IFM Electronic CR0452 Programming Manual

Download

Programming Manual

BasicDisplay

CR0452

Runtime system v03

CODESYS® v2.3

English

739

100

2 / 04

05 / 2018

ifm Programming Manual BasicDisplay CR0452 v03.02 05 / 2018

Contents

1 About this manual 4

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

1.2 Overview: documentation modules for CR0452 .................................................................. 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 (CR0452) .................................................................................. 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

3.1.1 Accessories ................................................................................................................................ 10

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

3.2.1 Hardware setup ................................................................................................ .......................... 11

3.2.2 Status-LED ................................................................................................................................. 14

3.3 Interface description ...........................................................................................................15

3.3.1 CAN interfaces ........................................................................................................................... 15

3.4 Software description ..........................................................................................................16

3.4.1 Software modules for the device ................................................................................................ 16

3.4.2 Programming notes for CODESYS projects ............................................................................... 19

3.4.3 Operating states ......................................................................................................................... 22

3.4.4 Performance limits of the device ................................................................................................ 25

4 Configurations 32

4.1 Set up the runtime system .................................................................................................32

4.1.1 Reinstall the runtime system ...................................................................................................... 33

4.1.2 Update the runtime system ......................................................................................................... 34

4.1.3 Verify the installation .................................................................................................................. 34

4.2 Set up the programming system ........................................................................................35

4.2.1 Set up the programming system manually ................................................................................. 35

4.2.2 Set up the programming system via templates ........................................................................... 39

4.3 Function configuration in general .......................................................................................40

4.3.1 System variables ........................................................................................................................ 40

4.4 Variables ............................................................................................................................41

4.4.1 Retain variables .......................................................................................................................... 42

4.4.2 Network variables ....................................................................................................................... 43

5 ifm function elements 44

5.1 ifm libraries for the device CR0452 ....................................................................................44

5.1.1 Required libraries ....................................................................................................................... 44

5.1.2 Library ifm_CR0452_Vxxyyzz.LIB .............................................................................................. 45

5.1.3 Library ifm_CR0452_Init_Vxxyyzz.LIB ....................................................................................... 46

5.1.4 Library ifm_PDMsmart_util_Vxxyyzz.LIB ................................................................ .................... 46

5.1.5 Library ifm_RAWCan_NT_Vxxyyzz.LIB...................................................................................... 46

5.1.6 Library ifm_CANopen_NT_Vxxyyzz.LIB ..................................................................................... 47

5.1.7 Library ifm_J1939_NT_Vxxyyzz.LIB ........................................................................................... 48

ifm Programming Manual BasicDisplay CR0452 v03.02 05 / 2018

Contents

5.2 ifm function elements for the device CR0452 ....................................................................50

5.2.1 Function element outputs ........................................................................................................... 51

5.2.2 Function elements: RAW-CAN (Layer 2) ................................................................ .................... 52

5.2.3 Function elements: CANopen ..................................................................................................... 80

5.2.4 Function elements: SAE J1939 ................................................................................................ 126

5.2.5 Function elements: system ....................................................................................................... 158

5.2.6 Function elements: graphics ..................................................................................................... 176

6 Diagnosis and error handling 186

6.1 Diagnosis .........................................................................................................................186

6.2 Fault .................................................................................................................................186

6.3 Response to system errors ..............................................................................................187

6.3.1 Example process for response to an error message ................................................................ 187

6.4 CAN / CANopen: errors and error handling .....................................................................187

7 Appendix 188

7.1 System flags .....................................................................................................................188

7.2 Error tables .......................................................................................................................190

7.2.1 Error flags ................................................................................................................................. 190

7.2.2 Errors: CAN / CANopen............................................................................................................ 190

8 Terms and abbreviations 191

9 Index 205

10 Notizen • Notes • Notes 209

ifm Programming Manual BasicDisplay CR0452 v03.02 05 / 2018

About this manual Copyright

1 About this manual

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

Overview: documentation modules for CR0452 ....................................................................................... 5

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

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

History of the instructions (CR0452) ...................................................................................................... 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

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About this manual Overview: documentation modules for CR0452

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 CR0452

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

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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:

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About this manual How is this documentation structured?

