
Overload is defined as ...

"a nominal maximum current of 12.5 %" according to the data sheet.

>

Definition: short circuit

A short circuit can be detected on all outputs with diagnostic capabilities and is defined as follows:
A short circuit is defined as ...

"a drop of the output voltage below 93.5% (± 2.0%) of the corresponding supply voltage."
> A ground fault can only be detected in case of output = TRUE.

14093

15248

15249

15644

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System description Hardware description

>

Reaction of the outputs to overload or short circuit

>

Self-protection of the output

The hardware protects itself, irrespective of the operating mode of the output and of the fault
detection. In case of a too high thermal load (caused by short circuit or overload), the output driver
begins to clock.

The driver may be damaged in case of too long clocking of the output (several hours).

We therefore recommend:
that you operate device outputs with diagnostic capabilities in the following mode, since, in this case,
the software protects the drivers additionally by switching off:

• FB OUTPUT (→ page 180) > input MODE = 16
This is also the default setting if only the flags in the control configuration are used.

>

Reaction according to the operating mode of the output

In case of an overload or a short circuit, the behaviour of the output depends on its operating mode
(→ FB OUTPUT (→ page 180) > input MODE):

• MODE=2: binary output plus switched: no diagnosis and no protection
> the output continues to be operated.

• MODE=15: binary output plus switched with diagnosis
> error is detected and signalled on the output RESULT by the FB OUTPUT:
e.g.: RESULT = 128, 141, 142 or 145.
This depends on the type of output and the current or voltage at the output.
The programmer can react to the error in the program.

• MODE=16: binary output plus switched with diagnosis and protection
> error is detected and signalled on the output RESULT by the FB OUTPUT.
> The respective output is switched off.

> The logic state of the output remains unaffected by this!

>

15251

15253

15252

Reaction when using PWM or CURRENT_CONTROL

The situation is different when the FBs PWM or CURRENT_CONTROL are used:
There is no diagnosis. The →self-protection of the output becomes active.

► For outputs with current feedback:

Query the typical current for the output in the application program!
It is the responsibility of the programmer to react to the event.

15254

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System description Hardware description

>

Output group Q0 (OUT0, OUT1)

14583

These outputs are a group of multifunction channels.
These outputs provide several function options (each output separately configurable):

• binary output, plus switching (BH) with diagnostic function and protection

• analogue current-controlled output (PWMi)

• analogue output with Pulse Width Modulation (PWM)

→ chapter Possible operating modes inputs/outputs (→ page 207)
► Configuration of each output is made via the application program:

→ FB OUTPUT (→ page 180)> input MODE

PWM output: → FB PWM1000 (→ page 182)
Current control and load current indication → FB CURRENT_CONTROL (→ page 178)

► For the limit values please make sure to adhere to the data sheet!

>

Diagnosis: binary outputs (via current and voltage measuring)

19433
19434

The diagnostics of these outputs is made via internal current and voltage measurement in the output:

Figure: principle block diagram

(1) Output channel
(2a) Read back channel for diagnosis via current measuring

(2b) Read back channel for diagnosis via voltage measuring

(3) Pin output n
(4) Load

>

Diagnosis: overload

19437
15249

Overload can only be detected on an output with current measurement.
Overload is defined as ...

"a nominal maximum current of 12.5 %" according to the data sheet.

>

Diagnosis: wire break (via current measurement)

19435
19400

Wire-break detection is done via the read back channel. When the output is switched (Qn=TRUE) wire
break is detected when no current flows on the resistor Ri (no voltage drops). Without wire break the
load current flows through the series resistor Ri generating a voltage drop which is evaluated via the
read back channel.

>

Diagnosis: wire break (via voltage measurement)

19436
19404

Wire-break detection is done via the read back channel. When the output is blocked (Qn=FALSE) wire
break is detected when the resistor Ru pulls the read back channel to HIGH potential (VBB). Without
the wire break the low-resistance load (RL < 10 kΩ) would force a LOW (logical 0).

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System description Hardware description

>

Diagnosis: short circuit

Short-circuit detection is done via the read back channel. When the output is switched (Qn=TRUE)
short circuit against GND is detected when the read back channel is pulled to LOW potential (GND).

19405

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System description Hardware description

>

Output group Q1 (OUT2, OUT3, OUT8, OUT9)

These outputs are a group of multifunction channels.
These outputs provide several function options (each output separately configurable):

• binary output, plus switching (BH) with/without diagnostic function

• analogue output with Pulse Width Modulation (PWM)

→ chapter Possible operating modes inputs/outputs (→ page 207)
► Configuration of each output is made via the application program:

→ FB OUTPUT (→ page 180)> input MODE
PWM output: → FB PWM1000 (→ page 182)

► For the limit values please make sure to adhere to the data sheet!

>

Diagnosis: binary outputs (via voltage measuring)

The diagnostics of these outputs is made via internal voltage measurement in the output:

14577

19403
19397

Figure: principle block diagram

(1) Output channel
(2) Read back channel for diagnosis

(3) Pin output n
(4) Load

>

Diagnosis: overload

19448

The outputs have no current measuring, no overload detection.

>

Diagnosis: wire break

19404

Wire-break detection is done via the read back channel. When the output is blocked (Qn=FALSE) wire
break is detected when the resistor Ru pulls the read back channel to HIGH potential (VBB). Without
the wire break the low-resistance load (RL < 10 kΩ) would force a LOW (logical 0).

>

Diagnosis: short circuit

19405

Short-circuit detection is done via the read back channel. When the output is switched (Qn=TRUE)
short circuit against GND is detected when the read back channel is pulled to LOW potential (GND).

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System description Hardware description

>

Output group Q2 (OUT4...OUT7)

These outputs are a group of multifunction channels.
These outputs provide several function options (each output separately configurable):

• binary output, plus switching (BH)

• analogue output with Pulse Width Modulation (PWM)

• These outputs are not able for diagnosis.

→ chapter Possible operating modes inputs/outputs (→ page 207)
► Configuration of each output is made via the application program:

→ FB OUTPUT (→ page 180)> input MODE
PWM output: → FB PWM1000 (→ page 182)

► For the limit values please make sure to adhere to the data sheet!

15235

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System description Hardware description

>

Output group Q3 (OUT10, OUT11)

These outputs are a group of multifunction channels.
These outputs provide several function options (each output separately configurable):

• binary output, plus switching (BH) with/without diagnostic function

• analogue output with Pulse Width Modulation (PWM)

→ chapter Possible operating modes inputs/outputs (→ page 207)
► Configuration of each output is made via the application program:

→ FB OUTPUT (→ page 180)> input MODE
PWM output: → FB PWM1000 (→ page 182)

► For the limit values please make sure to adhere to the data sheet!

>

Diagnosis: binary outputs (via voltage measuring)

The diagnostics of these outputs is made via internal voltage measurement in the output:

15237

19403
19397

Figure: principle block diagram

(1) Output channel
(2) Read back channel for diagnosis

(3) Pin output n
(4) Load

>

Diagnosis: overload

19448

The outputs have no current measuring, no overload detection.

>

Diagnosis: wire break

19404

Wire-break detection is done via the read back channel. When the output is blocked (Qn=FALSE) wire
break is detected when the resistor Ru pulls the read back channel to HIGH potential (VBB). Without
the wire break the low-resistance load (RL < 10 kΩ) would force a LOW (logical 0).

>

Diagnosis: short circuit

19405

Short-circuit detection is done via the read back channel. When the output is switched (Qn=TRUE)
short circuit against GND is detected when the read back channel is pulled to LOW potential (GND).

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System description Hardware description

>

3.2.4 Note on wiring

1426

The wiring diagrams (→ installation instructions of the devices, chapter "Wiring") describe the standard
device configurations. The wiring diagram helps allocate the input and output channels to the IEC
addresses and the device terminals.

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 positive 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

>

3.2.5 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 description

>

3.2.6 Status LED

The operating states are indicated by the integrated status LED (default setting).

LED colour Flashing frequency Description

Off permanently off no operating voltage

Red / green briefly on INIT state, reset checks

Green 5 Hz no runtime system loaded

Green 2 Hz RUN state: application is running

Green permanently on STOP state: application is stopped

Red 5 Hz

Red 10 Hz

Red permanently on

.

The operating states STOP and RUN can be changed by the programming system.

>

STOP state with error: application is stopped
reason: undervoltage

STOP state with error: application is stopped
Cause: exceeded timeout of the application or visualisation:

 Delete the application!
 PowerOn reset
 Reload the application into the device

FATAL ERROR: application is stopped
Cause: software watchdog has failed
 PowerOn reset

If without success:

 Goto Bootloader
 PowerOn reset
 Reload the BasicSystem into the device
 Reload the application into the device

If without success:
 Hardware error: send device to ifm!

7998

Control the LED in the application program

Via SET_LED frequency and color of the status LED can be changed in the application program.

The use of the LED function block in the application program replaces the system setting of the

status LED in the RUN state.

15481

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CAN interfaces .................................................................................................................................... 27

CAN: interfaces and protocols ............................................................................................................. 27

System description Interface description

>

3.3 Interface description

>

14098

3.3.1 CAN interfaces

14101

Connections and data → data sheet

>

CAN: interfaces and protocols

14589
15238

The devices are equipped with several CAN interfaces depending on the hardware design. Basically,
all interfaces can be used with the following functions independently of each other:

• RAW-CAN (Layer 2): CAN on level 2 (→ chapter Function elements: RAW-CAN (Layer 2) (→ page 66))

• CANopen master / CANopen slave (→ chapter Function elements: CANopen (→ page 92))

• CANopen network variables (via CODESYS) (→ chapter Network variables (→ page 57))

• SAE J1939 (for drive management, → chapter Function elements: SAE J1939 (→ page 137))

• Bus load detection

• Error frame counter

• Download interface

• 100 % bus load without package loss

The following CAN interfaces and CAN protocols are available in this ecomatmobile device:

14591

CAN interface

Default download ID

CAN 1 CAN 2 CAN 3 CAN 4

ID 127 ID 126 ID 125 ID 124

CAN Layer 2 CAN Layer 2

CAN protocols

CANopen CANopen

Interface do not

exist

Interface do not

SAE J1939 SAE J1939

Standard baud rate = 250 Kbits/s

All CAN interfaces can operate with all CAN protocols at the same time. The IDs used must not

impair each other!

exist

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Performance limits of the device ......................................................................................................... 37

Libraries ............................................................................................................................................... 30

System description Software description

>

3.4 Software description

Software modules for the device ......................................................................................................... 28

Programming notes for CODESYS projects ....................................................................................... 31

Operating states .................................................................................................................................. 35

>

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 *)

Yes

Upgrade yes

Downgrade no

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 43)

Below we describe this software module:

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 description

>

Libraries

ifm electronic offers a series of libraries (*.LIB) suitable for each device, containing the program

modules for the application program. Examples:

Library Use

ifm_CR0403_Vxxyyzz.LIB Device-specific library

ifm_RawCAN_NT_Vxxyyzz.LIB (optional)

ifm_CANopen_NT_Vxxyyzz.LIB (optional)

ifm_J1939_NT_Vxxyyzz.LIB (optional)

Detail information → ifm libraries for the device CR0403 (→ page 58)

Must always be contained in the application program!

when a CAN interface of the device is to be operated with CAN
Layer 2

when a CAN interface of the device is to be operated as
CANopen master or CANopen slave

when a CAN interface of the device is to communicate with a
motor control

15409

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Distribution of the application program ................................................................................................ 34

System description Software description

>

3.4.2 Programming notes for CODESYS projects

FB, FUN, PRG in CODESYS .............................................................................................................. 31

Note the cycle time! ............................................................................................................................. 32

Creating application program .............................................................................................................. 33

Using ifm maintenance tool ................................................................................................................. 34

Here you receive tips how to program the device.

