IFM Electronic R 360 System Manual

System manual

ecomat 100 type R 360

System manual ecomat 100 type R 360, April 1999
Guarantee
This manual was written with the utmost care. However, we cannot assume any guarantee for the

contents.
Since errors cannot be avoided despite all efforts we appreciate any comment.
We res erve the right to make technical alterations to the product which might result in a change of

contents of the manual.

page 2

1. General 5

1.1. Safety instructions 5

1.2. Function and features 6

1.3. Controller configuration 7

1.4. Technical data 8

1.5. Mounting of the modules 12

1.6. Electrical connection of the modules 12

1.7. Fusing of the controller modules 12

2. The monitoring function 15

2.1. Hardware setup 15

2.2. Function of the monitoring concept 16

3. Unit I/O configuration 17

3.1. Bidirectional and diagnostic I/O channels 17

3.1.1. Bidirectional inputs/outputs 17

3.1.2. Outputs with diagnostic functions 18

3.2. Fast inputs 19

3.3. The software control configuration 19

3.4. Wiring 19

4. States and operating system 21

4.1. Operating modes 21

4.2. Status LED 22

4.3. Loading the operating sytem 22

4.3. Operating modes 25

5. Error codes and error classes 27

5.1. Reaction to system error 27

6. CAN in the ecomat R 360 29

6.1. Technical specifications 29

6.2. Exchange of data via CAN 29

6.3. CAN errors and error handling 31

6.4. The physical CAN link 33

6.5. General remarks on the CAN utilization 36

6.6. Description of the CAN function blocks 38

6.7. CANopen in the ecomat R 360 44

6.8. The ecomat R 360 as CANopen slave 48

6.9. The ecomat R 360 as CANopen master 59

6.10. Functions for CANopen I/O modules from ifm electronic 78

page 3

7. PWM in the ecomat R 360 87

8. Fast counters in the ecomat R 360 97

9. Other functions in the ecomat R 360 101

9.1. Software reset 101

9.2. Save data in memory and read 102

9.3. Use of the serial interface 106

9.4. Reading the system time 110

9.5. Processing of variables 112

10. Closed-loop control functions 113

10.1. Adjustment rule for a controller 115

11. Functions of the ecomat tdm R 360 127

11.1. Data exchange and variable definition 129

11.2. Setting and resetting of pictures and messages 134

11.3. The unit status and the LEDs 137

11.4. Unit control 144

Annex 1. Address allocation ecomat R 360 147

Annex 1.1. Complete overview 147
Annex 1.2. Inputs 149
Annex 1.3. Outputs 150
Annex 1.4. Allocation outputs – short-circuit and wire-break bits 151
Annex 1.5. The flag range in the ecomat R 360 152
Annex 1.6. CANopen unit interface ecomat R 360 153
Annex 1.7. Object list of the ecomat R 360 154

Annex 1.7.1. Data range communication profile, index 1000 to 1FFF 154
Annex 1.7.2. Range of manufacturer-specific data, index 2000 to 5FFF 161
Annex 1.7.3. Legend to object library 161

Annex 2. Wiring 163

Annex 2.1. Type CR0015 163
Annex 2.2. Type CR0016 164
Annex 2.3. Type CR0017 165
Annex 2.4. Type CR0501 166

page 4

1. General

1.1. Safety instructions

Observe the information of the description. Non-observance of
the notes, operation which is not in accordance with use as
prescribed below, wrong installation or handling can result in
serious harm concerning the safety of persons and plants.

The instructions are for authorised persons according to the
EMC and low voltage guidelines. The controllers must be
installed and comm iss ioned by a skilled elec tric ian ( progr ammer
or service technician).

This description is part of the unit. It contains texts and drawings
concerning the correct handling of the controller and must be
read before installation or use.

If the unit is not supplied by the mobile on-board system (24V
battery operation) it must be ensured that the external voltage is
generated and supplied according to the criteria f or safety extra­low voltage (SELV) as this is supplied without further m easures
to the connected controller, the sensors, and the actuators.

The wiring of all signals in connection with the SELV circuit of
the unit must also com ply with the SELV criteria ( safe extr a-low
voltage, safe electrical separation from other electric circuits).