Date

Theme

Change

2014-03-24

Visualisation limits

Information concerning the permissible drawing area

2014-04-29

FB CAN_REMOTE_RESPONSE

More precise description of the function block ENABLE

2014-05-12

Limitations CAN

Limitations added for CAN, CANopen and CAN J1939

2014-06-30

Name of the documentation

"System manual" renamed as "Programming manual"

2015-01-13

Structure of documentation for error codes, system flags

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

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

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

2015-03-10

Available memory

Description improved

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 (CR0452)

What has been changed in this manual? An overview:

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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.

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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 BasicDisplay CR0452 v03.02 05 / 2018

System description Information about the device

3 System description

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

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

Interface description ...............................................................................................................................15

Software description ...............................................................................................................................16

EC0404

Frame for front panel mounting of CR0452

EC0406

RAMmount set for using CR0452 as a desktop unit

EC0452

Cable for power supply and CAN between the display and the BasicController when the cover EC0402 is used

EC0454

5 m cable for power supply and CAN between the display and the BasicController

---

"Maintenance Tool" software for updating firmware, runtime system and application program Download → www.ifm.com

3.1 Information about the device

This manual describes of the ecomatmobile family for mobile machines of ifm electronic gmbh:  BasicDisplayXL: CR0452 The display is part of the family of the BasicController: CR040n, CR041n, CR043n.

3.1.1 Accessories

A wide range of accessories is available for the BasicDisplay. Examples:

975

15407

15406

You can find accessories for the article on ifm's website: → www.ifm.com > Select your country > [Data sheet search] > article no. > [Accessories]

ifm Programming Manual BasicDisplay CR0452 v03.02 05 / 2018

System description Hardware description

3.2 Hardware description

Hardware setup ......................................................................................................................................11

Status-LED .............................................................................................................................................14

Available memory ...................................................................................................................................12

Colour display of the CR0452 ................................................................................................................13

Operating elements of CR0452 ..............................................................................................................13

Key LEDs dimmable ...............................................................................................................................13

Connection on the rear panel of the housing .........................................................................................13

3.2.1 Hardware setup

Protection IP 65 on the front panel when mounted: Protection IP 67

14081

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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. 160) (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.

592 kByte

data reserved by the application program

128 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

14027

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.

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System description Hardware description

Designation

Data

Technology

TFT

Screen diagonal

4.3" (10.9 cm)

Aspect ratio

16:9

Resolution

480 x 272 pixels

Colour depth

8 bits = 256 colours via defined colour palette ► Create image as a 256-colour file!

Background illumination

LED dimmable in 1 % steps Setting a) can be changed temporarily and b) can be preset (stored)

Illustration

Designation

Note

n.c.

---- 2 VBB

8...32 V DC

GND

terminal 31

CAN_H

CAN_L

Colour display of the CR0452

Operating elements of CR0452

The display is fitted with the following operating elements:  4 function keys [F1]...[F4]

backlit with LEDs

 1 rocker switch

as a combination of 4 independent keys backlit with LEDs

 1 [OK] key

backlit with LED

 1 [ESC] key

backlit with LED

All keys work independently of each other. The device detects several simultaneously pressed keys and evaluates them.

15258

15260

Key LEDs dimmable

► All operating elements are backlit with LEDs.

Night design of the operating elements:

 The LEDs for all operating elements can only be dimmed together:

 Flag KEY_BACKLIGHT_CTRL

Connection on the rear panel of the housing

M12 connector, A-coded, for supply and CAN:

8369

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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.

3.2.2 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.

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System description Interface description

CAN interfaces .......................................................................................................................................15

CAN: interfaces and protocols ................................................................................................................15

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

Interface does not

exist

CANopen

SAE J1939

3.3 Interface description

3.3.1 CAN interfaces

Connections and data → data sheet

CAN: interfaces and protocols

The device is equipped with only one CAN interface. The interface can be used with the following functions:

• RAW-CAN (Layer 2): CAN on level 2 (→ chapter Function elements: RAW-CAN (Layer 2) (→ p. 52))

• CANopen master / CANopen slave (→ chapter Function elements: CANopen (→ p. 80))

• CANopen network variables (via CODESYS) (→ chapter Network variables (→ p. 43))

• SAE J1939 (for drive management, → chapter Function elements: SAE J1939 (→ p. 126))

• 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:

14098

14101

15270 15271

15272

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 BasicDisplay CR0452 v03.02 05 / 2018

System description Software description

Software modules for the device ............................................................................................................16

Programming notes for CODESYS projects ...........................................................................................19

Operating states .....................................................................................................................................22

Performance limits of the device ............................................................................................................25

Bootloader ..............................................................................................................................................17

Runtime system ......................................................................................................................................17

Application program ................................................................................................................................17

Libraries ..................................................................................................................................................18

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 Software description

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. 36)

Below we describe this software module:

ifm Programming Manual BasicDisplay CR0452 v03.02 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. 16)

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

15274 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.