► See the notes in the CODESYS programming manual

→ www.ifm.com > select your country > [Data sheet search] > CR0403 > [Operating instructions]
→ ecomatmobile DVD "Software, tools and documentation".

>

FB, FUN, PRG in CODESYS

In CODESYS we differentiate between the following types of function elements:
FB = function block

• An FB can have several inputs and several outputs.

• An FB may be called several times in a project.

• An instance must be declared for each call.

• Permitted: Call FB and FUN in FB.

FUN = function

• A function can have several inputs but only one output.

• The output is of the same data type as the function itself.

PRG = program

• A PRG can have several inputs and several outputs.

• A PRG may only be called once in a project.

• Permitted: Call PRG, FB and FUN in PRG.

7426

15410

NOTE

Function blocks must NOT be called in functions!
Otherwise: During execution the application program will crash.

All function elements must NOT be called recursively, nor indirectly!
An IEC application may contain maximum 8000 function elements; in this device maximum 512

function elements!

Background:

All variables of functions...

• are initialised when called and

• become invalid after return to the caller.

Function blocks have 2 calls:

• an initialisation call and

• the actual call to do something.

Consequently that means for the function block call in a function:

• every time there is an additional initialisation call and

• the data of the last call gets lost.

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System description Software description

>

Note the cycle time!

For the programmable devices from the controller family ecomatmobile numerous functions are
available which enable use of the devices in a wide range of applications.

As these units use more or fewer system resources depending on their complexity it is not always
possible to use all units at the same time and several times.

NOTICE

Risk that the device acts too slowly!
Cycle time must not become too long!

► When designing the application program the above-mentioned recommendations must be

complied with and tested.

► If necessary, the cycle time must be optimised by restructuring the software and the system set-

up.

8006

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System description Software description

>

Creating application program

The application program is generated by the CODESYS programming system and loaded in the
controller several times during the program development for testing:
In CODESYS: [Online] > [Login] > load the new program.

For each such download via CODESYS the source code is translated again. The result is that each
time a new checksum is formed in the controller memory. This process is also permissible for safety
controllers until the release of the software.

8007

Graphics: Creation and distribution of the software

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System description Software description

>

Using ifm maintenance tool

8492

The ifm Maintenance Tool serves for easy transfer of the program code from the programming station
to the controller. As a matter of principle each application software can be copied to the controllers
using the ifm Maintenance Tool. Advantage: A programming system with CODESYS licence is not
required.

Here you will find the current ifm Maintenance Tool:

→ www.ifm.com > Select your country > [Service] > [Download] > [Systems for mobile machines]
→ ecomatmobile DVD "Software, tools and documentation" under the tab 'R360 tools [D/E]'

>

Distribution of the application program

8493

We recommend the following sequence, if the application software is to be copied to the series
machine and used:

• Saving the software
After completion of program development the latest version of the application program loaded in
the controller using the ifm Maintenance Tool has to be read from the controller and saved on a
data carrier using the name project_file.RESX. Only this process ensures that the application
software and its checksums are stored.

• Download of the software.
To equip all machines of a series production with an identical software only this file may be loaded
in the controllers using the ifm Maintenance Tool.

• An error in the data of this file is automatically recognised by the integrated checksum when
loaded again using the ifm Maintenance Tool.

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System description Software description

>

3.4.3 Operating states

After power on the ecomatmobile device can be in one of five possible operating states:

• BOOTLOADER

• INIT

• STOP

• RUN

• SYSTEM STOP

>

INIT state (Reset)

Premise: a valid runtime system is installed.
This state is passed through after every power on reset:

> The runtime system is initialised.
> Various checks are carried out, e.g. waiting for correctly power supply voltage.
> This temporary state is replaced by the RUN or STOP state.
> The LED lights orange.

Change out of this state possible into one of the following states:

• RUN

• STOP

>

1075

1076

STOP state

A transition into this state is possible in the following cases:

• from the INIT state if no application program is loaded.

• From the RUN state if the following condition is met:

• The STOP command is sent via the CODESYS interface.

In the STOP state:

> The outputs of the device are switched off.
> Processing of the application program is stopped.
> The LED lights green.

A transition from this state into one of the following states is possible:

• RUN

• ERROR

• FATAL ERROR

• INIT (after power-on-reset)

8288

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System description Software description

>

RUN state

A transition into this state is possible in the following cases:

• from the INIT state (autostart) if the following conditions are met:

• The operating voltage has reached a minimum value. AND:

• The application program exists.

• From the STOP state:

• via the CODESYS command RUN.

• The operating voltage has reached or exceeded a minimum value.

In the RUN state:

> The runtime system is running.
> The application program is running.
> The LED flashes green with 2 Hz.

The LED can be controlled differently by the application program → FB SET_LED (→ page 198).

A transition from this state into one of the following states is possible:

• INIT (after power-on-reset)

• STOP

• ERROR

• FATAL ERROR

>

8287

ERROR state

A transition into this state is possible in the following cases:

• if the supply voltage is too low.

In the ERROR state:

> The outputs of the device are switched off.
> Processing of the application program is stopped.
> System parameters are saved.
> The LED flashed red with 5 Hz.

A transition from this state into one of the following states is possible:

• INIT (after power-on-reset)

• RUN

• STOP

• FATAL ERROR

>

FATAL ERROR state

A transition into this state is possible in the following cases:

• memory error (RAM / Flash)

• exception error

• runtime system error

In the FATAL ERROR state:

> The outputs of the device are switched off.
> The application program is terminated.
> The runtime system is terminated.
> The LED lights red.

A transition from this state into one of the following states is possible:

• INIT (after power-on-reset)

8290

8289

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System description Software description

>

3.4.4 Performance limits of the device

Note the limits of the device! → Data sheet

>

Watchdog behaviour

In this device, a watchdog monitors the program runtime of the CODESYS application.
If the maximum watchdog time (100 ms) is exceeded:

> the device changes to the "Timeout Error" state
> all processes are stopped (reset)
> all outputs are switched off
> the status LED flashes red at 10 Hz

Eliminate the fault:
 Delete application program!
 PowerOn reset
 Reload the application program into the device

If the watchdog in question fails:
> a second watchdog leads the device to the state "Fatal Error"
> the status LED lights red

Eliminate the fault:
 PowerOn reset

If without success:
 Goto Bootloader
 PowerOn reset
 Reload the runtime system into the device
 Reload the application program into the device

If without success:
 Hardware error: send device to ifm!

7358

15365

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System description Software description

>

Limitations for CAN in this device

17975

FIFO (First In, First Out) = Operating principle of the stack memory: The data packet that was

written into the stack memory first, will also be read first. Each identifier has such a buffer (queue).
Some Raw-CAN function elements enable transmitting and receiving of several messages in one PLC

cycle as the messages are temporarily stored in a FiFo:

- CAN_TX..., → Function elements: transmit RAW-CAN data

- CAN_RX_ENH_FIFO (→ page 76)

- CAN_RX_RANGE_FIFO (→ page 80)

The number of FIFo messages is limited. The following limitations of the devices are valid:

Device

Criterion

max. FiFo transmit

- with FB CAN_TX...

- with FB CAN_TX_ENH...

max. FiFo receive

- with FB CAN_RX_..._FIFO

>

BasicController: CR040n,

CR041n, CR043n

BasicDisplay: CR045n

SmartController: CR253n

4 messages

16 messages

32 messages

PDM360 NG: CR108n

4 messages

16 messages

32 messages

Limitations for CANopen in this device

The following limitations of the devices are valid:

Device

Criterion

max. guarding error 32 messages 128 messages

max. SDO data 2 048 bytes 2 048 bytes

>

BasicController: CR040n,

CR041n, CR043n

BasicDisplay: CR045n

SmartController: CR253n

PDM360 NG: CR108n

Limitations for CAN J1939 in this device

The following limitations of the devices are valid:

Device

Criterion

max. FiFo transmit

- with FB J1939_TX

- with FB J1939_TX_ENH

max. FiFo receive

- with FB J1939_RX_FIFO

max. DTCs 64 messages 64 messages

max. data J1939 1 785 bytes 1 785 bytes

>

BasicController: CR040n,

CR041n, CR043n

BasicDisplay: CR045n

SmartController: CR253n

4 messages

16 messages

32 messages

PDM360 NG: CR108n

4 messages

16 messages

32 messages

17976

17977

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Variables .............................................................................................................................................. 56

Verify the installation ........................................................................................................................... 41

Configurations Set up the runtime system

4 Configurations

Set up the runtime system ................................................................................................................... 39

Set up the programming system ......................................................................................................... 42

Function configuration in general ........................................................................................................ 46

Function configuration of the inputs and outputs ................................................................................ 47

The device configurations described in the corresponding installation instructions or in the Annex
(→ page 204) to this documentation are used for standard devices (stock items). They fulfil the
requested specifications of most applications.

Depending on the customer requirements for series use it is, however, also possible to use other
device configurations, e.g. with respect to the inputs/outputs and analogue channels.

>

4.1 Set up the runtime system

Reinstall the runtime system ............................................................................................................... 40

Update the runtime system ................................................................................................................. 41

1016

14091

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NOTICE

Configurations Set up the runtime system

>

4.1.1 Reinstall the runtime system

14635

8486

On delivery of the ecomatmobile controller no runtime system is normally loaded (LED flashes green
at 5 Hz). Only the boot loader is active in this operating mode. It provides the minimum functions for
loading the operating system (e.g. RS232, CAN).

Normally it is necessary to download the runtime system only once. The application program can then
be loaded to the device (also several times) without influencing the runtime system.

The runtime system is provided with this documentation on a separate data carrier. In addition, the
current version can be downloaded from the website of ifm electronic gmbh at:
→ www.ifm.com > Select your country > [Service] > [Download] > [Systems for mobile machines]

Risk of data loss!
In case of power failure during the data transmission data can be lost so that the device is no longer

functionable. Repair is only possible by ifm electronic.
► Ensure an uninterrupted power supply during the data transmission!

NOTE

The software versions suitable for the selected target must always be used:

• runtime system (ifm_CR0403_Vxxyyzz.RESX),

• PLC configuration (ifm_CR0403_Vxx.CFG),

• device library (ifm_CR0403_Vxxyyzz.LIB ) and

• the further files.

V
xx: 00...99
yy: 00...99
zz: 00...99

The basic file name (e.g. "CR0403") and the software version number "xx" (e.g. "01") must always
have the same value! Otherwise the device goes to the STOP mode.

The values for "yy" (release number) and "zz" (patch number) do not have to match.