If the supplied SELV voltage as an external connection to
ground (SELV becomes PELV) the responsibility lies with the
user and the respective national regulations for installation m ust
be complied with. All statements in these operation instruc tions
refer to the unit the SELV voltage of which is not grounded.

The terminals m ay only be supplied with the signals indicated in
the technical data or on the unit label and only the approved
accessories of ifm electronic gmbh may be connected.

The unit can be operated within a wide temperature range
according to the technical specif ication indicated below. Due to
the additional self-heating the housing walls can have high
perceptible temperatures when touched in hot environments.

page 5

In the case of malfunctions or uncertainties pleas e contact the
manufacturer. Tampering with the units can lead to
considerable risks for the safety of persons and plant. It is not
permitted and leads to the exclusion of any liability and warranty
claims.

1.2. Function and features

The controller modules ecomat 100 series R 360 (in the
following text ecomat R 360) are for the user under harsh
operating conditions (e.g. extended temperature range, strong
vibration, intensive EMC interference). T hey are thus suited for
direct mounting into machines in mobile and rugged
applications. Due to their specification the inputs and outputs
are especially rated for this use. Integrated hardware and
software functions (operating system) offer high protection of
the machine.

The controller ecomat R 360 is approved for safety­relevant tasks in the field of safety of persons if the
corresponding system test routines are integrated in the
operating system and the application software. The final
classification and the release of the system (hardware an d
software) can only be done by the proper supervisory
organisations. The programmer has to obtain information
about the special characteristics of the hardware and
software in the additional documentation which can be
obtained on request.

ifm electronic gmbh
Teichstr. 4
D 45127 Essen
Tel.: 0201 / 2422-0
Fax: 0201 / 2422-303

The application software can easily be created by the user with
the ecolog 100

All software functions and programming processes
described in this documentatio n refer to the ecolog 100

plus

software.

plus

programming software the knowledge of which is required
for this description.

The user also has to obser ve the software versions (especially
the operating system of the R 360 and the function libraries) that
is used. Software levels are marked by suffixed letters in
alphabetic order in the file names ( e.g. CR0015_B.DL or TDM­A.LIB). When revising existing application projects the user
should find out about incompatibilities between the old and the
new versions.

page 6

The user is responsible for the safe functioning of the
application programs which he creates himself. If
necessary, he must additionally obtain an approval
according to the corresponding national regulations by the
relevant testing and supervisory organisations.

1.3. Controller configuration

The ecomat R 360 is a customer or application-specif ic conc ept
for series use which m eans that the control modules have the
optimum configuration to the application. If necessary, special
functions and special hardware solutions can be accomplished.

In general: All descriptions and explanations in t his manual
are generally applicable to the controller system ecomat R

360. The appropriate contro ller configuration f or the uni t in
use is to be loaded in the programming system (article
number of the unit, CRnnnn = file name controller
configuration CRnnnn_X).

Before using the controller modules you need to check the
availability of certain functions, hardware options, inputs and
outputs are available in the hardware.

page 7

1.4. Technical data

Housing:
Housing dimensions:

Mounting position:
Connection of the unit:

Operating temperature:
Storage temperature:
Protection rating:
Protection class:

Air humidity:
Supply voltage:

closed, screened metal housing with flange fastening
225 x 153 x 43 mm (WxHxD), without connector

240 x 153 x 43 mm (WxHxD), with connector
preferably vertical, alternatively horizontal
55-pin connector, latched, protected against reverse polarity,

AMP pr Framatom type housing with crimp connection contacts
AMP junior timer 0.5/2.5 mm

2

-30°C ... +75°C

-40°C ... +90°C
IP67 (protection for connector, depending on cable version)
III

≤

90% rel. air humidity, non-condensing

U

nominal 12 or 24 V DC (-10% ... +25%)

B

See type label (reverse polarity protection through connector)
residual ripple:

≤

1.5 V

, f ≤ 50Hz

pp

Power consumption:
Processor:
Display:
Device monitoring:

Memory:

Interface:

reset in case of undervoltage 12 V unit:
reset in case of undervoltage 24 V unit:

overvoltage 12 V unit:
overvoltage 24 V unit:

≤

400 mA, without external load

≤

+ 9.6 V

≤

+12.0 V

≤

+ 17.5 V for t ≤ 10s

≤

+ 36.0 V for t ≤ 10s

CMOS microcontroller C 167C
two-colour-LED red/green for indication of status and error
8-bit microcontroller to m onitor the C 167C (extended watchdog

function)
check sum test for program and system
under and overvoltage monitoring, excess temperature
monitoring

256 kByte program memory
64 kByte data memory (volatile)
with 1 kByte data memory protected against voltage failure
(256 Byte auto-save)

CAN, Version 2.0 B (ISO/DIS-11898), 10 ... 1000 kBaud
protocol: CANopen or free communication profile
device class: CANopen master/slave; CAN: FullCAN

page 8

serial interface RS 232 C, 9,6 kBaud
number of participants: 2 (master/slave)

Binary input
Low-Side (PNP):

Inputs IX0.0 ... IX0.7: switch-on level U

switch-off level U

≥ 10 V, I ≥ 3.3 mA

B

≤ 5 V, I ≤ 1.7 mA

B

input frequency 50 Hz

Inputs IX0.8 ... IX0.39: switch-on level 0.6 U

switch-off level 0.4 U
input frequency 50 Hz

Pulse inputs IX0.12 ... IX0.15: input frequency 50 kHz
Pulse inputs IX0.20 ... IX0.23: input frequency 50 kHz

Binary input
High-Side (NPN):

... 0.8 UB, I ≥ 6.7 mA

B

... 0.2 UB, I ≤ 1.7 mA

B

Inputs IX0.8 ... IX0.39: switch-on level 0.05 U

switch-off level 0.30 U
input frequency 50 Hz

Analog input
Low-Side:

Inputs IW9 ... IW16: input voltage +0 ... 10 V

input impedance

≥

50 k
resolution 10 Bit
accuracy

≤ ±

1.0 % FS

... 0.04 UB, I ≥ 7.7 mA

B

... 0.40 UB, I ≤ 5.1 mA

B

Ω

page 9

Binary output
High-Side (PNP):

Outputs QX0.0 ... QX0.23: semiconductor output; short-circuit and overload protection,

diagnostic capability as an option
switching voltage 10 ... 17 V (12 V DC); 11 ... 32 V (24 V DC)

switching current 50 mA ... 2.5 A
overload current 5 A
sum current 10 A (per 8 outputs)
output frequency max. 100 Hz (depending on the load)

Outputs QX0.00 ... QX0.07 special specification as PWM output

output frequency max. 1000 Hz
PWM mark/space ratio 1 ... 99%
resolution depending on the PWM frequency

Binary output
Low-Side (NPN):

Outputs QX0.0 ... QX0.23: semiconductor output; short-circuit and overload protection,

diagnostic capability as an option
switching voltage 10 ... 17 V (12 V DC); 11 ... 32 V (24 V

DC)
switching current 50 mA ... 2.5 A
overload current 5 A
sum current 10 A (per 8 outputs)
output frequency max. 100 Hz (depending on the load)

page 10

Input Test:

For the duration of the test operation (e.g. programming) the
connection needs to be connected to U

(supply).

B

For ”RUN” operation the input needs to be disconnected from

(supply).

U

B

Output Error (pin 13):

Relay output:

Housing drawing:

semiconductor output; short-circuit and overload protection
switching voltage 10 ... 17 V (12 V DC); 11 ... 32 V (24 V DC)

switching current 10 mA ... 100 mA
overload current 0.5 A

internal relay output
used in series with (max. 12 outputs the power supply of which
is interrupted on detection of an error by hardware or user
program

On principle, the unit should be switched load-free.
switching current 100 mA ... 15 A

overload current 20 A
no. of switching
operations (load-free)
response time

≥
≤

6

10
3 ms

page 11

1.5. Mounting of the modules

In order to expose the controller modules to the minimum
mechanical stress they should preferably be mounted
horizontally or vertically on the mounting panel. The module
must be fixed with four scr ews to DIN 7500 or DIN 7984 (M5 x
L).

If possible, the modules s hould be mounted in such a way that
the cable entry of the plug points downwards.

1.6. Electrical connection of the modules

Before comm issioning it m ust be ens ured that the f ollowing pins
must/can be connected to the corresponding potentials.