The visualisation pages and embedded graphics are part of the CODESYS application program.

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System description Software description

Library

Use

ifm_CR0452_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 CR0452 (→ p. 44)

ifm Programming Manual BasicDisplay CR0452 v03.02 05 / 2018

System description Software description

FB, FUN, PRG in CODESYS .................................................................................................................19

Note the cycle time! ................................................................................................................................20

Important note to program the device ....................................................................................................20

Creating application program .................................................................................................................21

Using ifm maintenance tool ....................................................................................................................22

Distribution of the application program ...................................................................................................22

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!

3.4.2 Programming notes for CODESYS projects

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 BasicDisplay CR0452 v03.02 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 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.

8006

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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 BasicDisplay CR0452 v03.02 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

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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. 172).

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

• INIT (after power-on-reset)

• STOP

• ERROR

• FATAL ERROR

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System description Software description

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)

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System description Software description

Note the limits of the device! → Data sheet

3.4.4 Performance limits of the device

Watchdog behaviour

In this device, a watchdog monitors the program runtime of the CODESYS application. If the maximum watchdog time (application program: 100 ms; visualisation: 1 200 ms) is exceeded:

> the device changes to the "Timeout Error" state > all processes are stopped (reset) > all outputs are switched off > the screen goes black > 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 unsuccessful:  Goto Bootloader  PowerOn Reset  Reload the runtime system into the device  Reload the application program into the device

If unsuccessful:  Hardware error: return device to ifm!

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System description Software description

Parameter

Limitation CR0451

Limitation CR0452

File type

Bitmap (*.bmp)

File name

Only small letters, naming convention = 8.3

Image size

320 x 240 pixels

480 x 272 pixels

Colours

8 bit = 28 colours = 256 colours can be represented

Required memory space

< 76 Kbytes, depending on the image content for RLE compression

Visualisation limits

Embedded displays, used e.g. in ecomatmobile devices, cannot provide the full colour scope of bitmap graphics because the available power reserves are restricted. Nevertheless, the following preparations enable bitmap images in the device:

 Correct selection of the motifs,  clever shifting of colours or

clever compilation of a colour palette and

 the correct scaling of the bitmaps before using them in the device.  Performance limits of the device (→ p. 25)

Table: specifications for the start image

The graphics used in the project may be larger than the specified image size. In this case, however, only a (selectable) section of the image will be visible.

Colours: The device supports 28 (= 256) colour nuances. ► Create bitmap (BMP) with 256 colours:

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8464

Resample / scale image

If an image is loaded in the device which does not meet the requirements for size or colour, it is resized before it is displayed and the colours used are "checked".

Each time the image is opened, it must be resampled. This often leads to much longer times to change from one image to the other. Corrective measures:

► First carry out all transformations of the bitmap or the image in an image processing program on

your computer. Only for BasicDisplay: The colour palette is adapted when the image is integrated into the project by CODESYS. On the device itself no adaptations will be made (size, scaling, colour).

► Only save the suitably transformed images in the visualisation of the device.

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System description Software description

Designation

Limitation

Length of character strings

< 80 characters

Length of path names

not relevant

Number of visualisation pages

< 15

Number of graphical objects per visualisation page

< 20

Number of bitmaps per project

< 256 depending on the size and the available flash memory for the

application

Number of character sets per project

Character sets are permanently stored and cannot be changed.

Number of POUs ¹) per project

< 512

Limitations for visualisations

¹) POU (Program Organization Unit) = function, function block or program block Because of the limited memory:

• avoid grouping of elements

• avoid visualisation as a master slide

• avoid visualisation of master background slides

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System description Software description

Visualisation element

Functional safety for the PDM

Polyline

A polyline is to consist of maximum 5 anchor points; not scalable A polyline is not to enclose any area.