The following files must also be loaded:

• the internal libraries (created in IEC 1131) required for the project,

• the configuration files (*.CFG) and

• the target files (*.TRG).

It may happen that the target system cannot or only partly be programmed with your currently

installed version of CODESYS. In such a case, please contact the technical support department of ifm

electronic gmbh.

The runtime system is transferred to the device using the separate program "Maintenance Tool". (The
downloader is on the ecomatmobile DVD "Software, tools and documentation" or can be downloaded
from ifm's website, if necessary):
→ www.ifm.com > Select your country > [Service] > [Download] > [Systems for mobile machines].

Normally the application program is loaded to the device via the programming system. But it can also
be loaded using the "Maintenance Tool" if it was first read from the device.

version
target version number
release number
patch number

4368

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Configurations Set up the runtime system

>

4.1.2 Update the runtime system

13269

An older runtime system is already installed on the device. Now, you would like to update the runtime
system on the device?

14158

NOTICE

Risk of data loss!
When deleting or updating the runtime system all data and programs on the device are deleted.
► Save all required data and programs before deleting or updating the runtime system!

3084

When the operating system software or the CODESYS runtime system is considerably improved, ifm
releases a new version. The versions are numbered consecutively (V01, V02, V03, ...).

Please see the respective documentation for the new functions of the new software version. Note
whether special requirements for the hardware version are specified in the documentation.

If you have a device with an older version and if the conditions for the hardware and your project are
OK, you can update your device to the new software version.

For this operation, the same instructions apply as in the previous chapter 'Reinstall the runtime
system'.

>

4.1.3 Verify the installation

► After loading of the runtime system into the controller:

• Check whether the runtime system was transmitted correctly!

• Check whether the correct runtime system is loaded in the controller!

► 1st test:

Test with the ifm maintenance tool if the correct runtime system version was loaded:

• Read name and version of the runtime system in the device!

• Manually compare this information with the target data!

► 2nd test (optional):

Check in the application program if the correct runtime system version was loaded:

• read name and version of the runtime system in the device!

• Compare this data with the specified values!
The following FB serves for reading the data:

GET_SW_INFO (→ page 190) Delivers information about the system software of the device:

>

• software name,

• software version,

• build number,

• build date

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Set up the programming system via templates ................................................................................... 46

CAN declaration (e.g. CR1080) ........................................................................................................... 45

Configurations Set up the programming system

>

4.2 Set up the programming system

Set up the programming system manually .......................................................................................... 42

>

4.2.1 Set up the programming system manually

Set up the target .................................................................................................................................. 43

Activate the PLC configuration ............................................................................................................ 44

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Configurations Set up the programming system

>

Set up the target

13136
11379

When creating a new project in CODESYS the target file corresponding to the device must be loaded.
► Select the requested target file in the dialogue window [Target Settings] in the menu

[Configuration].

> The target file constitutes the interface to the hardware for the programming system.
> At the same time, several important libraries and the PLC configuration are loaded when selecting

the target.

► If necessary, in the window [Target settings] > tab [Network functionality] > activate [Support

parameter manager] and / or activate [Support network variables].

► If necessary, remove the loaded (3S) libraries or complement them by further (ifm) libraries.
► Always complement the appropriate device library ifm_CR0403_Vxxyyzz.LIB manually!

NOTE

The software versions suitable for the selected target must always be used:

• runtime system (ifm_CR0403_Vxxyyzz.RESX),

• PLC configuration (ifm_CR0403_Vxx.CFG),

• device library (ifm_CR0403_Vxxyyzz.LIB ) and

• the further files.

V
xx: 00...99
yy: 00...99
zz: 00...99

version
target version number
release number
patch number

The basic file name (e.g. "CR0403") and the software version number "xx" (e.g. "01") must always
have the same value! Otherwise the device goes to the STOP mode.

The values for "yy" (release number) and "zz" (patch number) do not have to match.

4368

The following files must also be loaded:

• the internal libraries (created in IEC 1131) required for the project,

• the configuration files (*.CFG) and

• the target files (*.TRG).

It may happen that the target system cannot or only partly be programmed with your currently

installed version of CODESYS. In such a case, please contact the technical support department of ifm

electronic gmbh.

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Configurations Set up the programming system

>

Activate the PLC configuration

10079

The PLC configuration is automatically loaded with the target system. The PLC configuration maps the
contents of the file CR0403.cfg in CODESYS. Like this, the programmer has easy access to
predefined system and error flags, inputs and outputs as well as to the CAN interfaces of the device.

To access the PLC configuration (e.g. CR1080):

► Click on the tab [Resources] in CoDeSys:

► Double-click on [PLC Configuration] in the left column.

> Display of the current PLC configuration (→ following figure):

> Based on the configuration the following is available in the program environment for the user:

• System and error flags
Depending on the application and the application program, these flags must be processed and
evaluated. Access is made via their symbolic names.

• 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].

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Configurations Set up the programming system

>

CAN declaration (e.g. CR1080)

In the CODESYS PLC configuration you now have to declare the CAN interface(s).
► Right-click on the name of the PLC configuration. [CANopen Interface [FIX]] of the desired CAN

interface.

► Click on [Append Subelement].
► Even if the device is operated as a CANopen slave: Click on [CANopen Master...]:

10080

Info

If the device is operated as a slave, the selection [CanSlave_Device] would also be possible.
For the simpler configuration as a master, all CAN Layer 2 and network variable functions can also be

used.

> 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).

► If the device is operated as a CANopen master:

Check all parameter settings.

► Close the window [PLC Configuration].
► In the menu [File] > [Save as ...] give a sensible name to the project and save it in the requested

directory.

► In the application program always call an own instance of the FB CANOPEN_ENABLE

(→ page 93) for every CAN interface!

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Configurations Function configuration in general

>

4.2.2 Set up the programming system via templates

ifm offers ready-to-use templates (program templates), by means of which the programming system

can be set up quickly, easily and completely.

When installing the ecomatmobile DVD "Software, tools and documentation", projects with
templates have been stored in the program directory of your PC:
…\ifm electronic\CoDeSys V…\Projects\Template_DVD_V…

► Open the requested template in CODESYS via:

[File] > [New from template…]

> CODESYS creates a new project which shows the basic program structure. It is strongly

recommended to follow the shown procedure.

>

4.3 Function configuration in general

>

13745

970

3971

4.3.1 System variables

15576

All system variables (→ chapter System flags (→ page 204)) have defined addresses which cannot be
shifted.

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Configure outputs ................................................................................................................................ 53

Configurations Function configuration of the inputs and outputs

>

4.4 Function configuration of the inputs and outputs

Configure inputs .................................................................................................................................. 48

7995
1394

For some devices of the ecomatmobile controller family, additional diagnostic functions can be
activated for the inputs and outputs. So, the corresponding input and output signal can be monitored
and the application program can react in case of a fault.

Depending on the input and output, certain marginal conditions must be taken into account when
using the diagnosis:

► It must be checked by means of the data sheet if the device used has the described input and

output groups (→ data sheet).

• Constants are predefined (e.g. IN_DIGITAL_H) in the device libraries (e.g. ifm_CR0020_Vx.LIB)
for the configuration of the inputs and outputs.
For details → Possible operating modes inputs/outputs (→ page 207).

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Fast inputs ........................................................................................................................................... 52

Configurations Function configuration of the inputs and outputs

>

4.4.1 Configure inputs

Safety instructions about Reed relays ................................................................................................. 48

Configure the software filters of the inputs .......................................................................................... 49

Analogue inputs: configuration and diagnosis ..................................................................................... 50

Binary inputs: configuration and diagnosis .......................................................................................... 51

Valid operating modes → chapter Possible operating modes inputs/outputs (→ page 207)

>

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

3973

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Configurations Function configuration of the inputs and outputs

>

Configure the software filters of the inputs

15418

Via the input FILTER in the FB INPUT (→ page 173) a software filter can be configured which filters the
measured input voltage at the analogue inputs.

The filter behaves like a low-pass filter; the filter frequency is set with the value entered in FILTER. For
FILTER, values from 0...8 are permitted.

Table: limit frequency software low-pass filter at the analogue input

FILTER Filter frequency [Hz]

0…70 % 0…90 % 0…99 %

0 Filter deactivated

1 120 2 4 7

2 47 5 9 17

3 22 10 18 35

4 10 19 36 72 recommended

5 5 38 73 146

6 2.5 77 147 293

7 1.2 154 294 588

8 0.7 308 589 1177

The following statements of the step response are relevant:

• Input analogue: 0...90 % and 0...99 %

• Input binary: 0...70 %

Step response [ms] for ...

Remarks

Figure: course of time binary signal at the input upon switch-on / switch-off

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Configurations Function configuration of the inputs and outputs

>

Analogue inputs: configuration and diagnosis

Configuration of each input is made via the application program:

• FB INPUT (→ page 173) > input MODE

► If the analogue inputs are configured for current measurement, the device switches to the safe

voltage measurement range (0...32 V DC) and the output RESULT is set accordingly in the
function block INPUT when the final value (23 mA for > 40 ms) is exceeded. After about one
second the input automatically switches back to the current measuring range.

As an alternative, an analogue channel can also be evaluated binarily.

In = pin multifunction input n

(CR) = device

(1) = input filter

(2) = analogue current measuring

(3a) = binary-input plus switching
(3b) = binary-input minus switching

(4a) = analogue voltage measuring 0...10 V
(4b) = analogue voltage measuring 0...32 V

(5) = voltage

(6) = reference voltage

14656

8971

Figure: principle block diagram multifunction input

>

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Configurations Function configuration of the inputs and outputs

>

Binary inputs: configuration and diagnosis

14672

Configuration of each input is made via the application program:

• FB INPUT (→ page 173) > input MODE

MODE BYTE operating mode of the input channel:

0 = 0x00 off

3 = 0x03 voltage input 0…10 000 mV

6 = 0x06 voltage input, ratiometric 0...1 000 ‰

7 = 0x07 current input 0…20 000 µA

9 = 0x09 voltage input 0…32 000 mV

10 = 0x0A

11 = 0x0B

12 = 0x0C binary input, minus switching (BH)

18 = 0x12 resistance input

>

(only for analogue evaluated inputs)
binary input, plus switching (BL)

(only for analogue evaluated inputs)
binary input, plus switching (BL) with diagnosis
(Namur)

16…3 600 Ω

from HW state
AD:

16...30 000 Ω

Activation of the input diagnosis

If the diagnosis is to be used, it needs to be activated additionally.
► Set the mode of the input via input MODE of the function block INPUT (→ page 173).
> The FB INPUT (→ page 173) provides the diagnostic messages of the inputs on its RESULT

output.

Diagnosis of non-electronic switches:
► Equip the switch with an additional resistor

connection!

Figure: non-electronic switch S at input Inn

Sensors with diagnostic capabilities to NAMUR can be used on these inputs.

In this case, no additional resistor connection is required.

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Configurations Function configuration of the inputs and outputs

>

Fast inputs

8292

The devices dispose of fast counting/pulse inputs for an input frequency up to 30 kHz (→ data sheet).
If, for example, mechanical switches are connected to these inputs, there may be faulty signals in the

controller due to contact bouncing.
Appropriate function blocks are e.g.:

FAST_COUNT Counter block for fast input pulses

INC_ENCODER (→ page 171) Up/down counter function for the evaluation of encoders

PERIOD (→ page 175) Measures the frequency and the cycle period (cycle time) in [µs] at the indicated channel

When using these units, the parameterised inputs and outputs are automatically configured, so the

programmer of the application does not have to do this.