Designation Pin No. Potential

Supply voltage 23 (VBBS) + 24 V DC
Ground 01 (GNDS) GND
Analog ground 12 (GNDA) GND
Supply voltage
outputs High-Side
without monitoring relay
Supply voltage
outputs High-Side
with monitoring relay
Supply voltage
outputs Low-Side
without monitoring relay
Test input,
programming mode
Test input, operating mode 24 (Test) open
Programming interface RS 232 06 (RxD) Pin 03, PC 9pin SUB-D

CAN interface 14 (CANH) CANH further participant

05 (VBBo) + 24 V DC

34 (VBB

15 (GNDo) GND

24 (Test) + 24 V DC

07 (TxD) Pin 02, PC 9pin SUB-D
33 (CM5) Pin 05, PC 9pin SUB-D

32 (CANL) CANL further participant
33 (CM5) GND further participant

) + 24 V DC

R

page 12

To guarantee the electrical interference protection of the
controller modules, the housings must be connected to
the ground of the vehicle.

1.7. Fusing of the controller modules

In order to protect the whole system (cabling and controller ) the
individual circuits must be fused accordingly, tak ing into ac c ount
the total current of 10 A of the individual output modules (max. 8
outputs – e.g. QX0.08 ... QX0.15).

If an output terminal receives current externally, e.g. for
bidirectional inputs and outputs, the output rail must not
be floating (i.e. open-circuit)

Reason

The supply voltage is fed back to the output rail via the
integrated protective diode in the output. If a second output
connected to the same potential is switched, the load of this
output is fed through the transistor of the first output thus
causing the first output to overload and fail.

This needs special attention when unit and output voltage
supply are fused separately and when the output rail VBB

R

switched off by the software via the integrated relay. If
necessary, the supply voltage should be monitored via the
appropriate hardware and software measures.

is

page 13

page 14

2. The monitoring function

The safe operation of the controller outputs is ensured by the
monitoring function.

2.1. Hardware setup

The relay is triggered on two channels via the µcontroller. For
this purpose the negative channel is triggered by means of an
AND link of the watchdog signal (internal µcontroller m onitoring)
and the RELAY bit with a semiconductor switch. The positive
channel is only triggered by means of the ERROR bit via a
semiconductor switch. In the activated state the outputs to be
disconnected (max. 12) are connected to the supply voltage via
the relay contact (not forced)

In addition the output signal of the semiconductor switch has the
logical effect of a release signal for all outputs. These outputs
are only switched externally after the RELAY bit has been set.

Therefore the RELAY bit has to be set even if there is no
RELAY integrated in the hardware.

Schematic of the monitoring concept.

page 15

2.2. Function of the monitoring concept

While the progr am is running the monitoring relay is under the
complete control of the software user. A parallel contact from
the safety circuit for example can be evaluated as an input and
the monitoring relay can be switched off. For further safety the
appropriate national regulations must be applied.

If a µcontroller error occurs while the program is running the
watchdog signal switches the relay off so that important par ts of
the plant can be protected.

When creating the program the programmer has to make
sure the program is left in a safe state (so that automatic
operation is reset) in the case of an internal (e.g. watchdog)
or external error (e.g safety circuit). For this purpose the
outputs in question have to be switched off by software.

If an output to be monitored is permanently switched and the
contact of the monitoring relay is welded it is not possible to
switch off this output. However, since the relay is always
switched load-free in normal operation, the contact wear is ver y
low.

page 16

3. Unit I/O configuration

The unit I/O configurations des cribed in the annex are available
as standard units (ex stock). They cover the required
specifications for most of the applications.

Depending on the customer’s requirements for series
applications it is possible to realise other configurations, e.g.
regarding the arrangement of inputs and outputs and the design
of the analog channels.

The software functions described in this documentation only
apply to standard configurations. For customer-specific units
the specific hardware versions and additional software
description (additional documentation) have to be observed.

3.1. Bidirectional and diagnostic I/O channels

The inputs/outputs of the R 360 can be designed as
bidirectional input/output channels or for readback functions
(diagnosis, wire-break monitoring, short-circuit monitoring). At
the terminal the input and output or the output with the
corresponding readback c hannel (readback input) are available

simultaneously.

For safety-relevant applications outputs with readback
function (diagnostic outputs) are to be used.