Curve

Not supported

Rectangle

No problems known

Rounded rectangle

Not supported

Circle, ellipse

No problems known

Polygon

A polygon is to consist of maximum 10 anchor points; not scalable

Pie chart

Not supported

Visualisation

Not supported

Button

Not supported

Table

Not supported

Scroll bar

Not supported

Trend curve

Not supported

Alarm table

Not supported

Scales

Create scale as BMP file

Pointer instrument

Represent pointer instrument as BMP file with a superposed CoDeSys polygon

Bar graph

Create scale as BMP file Represent value as a superposed CoDeSys rectangle

Histogram

Create scale as BMP file Represent value as a superposed CoDeSys rectangle

Graphic file

Up to 256 per project possible

• BMP ¹)

• BMP RLE compressed

• TIFF ¹)

• JPEG ¹)

Graphics scaling mode

Supported for circle, ellipse, rectangle, line, polyline, polygon

ActiveX element

Not supported

Pointer diagram

Not supported

Edit tools

Not supported

+ o

can be used without problem can be used with restrictions cannot be used

CODESYS visualisation elements

Bitmap graphics (BMP)  chapter Visualisation limits (→ p. 26)

Not all CODESYS functions can be executed successfully on this device:

453

¹) During the integration into the project the file is converted into an RLE compressed bitmap. From the CODESYS version 2.3.9.24 an additional dialogue opens when an image is integrated. Using this dialogue the file is adapted to the Colour palette used for the device. During the colour conversion you can select between 'most similar colour' (deactivate [Dithering]) and 'Dithering'.

Drawing area:

 The left upper corner marks the home position (0,0) of the virtual and physical drawing area.  Virtual drawing area = 2,560 x 1,536 pixels

(enlarges the physical drawing area)

 Elements in the virtual drawing area are not calculated.

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System description Software description

Drawing area

15987

 The left upper corner marks the home position (0,0) of the virtual and physical drawing area.  Virtual drawing area (X/Y coordinates) = -32768...+32767

(enlarges the physical drawing area)

 All objects including their outer dimensions must be within the borders of the virtual drawing area

even after scaling or shifting! Otherwise the visualisation will not be correct any more.

 Elements in the virtual drawing area are not calculated.

Texts

 The smallest font size which is clearly visible on the device is 11 point.  Permissible fonts:

- Arial (standard)

- Lucida Console

 Permissible font size [Pixel] and font weight:

- Arial: 11 (standard), 16, 24, 32 (all only normal)

- Lucida Console: 16, 24, 48*) (all only normal) *) Lucida Console in the font size 48 only has the following characters:

- numbers 0 to 9

- special characters + - . : %

- space.

 Permissible effects:

- none (standard)

 The following text scripts are ignored:

- Western

- Hebrew

- Arabic

- Greek

- Turkish

- Baltic

- Central European

- Cyrillic

- Vietnamese

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System description Software description

Element movement

Description

Rotate

Rotate the element around a defined pivot point Indicate the angle of rotation

 angle of rotation in [degree]  positive value = rotation clockwise  negative value = rotation anticlockwise

Shift

Shifting of the element:

 horizontal  vertical  only within the drawing area  max. until leaving the drawing area

Relative shifting of

• rectangle

• ellipse / circle

Each edge of the element can be shifted by a specified number of pixels via an INT type variable:

 basic position of the 4 edges = zero  new value shifts this edge by the specified value

Shift direction for value > 0:

 horizontal edge down  vertical edge to the right

Shift direction for value < 0:

 horizontal edge up  vertical edge to the left

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

Movement of elements

Image and text elements can be moved on the display in a defined manner.

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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. 62)

- CAN_RX_RANGE_FIFO (→ p. 66) The number of FIFo messages is limited. The following limitations of the devices are valid:

ifm Programming Manual BasicDisplay CR0452 v03.02 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:

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Configurations Set up the runtime system

4 Configurations

Set up the runtime system ......................................................................................................................32

Set up the programming system ............................................................................................................35

Function configuration in general ...........................................................................................................40

Variables .................................................................................................................................................41

Reinstall the runtime system ..................................................................................................................33

Update the runtime system.....................................................................................................................34

Verify the installation ..............................................................................................................................34

1016

The device configurations described in the corresponding installation instructions or in the Appendix (→ p. 188) 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

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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_CR0452_Vxxyyzz.RESX),

• PLC configuration (ifm_CR0452_Vxx.CFG),

• device library (ifm_CR0452_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. "CR0452") 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

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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

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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.

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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. 164)

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.

