IFM Electronic CR0431, CR2050 Programming Manual

Download

Programming Manual

BasicController relay

CR0431

Runtime system V03.03.00

CODESYS® > v2.3.9.33 (< v3.0)

English

739

1039 / 02

05 / 2018

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

Contents

1 About this manual 4

1.1 Copyright .............................................................................................................................. 4

1.2 Overview: documentation modules for CR0431 .................................................................. 5

1.3 What do the symbols and formats mean? ........................................................................... 6

1.4 How is this documentation structured? ................................................................................ 7

1.5 History of the instructions (CR043n) .................................................................................. 7

2 Safety instructions 8

2.1 Please note .......................................................................................................................... 8

2.2 What previous knowledge is required? ................................................................................ 8

2.3 Start-up behaviour of the controller...................................................................................... 9

2.4 Notes: serial number ............................................................................................................ 9

3 System description 10

3.1 Information about the device ..............................................................................................10

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

3.2.1 Hardware structure ..................................................................................................................... 11

3.2.2 Inputs (technology) ..................................................................................................................... 14

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

3.2.4 Note on wiring ............................................................................................................................ 20

3.2.5 Safety instructions about Reed relays ........................................................................................ 20

3.2.6 Status-LED ................................................................................................................................. 21

3.3 Interface description ...........................................................................................................22

3.3.1 CAN interfaces ........................................................................................................................... 22

3.4 Software description ..........................................................................................................23

3.4.1 Software modules for the device ................................................................................................ 23

3.4.2 Programming notes for CODESYS projects ............................................................................... 26

3.4.3 Operating states ......................................................................................................................... 29

3.4.4 Performance limits of the device ................................................................................................ 31

4 Configurations 34

4.1 Set up the runtime system .................................................................................................34

4.1.1 Reinstall the runtime system ...................................................................................................... 35

4.1.2 Update the runtime system ......................................................................................................... 36

4.1.3 Verify the installation .................................................................................................................. 36

4.2 Set up the programming system ........................................................................................37

4.2.1 Set up the programming system manually ................................................................................. 37

4.2.2 Set up the programming system via templates ........................................................................... 41

4.3 Function configuration in general .......................................................................................41

4.3.1 System variables ........................................................................................................................ 41

4.4 Function configuration of the inputs and outputs ...............................................................42

4.4.1 Configuration of the inputs (default setting) ................................................................................ 42

4.4.2 Configure inputs ......................................................................................................................... 43

4.4.3 Configure outputs ....................................................................................................................... 48

4.5 Variables ............................................................................................................................50

4.5.1 Retain variables .......................................................................................................................... 51

4.5.2 Network variables ....................................................................................................................... 52

5 ifm function elements 53

5.1 ifm libraries for the device CR0431 ....................................................................................53

5.1.1 Library ifm_CR0431_V03yyzz.LIB .............................................................................................. 54

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

Contents

5.1.2 Library ifm_CR0431_util_V03yyzz.LIB ....................................................................................... 55

5.1.3 Library ifm_RAWCan_NT_Vxxyyzz.LIB...................................................................................... 55

5.1.4 Library ifm_CANopen_NT_Vxxyyzz.LIB ..................................................................................... 56

5.1.5 Library ifm_J1939_NT_Vxxyyzz.LIB ........................................................................................... 57

5.2 ifm function elements for the device CR0431 ....................................................................58

5.2.1 Function element outputs ........................................................................................................... 59

5.2.2 Function elements: RAW-CAN (Layer 2) ................................................................ .................... 60

5.2.3 Function elements: CANopen ..................................................................................................... 86

5.2.4 Function elements: SAE J1939 ................................................................................................ 132

5.2.5 Function elements: processing input values ............................................................................. 164

5.2.6 Function elements: output functions ......................................................................................... 175

5.2.7 Function elements: system ....................................................................................................... 182

6 Diagnosis and error handling 200

6.1 Diagnosis .........................................................................................................................200

6.2 Fault .................................................................................................................................200

6.3 Response to system errors ..............................................................................................200

6.3.1 Example process for response to an error message ................................................................ 201

6.4 CAN / CANopen: errors and error handling .....................................................................201

7 Appendix 202

7.1 System flags .....................................................................................................................202

7.1.1 System flags: voltages.............................................................................................................. 203

7.1.2 System flags: inputs and outputs .............................................................................................. 203

7.1.3 System flags: system ............................................................................................................... 203

7.2 Address assignment and I/O operating modes ................................................................204

7.2.1 Address assignment inputs / outputs ........................................................................................ 204

7.2.2 Possible operating modes inputs/outputs ................................................................................. 206

7.3 Error tables .......................................................................................................................208

7.3.1 Error flags ................................................................................................................................. 208

7.3.2 Errors: CAN / CANopen............................................................................................................ 208

8 Terms and abbreviations 210

9 Index 224

10 Notizen • Notes • Notes 228

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

About this manual Copyright

1 About this manual

Copyright .................................................................................................................................................. 4

Overview: documentation modules for CR0431 ....................................................................................... 5

What do the symbols and formats mean? ................................................................................................ 6

How is this documentation structured? .................................................................................................... 7

History of the instructions (CR043n) ...................................................................................................... 7

1.1 Copyright

6088

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™

• EtherCAT® is a registered trade mark and patented technology, licensed by Beckhoff Automation GmbH, Germany

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

• ISOBUS is the property of the AEF – Agricultural Industry Electronics Foundation e.V., Deutschland (→ www.aef-online.org)

• Microsoft® is the property of the Microsoft Corporation, USA (→ www.microsoft.com)

• Modbus® is the property of the Schneider Electric SE, France (→ www.schneider-electric.com)

• PROFIBUS® is the property of the PROFIBUS Nutzerorganisation e.V., Germany (→ www.profibus.com)

• PROFINET® is the property of the →PROFIBUS Nutzerorganisation e.V., Germany

• Windows® is the property of the →Microsoft Corporation, USA

202

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

About this manual Overview: documentation modules for CR0431

Document

Contents / Description

Data sheet

Technical data in a table

Installation instructions (are supplied with the device)

 Instructions for installation, electrical installation, and commissioning  Technical data

Programming manual

 Functions of the setup menu of the device  Creation of a CODESYS project with this device  Target settings with CODESYS  Programming of the device-internal PLC with CODESYS  Description of the device-specific CODESYS function libraries

System manual "Know-How ecomatmobile"

Know-how about the following topics (examples):

 Overview Templates and demo programs  CAN, CANopen  Control outputs  Visualisations  Overview of the files and libraries

1.2 Overview: documentation modules for CR0431

The documentation for this devices consists of the following modules: (Downloads from ifm's website → www.ifm.com )

22853

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

About this manual What do the symbols and formats mean?

WARNING

Death or serious irreversible injuries may result.

CAUTION

Slight reversible injuries may result.

NOTICE

Property damage is to be expected or may result.

Important note Non-compliance can result in malfunction or interference

Information Supplementary note

► ...

Request for action

> ...

Reaction, result

→ ...

"see"

abc

Cross-reference

123 0x123 0b010

Decimal number Hexadecimal number Binary number

[...]

Designation of pushbuttons, buttons or indications

1.3 What do the symbols and formats mean?

The following symbols or pictograms illustrate the notes in our instructions:

203

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

About this manual How is this documentation structured?

Date

Theme

Change

2016-04-27

FBs for fast inputs

Note in case of higher frequencies added

2017-01-13

Software manual for CODESYS 2.3

hint to download from the ifm homepage removed

2018-07-09

List of the ifm branch offices

removed

1.4 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 → Appendix.

In case of malfunctions or uncertainties please contact the manufacturer at: Contact → www.ifm.com

We want to become even better! Each separate section has an identification number in the top right corner. If you want to inform us about any inconsistencies, indicate this number with the title and the language of this documentation. Thank you very much for your support!

We reserve the right to make alterations which can result in a change of contents of the documentation. You can find the current version on ifm's website: → www.ifm.com

204

1508

1.5 History of the instructions (CR043n)

What has been changed in this manual? An overview:

19584

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

Safety instructions Please note

2 Safety instructions

Please note ............................................................................................................................................... 8

What previous knowledge is required? .................................................................................................... 8

Start-up behaviour of the controller .......................................................................................................... 9

Notes: serial number ................................................................................................................................ 9

WARNING

Non-observance of these instructions can lead to property damage or personal injury.

ifm electronic gmbh does not assume any liability in this regard.