3.1.1. Bidirectional inputs/outputs

The connection can be used as an input or an output. The input
can be read via the software at any time.

page 17

This function is based on the condition that in the controllers
high-side outputs are combined with low-side inputs or low-side
outputs are combined with high-side inputs so that no conf licts
can occur, i.e. short circuit via the switched output transistor and
closed switch at the input.

The block circuit diagram shows:

•

The load connected to the output can also be triggered
manually via the switch. The position of the switch can only
be detected when the output is blocked.
(Insert suppressor circuit via the load)

•

Short-circuit detection (overload) is also possible via the
input channel when the switch is open. The LOW (logic 0) is
read in when the output is switched.

In the case of a short circuit (overload) the output transistor
switches off automatically. For safety reasons it does not
switch on again automatically when the short circuit has been
removed. The output has to be switched off and then on
again via the software

•

Wire-break detection is not possible with this input/output
configuration.

3.1.2. Outputs with diagnostic functions

The connection can be used as an input as well as an output.
The input can be read at any time via the software.

This function is based on the condition that in the controller
high-side outputs are combined with high-side inputs or low-s ide
outputs with low-side inputs.

page 18

The block circuit diagram shows:

•

Short-circuit detection (overload) is possible via the input
channel. When the output is s witched the LOW (logic 0) can
be read in.

The output transistor automatically switches off in the case of
a short circuit/overload. For saf ety reasons it does not s witch
on again automatically. Therefore it has to be switched off
and then switched on again.

•

Wire- break detection is poss ible via the input channel. When
the output is blocked HIGH (logic 1) is read in as the resistor

pulls the output to HIGH potential (VBB). W ithout the wire

R

i

break the low-resistance load (R

< 10 k

L

Ω)

would force

(logic 0) LOW.

3.2. Fast inputs

In the controller modules the standard unit conf igurations have
an input frequency up to 50 kHz via 8 fast count/pulse inputs. If
e.g. mechanical switches are connected to these inputs , contact
bouncing might cause wrong signals in the controller. These
"error signals" have to be filtered out with the application
software, if required (see example program).

3.3. The software control configuration

For each hardware configuration the corresponding software
control configuration has to be loaded in the programming
system. For the programming system it repr esents the interfac e
to the hardware.

The software control configuration also provides the user with all
important system and error flags. Depending on the application
program they have to be processed and evaluated. They can be
accessed with their symbolic names or the IEC addresses.

3.4. Wiring

The wiring shown in the annex describes the standard unit
configurations. The wiring helps to assign the input and output
channels to the IEC 1131 addresses and the unit terminals.

page 19

Labelling of the input/output channels:

12

GND

A

12 pin number
GND

A

pin description

30 %IX0.07 BL

30 pin number
%IX0.07 IEC address for a binary input
BL hardware design of the input
(here binary low-side)

47 %QX0.03 BH/PH

47 pin number
%QX0.03 IEC address for a binary output
BH/PH hardware design of the output
(here binary high-side or PWM high-side)

The abbreviations have the following meanings:

A analog input
BH binary input/output, high-side
BL binary input/output, low-side
PH PWM output, high-side
PL PWM output, low-side
IH pulse/counter input, high-side
IL pulse/counter input, low-side
R readback channel for an output

Allocation of the input/output channels:

Depending on the unit configuration an input and/or output is
available at a unit terminal.

Channels that can be used as inputs and outputs
simultaneously (bidirectional inputs/outputs) are highlighted

page 20

Reset

Run

Stop

Fatal Error

No operating system

4. States and operating system

4.1. Operating modes

When the s upply voltage is applied, the controller module may
be in one of 5 possible operating modes:

This status is run through after each power-on reset. The
operating system is initialised. Diff erent checks ar e carried out.
This status is only temporary and is superseded by the run
status.

!"

The LED is lit red for a shor t time (is lit orange starting with
software version CRxxxx_G).

This status is reached:

•

from the reset status (Autostart)

•

from the stop status by means of the run command

prerequisite: test mode

•

with the CANopen NMT master via the function

PREOPERATIONAL or OPERATIONAL

!"

The LED flashes green or red (RUN with error)

This status is reached:

•

from the reset status if no program is loaded

•

from the run status by giving the stop command via the
interface
Prerequisite: test mode

•

with the CANopen NMT master via the function
PREPARED.