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Configurations Set up the programming system

Set up the programming system manually .............................................................................................35

Set up the programming system via templates ......................................................................................39

Set up the target .....................................................................................................................................36

Activate the PLC configuration ...............................................................................................................37

CAN declaration (e.g. CR1080) ..............................................................................................................38

4.2 Set up the programming system

4.2.1 Set up the programming system manually

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Configurations Set up the programming system

NOTE

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

• runtime system (ifm_CR0452_Vxxyyzz.RESX),

• PLC configuration (ifm_CR0452_Vxx.CFG),

• device library (ifm_CR0452_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. "CR0452") 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_CR0452_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

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Configurations Set up the programming system

Activate the PLC configuration

10079

The PLC configuration is automatically loaded with the target system. The PLC configuration maps the contents of the file CR0452.cfg in CODESYS. Like this, the programmer has easy access to predefined system and error flags, inputs and outputs as well as to the CAN interfaces of the device.

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

► Click on the tab [Resources] in CoDeSys:

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

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

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

 System and error flags

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

 Structure of the inputs and outputs

These can be directly symbolically designated (highly recommended!) in the window [PLC Configuration] (example → figure below) and are available in the whole project as [Global Variables].

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Configurations Set up the programming system

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].

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Configurations Set up the programming system

► 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. 81)

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.

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Configurations Function configuration in general

4.3 Function configuration in general

4.3.1 System variables

All system variables (→ chapter System flags (→ p. 188)) have defined addresses which cannot be shifted.

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Configurations Variables

Retain variables ......................................................................................................................................42

Network variables ...................................................................................................................................43

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

4.4 Variables

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

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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

4.4.1 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).

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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.

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Configurations Variables

4.4.2 Network variables

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

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

 3S_CANopenNetVar.lib  ifm_NetVarLib_NT_Vxxyyzz.lib

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ifm function elements ifm libraries for the device CR0452

5 ifm function elements

ifm libraries for the device CR0452 ........................................................................................................44

ifm function elements for the device CR0452.........................................................................................50

Required libraries ...................................................................................................................................44

Library ifm_CR0452_Vxxyyzz.LIB ..........................................................................................................45

Library ifm_CR0452_Init_Vxxyyzz.LIB ...................................................................................................46

Library ifm_PDMsmart_util_Vxxyyzz.LIB ...............................................................................................46

Library ifm_RAWCan_NT_Vxxyyzz.LIB .................................................................................................46

Library ifm_CANopen_NT_Vxxyyzz.LIB .................................................................................................47

Library ifm_J1939_NT_Vxxyyzz.LIB ......................................................................................................48

ifm_CR0452_Vxxyyzz.LIB

Device library

ifm_CR0452_Init_Vxxyyzz.LIB

Initialises the device screen

ifm_NetVarLib_NT_Vxxyyzz.LIB

Support of network variables (ifm library)

3S_CANopenNetVar.LIB

Support of network variables (3S library)

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 CR0452

14235

5.1.1 Required libraries

If you do not want to base the initial programming of this device on an ifm template, you should be sure to integrate at least the following libraries into your project:

Libraries required for network variables

If you want to work with network variables, you will need the following libraries in addition:

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ifm function elements ifm libraries for the device CR0452

Function element

Short description

FLASH_INFO (→ p. 159)

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. 160)

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

GET_APP_INFO (→ p. 161)

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. 162)

Delivers information about the device hardware:

• ifm article number (e.g. CR0403),

• article designation,

• unambiguous serial number,

• hardware revision,

• production date

GET_IDENTITY (→ p. 163)

Reads the identification of the application stored in the device (has previously been saved by means of SET_IDENTITY (→ p. 171))

GET_SW_INFO (→ p. 164)

Delivers information about the system software of the device:

• software name,

• software version,

• build number,

• build date

GET_SW_VERSION (→ p. 165)

Delivers information about the software versions stored in the device:

• BasicSystem version,

• bootloader version,

• SIS version,

• application program version,

• user flash version

MEM_ERROR (→ p. 166)

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

MEMCPY (→ p. 167)

Writes and reads different data types directly in the memory

OHC (→ p. 169)

Adjustable operating hours counter (0...3)

SET_IDENTITY (→ p. 171)

Sets an application-specific program identification

SET_LED (→ p. 172)

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

SET_PASSWORD (→ p. 174)

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

TIMER_READ_US (→ p. 175)

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

5.1.2 Library ifm_CR0452_Vxxyyzz.LIB

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

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ifm function elements ifm libraries for the device CR0452