>

Use as binary inputs

3804

The permissible high input frequencies also ensure the detection of faulty signals, e.g. bouncing
contacts of mechanical switches.

► If required, suppress the faulty signals in the application program!

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PWM outputs ....................................................................................................................................... 55

Configurations Function configuration of the inputs and outputs

>

4.4.2 Configure outputs

Configure the software filters of the outputs ........................................................................................ 53

Binary outputs: configuration and diagnosis ....................................................................................... 54

Valid operating modes → chapter Possible operating modes inputs/outputs (→ page 207)

>

Configure the software filters of the outputs

15421

Via the input FILTER in the FB OUTPUT (→ page 180) a software filter can be configured which filters
the measured output current at the PWM outputs.

The FILTER byte is only valid for outputs with current measurement.
For outputs without current measurement: set FILTER = 0!

The current at the output is averaged over a PWM period.
If dithering is set, the current is averaged over the dither period.

The filter behaves like a low-pass filter; the limit frequency is set by the value entered in FILTER. For
FILTER, values from 0...8 are permitted.

Table: limit frequency software low-pass filter on PWM output

FILTER Filter frequency [Hz]

0…90 % 0…95 % 0…99 %

0 Filter deactivated

1 600 0.8 1.0 1.4

2 233 1.8 2.2 3.4

3 109 3.6 4.6 7.0

4 52 7.2 9.4 14.4

5 26 14.6 19.0 29.2

6 13 29.4 38.2 58.6

7 6 58.8 76.4 117.6

8 4 117.8 153.2 235.4

The following statements of the step response are relevant:

• Output current: 0...90 % and 0...99 %

Step response [ms] for ...

Remarks

outputs without current

measurement

recommended

3976

Figure: time sequence binary current signal on output upon switch-on / switch-off

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Configurations Function configuration of the inputs and outputs

>

Binary outputs: configuration and diagnosis

The following operating modes are possible for the device outputs (→ data sheet):

• binary output, plus switching (BH) with/without diagnostic function

Qn = pin output n

(L) = load

Basic circuit of binary output plus switching (BH)
for positive output signal

► Configuration of each output is made via the application program:

→ FB OUTPUT (→ page 180)> input MODE.

WARNING

14689

15451

Dangerous restart possible!
Risk of personal injury! Risk of material damage to the machine/plant!

If in case of a fault an output is switched off via the hardware, the logic state generated by the
application program is not changed.

► Remedy:

• Reset the output logic in the application program!

• Remove the fault!

• Reset the outputs depending on the situation.

>

Configuration of the output diagnosis

If the diagnosis is to be used, it needs to be activated additionally.

► If using the output as binary output with diagnosis (→ data sheet):

→ FB OUTPUT > input MODE = 15 or 18

> The FB OUTPUT (→ page 180) provides the diagnostic messages of the outputs on its RESULT

output.

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Configurations Function configuration of the inputs and outputs

>

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 binary output plus switching (BH)
for positive output signal

WARNING

Property damage or bodily injury possible due to malfunctions!
For outputs in PWM mode:

• there are no diagnostic functions

• the overload protection OUT_OVERLOAD_PROTECTION is NOT active

14705

15451

15414

9980

NOTE

PWM outputs must NOT be operated in parallel, e.g. in order to increase the max. output current. The
outputs do not operate synchronously.

Otherwise the entire load current could flow through only one output. The current measurement would
no longer function.

>

Availability of PWM

15577

Device

BasicController: CR0403 12 2 20...250

>

Number of available

PWM outputs

FBs for PWM functions

The following function blocks are available for the PWM function of the outputs:

CURRENT_CONTROL (→ page 178) Current controller for a PWMi output channel

PWM1000 (→ page 182) Initialises and configures a PWM-capable output channel

>

the mark-to-space ratio can be indicated in steps of 1 ‰

Current control with PWM (= PWMi)

Current measurement of the coil current can be carried out via the current measurement channels
integrated in the controller. This way, the current can for example be re-adjusted if the coil heats up.
The hydraulic conditions in the system are maintained.

In principle, the current-controlled outputs are protected against short circuit.

of which current-

controlled (PWMi)

PWM frequency

[Hz]

14718

14722

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Network variables ................................................................................................................................ 57

Variable

Configurations Variables

>

4.5 Variables

Retain variables ................................................................................................................................... 56

In this chapter you will learn more about how to handle variables.

The device supports the following types of variables:

Declaration place

local

local retain nonvolatile

global

global retain nonvolatile

in the declaration part of the function
element (POU)

In [Resources] > [Global Variables] >
[Globale_Variables]:

Validity area

Only valid in the function element
(POU) where it was configured.

Valid in all function elements of this
CODESYS project.

Memory behaviour

volatile

volatile

3130

14486

Network

In [Resources] > [Global Variables] >
declaration list

Network retain nonvolatile

Values are available to all CODESYS
projects in the whole network if the
variable is contained in its declaration
lists.

volatile

→ CODESYS programming manual
→ ecomatmobile DVD "Software, tools and documentation"

>

4.5.1 Retain variables

Retain variables can be saved automatically in a protected memory area and be reloaded
automatically during a reboot.

Typical applications for retain variables are for example:

• operating hours which are counted up and retained while the machine is in operation,

• position values of incremental encoders,

• preset values entered in the monitor,

• machine parameters,

i.e. all variables whose values must not get lost when the device is switched off.

All variable types, also complex structures (e.g. timers), can be declared as retain.
► To do so, activate the control field [RETAIN] in the variable declaration (→ window).

8672

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Configurations Variables

>

Save retain variables

9853

In the device the data type RETAIN is only stored in the volatile memory (RAM) during the runtime.
To save the data permanently, at the end of each cycle they are automatically be saved in the FRAM
memory ¹).

¹) FRAM indicates here all kinds of non-volatile and fast memories.

NOTE

In this device, do NOT use the following functions from the 3S library SysLibPlcCtrl.lib:

- FUN SysSaveRetains

- FUN SysRestoreRetains

>

Read back retain variables

9854

After power on and before the first program cycle the device automatically writes the saved data back
to the working memory once. To do so, no additional FBs must be integrated into the application
program.

NOTE

In this device, do NOT use the following functions from the 3S library SysLibPlcCtrl.lib:

- FUN SysSaveRetains

- FUN SysRestoreRetains

>

4.5.2 Network variables

15242

9856

Global network variables are used for data exchange between controllers in the network. The values
of global network variables are available to all CODESYS projects in the whole network if the variables
are contained in their declaration lists.

► Integrate the following library/libraries into the CODESYS project:

 3S_CANopenNetVar.lib
 ifm_NetVarLib_NT_Vxxyyzz.lib

>

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ifm function elements for the device CR0403 ..................................................................................... 64

Library ifm_J1939_NT_Vxxyyzz.LIB ................................................................................................... 63

ifm function elements ifm libraries for the device CR0403

5 ifm function elements

ifm libraries for the device CR0403 ..................................................................................................... 58

13586

All CODESYS function elements (FBs, PRGs, FUNs) are stored in libraries. Below you will find a list of
all the ifm libraries you can use with this device.

This is followed by a description of the function elements, sorted by topic.

>

5.1 ifm libraries for the device CR0403

Library ifm_CR0403_V03yyzz.LIB ...................................................................................................... 59

Library ifm_RAWCan_NT_Vxxyyzz.LIB .............................................................................................. 60

Library ifm_CANopen_NT_Vxxyyzz.LIB.............................................................................................. 61

14235

Legend for ..._Vxxyyzz.LIB:

V
xx: 00...99
yy: 00...99
zz: 00...99

Here you will find a list of the ifm function elements matching this device, sorted according to the
CODESYS libraries.

version
target version number
release number
patch number

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ifm function elements ifm libraries for the device CR0403

>

5.1.1 Library ifm_CR0403_V03yyzz.LIB

This is the device library.
This ifm library contains the following function blocks:

Function element Short description

CURRENT_CONTROL (→ page 178) Current controller for a PWMi output channel

FASTCOUNT (→ page 169) Counter block for fast input pulses

FLASH_INFO (→ page 185) Reads the information from the user flash memory:

FLASH_READ (→ page 186) Transfers different data types directly from the flash memory to the RAM

GET_APP_INFO (→ page 187) Delivers information about the application program stored in the device:

GET_HW_INFO (→ page 188) Delivers information about the device hardware:

GET_IDENTITY (→ page 189) Reads the identification of the application stored in the device

GET_SW_INFO (→ page 190) Delivers information about the system software of the device:

GET_SW_VERSION (→ page 191) Delivers information about the software versions stored in the device:

INC_ENCODER (→ page 171) Up/down counter function for the evaluation of encoders

INPUT (→ page 173) Assigns an operating mode to an input channel

MEM_ERROR (→ page 192) Signals errors in some parameters or in the memory

MEMCPY (→ page 193) Writes and reads different data types directly in the memory

OHC (→ page 195) Adjustable operating hours counter (0...3)

OUTPUT (→ page 180) Assigns an operating mode to an output channel

PERIOD (→ page 175) Measures the frequency and the cycle period (cycle time) in [µs] at the indicated channel

PWM1000 (→ page 182) Initialises and configures a PWM-capable output channel

SET_IDENTITY (→ page 197) Sets an application-specific program identification

SET_LED (→ page 198) Change the frequency and color of the status LED in the application program

SET_PASSWORD (→ page 200) Sets a user password for access control to program and memory upload

TIMER_READ_US (→ page 201) Reads out the current system time in [µs]

• name of the memory area (user defined),

• software version,

• start address (for simple reading with IEC structure)

• name of the application,

• version of the application,

• unique CODESYS build number,

• CODESYS build date

• ifm article number (e.g. CR0403),

• article designation,

• unambiguous serial number,

• hardware revision,

• production date

(has previously been saved by means of SET_IDENTITY (→ page 197))

• software name,

• software version,

• build number,

• build date

• BasicSystem version,

• bootloader version,

• SIS version,

• application program version,

• user flash version

Provides the current state of the selected channel

(Re-)initialisation of system resources

Provides the current state of the selected channel

the mark-to-space ratio can be indicated in steps of 1 ‰

Max. value = 1h 11min 34s 967ms 295µs

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• Configures a range of data receive objects and reads out the receive buffer of the data objects

• Configures a range of data receive objects and reads out the receive buffer of the data objects

ifm function elements ifm libraries for the device CR0403

>

5.1.2 Library ifm_RAWCan_NT_Vxxyyzz.LIB

14715

This ifm library contains the following function blocks:

Function element Short description

CAN_ENABLE (→ page 67) Initialises the indicated CAN interface

CAN_RECOVER (→ page 68) Activate / deactivate the automatic bus off handling

CAN_REMOTE_REQUEST (→ page 89) Send a corresponding request and return the response of the other device as a result

CAN_REMOTE_RESPONSE (→ page 90) Provides data to the CAN controller in the device which is automatically sent as a response to