► The acting person must have read and understood the safety instructions and the corresponding

chapters in this manual before working on and with this device.

► The acting person must be authorised to work on the machine/equipment. ► The acting person must have the qualifications and training required to perform this work. ► Adhere to the technical data of the devices!

You can find the current data sheet on the ifm website.

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

→ supplied installation instructions or on the ifm website.

Homepage → www.ifm.com

2.1 Please note

6091

11779

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!

213

2.2 What previous knowledge is required?

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.

215

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

Safety instructions Start-up behaviour of the controller

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!

2.3 Start-up behaviour of the controller

6827 15233 11575

A restart can, for example, be caused by:

• Voltage restoration after power failure

• Reset after the watchdog responded because the cycle time was too long

• Error elimination after an E-stop To ensure safe controller behaviour:

► monitor the voltage supply in the application program. ► In case of an error switch off all relevant outputs in the application program. ► Additionally monitor actuators which can cause hazardous movements in the application program

(feedback).

► Monitor relay contacts which can cause hazardous movements in the application program

(feedback).

► If necessary, ensure that welded relay contacts in the application project cannot trigger or continue

hazardous movements.

2.4 Notes: serial number

20780

► In the user's production facility, draw a diagram of the controller network in the machine. Enter the

serial number of each controller installed into the network diagram.

► Before downloading a software component, read out this serial number and check the network

diagram to make sure that you are accessing the right controller.

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

System description Information about the device

3 System description

Information about the device ..................................................................................................................10

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

Interface description ...............................................................................................................................22

Software description ...............................................................................................................................23

3.1 Information about the device

This manual describes of the ecomatmobile family for mobile machines of ifm electronic gmbh:  BasicRelay: CR0431

975

19587

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

System description Hardware description

Hardware structure .................................................................................................................................11

Inputs (technology) .................................................................................................................................14

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

Note on wiring .........................................................................................................................................20

Safety instructions about Reed relays ....................................................................................................20

Status-LED .............................................................................................................................................21

Start conditions .......................................................................................................................................12

Important note to program the device ....................................................................................................12

Principle block diagram ..........................................................................................................................12

Available memory ...................................................................................................................................13

3.2 Hardware description

3.2.1 Hardware structure

14081

15332

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

System description Hardware description

Start conditions

The device does not start before sufficient voltage is applied to the supply connection VBB15. In vehicles VBB15 is the plus cable switched by the ignition lock. A voltage > 8 V is deemed sufficient. Permissible operating voltage → data sheet

Relays can only be switched on again if VBBs is applied and SUPLY_SWITCH is closed.

Important note to program the device

Applies to the following devices:

• BasicController relay CR0431 ► For the time of programming interconnect the connections B:1 (VBB15) and B:8 (VBBs).

Otherwise programming is not possible.

Background:

 The controller resets all outputs when programming begins, also SUPPLY_SWITCH.  Without VBB15 the controller would be separated from the voltage supply and is switched off.  When the controller is switched on again, the device is in bootloader mode.

The programmer has to load the Basic System to the device again. Then reload the application program to the device.

19673

20763

Principle block diagram

19672

Figure: principle block diagram of supply and relays

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

System description Hardware description

FLASH memory (non-volatile, slow memory) overall existing in the device

1 536 kByte

maximum size of the application program

128 kByte

data other than the application program read data with FB FLASH_READ (→ p. 184) (files: 128 bytes less for header)

64 kByte

SRAM (volatile, fast memory) overall existing in the device SRAM indicates here all kinds of volatile and fast memories.

208 kByte

data reserved by the application program

32 kByte

FRAM (non-volatile, fast memory) overall existing in the device FRAM indicates here all kinds of non-volatile and fast memories.

2 kByte

variables in the application program, declared as VAR_RETAIN

128 Byte

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

128 Byte

Available memory

FLASH memory

Thereof the following memory areas are reserved for ...

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

SRAM

13736

13053

12269

Thereof the following memory areas are reserved for ...

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

FRAM

Thereof the following memory areas are reserved for ...

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

2262

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

System description Hardware description

Analogue inputs ......................................................................................................................................14

Binary inputs ...........................................................................................................................................15

Input group IN0...IN3 ..............................................................................................................................16

Input group IN4...IN7 ..............................................................................................................................16

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

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) = internal resistance

(4) = voltage

3.2.2 Inputs (technology)

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  (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.

8971

8972

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

System description Hardware description

In = pin binary-input n

(CR) = device

(1) = input filter

(2a) = input minus switching

(2b) = input plus switching

(3) = voltage

Figure: basic circuit of binary input minus switching / plus switching for negative and positive sensor signals

In = pin binary input n

(S) = sensor

In = pin binary input n

(S) = sensor

Basic circuit of binary input plus switching (BL) for positive sensor signal: Input = open  signal = low (GND)

Basic circuit of binary input minus switching (BH) for negative sensor signal: Input = open  signal = high (supply)

Binary inputs

The binary input can be operated in following modes:

• binary input plus switching (BL) for positive sensor signal

• binary input minus switching (BH) for negative sensor signal Depending on the device the binary inputs can configured differently. In addition to the protective

mechanisms against interference, the binary inputs are internally evaluated via an analogue stage. This enables diagnosis of the input signals. But in the application software the switching signal is directly available as bit information

1015

7345

For some of these inputs (→ data sheet) the potential can be selected to which it will be switched.

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

System description Hardware description

Input group 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 (→ p. 206)

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 (→ p. 204)

Configuration of each input is made via the application program:

• FB INPUT (→ p. 169) > input MODE

• FBs FASTCOUNT (→ p. 165), INC_ENCODER (→ p. 167) or PERIOD (→ p. 171) > 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 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 (→ p. 206)

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

• FB INPUT (→ p. 169) > input MODE

14569

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

System description Hardware description

Figure: block diagram of the resistor survey input

In = pin resistor survey input n

(CR) = device

(1) = input filter

(2) = constant-current source

(3) = internal resistance

(4) = voltage

Figure: resolution dependent on the resistance value

(1) = resistance value at the input

(2) = resolution

Resistance measurement

Typical sensors on these inputs:

• tank level

• temperature (PT1000, NTC)

9773

8972

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

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  the resolution is 1.2 .

• In the range of 1 k the resolution is approx. 2 .

• In the range of 2 k the resolution is approx. 3 .

• In the range of 3 k the resolution is approx. 6 .

• In the range of 6 k the resolution is approx. 10 .

• In the range of 10 k the resolution is approx. 11 

• In the range of 20 k the resolution is approx. 60 .

8970

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

System description Hardware description

3.2.3 Outputs (technology)

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

Output group K0...K5 ..............................................................................................................................18

Output group LED0...LED6.....................................................................................................................19

► Adapt the value of the fuses...

• to the load capacity of the relays used.

• to the load capacity of the wiring.

Protective functions of the outputs

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

Fuses, relays

The relay outputs are protected via fuses:

14093

15248

19676

Output group K0...K5

These outputs are a group of channels with a single specified function. These outputs have the following fixed setting:

• binary output with relay (change-over contacts)

• The outputs have no current measurement, no overload detection.

• The device measures the voltages on all relay contacts. The measured values are also available in system flags:

x = 0...n (depending on the device) ► For the limit values please make sure to adhere to the data sheet!

19678

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

System description Hardware description

Output group LED0...LED6

These outputs are a group of channels with a single specified function. These outputs have the following fixed setting:

• binary output with LED (e.g. diagnostic message) The LED outputs can be freely used in the application. The spatial arrangement on the device provides the following assignment:

• LED0 indicates intact fuse F0

• LED1 indicates intact fuse F1 etc.

19682

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

System description Hardware description

3.2.4 Note on wiring

Analogue input

Binary high side input: minus switching for negative sensor signal Binary high side output: plus switching for positive output signal

Binary low side input: plus switching for positive sensor signal Binary low side output: minus switching for negative output signal

CYL

Input period measurement

ENC

Input encoder signals

FRQ

Frequency input

H bridge

Output with H-bridge function

PWM

Pulse-width modulated signal

PWMi

PWM output with current measurement

Pulse/counter input, high side: minus switching for negative sensor signal

Pulse/counter input, low side: plus switching for positive sensor signal

Read back channel for one output

Contacts of Reed relays may be clogged (reversibly) if connected to the device inputs without

series resistor.