!"

The LED is constantly lit green or red (stop with error)

The controller passes into this status if a non-tolerable error is
found. This status can only be left via a reset.

!"

The LED is off (is lit red starting with software version
CRxxxx_G).

No operating system has been loaded, the controller is in the
bootloading status. Before loading the application software a
download of the operating system must be carried out.

!"

The LED flashes green (fast).

page 21

4.2. Status LED

These operating states are shown with the integrated status
LED.

LED colour Flash frequency Description

LED off constantly off Fatal Error
green 5 Hz no operating system loaded
green 0.5 Hz Run, CANopen: PREOPERATIONAL

2.0 Hz Run, CANopen: OPERATIONAL
constantly on Stop, CANopen: PRERPARED
red 0.5 Hz Run w. error (CANopen: PREOPERATIONAL)

2.0 Hz Run w. error (CANopen: OPERATIONAL)
100 %

Reset checks or stop with error

The operating states STOP (PREPARED) and RUN (PRE­OPERATIONAL / OPERATIONAL) can be changed by the
programming system or the network master.

The user program is process ed in the RUN s tate. The controller
only takes part in the CANopen communication (PDO
processing, see chapter 6) when it is set to OPERATIO NAL. To
see the current operating state in the application program the
user can evaluate the flag COP_PREOPERATIONAL. The f lag
is TRUE when the state is PREOPERATIONAL, otherwise it is
FALSE.

4.3. Loading the operating sytem

When the unit is shipped an operating s ystem is in general not
loaded in the controller (LED flashes green at 5 Hz). In this
operating state only the boot loader is active. It provides the
minimum functions for the loading process of the operating
system (e.g. the support of the serial and the CAN interface).

In General, the download of the operating system only has to be
carried out once. The application program can then be loaded in
the controller (even several times). The advantage of this
process is that the EPROM does not need to be r eplaced for an
operating system update and that customer-specific operating
system can be realised for certain applications.

The operating system is provided together with this
documentation on a separate data carrier.

page 22

Operating system download

New controller

Operating system update

The programmer has to ensure that the same so ftw are lev el
of the operating system (CR..._x.H86), of the controller
configuration (CR..._x.M66) and the unit library (CR..._x.LIB)
are used. If not, an error message is g enerated during the
download of the application software. Software states are
marked by suffixed letters in alphabetical order in the file
name (e.g. CR0015_B.H86). The basic file always has to be
the same.

The operating system and the application software are loaded

directly from the programming system. The download can be
carried out via the serial and via the CAN interface. The
following points have to be observed:

On delivery, the controller module does not contain an oper ating
system. When the supply voltage is applied it therefore goes
into the state "No operating system loaded". Only the bootloader
is active

!"

For downloading activate the controller configuration screen
via the button or via the menu item

Configuration.

!"

The requested controller configuration (CR..._x.M66) is
called via the menu item

!"

The connection between controller and PC can then be
established with
connection is made depends on the setting in

(serial or CAN) and the following param eterisation of

Config

the PC interface under

Parameters..

A communication connection to the controller is only
established when a project is loaded and when this is
translated without errors.

!"

The download process is started by select ing the m enu item

Extras / Load Hex file

screen

The new controller configuration file has to be used for all
application programs to be loaded in the controller.

In general, a new operating system software can be loaded in
the controller at a later time. T his process corresponds in most
parts to the one described above.

As opposed to the delivery sate of the controller, an operating
system is loaded, i.e. the controller is in the STOP or RUN
mode.

!"

The controller configuration of the operating system loaded
at current time is activated s o that the programming system
can establish the connection between controller and PC.

PLC Configuration

Online / Login

.

Insert / Firmware.

. The interface via which the

Online / Communication

and select file (CR..._x.H86) in the

.

Window / PLC

Extras / HW-

page 23

!"

The controller configur ation sc r een is activated via the button
or via menu item

!"

The requested controller configuration (CR..._x.M66) is
called via menu item

!"

The connection between controller and PC is establis hed via

Online / Login.

connection depends on the setting in
(serial or CAN) and the subsequent param eterisation of the
PC interface under

It does not matter which project file is loaded (as long as
the project can be booted with routine PLC_PRG). The
translation processes started with the login can be
ignored. The system message:

Program has changed! Do you want to download the

Window / PLC Configuration.