CAN_RX (→ page 73) Configures a data receive object and reads out the receive buffer of the data object

CAN_RX_ENH (→ page 74) • Configures a data receive object and reads out the receive buffer of the data object

CAN_RX_ENH_FIFO (→ page 76) • Configures a data receive object and reads out the receive buffer of the data object

CAN_RX_RANGE (→ page 78)

CAN_RX_RANGE_FIFO (→ page 80)

CAN_SETDOWNLOADID (→ page 69) = Set CAN download ID

CAN_STATUS (→ page 70) Get status information on the CAN bus selected:

CAN_TX (→ page 83) Transfers a CAN data object (message) to the configured CAN interface for transmission at each

CAN_TX_ENH (→ page 84) Transfers a CAN data object (message) to the configured CAN interface for transmission at each

CAN_TX_ENH_CYCLIC (→ page 86) Cyclically transfers a CAN data object (message) to the configured CAN interface for

Configures the CAN baud rate

Restart the CAN interface in case of bus off

the request of a remote message

• Frame type and mask can be selected

• Frame type and mask can be selected

• Several CAN messages per cycle possible

• Frame type and mask can be selected

• Frame type and mask can be selected

• Several CAN messages per cycle possible

Sets the download identifier for the CAN interface

BAUDRATE, DOWNLOAD_ID, BUSOFF, WARNING_RX, WARNING_TX, VERSION,
BUSLOAD
and reset if required: BUSOFF, WARNING_RX, WARNING_TX

call

call
CAN-specific characteristics can be set

transmission
CAN-specific characteristics can be set

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Lists all emergency messages that have been received by the controller from other nodes in the

ifm function elements ifm libraries for the device CR0403

>

5.1.3 Library ifm_CANopen_NT_Vxxyyzz.LIB

This ifm library contains the following function blocks:

Function element Short description

CANOPEN_ENABLE (→ page 93) Initialises the indicated CANopen master interface

CANOPEN_GETBUFFERFLAGS (→ page 95) = CANopen get buffer flags

CANOPEN_GETEMCYMESSAGES (→ page 132) = Get CANopen emergency messages

CANOPEN_GETERRORREGISTER (→ page 134) = Get CANopen error register

CANOPEN_GETGUARDHBERRLIST (→ page 128) = get CANopen guard and heartbeat error list

CANOPEN_GETGUARDHBSTATSLV (→ page 129) = CANopen slave get guard and heartbeat state

CANOPEN_GETNMTSTATESLAVE (→ page 102) = CANopen slave get network management state

CANOPEN_GETODCHANGEDFLAG (→ page 106) = Get object directory changed flag

CANOPEN_GETSTATE (→ page 97) = CANopen set state

CANOPEN_GETSYNCSTATE (→ page 124) = CANopen get SYNC state

CANOPEN_NMTSERVICES (→ page 103) = CANopen network management services

CANOPEN_READOBJECTDICT (→ page 107) = CANopen read object directory

CANOPEN_SDOREAD (→ page 111) = CANopen read SDO

CANOPEN_SDOREADBLOCK (→ page 113) = CANopen read SDO block

CANOPEN_SDOREADMULTI (→ page 115) = CANopen read SDO multi

CANOPEN_SDOWRITE (→ page 117) = SDO write

CANOPEN_SDOWRITEBLOCK (→ page 119) = CANopen write SDO block

CANOPEN_SDOWRITEMULTI (→ page 121) = CANopen write SDO multi

CANOPEN_SENDEMCYMESSAGE (→ page 135) = CANopen send emergency message

Configures the CAN baud rate

Provides information on the buffer flags
The flags can be reset via the optional inputs.

network since the last deletion of messages
The list can be reset by setting the according input.

Reads the error registers 0x1001 and 0x1003 from the controller
The registers can be reset by setting the respective inputs.

Lists all nodes in an array for which the master has detected an error:
guarding error, heartbeat error
The list can be reset by setting the according input.

Signals the following states to the controller in slave operation:
node guarding monitoring, heartbeat monitoring
The signalled errors can be reset by setting the respective input.

Signals the network operating status of the node

Reports any change of value for a particular object directory entry

Request the parameters of the master, a slave device or a specific node in the network

• Reads the setting of the SYNC functionality (active / not active),

• reads the error state of the SYNC functionality (SyncError)

Updates the internal node status
and, depending on the NMT command entries:

• triggers an NMT command or

• triggers the initialisation of a node

Reads configuration data from the object directory of the device

Reads an "Expedited SDO" = Expedited Service Data Object

Reads the indicated entry in the object directory of a node in the network via SDO block transfer

Reads the indicated entry in the object directory of a node in the network

Writes an "Expedited SDO" = Expedited Service Data Object

Writes in the indicated entry in the object directory of a node in the network via SDO block

transfer

Writes in the indicated entry in the object directory of a node in the network

Sends an EMCY message. The message is assembled from the according parameters and

entered in register 0x1003

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Function element Short description

CANOPEN_SETSTATE (→ page 99) = CANopen set state

Set the parameters of the master, a slave device or a specific node in the network

CANOPEN_SETSYNCSTATE (→ page 126) = CANopen set SYNC state

Switch the SYNC functionality on and off

CANOPEN_WRITEOBJECTDICT (→ page 108) = CANopen write object directory

Writes configuration data into the object directory of the device

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ifm function elements ifm libraries for the device CR0403

>

5.1.4 Library ifm_J1939_NT_Vxxyyzz.LIB

This ifm library contains the following function blocks:

Function element Short description

J1939_DM1RX (→ page 161) J1939 Diagnostic Message 1 RX

J1939_DM1TX (→ page 163) J1939 Diagnostic Message 1 TX

J1939_DM1TX_CFG (→ page 166) J1939 Diagnostic Message 1 TX configurable

J1939_DM3TX (→ page 167) J1939 Diagnostic Message 3 TX

J1939_ENABLE (→ page 138) Initialises the J1939 stack

J1939_GETDABYNAME (→ page 140) = Get destination arbitrary name

J1939_NAME (→ page 142) Give the device a name for identification in the network

J1939_RX (→ page 149) Receives a single frame message

J1939_RX_FIFO (→ page 150) = J1939 RX with FIFO

J1939_RX_MULTI (→ page 151) = J1939 RX multiframe message

J1939_SPEC_REQ (→ page 146) = J1939 specific request

J1939_SPEC_REQ_MULTI (→ page 147) = J1939 specific request multiframe message

J1939_STATUS (→ page 144) Shows relevant information on the J1939 stack

J1939_TX (→ page 153) Sends individual single frame messages

J1939_TX_ENH (→ page 154) = J1939 TX enhanced

J1939_TX_ENH_CYCLIC (→ page 156) = J1939 TX enhanced cyclic

J1939_TX_ENH_MULTI (→ page 158) = J1939 TX enhanced Multiframe Message

Receives diagnostic messages DM1 or DM2 from other ECUs

Transmit an active error message to the CAN stack

CAN stack does not send cyclic DM1 "zero active faults" messages

Deletes inactive DTCs (DM2) on a device

Determine the target address of one or several participants by means of the name information

Shows the message last read on the CAN bus

Receives all specific messages and successively reads them from a FiFo

Receives multiframe messages

Requests and receives a specific message from another controller

Requests and receives a specific multiframe message from another controller

Sends individual single frame messages
Can also be set: transmission priority, data length

Cyclically sends single frame messages
Can also be set: transmission priority, data length, period

Sends individual multiframe messages

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Function elements: system ................................................................................................................ 184

ifm function elements ifm function elements for the device CR0403

>

5.2 ifm function elements for the device CR0403

Function element outputs .................................................................................................................... 65

Function elements: RAW-CAN (Layer 2) ............................................................................................ 66

Function elements: CANopen ............................................................................................................. 92

Function elements: SAE J1939 ......................................................................................................... 137

Function elements: processing input values ..................................................................................... 168

Function elements: output functions .................................................................................................. 177

13988

3826

Here you will find the description of the ifm function elements suitable for this device, sorted by topic.

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>

5.2.1 Function element outputs

Some function elements return a RESULT message.

Possible results for RESULT:

Value

dec | hex

0 00 FB is inactive

1...31 Global return values; examples:

1 01 FB execution completed without error – data is valid

4 04 FB is being processed – data is cyclically processed

5 05 FB is being processed – still receiving

6 06 FB is being processed – still sending

7 07 FB is being processed – remote for ID active

8 08 function block is active

14 0E FB is active

15 0F FB is active

3210...63 FB specific return values

6410…127 FB specific error messages

12810...255 Global error messages; examples:

238 EE Error: CANopen configuration is too large and cannot be started

239 EF Error: CANopen manager could not be started

240 F0 Error: several modal inputs are active

241 F1 Error: CANopen state transition is not permitted

242 F2 Error: setting is not possible

247 F7 Error: memory exceeded (length larger than array)

250 FA Error: FiFo is full – data was lost

252 FC Error: CAN multiframe transmission failed

253 FD Error: CAN transmission failed.

255 FF Error: not enough memory available for the consuming multiframe

Description

CANopen manager configures devices and sends SDOs

CANopen manager is started

e.g. CANopen NTM services

Data cannot be sent.

8354
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Function elements: RAW-CAN remote................................................................................................ 88

CAN_STATUS ..................................................................................................................................... 70

ifm function elements ifm function elements for the device CR0403

>

5.2.2 Function elements: RAW-CAN (Layer 2)

Function elements: RAW-CAN status ................................................................................................. 66

Function elements: receive RAW-CAN data ....................................................................................... 72

Function elements: transmit RAW-CAN data ...................................................................................... 82

Here we describe the RAW-CAN function blocks (CAN Layer 2) of ifm electronic to be used in the
application program.

>

Function elements: RAW-CAN status

CAN_ENABLE ..................................................................................................................................... 67

CAN_RECOVER ................................................................................................................................. 68

CAN_SETDOWNLOADID ................................................................................................................... 69

15051

15049

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Parameter

Data type

Description
Parameter

Data type

Description

ifm function elements ifm function elements for the device CR0403

>

CAN_ENABLE

Unit type = function block (FB)

Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

7492

>

Description

With CAN_ENABLE the CAN hardware is initialised. Without this call no other calls are possible in
RAW-CAN or they return an error.

In order to change the baud rate the following procedure is required:
► Maintain the function block on ENABLE=FALSE for the duration of one cycle.

> All protocols are reset.
> Re-initialisation of the CAN interface and the CAN protocols running on it. Any information

available for cyclical transmission is lost as well and must be newly created.

> At renewed ENABLE=TRUE, the new baud rate is adopted.

>

Parameters of the inputs

ENABLE BOOL := FALSE TRUE: enable CAN interface

FALSE: disable CAN interface

CHANNEL BYTE CAN interface (1...n) depending on the device

BAUDRATE WORD := 250 Baudrate [kbits/s]

>

Permissible = 20, 50, 100, 125, 250, 500, 1000

7494

7495

Parameters of the outputs

RESULT BYTE feedback of the function block

(possible messages → following table)

Possible results for RESULT:

Value

dec | hex

0 00 FB is inactive

1 01 FB execution completed without error – data is valid

8 08 function block is active

9 09 CAN is not active

242 F2 Error: setting is not possible

Description

67

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Parameter

Data type

Description

ifm function elements ifm function elements for the device CR0403

>

CAN_RECOVER

Unit type = function block (FB)

Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

7512

>

Description

7513

CAN_RECOVER has the following tasks:

• to activate / deactivate the automatic bus off handling

• to restart the CAN interface in case of bus off

> In case of bus off: CAN Controller deletes all buffers (including the buffers of the other protocols).