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:

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:

► 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

6915

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

System description Hardware description

LED colour

Display

Description

Off Permanently off

No operating voltage

Orange Briefly on

Initialisation or reset checks

(time frame = 200 ms)

Green Flashing with 5 Hz

no runtime system loaded

(time frame = 200 ms)

Green Flashing with 2 Hz

Application = RUN

(time frame = 200 ms)

Green Permanently on

Application = STOP or: no application loaded

Red Flashing with 5 Hz

Application = stopped because of undervoltage

(time frame = 200 ms)

Red Flashing with 10 Hz

Application = STOP with error application program is stopped Cause: exceeded timeout of the application or visualisation:

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

(time frame = 200 ms)

Red Permanently on

Application = STOP and FATAL ERROR 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!

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

status LED in the RUN state.

3.2.6 Status-LED

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

7998

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

Control the LED in the application program

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

15481

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

System description Interface description

CAN interfaces .......................................................................................................................................22

CAN: interfaces and protocols ................................................................................................................22

CAN interface

CAN 1

CAN 2

CAN 3

CAN 4

Default download ID

ID 127

ID 126

ID 125

ID 124

CAN protocols

CAN Layer 2

Interface does not

exist

Interface does not

exist

CANopen

SAE J1939

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) (→ p. 60))

• CANopen master / CANopen slave (→ chapter Function elements: CANopen (→ p. 86))

• CANopen network variables (via CODESYS) (→ chapter Network variables (→ p. 52))

• SAE J1939 (for drive management, → chapter Function elements: SAE J1939 (→ p. 132))

• 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

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!

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

System description Software description

3.4 Software description

Software modules for the device ............................................................................................................23

Programming notes for CODESYS projects ...........................................................................................26

Operating states .....................................................................................................................................29

Performance limits of the device ............................................................................................................31

Bootloader ..............................................................................................................................................24

Runtime system ......................................................................................................................................24

Application program ................................................................................................................................24

Libraries ..................................................................................................................................................25

software module

Can user change the module?

By means of what tool?

Application program with libraries

yes

CODESYS,

MaintenanceTool

Runtime system *)

Upgrade yes

Downgrade yes

MaintenanceTool

Bootloader

---

(Hardware)

---

3.4.1 Software modules for the device

The software in this device communicates with the hardware as below:

14107

14110

*) The runtime system version number must correspond to the target version number in the CODESYS target system setting. → chapter Set up the target (→ p. 38)

Below we describe this software module:

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

System description Software description

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.

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. → chapter Software modules for the device (→ p. 23)

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

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

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

System description Software description

Library

Use

ifm_CR0431_Vxxyyzz.LIB

Device-specific library Must always be contained in the application program!

ifm_RawCAN_NT_Vxxyyzz.LIB

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

ifm_CANopen_NT_Vxxyyzz.LIB

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

ifm_J1939_NT_Vxxyyzz.LIB

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

Libraries

15409

ifm electronic offers several libraries (*.LIB) to match each device containing program modules for

the application program. Examples:

Details: → chapter ifm libraries for the device CR0431 (→ p. 53)

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

System description Software description

3.4.2 Programming notes for CODESYS projects

FB, FUN, PRG in CODESYS .................................................................................................................26

Note the cycle time! ................................................................................................................................27

Important note to program the device ....................................................................................................27

Creating application program .................................................................................................................28

Using ifm maintenance tool ....................................................................................................................29

Distribution of the application program ...................................................................................................29

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!

Here you receive tips how to program the device. ► See the notes in the CODESYS programming manual.

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

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.

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

System description Software description

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.

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.

Important note to program the device

Applies to the following devices:

• BasicController relay CR0431 ► For the time of programming interconnect the connections B:1 (VBB15) and B:8 (VBBs).

Otherwise programming is not possible.

Background:

The programmer has to load the Basic System to the device again. Then reload the application program to the device.

8006

20763

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

System description Software description

Creating application program

The application program is generated by the CODESYS 2.3 programming system and loaded in the controller several times during the program development for testing: In CODESYS: [Online] > [Login] > load the new program.

For each such download via CODESYS 2.3 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

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

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: Homepage → www.ifm.com

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.

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

20647

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

System description Software description

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)

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 (→ p. 196).

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

• INIT (after power-on-reset)

• STOP

• ERROR

• FATAL ERROR

8288

8287

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

System description Software description

Note the limits of the device! → Data sheet

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

3.4.4 Performance limits of the device

7358

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

System description Software description

Device

BasicController: CR040n, CR041n,

CR043n

BasicDisplay: CR045n

ioControl: CR205n

SmartController: CR253n

PDM360 NG: CR108n, CR120n

Criterion

max. FiFo transmit

- with FB CAN_TX...

- with FB CAN_TX_ENH...

4 messages

16 messages

4 messages

16 messages

max. FiFo receive

- with FB CAN_RX_..._FIFO

32 messages

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!

15365

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 (→ p. 70)

- CAN_RX_RANGE_FIFO (→ p. 74) The number of FIFo messages is limited. The following limitations of the devices are valid:

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

System description Software description

Device

BasicController: CR040n, CR041n,

CR043n

BasicDisplay: CR045n

ioControl: CR205n

SmartController: CR253n

PDM360 NG: CR108n, CR120n

Criterion

max. guarding error

32 messages

128 messages

max. SDO data

2 048 bytes

Device

BasicController: CR040n, CR041n,

CR043n

BasicDisplay: CR045n

ioControl: CR205n

SmartController: CR253n

PDM360 NG: CR108n, CR120n

Criterion

max. FiFo transmit

- with FB J1939_TX

- with FB J1939_TX_ENH

4 messages

16 messages

4 messages

16 messages

max. FiFo receive

- with FB J1939_RX_FIFO

32 messages

max. DTCs

64 messages

max. data J1939

1 785 bytes

Limitations for CANopen in this device

The following limitations of the devices are valid:

Limitations for CAN J1939 in this device

The following limitations of the devices are valid:

17976

17977

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

Configurations Set up the runtime system

4 Configurations

Set up the runtime system ......................................................................................................................34

Set up the programming system ............................................................................................................37

Function configuration in general ...........................................................................................................41

Function configuration of the inputs and outputs ...................................................................................42

Variables .................................................................................................................................................50

Reinstall the runtime system ..................................................................................................................35

Update the runtime system.....................................................................................................................36

Verify the installation ..............................................................................................................................36

1016

The device configurations described in the corresponding installation instructions or in the Appendix (→ p. 202) 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

14091

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

Configurations Set up the runtime system

NOTICE

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_CR0431_Vxxyyzz.RESX),

• PLC configuration (ifm_CR0431_Vxx.CFG),

• device library (ifm_CR0431_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. "CR0431") 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.

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: → www.ifm.com

8651

8485

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.

Contact → www.ifm.com The runtime system is transferred to the device using the separate program "Maintenance Tool". (The

program can be downloaded from ifm's website, if necessary): → www.ifm.com

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.

4368

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

Configurations Set up the runtime system

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!

GET_SW_INFO (→ p. 188)

Delivers information about the system software of the device:

• software name,

• software version,

• build number,

• build date

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

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

4.1.3 Verify the installation

14637

► 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:

► If the application detects an incorrect version of a runtime system:

bring all safety functions into the safe state.

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

Configurations Set up the programming system

Set up the programming system manually .............................................................................................37

Set up the programming system via templates ......................................................................................41

Set up the target .....................................................................................................................................38

Activate the PLC configuration ...............................................................................................................39

CAN declaration (e.g. CR1080) ..............................................................................................................40

4.2 Set up the programming system

4.2.1 Set up the programming system manually

14461

3963

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

Configurations Set up the programming system

NOTE

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

• runtime system (ifm_CR0431_Vxxyyzz.RESX),

• PLC configuration (ifm_CR0431_Vxx.CFG),

• device library (ifm_CR0431_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. "CR0431") 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.

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_CR0431_Vxxyyzz.LIB manually!

8485

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.