Insert / Firmware

The serial interface for establishing the

Online / Communication Parameters..

.

Extras / HW Config

.

new program?

can be answered with NO.

!"

Menu item

Configuration

controller. The LED of the controller m odule flashes fast (5
Hz).

!"

Then reset the controller since the online connection
between PC and controller does no longer exist after the
operating system has been deleted.

!"

After the reset the new operating system can be loaded. T he
process is the same as for "New controller".

The new controller configuration file now has to be used f or all
application programs to be loaded in the controller from now on.

Extras / Load Hex file

deletes the current operating system in the

in the screen

PLC

page 24

4.3. Operating modes

Independent of the operating states the controller can be
operated in different operating modes. The c ontrol bits can be
set and reset via the application software or in test operation
with the programming software ecolog 100

Variables

).

Test

To get this operating mode apply a high level (supply voltage) to
the test input. In the RUN or STOP mode the controller can now
accept commands via one of the interfaces. The state of the
user program can be queried via the flag TEST.

Serial Mode

The serial interface is available for a data exchange in the
application. Debugging of the application software is only
possible via the CAN interface.

This function is switched of f as a default (FALSE). T he state of

the user program or the progr amm ing system can be c ontrolled
and queried via the flag SERIAL_MODE.

ISO Direction

This function switches between Send data and Receive data
when the ISO 9141 interface is used..

TRUE Send data
FALSE Receive data (standard setting)

The flag ISO_DIRECTION is used to switch the ISO 9141

diagnostic interface between ´Send data´ and ´Receive data´.
The ISO interface is a special form of a serial interface that
provides communication with the diagnostic interfaces in the
vehicle.

The use of the ISO interface requires hardware and software
adaptations which are not included in the standard units.

When the ISO interface is used the serial interface is not
available for program download and debugging. Program
download and debugging are

interface

.

only

The function is only available when the test input is 'open'.

plus

(window:

possible via the

Global

CAN

page 25

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5. Error codes and error classes

In order to ensure maxim um operational reliability the operating
system carries out internal error check s in the controller during
the start-up phase (reset phase) and during the program
execution.

The following error flags are set in the case of an error:

Error Error description

CAN_INIT_ERROR CAN module cannot be initialised
CAN_DATA_ERROR CAN inconsistent data
CAN_RX_OVERRUN_ERROR CAN overrun, received data
CAN_TX_OVERRUN_ERROR CAN overrun, transmission data
CAN_BUS_OFF_ERROR CAN not on the bus
CAN_ERROR CAN-Bus collective error bit
ERROR collective error bit (general)
ERROR_MEMORY memory error
ERROR_POWER under/overvoltage error
ERROR_TEMPERATURE excess temperature error (> 85°C)
COP_SYNCFAIL_ERROR SYNC object was not transferred
COP_GUARDFAIL_ERROR Guarding object is missing (only in the slave)
COP_GUARDFAIL_NODEID number of missing slave (only in the master)

5.1. Reaction to system error

It is the programmer's responsibility to react to error flags.
The specific err or bits should be proc essed in the user program

and then have to be reset. The error bit provides an error
description which can be further processed if required.

In the case of severe errors the ERRO R bit can be set causing
the operating LED to light red, the error output (pin 13) to be set
to LOW and the m onitoring relay (if there is one) to be switched
off. The protected outputs are de-energised.

The logic link via the relay bit ( see chapter 2) also sw itches
off all other outputs.

Depending on the application it has to be decided if the relay
and thus the outputs can be switched on again by resetting the
ERROR bit.

When using CAN for communication the function
CAN_ERRORHANDLER should be used. Thus all CAN errors
are detected as a collective error, are counted and CAN is
started again.

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Example

In addition, it is also possible to set the ERROR bit of "free
defined errors" via the user program.

In normal operation the relay should only be switched load­free, so the function must o nly be used in an "emergency"
for a general switching-off of the outputs.

In order to reset all outputs in "normal operation" this function
should be accomplished via s uitable BIT links, not by using the
relay.

A CAN-BUS-OFF error occurs.

