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Contents
ifm System Manual ecomatmobile SmartController (CR2500) V05
Contents
1 About this manual 7
1.1 What do the symbols and formats mean?.........................................................................7
1.2 How is this manual structured? .........................................................................................8
2 Safety instructions 9
2.1 General..............................................................................................................................9
2.2 What previous knowledge is required? ...........................................................................10
3 System description 11
3.1 Information concerning the device ..................................................................................11
3.2 Information concerning the software ...............................................................................11
3.3 PLC configuration............................................................................................................12
4 Configurations 13
4.1 Set up programming system ...........................................................................................14
4.1.1 Set up programming system manually..........................................................14
4.1.2 Set up programming system via templates...................................................16
4.1.3 ifm demo programs .......................................................................................25
4.2 Function configuration of the inputs and outputs ............................................................29
4.2.1 Configure inputs ............................................................................................29
4.2.2 Configure outputs..........................................................................................33
4.3 Hints to wiring diagrams ..................................................................................................34
5 Operating states and operating system 35
5.1 Operating states ..............................................................................................................35
5.1.1 Reset.............................................................................................................35
5.1.2 Run state.......................................................................................................35
5.1.3 Stop state ......................................................................................................35
5.1.4 Fatal error......................................................................................................35
5.1.5 No operating system .....................................................................................36
5.2 Status LED ......................................................................................................................36
5.3 Load the operating system..............................................................................................37
5.4 Operating modes.............................................................................................................37
5.4.1 TEST mode ...................................................................................................38
5.4.2 SERIAL_MODE.............................................................................................38
5.4.3 DEBUG mode ...............................................................................................38
6 Error codes and diagnostic information 39
6.1 Response to the system error .........................................................................................40
6.1.1 Notes on devices with monitoring relay ........................................................40
6.1.2 Example process for response to a system error .........................................41
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ifm System Manual ecomatmobile SmartController (CR2500) V05
Contents
7 Programming and system resources 42
7.1 Above-average stress .....................................................................................................42
7.2 Limits of the SmartController...........................................................................................43
7.3 Watchdog behaviour .......................................................................................................44
7.4 Available memory............................................................................................................44
7.5 Program creation and download in the PLC ...................................................................45
8 CAN in the ecomatmobile controller 47
8.1 General about CAN .........................................................................................................47
8.1.1 Topology .......................................................................................................47
8.1.2 CAN interfaces..............................................................................................48
8.1.3 System configuration.....................................................................................48
8.2 Exchange of CAN data....................................................................................................49
8.2.1 CAN-ID..........................................................................................................49
8.2.2 Data reception...............................................................................................50
8.2.3 Data transmission .........................................................................................50
8.3 Physical connection of CAN ............................................................................................51
8.3.1 Network structure ..........................................................................................51
8.3.2 Bus level........................................................................................................52
8.3.3 Bus cable length............................................................................................53
8.3.4 Wire cross-sections.......................................................................................54
8.4 Software for CAN and CANopen.....................................................................................55
8.5 CAN errors and error handling ........................................................................................55
8.5.1 Error message...............................................................................................55
8.5.2 Error counter .................................................................................................56
8.5.3 Participant, error active .................................................................................56
8.5.4 Participant, error passive ..............................................................................56
8.5.5 Participant, bus off ........................................................................................57
8.6 Description of the CAN functions ....................................................................................58
8.6.1 Function CAN1_BAUDRATE ........................................................................59
8.6.2 Function CAN1_DOWNLOADID...................................................................61
8.6.3 Function CAN1_EXT.....................................................................................63
8.6.4 Function CAN1_EXT_TRANSMIT ................................................................65
8.6.5 Function CAN1_EXT_RECEIVE...................................................................67
8.6.6 Function CAN1_EXT_ERRORHANDLER ....................................................69
8.6.7 Function CAN2..............................................................................................70
8.6.8 Function CANx_TRANSMIT .........................................................................72
8.6.9 Function CANx_RECEIVE ............................................................................74
8.6.10 Function CANx_RECEIVE_RANGE .............................................................76
8.6.11 Function CANx_EXT_RECEIVE_ALL...........................................................79
8.6.12 Function CANx_ERRORHANDLER..............................................................81
8.7 ifm CANopen library ........................................................................................................83
8.7.1 CANopen support by CoDeSys ....................................................................83
8.7.2 CANopen master...........................................................................................85
8.7.3 Start-up of the network without [Automatic startup] ......................................96
8.7.4 CAN device ................................................................................................ 100
8.7.5 CAN network variables............................................................................... 108
8.7.6 Information on the EMCY and error codes ................................................ 113
8.7.7 Library for the CANopen master ................................................................ 117
8.7.8 Library for the CANopen slave................................................................... 129
8.7.9 Further ifm libraries for CANopen .............................................................. 139
8.8 Summary CAN / CANopen........................................................................................... 144
8.9 Use of the CAN interfaces to SAE J1939..................................................................... 145
8.9.1 Function J1939_x....................................................................................... 148
8.9.2 Function J1939_x_RECEIVE..................................................................... 150
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