Contact → www.ifm.com

4368

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

Configurations Set up the programming system

Activate the PLC configuration

10079

The PLC configuration is automatically loaded with the target system. The PLC configuration maps the contents of the file CR0431.cfg in CODESYS. Like this, the programmer has easy access to predefined system and error flags, inputs and outputs as well as to the CAN interfaces of the device.

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].

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

Configurations Set up the programming system

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.

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

> 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].

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

Configurations Function configuration in general

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

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.

directory.

► In the application program always call an own instance of the FB CANOPEN_ENABLE (→ p. 87)

for every CAN interface!

4.2.2 Set up the programming system via templates

13745

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

can be set up quickly, easily and completely.

4.3 Function configuration in general

970

3971

4.3.1 System variables

All system variables (→ chapter System flags (→ p. 202)) have defined addresses which cannot be shifted.

15576

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

Configurations Function configuration of the inputs and outputs

Configuration of the inputs (default setting) ............................................................................................42

Configure inputs .....................................................................................................................................43

Configure outputs ...................................................................................................................................48

4.4 Function configuration of the inputs and outputs

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 (ifm_CR0431_Vxxyyzz.LIB

) for the configuration of the inputs and outputs. For details → Possible operating modes inputs/outputs (→ p. 206).

4.4.1 Configuration of the inputs (default setting)

19686

 All inputs are in the binary mode (positive switching!) when delivered.  The diagnostic function is not active.

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

Configurations Function configuration of the inputs and outputs

Safety instructions about Reed relays ....................................................................................................43

Analogue inputs: configuration and diagnosis ........................................................................................44

Binäry inputs: configuration and diagnosis .............................................................................................46

Fast inputs ..............................................................................................................................................47

Contacts of Reed relays may be clogged (reversibly) if connected to the device inputs without

series resistor.

4.4.2 Configure inputs

Valid operating modes → chapter Possible operating modes inputs/outputs (→ p. 206)

Safety instructions about Reed relays

For use of non-electronic switches please note the following:

► 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

7348

6915

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

Configurations Function configuration of the inputs and outputs

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

Figure: principle block diagram multifunction input

Analogue inputs: configuration and diagnosis

Configuration of each input is made via the application program:

• FB INPUT (→ p. 169) > input MODE ► If the analogue inputs are configured for current measurement, the device switches to the safe

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

14656

8971

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

Configurations Function configuration of the inputs and outputs

FILTER

Filter frequency [Hz]

Step response [ms] for ...

Remarks

0…70 %

0…90 %

0…99 %

Filter deactivated

120 2 4 7

47 5 9

4 10

recommended

5 5 38

146

2.5

147

293

7 1.2

154

294

588

0.7

308

589

1177

Configure the software filters of the inputs

15418

Via the input FILTER in the FB INPUT (→ p. 169) 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

The following statements of the step response are relevant:

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

• Input binary: 0...70 %

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

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

Configurations Function configuration of the inputs and outputs

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

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

11 = 0x0B

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

12 = 0x0C

binary input, minus switching (BH)

18 = 0x12

resistance input

16...30 000 Ω

NAMUR diagnosis for binary signals of non-electronic switches:

► Equip the switch with an additional resistor

connection!

Figure: non-electronic switch S at input Inn

Binäry inputs: configuration and diagnosis

Configuration of each input is made via the application program:

• FB INPUT (→ p. 169) > input MODE

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 (→ p. 169). > The FB INPUT (→ p. 169) provides the diagnostic messages of the inputs on its RESULT output.

19689

7352

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

In this case, no additional resistor connection is required.

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

Configurations Function configuration of the inputs and outputs

FASTCOUNT (→ p. 165)

Counter block for fast input pulses

INC_ENCODER (→ p. 167)

Up/down counter function for the evaluation of encoders

PERIOD (→ p. 171)

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

Fast inputs

8292

The devices dispose of fast counting/pulse inputs for an input frequency up to 30 kHz (→ data sheet).

14677

If, for example, mechanical switches are connected to these inputs, there may be faulty signals in

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

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!

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

Configurations Function configuration of the inputs and outputs

4.4.3 Configure outputs

Configure the software filters of the outputs ...........................................................................................48

Relay outputs ..........................................................................................................................................49

LED outputs ............................................................................................................................................49

FILTER

Filter frequency [Hz]

Step response [ms] for ...

Remarks

0…90 %

0…95 %

0…99 %

Filter deactivated

outputs without current

measurement

600

0.8

1.0

1.4

233

1.8

2.2

3.4

109

3.6

4.6

7.0

7.2

9.4

14.4

recommended

14.6

19.0

29.2

29.4

38.2

58.6

7 6 58.8

76.4

117.6

8 4 117.8

153.2

235.4

3976

Valid operating modes → chapter Possible operating modes inputs/outputs (→ p. 206)

Configure the software filters of the outputs

15421

Via the input FILTER in the FB OUTPUT (→ p. 176) 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

The following statements of the step response are relevant:

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

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

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

Configurations Function configuration of the inputs and outputs

Figure: Block diagram relay output x = 0...n (depending on the device)

Relay outputs

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

• binary output with relay (change-over contacts)

• PWM output, plus switching (BH) without diagnostic function

Configuration of each output is made via the application program: Binary output → FB OUTPUT (→ p. 176)> input MODE PWM output: → FB PWM1000 (→ p. 178) (permissible PWM frequency = 15...25 kHz) Relay output → FB RELAY (→ p. 180)

LED outputs

The LED outputs cannot be configured.

19693

19695

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

Configurations Variables

Retain variables ......................................................................................................................................51

Network variables ...................................................................................................................................52

Variable

Declaration place

Validity area

Memory behaviour

local

in the declaration part of the function element (POU)

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

volatile

local retain

nonvolatile

global

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

Valid in all function elements of this CODESYS project.

volatile

global retain

nonvolatile

Network

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

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

volatile

Network retain

nonvolatile

→ CODESYS programming manual

4.5 Variables

In this chapter you will learn more about how to handle variables. The device supports the following types of variables:

3130

14486

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

Configurations Variables

NOTE

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

- FUN SysSaveRetains

- FUN SysRestoreRetains

NOTE

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

- FUN SysSaveRetains

- FUN SysRestoreRetains

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

14166

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.

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.

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

Configurations Variables

4.5.2 Network variables

15242

9856

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

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

 3S_CANopenNetVar.lib  ifm_NetVarLib_NT_Vxxyyzz.lib

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm libraries for the device CR0431

5 ifm function elements

ifm libraries for the device CR0431 ........................................................................................................53

ifm function elements for the device CR0431.........................................................................................58

Library ifm_CR0431_V03yyzz.LIB .........................................................................................................54

Library ifm_CR0431_util_V03yyzz.LIB ...................................................................................................55

Library ifm_RAWCan_NT_Vxxyyzz.LIB .................................................................................................55

Library ifm_CANopen_NT_Vxxyyzz.LIB .................................................................................................56

Library ifm_J1939_NT_Vxxyyzz.LIB ......................................................................................................57

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 CR0431

14235

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm libraries for the device CR0431

Function element

Short description

FASTCOUNT (→ p. 165)

Counter block for fast input pulses

FLASH_INFO (→ p. 183)

Reads the information from the user flash memory:

• name of the memory area (user defined),

• software version,

• start address (for simple reading with IEC structure)

FLASH_READ (→ p. 184)

transfers different data types directly from the flash memory to the RAM

GET_APP_INFO (→ p. 185)

Delivers information about the application program stored in the device:

• name of the application,

• version of the application,

• unique CODESYS build number,

• CODESYS build date

GET_HW_INFO (→ p. 186)

Delivers information about the device hardware:

• ifm article number (e.g. CR0403),

• article designation,

• unambiguous serial number,

• hardware revision,

• production date

GET_IDENTITY (→ p. 187)

Reads the identification of the application stored in the device (has previously been saved by means of SET_IDENTITY (→ p. 195))

GET_SW_INFO (→ p. 188)

Delivers information about the system software of the device:

• software name,

• software version,

• build number,

• build date

GET_SW_VERSION (→ p. 189)

Delivers information about the software versions stored in the device:

• BasicSystem version,

• bootloader version,

• SIS version,

• application program version,

• user flash version

INC_ENCODER (→ p. 167)

Up/down counter function for the evaluation of encoders

INPUT (→ p. 169)

Assigns an operating mode to an input channel Provides the current state of the selected channel

MEM_ERROR (→ p. 190)