Function element

Short description

BASICDISPLAY_INIT (→ p. 183)

Initialises the screen of the BasicDisplay in the first PLC cycle

Function element

Short description

GET_TEXT_FROM_FLASH (→ p. 177)

Reads texts of the type STRING from the flash memory via FLASH_READ (→ p. 160)

NORM_DINT (→ p. 179)

Normalises a value [DINT] within defined limits to a value with new limits

NORM_REAL (→ p. 180)

Normalises a value [REAL] within defined limits to a value with new limits

PDM_PAGECONTROL (→ p. 184)

Controls invoking of certain visualisation pages

TOGGLE (→ p. 181)

Setting and resetting of a Boolean variable with only one input bit

Function element

Short description

CAN_ENABLE (→ p. 53)

Initialises the indicated CAN interface Configures the CAN baud rate

CAN_RECOVER (→ p. 54)

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

CAN_REMOTE_REQUEST (→ p. 76)

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

CAN_REMOTE_RESPONSE (→ p. 78)

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. 59)

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

CAN_RX_ENH (→ p. 60)

• 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. 62)

• 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. 64)

• 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. 66)

• 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. 55)

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

CAN_STATUS (→ p. 56)

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. 69)

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

5.1.3 Library ifm_CR0452_Init_Vxxyyzz.LIB

This ifm library contains the following function blocks:

5.1.4 Library ifm_PDMsmart_util_Vxxyyzz.LIB

This ifm library contains the following function blocks:

15286

15289

5.1.5 Library ifm_RAWCan_NT_Vxxyyzz.LIB

This ifm library contains the following function blocks:

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Function element

Short description

CAN_TX_ENH (→ p. 71)

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. 73)

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

Function element

Short description

CANOPEN_ENABLE (→ p. 81)

Initialises the indicated CANopen master interface Configures the CAN baud rate

CANOPEN_GETBUFFERFLAGS (→ p. 83)

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

CANOPEN_GETEMCYMESSAGES (→ p. 120)

= 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. 122)

= 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. 116)

= 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. 117)

= 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. 90)

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

CANOPEN_GETODCHANGEDFLAG (→ p. 94)

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

CANOPEN_GETSTATE (→ p. 85)

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

CANOPEN_GETSYNCSTATE (→ p. 112)

= 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. 91)

= 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. 95)

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

CANOPEN_SDOREAD (→ p. 99)

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

CANOPEN_SDOREADBLOCK (→ p. 101)

= 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. 103)

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

5.1.6 Library ifm_CANopen_NT_Vxxyyzz.LIB

This ifm library contains the following function blocks:

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Function element

Short description

CANOPEN_SDOWRITE (→ p. 105)

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

CANOPEN_SDOWRITEBLOCK (→ p. 107)

= 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. 109)

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

CANOPEN_SENDEMCYMESSAGE (→ p. 124)

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

CANOPEN_SETSTATE (→ p. 87)

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

CANOPEN_SETSYNCSTATE (→ p. 114)

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

CANOPEN_WRITEOBJECTDICT (→ p. 96)

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

Function element

Short description

J1939_DM1RX (→ p. 151)

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

J1939_DM1TX (→ p. 153)

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

J1939_DM1TX_CFG (→ p. 156)

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

J1939_DM3TX (→ p. 157)

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

J1939_ENABLE (→ p. 127)

Initialises the J1939 stack

J1939_GETDABYNAME (→ p. 129)

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

J1939_NAME (→ p. 131)

Give the device a name for identification in the network

J1939_RX (→ p. 138)

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

J1939_RX_FIFO (→ p. 139)

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

J1939_RX_MULTI (→ p. 141)

= J1939 RX multiframe message Receives multiframe messages

J1939_SPEC_REQ (→ p. 135)

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

J1939_SPEC_REQ_MULTI (→ p. 136)

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

J1939_STATUS (→ p. 133)

Shows relevant information on the J1939 stack

J1939_TX (→ p. 143)

Sends individual single frame messages

J1939_TX_ENH (→ p. 144)

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

J1939_TX_ENH_CYCLIC (→ p. 146)

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

5.1.7 Library ifm_J1939_NT_Vxxyyzz.LIB

This ifm library contains the following function blocks:

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Function element

Short description

J1939_TX_ENH_MULTI (→ p. 148)

= J1939 TX enhanced Multiframe Message Sends individual multiframe messages

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Function element outputs .......................................................................................................................51