If CAN_RECOVER is not used (ENABLE=FALSE):

> in case of a bus off a recovery attempt is automatically made after 1 s.
> after 4 failed recovery attempts in a row the affected CAN interface is deactivated.

>

Parameters of the inputs

7514

ENABLE BOOL := FALSE TRUE: No automatic recovery after CAN bus off

FALSE: Automatic recovery after CAN bus off

CHANNEL BYTE CAN interface (1...n) depending on the device

RECOVER_EXECUTE BOOL TRUE (only for 1 cycle):

InhibitTime

(optional use of the parameter)

TIME := T#1s Waiting time between bus off and restart of the CAN interface

restart of CAN interface
remedy bus off condition

FALSE: function element is not executed

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Parameter

Data type

Description
Parameter

Data type

Description

ifm function elements ifm function elements for the device CR0403

>

CAN_SETDOWNLOADID

= Set download ID
Unit type = function block (FB)

Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

7516

>

Description

The download ID is required for data exchange when connecting the runtime system and the
CODESYS development environment. When the device is started the download ID is set with the
default value from the hardware configuration.

With CAN_SETDOWNLOADID this value can be set in the PLC program (e.g. using certain inputs).
The changed ID is also written into the hardware configuration.

>

Parameters of the inputs

EXECUTE BOOL := FALSE FALSE  TRUE (edge):

CHANNEL BYTE CAN interface (1...n) depending on the device

DOWNLOAD_ID BYTE 1...127 = set download ID

>

execute function element once

otherwise: function element is not active
A function element already started is processed.

0 = read download ID

Parameters of the outputs

7517

7519

7520

RESULT BYTE feedback of the function block

(possible messages → following table)

Possible results for RESULT:

Value

dec | hex

0 00 FB is inactive

1 01 function block execution completed without error

8 08 function block is active

242 F2 Error: setting is not possible

Description

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Parameter

Data type

Description

ifm function elements ifm function elements for the device CR0403

>

CAN_STATUS

Unit type = function block (FB)

Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

7499

>

Description

CAN_STATUS provides information on the chosen CAN bus.
Without hardware initialisation the following flags can be reset to FALSE:

- BUSOFF

- WARNING_RX

- WARNING_TX

>

Parameters of the inputs

ENABLE BOOL := FALSE TRUE: execute this function element

FALSE: unit is not executed

> Function block inputs are not active
> Function block outputs are not specified

CHANNEL BYTE CAN interface (1...n) depending on the device

CLEAR BOOL := FALSE TRUE: Reset the following flags:

• WARNING_RX

• WARNING_TX

• BUSOFF
FALSE: function element is not executed

7501

7502

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Parameter

Data type

Description

ifm function elements ifm function elements for the device CR0403

>

Parameters of the outputs

BAUDRATE WORD current baudrate of the CANopen node in [kBaud]

DOWNLOAD_ID BYTE current download ID

BUSOFF BOOL Error CAN BUS OFF at the interface

WARNING_RX BOOL Warning threshold for receiving is exceeded at the interface

WARNING_TX BOOL Warning threshold for transmitting is exceeded at the interface

VERSION DWORD Version of the ifm CAN stack library

BUSLOAD BYTE Current bus load in [%]

RESULT BYTE feedback of the function block

(possible messages → following table)

Possible results for RESULT:

Value

dec | hex

0 00 FB is inactive

1 01 function block execution completed without error

8 08 function block is active

9 09 CAN is not active

242 F2 Error: setting is not possible

Description

7504

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CAN_RX_RANGE_FIFO ..................................................................................................................... 80

ifm function elements ifm function elements for the device CR0403

>

Function elements: receive RAW-CAN data

CAN_RX .............................................................................................................................................. 73

CAN_RX_ENH .................................................................................................................................... 74

CAN_RX_ENH_FIFO .......................................................................................................................... 76

CAN_RX_RANGE ............................................................................................................................... 78

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Parameter

Data type

Description

BOOL

TRUE: execute this function element

Parameter

Data type

Description

ifm function elements ifm function elements for the device CR0403

>

CAN_RX

Unit type = function block (FB)

Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

7586

>

Description

7588

CAN_RX is used for receiving a message.
The FB limits itself to a few functions and the required memory space is low.

CAN_RX filters for the set identifier. If several CAN messages with the same identifier are received in
one cycle, only the last / latest message is available.

>

Parameters of the inputs

7589

ENABLE

FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified

CHANNEL BYTE CAN interface (1...n) depending on the device

ID DWORD Number of the data object identifier:

normal frame (2

0...2 047 = 0x0000 0000...0x0000 07FF

Extended Frame (2

>

2 048...536 870 911 = 0x0000 0800...0x1FFF FFFF

11

IDs):

29

IDs):

Parameters of the outputs

7590

DATA ARRAY [0..7] OF BYTE received data, (1...8 bytes)

RESULT BYTE feedback of the function block

Possible results for RESULT:

Value

dec | hex

0 00 FB is inactive

1 01 function block execution completed without error

5 05 FB is being processed – still receiving

9 09 CAN is not active

242 F2 Error: setting is not possible

(possible messages → following table)

Description

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Parameter

Data type

Description

BOOL

TRUE: execute this function element

ifm function elements ifm function elements for the device CR0403

>

CAN_RX_ENH

= CAN RX enhanced
Unit type = function block (FB)

Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

7606

>

Description

In addition, CAN_RX_ENH provides the following possibilities (as opposed to CAN_RX (→ page 73)):

• select the frame type (11 or 29 bits),

• define a mask for the evaluation of the CAN ID.

Bit comparison of
ID and mask:

If ID_MASK-Bit = 0, then CAN-ID-Bit may be = 0 or 1.
If ID_MASK-Bit = 1, then CAN-ID-Bit must be = ID-Bit.

With the mask several identifiers can be defined as filters.
Example:

ID =

0x100 = 0b0001 0000 0000

ID_MASK = 0x1F1 = 0b0001 1111 0001

Result The CAN IDs with the following bit pattern are evaluated:

0bxxx1 0000 xxx0 (x = any), i.e. for this example (all in [hex]):

100, 102, 104, 106, 108, 10A, 10C, 10E,
300, 302, 304, 306, 308, 30A, 30C, 30E,
500, 502, 504, 506, 508, 50A, 50C, 50E,

>

700, 702, 704, 706, 708, 70A, 70C, 70E

Parameters of the inputs

7608

7609

ENABLE

CHANNEL BYTE CAN interface (1...n) depending on the device

ID DWORD Number of the data object identifier:

Extended

(optional use of the parameter)

ID_Mask
(optional use of the parameter)

FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified

normal frame (2

0...2 047 = 0x0000 0000...0x0000 07FF

Extended Frame (2

11

IDs):

29

IDs):

0...536 870 911 = 0x0000 0000...0x1FFF FFFF

BOOL := FALSE TRUE: Extended Frame (ID = 0...229-1)

FALSE: Normal Frame (ID = 0...2

11

-1)

DWORD := 0 filter mask for the identifier:

if ID_MASK bit = 0, CAN ID bit may be = 0 or 1
if ID_MASK bit = 1, CAN ID bit must be = ID bit

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Parameter

Data type

Description

ifm function elements ifm function elements for the device CR0403

>

Parameters of the outputs

MATCHED_ID DWORD number of the data object identifier

DATALENGTHCOUNT BYTE = Data Length Count

number of the data bytes received

DATA ARRAY [0..7] OF BYTE received data, (1...8 bytes)

RESULT BYTE feedback of the function block

(possible messages → following table)

Possible results for RESULT:

Value

dec | hex

0 00 FB is inactive

1 01 function block execution completed without error

5 05 FB is being processed – still receiving

9 09 CAN is not active

242 F2 Error: setting is not possible

Description

7613

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Parameter

Data type

Description

BOOL

TRUE: execute this function element

ifm function elements ifm function elements for the device CR0403

>

CAN_RX_ENH_FIFO

= CAN RX enhanced with FiFo
Unit type = function block (FB)

Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

7615

>

Description

In addition, CAN_RX_ENH_FIFO provides a FiFo for the received data (as opposed to CAN_RX_ENH
(→ page 74)). Thus several CAN messages can be received in one cycle.

No overwriting takes place when the FiFo is full. Inbound messages will be lost.

In this event:
► Deactivate and reactive the FB via ENABLE.
> The FiFo is deleted and can be newly filled.

>

Parameters of the inputs

ENABLE

CHANNEL BYTE CAN interface (1...n) depending on the device

ID DWORD Number of the data object identifier:

Extended

BOOL := FALSE TRUE: Extended Frame (ID = 0...229-1)

(optional use of the parameter)

ID_Mask

DWORD := 0 filter mask for the identifier:

(optional use of the parameter)

FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified

normal frame (2

0...2 047 = 0x0000 0000...0x0000 07FF

Extended Frame (2

11

IDs):

29

IDs):

0...536 870 911 = 0x0000 0000...0x1FFF FFFF

FALSE: Normal Frame (ID = 0...2

11

-1)

if ID_MASK bit = 0, CAN ID bit may be = 0 or 1
if ID_MASK bit = 1, CAN ID bit must be = ID bit

7616

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Parameter

Data type

Description

ifm function elements ifm function elements for the device CR0403

>

Parameters of the outputs

MATCHED_ID DWORD number of the data object identifier

DATALENGTHCOUNT BYTE = Data Length Count

number of the data bytes received

DATA ARRAY [0..7] OF BYTE received data, (1...8 bytes)

MORE_DATA_AVAILABLE BOOL TRUE: further received data available in the FiFo

FALSE: no further data available in the FiFo

RESULT BYTE feedback of the function block

(possible messages → following table)

Possible results for RESULT:

Value

dec | hex

0 00 FB is inactive

1 01 function block execution completed without error

5 05 FB is being processed – still receiving

9 09 CAN is not active

242 F2 Error: setting is not possible

250 FA Error: FiFo is full – data was lost

Description

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Parameter

Data type

Description

BOOL

TRUE: execute this function element

ifm function elements ifm function elements for the device CR0403

>

CAN_RX_RANGE

Unit type = function block (FB)

Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

7592

>

Description

7594

CAN_RX_RANGE provides the following settings:

• select the message type (11 or 29 bits),

• define an identifier range.

CAN_RX filters for the set identifier. If several CAN messages with the same identifier are received in
one cycle, only the last / latest message is available.