Signals errors in some parameters or in the memory (Re-)initialisation of system resources

MEMCPY (→ p. 191)

Writes and reads different data types directly in the memory

OHC (→ p. 193)

Adjustable operating hours counter (0...3)

OUTPUT (→ p. 176)

Assigns an operating mode to an output channel Provides the current state of the selected channel

PERIOD (→ p. 171)

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

PWM1000 (→ p. 178)

Initialises and configures a PWM-capable output channel the mark-to-space ratio can be indicated in steps of 1 ‰

SET_IDENTITY (→ p. 195)

Sets an application-specific program identification

SET_LED (→ p. 196)

Change the frequency and color of the status LED in the application program

SET_PASSWORD (→ p. 198)

Sets a user password for access control to program and memory upload

TIMER_READ_US (→ p. 199)

Reads out the current system time in [µs] Max. value = 1h 11min 34s 967ms 295µs

5.1.1 Library ifm_CR0431_V03yyzz.LIB

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

19699

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm libraries for the device CR0431

Function element

Short description

RELAY (→ p. 180)

switches the relay of the selected output channel with an adjustable voltage

STATUS_F_V_EXT (→ p. 174)

determines the status of the fuse for the potential V_EXT

Function element

Short description

CAN_ENABLE (→ p. 61)

Initialises the indicated CAN interface Configures the CAN baud rate

CAN_RECOVER (→ p. 62)

Activate / deactivate the automatic bus off handling Restart the CAN interface in case of bus off

CAN_REMOTE_REQUEST (→ p. 83)

Send a corresponding request and return the response of the other device as a result

CAN_REMOTE_RESPONSE (→ p. 84)

Provides data to the CAN controller in the device which is automatically sent as a response to the request of a remote message

CAN_RX (→ p. 67)

Configures a data receive object and reads out the receive buffer of the data object

CAN_RX_ENH (→ p. 68)

• Configures a data receive object and reads out the receive buffer of the data object

• Frame type and mask can be selected

CAN_RX_ENH_FIFO (→ p. 70)

• Configures a data receive object and reads out the receive buffer of the data object

• Frame type and mask can be selected

• Several CAN messages per cycle possible

CAN_RX_RANGE (→ p. 72)

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

• Frame type and mask can be selected

CAN_RX_RANGE_FIFO (→ p. 74)

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

• Frame type and mask can be selected

• Several CAN messages per cycle possible

CAN_SETDOWNLOADID (→ p. 63)

= Set CAN download ID Sets the download identifier for the CAN interface

CAN_STATUS (→ p. 64)

Get status information on the CAN bus selected: BAUDRATE, DOWNLOAD_ID, BUSOFF, WARNING_RX, WARNING_TX, VERSION, BUSLOAD and reset if required: BUSOFF, WARNING_RX, WARNING_TX

CAN_TX (→ p. 77)

Transfers a CAN data object (message) to the configured CAN interface for transmission at each call

CAN_TX_ENH (→ p. 78)

Transfers a CAN data object (message) to the configured CAN interface for transmission at each call CAN-specific characteristics can be set

CAN_TX_ENH_CYCLIC (→ p. 80)

Cyclically transfers a CAN data object (message) to the configured CAN interface for transmission CAN-specific characteristics can be set

5.1.2 Library ifm_CR0431_util_V03yyzz.LIB

This ifm library contains the following function blocks:

5.1.3 Library ifm_RAWCan_NT_Vxxyyzz.LIB

This ifm library contains the following function blocks:

19735

14715

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm libraries for the device CR0431

Function element

Short description

CANOPEN_ENABLE (→ p. 87)

Initialises the indicated CANopen master interface Configures the CAN baud rate

CANOPEN_GETBUFFERFLAGS (→ p. 89)

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

CANOPEN_GETEMCYMESSAGES (→ p. 126)

= Get CANopen emergency messages Lists all emergency messages that have been received by the controller from other nodes in the network since the last deletion of messages The list can be reset by setting the according input.

CANOPEN_GETERRORREGISTER (→ p. 128)

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

CANOPEN_GETGUARDHBERRLIST (→ p. 122)

= get CANopen guard and heartbeat error list 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.

CANOPEN_GETGUARDHBSTATSLV (→ p. 123)

= CANopen slave get guard and heartbeat state 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.

CANOPEN_GETNMTSTATESLAVE (→ p. 96)

= CANopen slave get network management state Signals the network operating status of the node

CANOPEN_GETODCHANGEDFLAG (→ p. 100)

= Get object directory changed flag Reports any change of value for a particular object directory entry

CANOPEN_GETSTATE (→ p. 91)

= CANopen set state Request the parameters of the master, a slave device or a specific node in the network

CANOPEN_GETSYNCSTATE (→ p. 118)

= CANopen get SYNC state

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

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

CANOPEN_NMTSERVICES (→ p. 97)

= CANopen network management services Updates the internal node status and, depending on the NMT command entries:

• triggers an NMT command or

• triggers the initialisation of a node

CANOPEN_READOBJECTDICT (→ p. 101)

= CANopen read object directory Reads configuration data from the object directory of the device

CANOPEN_SDOREAD (→ p. 105)

= CANopen read SDO Reads an "Expedited SDO" = Expedited Service Data Object

CANOPEN_SDOREADBLOCK (→ p. 107)

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

CANOPEN_SDOREADMULTI (→ p. 109)

= CANopen read SDO multi Reads the indicated entry in the object directory of a node in the network

CANOPEN_SDOWRITE (→ p. 111)

= SDO write Writes an "Expedited SDO" = Expedited Service Data Object

CANOPEN_SDOWRITEBLOCK (→ p. 113)

= CANopen write SDO block Writes in the indicated entry in the object directory of a node in the network via SDO block transfer

CANOPEN_SDOWRITEMULTI (→ p. 115)

= CANopen write SDO multi Writes in the indicated entry in the object directory of a node in the network

CANOPEN_SENDEMCYMESSAGE (→ p. 130)

= CANopen send emergency message Sends an EMCY message. The message is assembled from the according parameters and entered in register 0x1003

5.1.4 Library ifm_CANopen_NT_Vxxyyzz.LIB

This ifm library contains the following function blocks:

14914

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm libraries for the device CR0431

Function element

Short description

CANOPEN_SETSTATE (→ p. 93)

= CANopen set state Set the parameters of the master, a slave device or a specific node in the network

CANOPEN_SETSYNCSTATE (→ p. 120)

= CANopen set SYNC state Switch the SYNC functionality on and off

CANOPEN_WRITEOBJECTDICT (→ p. 102)

= CANopen write object directory Writes configuration data into the object directory of the device

Function element

Short description

J1939_DM1RX (→ p. 157)

J1939 Diagnostic Message 1 RX Receives diagnostic messages DM1 or DM2 from other ECUs

J1939_DM1TX (→ p. 159)

J1939 Diagnostic Message 1 TX Transmit an active error message to the CAN stack

J1939_DM1TX_CFG (→ p. 162)

J1939 Diagnostic Message 1 TX configurable CAN stack does not send cyclic DM1 "zero active faults" messages

J1939_DM3TX (→ p. 163)

J1939 Diagnostic Message 3 TX Deletes inactive DTCs (DM2) on a device

J1939_ENABLE (→ p. 133)

Initialises the J1939 stack

J1939_GETDABYNAME (→ p. 135)

= Get destination arbitrary name Determine the target address of one or several participants by means of the name information

J1939_NAME (→ p. 137)

Give the device a name for identification in the network

J1939_RX (→ p. 144)

Receives a single frame message Shows the message last read on the CAN bus

J1939_RX_FIFO (→ p. 145)

= J1939 RX with FIFO Receives all specific messages and successively reads them from a FiFo

J1939_RX_MULTI (→ p. 147)

= J1939 RX multiframe message Receives multiframe messages

J1939_SPEC_REQ (→ p. 141)

= J1939 specific request Requests and receives a specific message from another controller

J1939_SPEC_REQ_MULTI (→ p. 142)

= J1939 specific request multiframe message Requests and receives a specific multiframe message from another controller

J1939_STATUS (→ p. 139)

Shows relevant information on the J1939 stack

J1939_TX (→ p. 149)

Sends individual single frame messages

J1939_TX_ENH (→ p. 150)