Function elements: RAW-CAN (Layer 2) ...............................................................................................52

Function elements: CANopen ................................................................................................................80

Function elements: SAE J1939 ............................................................................................................126

Function elements: system ...................................................................................................................158

Function elements: graphics ................................................................................................................176

5.2 ifm function elements for the device CR0452

13988

3826

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

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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

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Function elements: RAW-CAN status ....................................................................................................52

Function elements: receive RAW-CAN data ..........................................................................................58

Function elements: transmit RAW-CAN data .........................................................................................68

Function elements: RAW-CAN remote ...................................................................................................75

CAN_ENABLE ........................................................................................................................................53

CAN_RECOVER ....................................................................................................................................54

CAN_SETDOWNLOADID ......................................................................................................................55

CAN_STATUS ........................................................................................................................................56

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

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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:

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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

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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:

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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

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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

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Function elements: receive RAW-CAN data

CAN_RX .................................................................................................................................................59

CAN_RX_ENH .......................................................................................................................................60

CAN_RX_ENH_FIFO .............................................................................................................................62

CAN_RX_RANGE ..................................................................................................................................64

CAN_RX_RANGE_FIFO ........................................................................................................................66

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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

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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. 59)):

• 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

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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

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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. 60)). 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. 60) > chapter Description

Parameters of the inputs

7616

7609

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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

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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

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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:

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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. 64). 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

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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

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Function elements: transmit RAW-CAN data

CAN_TX..................................................................................................................................................69

CAN_TX_ENH ........................................................................................................................................71

CAN_TX_ENH_CYCLIC .........................................................................................................................73

15055

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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)

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

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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

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ifm function elements ifm function elements for the device CR0452

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. 69) 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

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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

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ifm function elements ifm function elements for the device CR0452

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. 71). ► Set the period duration via the parameter PERIOD.

Parameters of the inputs

7569

7582

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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

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Function elements: RAW-CAN remote

CAN_REMOTE_REQUEST ...................................................................................................................76

CAN_REMOTE_RESPONSE.................................................................................................................78

15057

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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)

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

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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

Parameters of the outputs

Possible results for RESULT:

7629

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ifm function elements ifm function elements for the device CR0452

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

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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

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ifm function elements ifm function elements for the device CR0452

5.2.3 Function elements: CANopen

Function elements: CANopen status ......................................................................................................80

Function elements: CANopen network management .............................................................................89

Function elements: CANopen object directory .......................................................................................93

Function elements: CANopen SDOs ......................................................................................................98

Function elements: CANopen SYNC ...................................................................................................111

Function elements: CANopen guarding ...............................................................................................115

Function elements: CANopen emergency ............................................................................................119

CANOPEN_ENABLE ..............................................................................................................................81

CANOPEN_GETBUFFERFLAGS ..........................................................................................................83

CANOPEN_GETSTATE .........................................................................................................................85

CANOPEN_SETSTATE .........................................................................................................................87

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

Function elements: CANopen status

15059

15061

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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

CANOPEN_ENABLE

Unit type = function block (FB)

Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

7785

Description

CANOPEN_ENABLE allows to switch the CANopen master on or off. ► In the application program always call an own instance of the FB CANOPEN_ENABLE (→ p. 81)

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. 53) has not been activated before.

Parameters of the inputs

7787

7788

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ifm function elements ifm function elements for the device CR0452

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

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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

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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

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ifm function elements ifm function elements for the device CR0452

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

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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:

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ifm function elements ifm function elements for the device CR0452

CANOPEN_SETSTATE

= Set state Unit type = function block (FB)

Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

7858

Description

7860

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

The treatment of the NMT state of master, node or device is carried out in the CAN stack or via the commands of the FB CANOPEN_NMTSERVICES (→ p. 91). At the same time admissibility checks are carried out. For reasons of consistency no inputs are provided for this purpose.

ifm Programming Manual BasicDisplay CR0452 v03.02 05 / 2018

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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

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 inputs

7861

Parameters of the outputs

Possible results for RESULT:

7862

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Function elements: CANopen network management

CANOPEN_GETNMTSTATESLAVE .....................................................................................................90

CANOPEN_NMTSERVICES ..................................................................................................................91

15063

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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:

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ifm function elements ifm function elements for the device CR0452

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

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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

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ifm function elements ifm function elements for the device CR0452

Function elements: CANopen object directory

CANOPEN_GETODCHANGEDFLAG ...................................................................................................94

CANOPEN_READOBJECTDICT ...........................................................................................................95

CANOPEN_WRITEOBJECTDICT .........................................................................................................96

15065

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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:

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ifm function elements ifm function elements for the device CR0452

CANOPEN_READOBJECTDICT

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

function block not yet executed

object directory entry is invalid

242

Error: setting is not possible

= Read object directory Unit type = function block (FB)

Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

7933

Description

7935

CANOPEN_READOBJECTDICT reads up to 4 bytes of configuration data from the object directory of the device for use in the application program.