The operating system sets the CAN-BUS-OFF-ERROR bit.
The user program detects this state by polling the

corresponding bits.
If required the ERROR bit can be set:

As a result the operating display LED flashes red and the safety
relay is de-energised switching off all outputs. T he level of the
error output becomes low.

The error is removed by restarting CAN via the function call
CAN_RESTART. The CAN-BUS-OFF-ERROR bit is deleted
automatically.

If required the ERROR bit has to be deleted via the user
program. The relay energises again, the LED flashes green.

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6. CAN in the ecomat R 360

6.1. Technical specifications

Bus type: FULL-CAN
Physical layer: ISO/DIS 11898
Baud rate: 10 kBit/s ... 1 MBit/s
Protocol: CANopen

free protocol
2048 data objects in the system (CAN specification 2.0B)

Identifier use

System configuration

Only

The ecomat R360 is delivered with the device identifier 254 (ID

1 ... 2048 identifiers freely available for the data transfer

From these the following identifiers are reserved:

220 ... 221 reserved for the display tdm R 360
223 ... 252 device identifiers of the participants
254 device identifier of an unconfigured module
255 identifier of the download system (e.g. PC)

32) as participant 0. The download system uses this identifier
for the first communication with an unconfigured module.

one

unconfigured module may be connected with the
network. After the new participant number 1 ... 30 (corresponds
to the node identifier 1 ... 30) was assigned via the programming
software, a download or debugging can be performed and
another device can be integrated into the system (also see
section 6.5).

6.2. Exchange of data via CAN

The exchange of data via CAN is based on the internationally
standardized CAN protocol of the data link layer (level 2) of the
7-layer ISO/OSI reference model according to ISO 11898.

Each bus participant can send messages (multi-master
capability). The exchange of data operates sim ilar to r adio. Data
are sent to the bus without sender or address. The data are only
qualified by their identifier. It is the job of each participant to
receive the transmitted data and to check by means of the
identifier whether the data are relevant for this participant.

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This operation is automatically carried out by the CAN controller
in conjunction with the operating system. To avoid processing
each CAN message it is possible to only let a certain part of the
bus data reach the CAN controller by indicating a so-called
acceptance mask (CAN_ACCEPTANCE). The use of this
special function only makes sense if data are not relevant for
certain bus participants and time optim ization in a plc module is
absolutely required for CAN processing. To employ this function
hardware knowledge of the CAN controller is necessary. This
information is provided in the m anufacturer's documentation or
can be obtained from the technical support of ifm electronic
gmbh.

For the normal exchange of data via CAN the programm er only
has to inform the system of the data objec ts with their identif iers
by means of the functions CAN_RECEIVE and
CAN_TRANSMIT when designing the software. Via these
functions the RAM address of the oper ating data, the data type
and the selected identifier are combined to form a data object.
They then participate in the data exchange via the CAN bus.
The transmit and rec eive objects can be defined from all valid
IEC data types (e.g. BOOL, WORD, INT, ARRAY).

The CAN message consists of an identifier and max. 8 data
bytes. The identifier can be freely selected between 1 and 2048.
As already mentioned, it does not represent the sender or
receiver module but qualifies the message. To trans mit data it is
necessary that in the sender module a transmit object is
declared and a receiver object in
Both declarations must be assigned to the same identifier.

Receive data

Transmit data

The transmission order is rej ected if the controller is not ready

By calling the function CAN_TRANSMIT the application

In principle, the received data objects are automatically stored in
a buffer (i.e. without the user's influence).

A buffer (queue) is available f or each identifier. It is em ptied by
means of the function CAN_RECEIVE to the FIFO principle
(First In, First Out) depending on the application software. In the
queue
data transmissions can only be stored after the buffer has been
emptied. The reception of a new CAN message leads to
overflow of the queue, which is indicated to the user by the
OVERFLOW bit.

program transfers exactly one CAN message to the CAN
controller. As feedback you receive the inform ation whether the
message has been successfully transferred to the CAN
controller which then perform s the actual transfer of the data to
the CAN bus.

because it is in the process of transferring a data object. The
transmission order must then be repeated by the application
program. This inf o rmation is indicated to the user by m eans of a
bit.

max. 30

data transmissions are s tored tem porarily. More

at least one

other module.

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