= J1939 TX enhanced Sends individual single frame messages Can also be set: transmission priority, data length

J1939_TX_ENH_CYCLIC (→ p. 152)

= J1939 TX enhanced cyclic Cyclically sends single frame messages Can also be set: transmission priority, data length, period

J1939_TX_ENH_MULTI (→ p. 154)

= J1939 TX enhanced Multiframe Message Sends individual multiframe messages

5.1.5 Library ifm_J1939_NT_Vxxyyzz.LIB

This ifm library contains the following function blocks:

14912

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

Function element outputs .......................................................................................................................59

Function elements: RAW-CAN (Layer 2) ...............................................................................................60

Function elements: CANopen ................................................................................................................86

Function elements: SAE J1939 ............................................................................................................132

Function elements: processing input values ........................................................................................164

Function elements: output functions .....................................................................................................175

Function elements: system ...................................................................................................................182

5.2 ifm function elements for the device CR0431

13988

3826

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

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

Value

dec | hex

Description

FB is inactive

1...31

Global return values; examples:

FB execution completed without error – data is valid

FB is being processed – data is cyclically processed

FB is being processed – still receiving

FB is being processed – still sending

FB is being processed – remote for ID active

function block is active

FB is active CANopen manager configures devices and sends SDOs

FB is active CANopen manager is started

3210...63

FB specific return values

6410…127

FB specific error messages

12810...255

Global error messages; examples:

238

Error: CANopen configuration is too large and cannot be started

239

Error: CANopen manager could not be started

240

Error: several modal inputs are active e.g. CANopen NTM services

241

Error: CANopen state transition is not permitted

242

Error: setting is not possible

247

Error: memory exceeded (length larger than array)

250

Error: FiFo is full – data was lost

252

Error: CAN multiframe transmission failed

253

Error: CAN transmission failed. Data cannot be sent.

255

Error: not enough memory available for the consuming multiframe

5.2.1 Function element outputs

Some function elements return a RESULT message. Possible results for RESULT:

8354 7556

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

Function elements: RAW-CAN status ....................................................................................................60

Function elements: receive RAW-CAN data ..........................................................................................66

Function elements: transmit RAW-CAN data .........................................................................................76

Function elements: RAW-CAN remote ...................................................................................................82

CAN_ENABLE ........................................................................................................................................61

CAN_RECOVER ....................................................................................................................................62

CAN_SETDOWNLOADID ......................................................................................................................63

CAN_STATUS ........................................................................................................................................64

5.2.2 Function elements: RAW-CAN (Layer 2)

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

15051

15049

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

Parameter

Data type

Description

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

Parameter

Data type

Description

RESULT

BYTE

feedback of the function block (possible messages → following table)

Value

dec | hex

Description

FB is inactive

FB execution completed without error – data is valid

function block is active

CAN is not active

242

Error: setting is not possible

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

7494

7495

Parameters of the outputs

Possible results for RESULT:

8530

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

CAN_RECOVER

Parameter

Data type

Description

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): restart of CAN interface remedy bus off condition

FALSE: function element is not executed

InhibitTime (optional use of the parameter)

TIME := T#1s

Waiting time between bus off and restart of the CAN interface

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

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

CAN_SETDOWNLOADID

Parameter

Data type

Description

EXECUTE

BOOL := FALSE

FALSE  TRUE (edge): execute function element once

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

CHANNEL

BYTE

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

DOWNLOAD_ID

BYTE

1...127 = set download ID 0 = read download ID

Parameter

Data type

Description

RESULT

BYTE

feedback of the function block (possible messages → following table)

Value

dec | hex

Description

FB is inactive

function block execution completed without error

function block is active

242

Error: setting is not possible

= 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

Parameters of the outputs

7517

7519

7520

Possible results for RESULT:

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

CAN_STATUS

Parameter

Data type

Description

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

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

7501

7502

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

Parameter

Data type

Description

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)

Value

dec | hex

Description

FB is inactive

function block execution completed without error

function block is active

CAN is not active

242

Error: setting is not possible

Parameters of the outputs

Possible results for RESULT:

7504

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

Function elements: receive RAW-CAN data

CAN_RX .................................................................................................................................................67

CAN_RX_ENH .......................................................................................................................................68

CAN_RX_ENH_FIFO .............................................................................................................................70

CAN_RX_RANGE ..................................................................................................................................72

CAN_RX_RANGE_FIFO ........................................................................................................................74

15050

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

CAN_RX

Parameter

Data type

Description

ENABLE

BOOL

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

DWORD

Number of the data object identifier: normal frame (2 048 IDs):

0...2 047 = 0x0000 0000...0x0000 07FF extended Frame (536 868 864 IDs): 2 048...536 870 911 = 0x0000 0800...0x1FFF FFFF

Parameter

Data type

Description

DATA

ARRAY [0..7] OF BYTE

received data, (1...8 bytes)

RESULT

BYTE

feedback of the function block (possible messages → following table)

Value

dec | hex

Description

FB is inactive

function block execution completed without error

FB is being processed – still receiving

CAN is not active

242

Error: setting is not possible

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

Parameters of the outputs

Possible results for RESULT:

7590

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

CAN_RX_ENH

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.

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

Parameter

Data type

Description

ENABLE

BOOL

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

DWORD

Number of the data object identifier: normal frame (211 IDs):

0...2 047 = 0x0000 0000...0x0000 07FF extended Frame (229 IDs):

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

Extended (optional use of the parameter)

BOOL := FALSE

TRUE: extended Frame (ID = 0...229-1)

FALSE: normal Frame (ID = 0...211-1)

ID_Mask (optional use of the parameter)

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

= 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 (→ p. 67)):

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

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

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

Parameters of the inputs

7608

7609

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

Parameter

Data type

Description

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)

Value

dec | hex

Description

FB is inactive

function block execution completed without error

FB is being processed – still receiving

CAN is not active

242

Error: setting is not possible

Parameters of the outputs

Possible results for RESULT:

7613

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

CAN_RX_ENH_FIFO

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

Parameter

Data type

Description

ENABLE

BOOL

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

DWORD

Number of the data object identifier: normal frame (211 IDs):

0...2 047 = 0x0000 0000...0x0000 07FF extended Frame (229 IDs):

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

Extended (optional use of the parameter)

BOOL := FALSE

TRUE: extended Frame (ID = 0...229-1)

FALSE: normal Frame (ID = 0...211-1)

ID_Mask (optional use of the parameter)

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

= 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 (→ p. 68)). Thus several CAN messages can be received in one cycle.

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

Description to the filter mask: → CAN_RX_ENH (→ p. 68) > chapter Description

Parameters of the inputs

7616

7609

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

Parameter

Data type

Description

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)

Value

dec | hex

Description

FB is inactive

function block execution completed without error

FB is being processed – still receiving

CAN is not active

242

Error: setting is not possible

250

Error: FiFo is full – data was lost

Parameters of the outputs

Possible results for RESULT:

7617

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

CAN_RX_RANGE

Parameter

Data type

Description

ENABLE

BOOL

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

ID_START

DWORD

start number of the data object identifier range: normal frame (211):

0...2 047 = 0x0000 0000...0x0000 07FF extended frame (229):

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

ID_STOP

DWORD

end number of the data object identifier range: normal frame (211):

0...2 047 = 0x0000 0000...0x0000 07FF extended frame (229):

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

Extended (optional use of the parameter)

BOOL := FALSE

TRUE: extended Frame (ID = 0...229-1)

FALSE: normal Frame (ID = 0...211-1)

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

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

Parameter

Data type

Description

DWORD

Number of the data object identifier: normal frame (2 048 IDs):

0...2 047 = 0x0000 0000...0x0000 07FF extended Frame (536 868 864 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)

Value

dec | hex

Description

FB is inactive

function block execution completed without error

FB is being processed – still receiving

CAN is not active

242

Error: setting is not possible

Parameters of the outputs

Possible results for RESULT:

7598

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

CAN_RX_RANGE_FIFO

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

Parameter

Data type

Description

ENABLE

BOOL

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

ID_START

DWORD

start number of the data object identifier range: normal frame (211):

0...2 047 = 0x0000 0000...0x0000 07FF extended frame (229):

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

ID_STOP

DWORD

end number of the data object identifier range: normal frame (211):

0...2 047 = 0x0000 0000...0x0000 07FF extended frame (229):

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

Extended (optional use of the parameter)

BOOL := FALSE

TRUE: extended Frame (ID = 0...229-1)

FALSE: normal Frame (ID = 0...211-1)

= 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 (→ p. 72). In addition, CAN_RX_RANGE_FIFO provides a FiFo for the received data. Thus several CAN

messages can be received in one cycle.