Parameters of the inputs

7936

Parameters of the outputs

7937

Possible results for RESULT:

ifm Programming Manual BasicDisplay CR0452 v03.02 05 / 2018

ifm function elements ifm function elements for the device CR0452

CANOPEN_WRITEOBJECTDICT

NOTICE

This could lead to falsification of important system settings, e.g.:

- guarding times

- heartbeat times ► Carefully verify input parameters!

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

DATA

DWORD

parameter value

= Write object directory Unit type = function block (FB)

Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

7940

Description

CANOPEN_WRITEOBJECTDICT writes configuration data to the object directory of the controller.

Parameters of the inputs

7942

7943

ifm Programming Manual BasicDisplay CR0452 v03.02 05 / 2018

ifm function elements ifm function elements for the device CR0452

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 not yet executed

object directory entry is invalid

242

Error: setting is not possible

Parameters of the outputs

Possible results for RESULT:

7945

ifm Programming Manual BasicDisplay CR0452 v03.02 05 / 2018

ifm function elements ifm function elements for the device CR0452

Function elements: CANopen SDOs

CANOPEN_SDOREAD ..........................................................................................................................99

CANOPEN_SDOREADBLOCK ............................................................................................................101

CANOPEN_SDOREADMULTI .............................................................................................................103

CANOPEN_SDOWRITE ......................................................................................................................105

CANOPEN_SDOWRITEBLOCK ..........................................................................................................107

CANOPEN_SDOWRITEMULTI ...........................................................................................................109

Here you will find ifm function elements for CANopen handling of Service Data Objects (SDOs).

2071

ifm Programming Manual BasicDisplay CR0452 v03.02 05 / 2018

ifm function elements ifm function elements for the device CR0452

CANOPEN_SDOREAD

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

ID of the node permissible values = 1...127 = 0x01...0x7F

IDX

WORD

index in object directory

SUBIDX

BYTE

sub-index referred to the index in the object directory

Timeout (optional use of the parameter)

TIME := T#10ms

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

value = 0: use value from the configuration

= SDO read Unit type = function block (FB)

Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

7791

Description

CANOPEN_SDOREAD is an easy function block for editing "Expedited SDOs", i.e. SDOs with max. 4 bytes of user data. This type usually represents the bigger part of the SDO communication.

Expedited SDO = Expedited Service Data Object

A considerable amount of memory space can be saved due to the limitation of the data volume to max. 4 bytes of user data, as this FB only needs to reserve 4 bytes as buffer storage and does not create a large data array itself.

Parameters of the inputs

7793

7794

ifm Programming Manual BasicDisplay CR0452 v03.02 05 / 2018

ifm function elements ifm function elements for the device CR0452

Parameter

Data type

Description

LEN

BYTE

number of the bytes received (1...4)

DATA

DWORD

the received data value (up to 4 bytes)

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 – no data received yet

SDO transmission aborted by client or server (SDO abort code 0x80)

TIMEOUT elapsed

242

Error: setting is not possible

255

buffer overflow – too many data bytes were received

Parameters of the outputs

Possible results for RESULT:

7795

100

IFM Electronic CR0452 Programming Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1 About this manual

1.1 Copyright

1.2 Overview: documentation modules for CR0452

1.3 What do the symbols and formats mean?

1.4 How is this documentation structured?

1.5 History of the instructions (CR0452)

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

3.1.1 Accessories

3.2 Hardware description

3.2.1 Hardware setup

Available memory

FLASH memory

SRAM

FRAM

Colour display of the CR0452

Operating elements of CR0452

Key LEDs dimmable

Connection on the rear panel of the housing

3.2.2 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

Visualisation limits

Resample / scale image

Limitations for visualisations

CODESYS visualisation elements

Drawing area

Texts

Movement of elements

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

4.3.1 System variables

4.4 Variables

4.4.1 Retain variables

Save retain variables