>

Parameters of the inputs

7595

ENABLE

CHANNEL BYTE CAN interface (1...n) depending on the device

ID_START DWORD start number of the data object identifier range:

ID_STOP DWORD end number of the data object identifier range:

Extended

BOOL := FALSE TRUE: Extended Frame (ID = 0...229-1)

(optional use of the parameter)

FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified

normal frame (2

0...2 047 = 0x0000 0000...0x0000 07FF
extended frame (2

11

):

29

):

0...536 870 911 = 0x0000 0000...0x1FFF FFFF

normal frame (2

0...2 047 = 0x0000 0000...0x0000 07FF
extended frame (2

11

):

29

):

0...536 870 911 = 0x0000 0000...0x1FFF FFFF

FALSE: Normal Frame (ID = 0...2

11

-1)

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Parameter

Data type

Description

ifm function elements ifm function elements for the device CR0403

>

Parameters of the outputs

7598

ID DWORD Number of the data object identifier:

normal frame (2

0...2 047 = 0x0000 0000...0x0000 07FF

Extended Frame (2

11

IDs):

29

IDs):

2 048...536 870 911 = 0x0000 0800...0x1FFF FFFF

DATALENGTHCOUNT BYTE = Data Length Count

number of the data bytes received

DATA ARRAY [0..7] OF BYTE received data, (1...8 bytes)

RESULT BYTE feedback of the function block

(possible messages → following table)

Possible results for RESULT:

Value

dec | hex

0 00 FB is inactive

1 01 function block execution completed without error

5 05 FB is being processed – still receiving

9 09 CAN is not active

242 F2 Error: setting is not possible

Description

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Parameter

Data type

Description

BOOL

TRUE: execute this function element

ifm function elements ifm function elements for the device CR0403

>

CAN_RX_RANGE_FIFO

= CAN RX range with FiFo
Unit type = function block (FB)

Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

7601

>

Description

CAN_RX_RANGE_FIFO basically works like CAN_RX_RANGE (→ page 78).

In addition, CAN_RX_RANGE_FIFO provides a FiFo for the received data. Thus several CAN
messages can be received in one cycle.

No overwriting takes place when the FiFo is full. Inbound messages will be lost.

In this event:
► Use ENABLE to deactivate and reactivate the function.
> The FiFo is deleted and can be newly filled.

>

Parameters of the inputs

ENABLE

CHANNEL BYTE CAN interface (1...n) depending on the device

ID_START DWORD start number of the data object identifier range:

ID_STOP DWORD end number of the data object identifier range:

Extended

BOOL := FALSE TRUE: Extended Frame (ID = 0...229-1)

(optional use of the parameter)

FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified

normal frame (2

0...2 047 = 0x0000 0000...0x0000 07FF
extended frame (2

11

):

29

):

0...536 870 911 = 0x0000 0000...0x1FFF FFFF

normal frame (2

0...2 047 = 0x0000 0000...0x0000 07FF
extended frame (2

11

):

29

):

0...536 870 911 = 0x0000 0000...0x1FFF FFFF

FALSE: Normal Frame (ID = 0...2

11

-1)

7603

7595

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Parameter

Data type

Description

ifm function elements ifm function elements for the device CR0403

>

Parameters of the outputs

7604

ID DWORD Number of the data object identifier:

normal frame (2

0...2 047 = 0x0000 0000...0x0000 07FF

Extended Frame (2

11

IDs):

29

IDs):

2 048...536 870 911 = 0x0000 0800...0x1FFF FFFF

DATALENGTHCOUNT BYTE = Data Length Count

number of the data bytes received

DATA ARRAY [0..7] OF BYTE received data, (1...8 bytes)

MORE_DATA_AVAILABLE BOOL TRUE: further received data available in the FiFo

FALSE: no further data available in the FiFo

RESULT BYTE feedback of the function block

(possible messages → following table)

Possible results for RESULT:

Value

dec | hex

0 00 FB is inactive

1 01 function block execution completed without error

5 05 FB is being processed – still receiving

9 09 CAN is not active

242 F2 Error: setting is not possible

250 FA Error: FiFo is full – data was lost

Description

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CAN_TX_ENH_CYCLIC ..................................................................................................................... 86

ifm function elements ifm function elements for the device CR0403

>

Function elements: transmit RAW-CAN data

CAN_TX .............................................................................................................................................. 83

CAN_TX_ENH ..................................................................................................................................... 84

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Parameter

Data type

Description

BOOL

TRUE: execute this function element

Parameter

Data type

Description

ifm function elements ifm function elements for the device CR0403

>

CAN_TX

Unit type = function block (FB)

Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

7522

>

Description

7523

CAN_TX sends a standard message per cycle.
The FB limits itself to a few functions and the required memory space is low.

> If an instance of this FB is called several times during a cycle, the data is also sent several times.
In case of the simple functions CAN_TX and CAN_RX, it is determined by means of the ID whether a

standard or an extended frame is to be sent. With the enhanced versions this is set via the input
EXTENDED. Therefore, extended frames in the ID area 0...2047 cannot be sent via the easy
functions.

>

Parameters of the inputs

7524

ENABLE

CHANNEL BYTE CAN interface (1...n) depending on the device

ID DWORD Number of the data object identifier:

DATA ARRAY [0..7] OF BYTE data to be sent (1...8 bytes)

>

FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified

normal frame (2

0...2 047 = 0x0000 0000...0x0000 07FF

Extended Frame (2

11

IDs):

29

IDs):

2 048...536 870 911 = 0x0000 0800...0x1FFF FFFF

Parameters of the outputs

RESULT BYTE feedback of the function block

Possible results for RESULT:

Value

dec | hex

0 00 FB is inactive

1 01 function block execution completed without error

242 F2 Error: setting is not possible

250 FA Error: FiFo is full – data was lost

7527

(possible messages → following table)

Description

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Parameter

Data type

Description

ifm function elements ifm function elements for the device CR0403

>

CAN_TX_ENH

= CAN TX enhanced
Unit type = function block (FB)

Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

7558

>

Description

7559

Additional setting options are offered through CAN_TX_ENH (for: enhanced). Here, all CAN specific
characteristics can be set individually, e.g.:

• Is it an 11 or a 29 bit identifier?

• The additional inputs can be preset so that CAN_TX (→ page 83) is not required.

> If an instance of this FB is called several times during a cycle, the data is also sent several times.

>

Parameters of the inputs

7634

ENABLE BOOL FALSE  TRUE (edge):

CHANNEL BYTE CAN interface (1...n) depending on the device

ID DWORD Number of the data object identifier:

Extended

BOOL := FALSE TRUE: Extended Frame (ID = 0...229-1)

(optional use of the parameter)

DATALENGTHCODE BYTE = Data Length Code

DATA ARRAY [0..7] OF BYTE data to be sent (1...8 bytes)

Initialise block (only 1 cycle)
> Read block inputs

TRUE: execute this function element
FALSE: unit is not executed

> Function block inputs are not active
> Function block outputs are not specified

normal frame (2

0...2 047 = 0x0000 0000...0x0000 07FF

Extended Frame (2

11

IDs):

29

IDs):

0...536 870 911 = 0x0000 0000...0x1FFF FFFF

FALSE: Normal Frame (ID = 0...2

11

-1)

number of the data bytes to be sent (0...8)

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Parameter

Data type

Description

ifm function elements ifm function elements for the device CR0403

>

Parameters of the outputs

7527

RESULT BYTE feedback of the function block

(possible messages → following table)

Possible results for RESULT:

Value

dec | hex

0 00 FB is inactive

1 01 function block execution completed without error

242 F2 Error: setting is not possible

250 FA Error: FiFo is full – data was lost

Description

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ifm Programming Manual ecomatmobile BasicController (CR0403) Runtime System V03.02 2015-04-01

Parameter

Data type

Description

BOOL

TRUE: execute this function element

ifm function elements ifm function elements for the device CR0403

>

CAN_TX_ENH_CYCLIC

= CAN TX enhanced cyclic
Unit type = function block (FB)

Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

7568

>

Description

CAN_TX_ENH_CYCLIC serves for cyclical transmitting of CAN messages.
Otherwise, the FB corresponds to CAN_TX_ENH (→ page 84).
► Set the period duration via the parameter PERIOD.

If a period is too short, this could lead to a high bus load which could affect the performance of the

complete system.

>

Parameters of the inputs

ENABLE

CHANNEL BYTE CAN interface (1...n) depending on the device

ID DWORD Number of the data object identifier:

Extended

BOOL := FALSE TRUE: Extended Frame (ID = 0...229-1)

(optional use of the parameter)

DataLengthCode

BYTE := 8 length of the data to be sent (0...8 bytes)

(optional use of the parameter)

DATA ARRAY [0..7] OF BYTE data to be sent (1...8 bytes)

PERIOD TIME period duration

FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified

normal frame (2

0...2 047 = 0x0000 0000...0x0000 07FF

Extended Frame (2

11

IDs):

29

IDs):

0...536 870 911 = 0x0000 0000...0x1FFF FFFF

FALSE: Normal Frame (ID = 0...2

11

-1)

7569

7582

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Parameter

Data type

Description

ifm function elements ifm function elements for the device CR0403

>

Parameters of the outputs

7510

RESULT BYTE feedback of the function block

(possible messages → following table)

Possible results for RESULT:

Value

dec | hex

0 00 FB is inactive

8 08 function block is active

9 09 CAN is not active

250 FA Error: FiFo is full – data was lost

Description

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CAN_REMOTE_RESPONSE ............................................................................................................. 90

ifm function elements ifm function elements for the device CR0403

>

Function elements: RAW-CAN remote

CAN_REMOTE_REQUEST ................................................................................................................ 89

15057

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Parameter

Data type

Description
Parameter

Data type

Description

ifm function elements ifm function elements for the device CR0403

>

CAN_REMOTE_REQUEST

Unit type = function block (FB)

Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

7625

>

Description

In order to request a remote message, an according requirement is dispatched via
CAN_REMOTE_REQUEST and the response of the other device is sent back as result.

>

Parameters of the inputs

EXECUTE BOOL := FALSE FALSE  TRUE (edge):

CHANNEL BYTE CAN interface (1...n) depending on the device

ID DWORD Number of the data object identifier:

Extended

BOOL := FALSE TRUE: Extended Frame (ID = 0...229-1)

(optional use of the parameter)

>

execute function element once

otherwise: function element is not active
A function element already started is processed.

normal frame (2

0...2 047 = 0x0000 0000...0x0000 07FF

Extended Frame (2

11

IDs):

29

IDs):

0...536 870 911 = 0x0000 0000...0x1FFF FFFF

FALSE: Normal Frame (ID = 0...2

11

-1)

Parameters of the outputs

7627

7628

7629

DATALENGTHCOUNT BYTE = Data Length Count

number of the data bytes received

DATA ARRAY [0..7] OF BYTE received data, (1...8 bytes)

RESULT BYTE feedback of the function block

(possible messages → following table)

Possible results for RESULT:

Value

dec | hex

0 00 FB is inactive

1 01 function block execution completed without error

5 05 FB is being processed – still receiving

9 09 CAN is not active

242 F2 Error: setting is not possible

Description

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Parameter

Data type

Description

ifm function elements ifm function elements for the device CR0403

>

CAN_REMOTE_RESPONSE

Unit type = function block (FB)

Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

7631

>

Description

7633

CAN_REMOTE_RESPONSE provides data to the CAN controller in the device which is automatically
sent upon the request of a remote message.