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

Parameters of the inputs

7603

7595

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

Parameter

Data type

Description

DWORD

Number of the data object identifier: normal frame (2 048 IDs):

0...2 047 = 0x0000 0000...0x0000 07FF extended Frame (536 868 864 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)

Value

dec | hex

Description

FB is inactive

function block execution completed without error

FB is being processed – still receiving

CAN is not active

242

Error: setting is not possible

250

Error: FiFo is full – data was lost

Parameters of the outputs

Possible results for RESULT:

7604

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

Function elements: transmit RAW-CAN data

CAN_TX..................................................................................................................................................77

CAN_TX_ENH ........................................................................................................................................78

CAN_TX_ENH_CYCLIC .........................................................................................................................80

15055

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

CAN_TX

Parameter

Data type

Description

ENABLE

BOOL

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

DWORD

Number of the data object identifier: normal frame (2 048 IDs):

0...2 047 = 0x0000 0000...0x0000 07FF extended Frame (536 868 864 IDs): 2 048...536 870 911 = 0x0000 0800...0x1FFF FFFF

DATA

ARRAY [0..7] OF BYTE

data to be sent (1...8 bytes)

Parameter

Data type

Description

RESULT

BYTE

feedback of the function block (possible messages → following table)

Value

dec | hex

Description

FB is inactive

function block execution completed without error

242

Error: setting is not possible

250

Error: FiFo is full – data was lost

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

Parameters of the outputs

Possible results for RESULT:

7527

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

CAN_TX_ENH

Parameter

Data type

Description

ENABLE

BOOL := FALSE

TRUE: execute this function element

Edge: enter the new values

FALSE: unit is not executed reset internal remote values

CHANNEL

BYTE

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

DWORD

Number of the data object identifier: normal frame (211 IDs):

0...2 047 = 0x0000 0000...0x0000 07FF extended Frame (229 IDs):

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

Extended (optional use of the parameter)

BOOL := FALSE

TRUE: extended Frame (ID = 0...229-1)

FALSE: normal Frame (ID = 0...211-1)

DATALENGTHCODE

BYTE

= Data Length Code number of the data bytes to be sent (0...8)

DATA

ARRAY [0..7] OF BYTE

data to be sent (1...8 bytes)

= 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 (→ p. 77) 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

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

Parameter

Data type

Description

RESULT

BYTE

feedback of the function block (possible messages → following table)

Value

dec | hex

Description

FB is inactive

function block execution completed without error

242

Error: setting is not possible

250

Error: FiFo is full – data was lost

Parameters of the outputs

Possible results for RESULT:

7527

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

CAN_TX_ENH_CYCLIC

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

complete system.

Parameter

Data type

Description

ENABLE

BOOL

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

DWORD

Number of the data object identifier: normal frame (211 IDs):

0...2 047 = 0x0000 0000...0x0000 07FF extended Frame (229 IDs):

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

Extended (optional use of the parameter)

BOOL := FALSE

TRUE: extended Frame (ID = 0...229-1)

FALSE: normal Frame (ID = 0...211-1)

DataLengthCode (optional use of the parameter)

BYTE := 8

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

ARRAY [0..7] OF BYTE

data to be sent (1...8 bytes)

PERIOD

TIME

period duration

= 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 (→ p. 78). ► Set the period duration via the parameter PERIOD.

Parameters of the inputs

7569

7582

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

Parameter

Data type

Description

RESULT

BYTE

feedback of the function block (possible messages → following table)

Value

dec | hex

Description

FB is inactive

FB execution completed without error – data is valid

function block is active

CAN is not active

242

Error: setting is not possible

250

Error: FiFo is full – data was lost

Parameters of the outputs

Possible results for RESULT:

7510

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

Function elements: RAW-CAN remote

CAN_REMOTE_REQUEST ...................................................................................................................83

CAN_REMOTE_RESPONSE.................................................................................................................84

15057

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

CAN_REMOTE_REQUEST

Parameter

Data type

Description

EXECUTE

BOOL := FALSE

FALSE  TRUE (edge): execute function element once

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

CHANNEL

BYTE

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

DWORD

Number of the data object identifier: normal frame (211 IDs):

0...2 047 = 0x0000 0000...0x0000 07FF extended Frame (229 IDs):

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

Extended (optional use of the parameter)

BOOL := FALSE

TRUE: extended Frame (ID = 0...229-1)

FALSE: normal Frame (ID = 0...211-1)

Parameter

Data type

Description

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)

Value

dec | hex

Description

FB is inactive

function block execution completed without error

FB is being processed – still receiving

CAN is not active

242

Error: setting is not possible

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

7627

7628

Parameters of the outputs

Possible results for RESULT:

7629

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

CAN_REMOTE_RESPONSE

BasicController: CR040n, CR041n, CR043n BasicDisplay: CR045n

max. 40 remote messages

PDM360 NG: CR108n, CR120n

max. 100 remote messages

Parameter

Data type

Description

ENABLE

BOOL := FALSE

TRUE: execute this function element

Edge: enter the new values

FALSE: unit is not executed reset internal remote values

CHANNEL

BYTE

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

DWORD

Number of the data object identifier: normal frame (211 IDs):

0...2 047 = 0x0000 0000...0x0000 07FF extended Frame (229 IDs):

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

Extended (optional use of the parameter)

BOOL := FALSE

TRUE: extended Frame (ID = 0...229-1)

FALSE: normal Frame (ID = 0...211-1)

DATALENGTHCODE

BYTE

= Data Length Code number of the data bytes to be sent (0...8)

DATA

ARRAY [0..7] OF BYTE

data to be sent (1...8 bytes)

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:

Parameters of the inputs

7634

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

Parameter

Data type

Description

RESULT

BYTE

feedback of the function block (possible messages → following table)

Value

dec | hex

Description

FB is inactive

FB is being processed – remote for ID not active

FB is being processed – remote for ID active

function block is active

no further remote entrys available

242

Error: setting is not possible

Parameters of the outputs

Possible results for RESULT:

7636

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

5.2.3 Function elements: CANopen

Function elements: CANopen status ......................................................................................................86

Function elements: CANopen network management .............................................................................95

Function elements: CANopen object directory .......................................................................................99

Function elements: CANopen SDOs ....................................................................................................104

Function elements: CANopen SYNC ...................................................................................................117

Function elements: CANopen guarding ...............................................................................................121

Function elements: CANopen emergency ............................................................................................125

CANOPEN_ENABLE ..............................................................................................................................87

CANOPEN_GETBUFFERFLAGS ..........................................................................................................89

CANOPEN_GETSTATE .........................................................................................................................91

CANOPEN_SETSTATE .........................................................................................................................93

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

Function elements: CANopen status

15059

15061

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

CANOPEN_ENABLE

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

first.

Parameter

Data type

Description

ENABLE

BOOL := TRUE

TRUE:

• 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

CHANNEL

BYTE

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

Baud rate (optional use of the parameter)

WORD := 0

Baud rate [kbits/s] permissible values = 20, 50, 100, 125, 250, 500, 800, 1 000

0 = use setting from the PLC configuration

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 (→ p. 87)

for every CAN interface!

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 (→ p. 61) has not been activated before.

Parameters of the inputs

7787

7788

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

Parameters

Data type

Description

RESULT

BYTE

feedback of the function block (possible messages → following table)

Value

dec | hex

Description

FB is inactive

function block execution completed without error

FB is active CANopen manager configures devices and sends SDOs

FB is active CANopen manager is started

238

Error: CANopen configuration is too large and cannot be started

239

Error: CANopen manager could not be started

242

Error: setting is not possible

Parameters of the outputs

Possible results for RESULT:

7789

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

CANOPEN_GETBUFFERFLAGS

Parameter

Data type

Description

EXECUTE

BOOL := FALSE

FALSE  TRUE (edge): execute function element once

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

CHANNEL

BYTE

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

ResetRXFlags (optional use of the parameter)

BOOL := FALSE

TRUE: Provide fag status at the output and then reset

FALSE: function element is not executed

ResetTXFlags (optional use of the parameter)

BOOL := FALSE

TRUE: Provide flag status at the output and then reset

FALSE: function element is not executed

= 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

7892

7893

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

Parameter

Data type

Description

RXOVFL

BOOL

condition of the RX overflow flag

TRUE: overflow in the receive buffer

FALSE: no overflow in receive buffer

RXWARN

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)

Value

dec | hex

Description

FB is inactive

function block execution completed without error

function block not yet executed

242

Error: setting is not possible

Parameters of the outputs

Possible results for RESULT:

7894

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

CANOPEN_GETSTATE

Parameter

Data type

Description

EXECUTE

BOOL := FALSE

FALSE  TRUE (edge): execute function element once

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

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: 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

= 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

7867

7868

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

Parameter

Data type

Description

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 according to CANopen (with these values the status is also coded in the corresponding messages with regard to the node).

0x00

BOOTUP

0x04

STOPPED

0x05

OPERATIONAL

127

0x7F

PRE-OPERATIONAL

RESULT

BYTE

feedback of the function block (possible messages → following table)

Value

dec | hex

Description

FB is inactive

FB execution completed without error – data is valid

FB is active – not yet processed

242

Error: setting is not possible

Parameters of the outputs

7869

Possible results for RESULT:

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

CANOPEN_SETSTATE

Parameter

Data type

Description

EXECUTE

BOOL := FALSE

FALSE  TRUE (edge): execute function element once

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

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 changed. The established settings are only adopted for this node (not 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: The function block adopts this value as the new node ID of the device.

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

= 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 (→ p. 97). At the same time admissibility checks are carried out. For reasons of consistency no inputs are provided for this purpose.

Parameters of the inputs

7861

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

Parameter

Data type

Description

InitNoSdos (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

Parameter

Data type

Description

RESULT

BYTE

feedback of the function block (possible messages → following table)

Value

dec | hex

Description

FB is inactive

FB execution completed without error – data is valid

FB is active – not yet processed

242

Error: setting is not possible

Parameters of the outputs

Possible results for RESULT:

7862

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

Function elements: CANopen network management

CANOPEN_GETNMTSTATESLAVE .....................................................................................................96

CANOPEN_NMTSERVICES ..................................................................................................................97

15063

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

CANOPEN_GETNMTSTATESLAVE

Parameter

Data type

Description

EXECUTE

BOOL := FALSE

FALSE  TRUE (edge): execute function element once

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

CHANNEL

BYTE

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

Parameter

Data type

Description

NMTSTATE

BYTE

Network operating status of the node 0 = INIT 1 = OPERATIONAL 2 = PRE-OPERATIONAL 3 = STOPPED

RESULT

BYTE

feedback of the function block (possible messages → following table)

Value

dec | hex

Description

FB is inactive

function block execution completed without error

FB is active – not yet processed

242

Error: setting is not possible

= Get network management state slave Unit type = function block (FB)

Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

7851

Description

► Only use the FB if the device is operated as CANopen slave! With CANOPEN_GETNMTSTATESLAVE, only the operating state according to CANopen and an

error message are reported to the application if an invalid state transition has been requested.

Parameters of the inputs

Parameters of the outputs

7853

7854

7855

Possible results for RESULT:

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

CANOPEN_NMTSERVICES

Parameter

Data type

Description

EXECUTE

BOOL := FALSE

FALSE  TRUE (edge): execute function element once

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

CHANNEL

BYTE

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

NODE

BYTE

CANopen ID of the node permissible = 0...127 = 0x00...0x7F

NODE = 0: command applies to all nodes in the network

NODE = Node ID of the device: command applies to the device as such

NMTSERVICE

BYTE

network command 0 = init node (except master) 1 = enter PRE-OPERATIONAL 2 = start node 3 = reset node 4 = reset communication 5 = stop node

Timeout (optional use of the parameter)

TIME := T#0ms

waiting time of the FB for the initialisation when the time has elapsed, the FB stops waiting.

0 = use value from the configuration

= Network management services Unit type = function block (FB)

Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

7843

Description

Depending on its NMT command entries, CANOPEN_NMTSERVICES either triggers an NMT command or the initialisation of a node.

NMT = Network-ManagemenT

The function block updates the internal node status. If a state transition to CANopen (→ system manual "Know-How ecomatmobile" > NMT state) should not be permitted, the command is not executed.

A CANopen device can automatically change its CANopen state by means of the FB: preoperational  operational

Parameters of the inputs

7844

7847

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

Parameter

Data type

Description

RESULT

BYTE

feedback of the function block (possible messages → following table)

Value

dec | hex

Description

FB is inactive

function block execution completed without error

function block is active

at least 1 SDO of the configuration was not successful

node was already initialised

when initialisation was requested the node was not in the PRE-OPERATIONAL mode

master / slave is not initialised

241

Error: CANopen state transition is not permitted

242

Error: setting is not possible

Parameters of the outputs

Possible results for RESULT:

7848

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

Function elements: CANopen object directory

CANOPEN_GETODCHANGEDFLAG .................................................................................................100

CANOPEN_READOBJECTDICT .........................................................................................................101

CANOPEN_WRITEOBJECTDICT .......................................................................................................102

15065

ifm Programming Manual BasicController relay CR0431 v03.03.00 05 / 2018

ifm function elements ifm function elements for the device CR0431

CANOPEN_GETODCHANGEDFLAG

Parameter

Data type

Description

EXECUTE

BOOL := FALSE

FALSE  TRUE (edge): execute function element once

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

CHANNEL

BYTE

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

IDX

WORD

index in object directory

SUBIDX

BYTE

sub-index referred to the index in the object directory

Parameter

Data type

Description

DATA

DWORD

parameter value

RESULT

BYTE

feedback of the function block (possible messages → following table)

Value

dec | hex

Description

FB is inactive

function block execution completed without error

FB is active – not yet processed

242

Error: setting is not possible

= Get object directory changed flag Unit type = function block (FB)

Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

7927

Description

CANOPEN_GETODCHANGEDFLAG reports any change of value for a particular object directory entry.

Parameters of the inputs

Parameters of the outputs

7928

7930

7931

Possible results for RESULT:

100

IFM Electronic CR0431, CR2050 Programming Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1 About this manual

1.1 Copyright

1.2 Overview: documentation modules for CR0431

1.3 What do the symbols and formats mean?

1.4 How is this documentation structured?

1.5 History of the instructions (CR043n)

2 Safety instructions

2.1 Please note

2.2 What previous knowledge is required?

2.3 Start-up behaviour of the controller

2.4 Notes: serial number

3 System description

3.1 Information about the device

3.2 Hardware description

3.2.1 Hardware structure

Start conditions

Important note to program the device

Principle block diagram

Available memory

FLASH memory

SRAM

FRAM

3.2.2 Inputs (technology)

Analogue inputs

Binary inputs

Input group IN0...IN3

Input group IN4...IN7

Resistance measurement

3.2.3 Outputs (technology)

Protective functions of the outputs

Fuses, relays

Output group K0...K5

Output group LED0...LED6

3.2.4 Note on wiring

3.2.5 Safety instructions about Reed relays

3.2.6 Status-LED

Control the LED in the application program

3.3 Interface description

3.3.1 CAN interfaces

CAN: interfaces and protocols

3.4 Software description

3.4.1 Software modules for the device

Bootloader

Runtime system

Application program

Libraries

3.4.2 Programming notes for CODESYS projects

FB, FUN, PRG in CODESYS

Note the cycle time!

Important note to program the device

Creating application program

Using ifm maintenance tool

Distribution of the application program

3.4.3 Operating states

INIT state (Reset)

STOP state

RUN state

ERROR state

FATAL ERROR state

3.4.4 Performance limits of the device

Watchdog behaviour

Limitations for CAN in this device

Limitations for CANopen in this device

Limitations for CAN J1939 in this device

4 Configurations

4.1 Set up the runtime system

4.1.1 Reinstall the runtime system

4.1.2 Update the runtime system

4.1.3 Verify the installation

4.2 Set up the programming system

4.2.1 Set up the programming system manually

Set up the target

Activate the PLC configuration

CAN declaration (e.g. CR1080)

4.2.2 Set up the programming system via templates

4.3 Function configuration in general