This FB strongly depends on the device type. Only a limited number of remote messages can be set
up:

BasicController: CR040n, CR041n, CR043n
BasicDisplay: CR045n

PDM360 NG: CR108n max. 100 remote messages

>

max. 40 remote messages

Parameters of the inputs

7634

ENABLE BOOL FALSE  TRUE (edge):

CHANNEL BYTE CAN interface (1...n) depending on the device

ID DWORD Number of the data object identifier:

Extended

BOOL := FALSE TRUE: Extended Frame (ID = 0...229-1)

(optional use of the parameter)

DATALENGTHCODE BYTE = Data Length Code

DATA ARRAY [0..7] OF BYTE data to be sent (1...8 bytes)

Initialise block (only 1 cycle)
> Read block inputs

TRUE: execute this function element
FALSE: unit is not executed

> Function block inputs are not active
> Function block outputs are not specified

normal frame (2

0...2 047 = 0x0000 0000...0x0000 07FF

Extended Frame (2

11

IDs):

29

IDs):

0...536 870 911 = 0x0000 0000...0x1FFF FFFF

FALSE: Normal Frame (ID = 0...2

11

-1)

number of the data bytes to be sent (0...8)

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Parameter

Data type

Description

ifm function elements ifm function elements for the device CR0403

>

Parameters of the outputs

7636

RESULT BYTE feedback of the function block

(possible messages → following table)

Possible results for RESULT:

Value

dec | hex

0 00 FB is inactive

6 06 FB is being processed – remote for ID not active

7 07 FB is being processed – remote for ID active

Description

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Function elements: CANopen emergency ........................................................................................ 131

CANOPEN_SETSTATE ...................................................................................................................... 99

ifm function elements ifm function elements for the device CR0403

>

5.2.3 Function elements: CANopen

Function elements: CANopen status ................................................................................................... 92

Function elements: CANopen network management ........................................................................ 101

Function elements: CANopen object directory .................................................................................. 105

Function elements: CANopen SDOs ................................................................................................. 110

Function elements: CANopen SYNC ................................................................................................ 123

Function elements: CANopen guarding ............................................................................................ 127

For CANopen, ifm electronic provides a number of function elements which will be explained in the
following.

>

Function elements: CANopen status

CANOPEN_ENABLE........................................................................................................................... 93

CANOPEN_GETBUFFERFLAGS ....................................................................................................... 95

CANOPEN_GETSTATE ...................................................................................................................... 97

15059

15061

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Parameter

Data type

Description

ifm function elements ifm function elements for the device CR0403

>

CANOPEN_ENABLE

Unit type = function block (FB)

Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

7785

>

Description

CANOPEN_ENABLE allows to switch the CANopen master on or off.

► In the application program always call an own instance of the FB CANOPEN_ENABLE

(→ page 93) for every CAN interface!

To avoid guarding or heartbeat errors the nodes must be "shut down" via an appropriate sequence

first.

If the master is restarted after a stop, all other connected nodes also have to be re-initialised.
Without CANOPEN_ENABLE, the CANopen master is started automatically, as far as this has been

selected in the configuration.
The configured baud rate is only adopted if CAN_ENABLE (→ page 67) has not been activated before.

>

Parameters of the inputs

ENABLE BOOL := TRUE TRUE:

CHANNEL BYTE CAN interface (1...n) depending on the device

Baud rate

WORD := 0 Baud rate [kbits/s]

(optional use of the parameter)

• Enable CANopen for the selected channel

• Start CANopen manager or CANopen device according to the

configuration settings

FALSE:

• Disable CANopen for the selected channel

• Terminate CANopen manager or CANopen device

permissible values = 20, 50, 100, 125, 250, 500, 800, 1 000

0 = use setting from the PLC configuration

7787

7788

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ifm function elements ifm function elements for the device CR0403

>

Parameters of the outputs

Parameters Data type Description

RESULT BYTE feedback of the function block

(possible messages → following table)

Possible results for RESULT:

Value

dec | hex

0 00 FB is inactive

1 01 function block execution completed without error

14 0E FB is active

15 0F FB is active

238 EE Error: CANopen configuration is too large and cannot be started

239 EF Error: CANopen manager could not be started

242 F2 Error: setting is not possible

Description

CANopen manager configures devices and sends SDOs

CANopen manager is started

7789

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Parameter

Data type

Description

ifm function elements ifm function elements for the device CR0403

>

CANOPEN_GETBUFFERFLAGS

= Get buffer flags
Unit type = function block (FB)

Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

7890

>

Description

CANOPEN_GETBUFFERFLAGS supplies information on the buffer flags.
The flags can be reset via the optional inputs.
The function block returns the state of the overflow flags.

>

Parameters of the inputs

EXECUTE BOOL := FALSE FALSE  TRUE (edge):

CHANNEL BYTE CAN interface (1...n) depending on the device

ResetRXFlags

BOOL := FALSE TRUE: Provide fag status at the output and

(optional use of the parameter)

ResetTXFlags

BOOL := FALSE TRUE: Provide flag status at the output and

(optional use of the parameter)

execute function element once

otherwise: function element is not active
A function element already started is processed.

then reset
FALSE: function element is not executed

then reset
FALSE: function element is not executed

7892

7893

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Parameter

Data type

Description

ifm function elements ifm function elements for the device CR0403

>

Parameters of the outputs

RXOVFL BOOL condition of the RX overflow flag

TRUE: overflow in the receive buffer
FALSE: no overflow in receive buffer

RXWARN BOOL condition of the RX overflow warning flag

TRUE: level in the receive buffer is critical
FALSE: level in the input buffer is uncritical

TXOVFL BOOL condition of the TX overflow flag

TRUE: overflow in the transmit buffer
FALSE: no overflow in transmit buffer

TXWARN BOOL Condition of the TX overflow warning flag

TRUE: Level in the transmit buffer is critical
FALSE: Level in the transmit buffer is uncritical

RESULT BYTE feedback of the function block

(possible messages → following table)

Possible results for RESULT:

Value

dec | hex

0 00 FB is inactive

1 01 function block execution completed without error

8 08 function block not yet executed

242 F2 Error: setting is not possible

Description

7894

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Parameter

Data type

Description

ifm function elements ifm function elements for the device CR0403

>

CANOPEN_GETSTATE

= Get state
Unit type = function block (FB)

Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

7865

>

Description

Via CANOPEN_GETSTATE, parameters of the master, a slave device or a specific node in the
network can be set.

>

Parameters of the inputs

EXECUTE BOOL := FALSE FALSE  TRUE (edge):

CHANNEL BYTE CAN interface (1...n) depending on the device

NODE BYTE Node ID = ID of the node (0...127)

execute function element once

otherwise: function element is not active
A function element already started is processed.

Device as CANopen master:

Value = 0:

Only the status information of the device itself is returned at the
outputs. The outputs with information on the nodes are invalid.

Value not 0:

Node ID of a node in the network. For this one as well as for the

device the states are returned at the outputs.

Device as CANopen slave:

Value = 0 (preset):
The status information of the slave is returned at the outputs.

Value not 0:
no action

7867

7868

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Parameter

Data type

Description

ording to CANopen (with these values the status is also

ifm function elements ifm function elements for the device CR0403

>

Parameters of the outputs

MASTERSTATE BYTE Master state = internal state of the master:

0 = 0x00 = master starts up
4 = 0x04 = node configuration running
5 = 0x05 = normal operating state of the master

255 = 0xFF = PLC running as slave

PLCNODEID BYTE PLC node ID = node ID of the PLC the program is running on

Value = 0...127 = 0x00...0x7F

PLCBAUDRATE DWORD Baudrate of the PLC

PLCVERSION DWORD PLC version

CANSTATE BYTE Status of the CANopen network

Device operated as master:

Node ID = 0 (device as such):
0 = 0x00 = OK
128 = 0x80 = BUSOFF

Node ID ≠ 0 (node):
0 = 0x00 = OK
1 = 0x01 = guard or heartbeat error on node
128 = 0x80 = BUSOFF

Device operated as slave:

0 = 0x00 = OK
1 = 0x01 = guard or heartbeat error

128 = 0x80 = BUSOFF

NODESTATE BYTE Node state = internal node state of a slave seen from the master's

perspective. The input NODEID identifies the node.

-1 = 0xFF = reset after ResetNode
1 = 0x01 = waiting for BOOTUP
2 = 0x02 = after receipt of the BOOTUP message
3 = 0x03 = not yet configured: STOPPED
4 = 0x04 = after configuration with SDOs: PRE-OPERATIONAL
5 = 0x05 = after starting the node: OPERATIONAL
97 = 0x61 = optional node
98 = 0x62 = other device type configured than in 0x1000
99 = 0x63 = node guarding

LASTNODESTATE BYTE Last Node State

Node state acc

coded in the corresponding messages with regard to the node).

0 0x00 BOOTUP

4 0x04 STOPPED

5 0x05 OPERATIONAL

127 0x7F PRE-OPERATIONAL

RESULT BYTE feedback of the function block

(possible messages → following table)

Possible results for RESULT:

Value

dec | hex

0 00 FB is inactive

1 01 FB execution completed without error – data is valid

8 08 FB is active – not yet processed

242 F2 Error: setting is not possible

Description

7869

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ifm function elements ifm function elements for the device CR0403

>

CANOPEN_SETSTATE

= Set state
Unit type = function block (FB)

Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

7858

>

Description

7860

Via CANOPEN_SETSTATE, parameters of the master, a slave device or a node in the network can be
set.

The treatment of the NMT state of master, node or device is carried out in the CAN stack or via the
commands of the FB CANOPEN_NMTSERVICES (→ page 103). At the same time admissibility checks are
carried out. For reasons of consistency no inputs are provided for this purpose.

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Parameter

Data type

Description

changed. The established settings are only adopted for this node (not

The function block adopts this value as the new node ID of the device.

Parameter

Data type

Description

ifm function elements ifm function elements for the device CR0403

>

Parameters of the inputs

7861

EXECUTE BOOL := FALSE FALSE  TRUE (edge):

execute function element once

otherwise: function element is not active
A function element already started is processed.

CHANNEL BYTE CAN interface (1...n) depending on the device

NODE BYTE Node ID = ID of the node (0...127)

Device as CANopen master:

Value = 0:
The changes only refer to the device itself.

Value not 0:

Node ID of a node in the network the parameters of which are to be

for the device).

Device as CANopen slave:
In slave mode, the node ID of the slave can be set via this input.

Value = 0:
no action

Value not 0:

GlobalStart
(optional use of the parameter)

BOOL := TRUE Requirement: FB must be called immediately after starting the IEC

program. This setting overwrites the setting of the configuration.
TRUE: Start all participants simultaneously
FALSE: Start all participants one after the other

CfgTimeout

(optional use of the parameter)

TIME := T#0ms set configuration timeout for a node:

Value = 0:
no action – retain configuration data

Value not 0:
overwrite data from the configuration with the new value

InitNoSdos
(optional use of the parameter)

>

BOOL := FALSE To the node indicated in NODE, during initialisation,...

TRUE: do not send configuration data
FALSE: send configured SDOs

Parameters of the outputs

RESULT BYTE feedback of the function block

Possible results for RESULT:

Value

dec | hex

0 00 FB is inactive

1 01 FB execution completed without error – data is valid

8 08 FB is active – not yet processed

242 F2 Error: setting is not possible

Description

7862

(possible messages → following table)

100