Original Programming Manual

BasicController

CR0401

Runtime system v03.02

CODESYS® v2.3

English
2015-03-30
7390999_04_UK

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ifm Programming Manual ecomatmobile BasicController (CR0401) Runtime System V03.02 2015-03-30
Contents

Contents

1 About this manual 4

1.1 Copyright ..............................................................................................................................4
1.2 Overview: documentation modules for ecomatmobile devices ............................................5
1.3 CODESYS programming manual ........................................................................................5
1.4 What do the symbols and formats mean? ...........................................................................6
1.5 How is this documentation structured? ................................................................................7
1.6 History of the instructions (CR040n) ..................................................................................8

2 Safety instructions 9
2.1 Please note! .........................................................................................................................9
2.2 What previous knowledge is required? ..............................................................................10
2.3 Start-up behaviour of the controller....................................................................................10

3 System description 11
3.1 Information about the device..............................................................................................11
3.2 Hardware description .........................................................................................................11
3.2.1 Hardware setup .......................................................................................................................... 12
3.2.2 Inputs (technology) ..................................................................................................................... 13
3.2.3 Outputs (technology) .................................................................................................................. 19
3.2.4 Note on wiring ............................................................................................................................ 24
3.2.5 Safety instructions about Reed relays ........................................................................................ 24
3.2.6 Status LED ................................................................................................................................. 25
3.3 Interface description ...........................................................................................................26
3.3.1 CAN interfaces ........................................................................................................................... 26
3.4 Software description ..........................................................................................................27
3.4.1 Software modules for the device ................................................................................................ 27
3.4.2 Programming notes for CODESYS projects ............................................................................... 30
3.4.3 Operating states ......................................................................................................................... 34
3.4.4 Performance limits of the device ................................................................................................ 36

4 Configurations 38
4.1 Set up the runtime system .................................................................................................38
4.1.1 Reinstall the runtime system ...................................................................................................... 39
4.1.2 Update the runtime system......................................................................................................... 40
4.1.3 Verify the installation .................................................................................................................. 40
4.2 Set up the programming system ........................................................................................41
4.2.1 Set up the programming system manually ................................................................................. 41
4.2.2 Set up the programming system via templates........................................................................... 45
4.3 Function configuration in general .......................................................................................45
4.3.1 System variables ........................................................................................................................ 45
4.4 Function configuration of the inputs and outputs ...............................................................46
4.4.1 Configuration of the inputs and outputs (default setting) ............................................................ 46
4.4.2 Configure inputs ......................................................................................................................... 47
4.4.3 Configure outputs ....................................................................................................................... 52
4.5 Variables ............................................................................................................................54
4.5.1 Retain variables.......................................................................................................................... 54
4.5.2 Network variables ....................................................................................................................... 55

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Contents

5 ifm function elements 56

5.1 ifm libraries for the device CR0401 ....................................................................................56
5.1.1 Library ifm_CR0401_V03yyzz.LIB.............................................................................................. 57
5.1.2 Library ifm_RAWCan_NT_Vxxyyzz.LIB...................................................................................... 58
5.1.3 Library ifm_CANopen_NT_Vxxyyzz.LIB ..................................................................................... 59
5.1.4 Library ifm_J1939_NT_Vxxyyzz.LIB ........................................................................................... 61
5.2 ifm function elements for the device CR0401 ....................................................................62
5.2.1 Function element outputs ........................................................................................................... 63
5.2.2 Function elements: RAW-CAN (Layer 2) .................................................................................... 64
5.2.3 Function elements: CANopen..................................................................................................... 90
5.2.4 Function elements: SAE J1939 ................................................................................................ 135
5.2.5 Function elements: processing input values ............................................................................. 167
5.2.6 Function elements: output functions ......................................................................................... 177
5.2.7 Function elements: system ....................................................................................................... 182

6 Diagnosis and error handling 200

6.1 Diagnosis .........................................................................................................................200
6.2 Fault .................................................................................................................................200
6.3 Response to system errors ..............................................................................................201
6.3.1 Example process for response to an error message ................................................................ 201
6.4 CAN / CANopen: errors and error handling .....................................................................201

7 Annex 202
7.1 System flags.....................................................................................................................202
7.2 Address assignment and I/O operating modes................................................................203
7.2.1 Address assignment inputs / outputs ........................................................................................ 203
7.2.2 Possible operating modes inputs/outputs ................................................................................. 205
7.3 Error tables .......................................................................................................................208
7.3.1 Error flags ................................................................................................................................. 208
7.3.2 Errors: CAN / CANopen............................................................................................................ 208

8 Glossary of Terms 210

9 Index 223

10 Notizen • Notes • Notes 227

11 ifm weltweit • ifm worldwide • ifm à l’échelle internationale 231

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About this manual Copyright

1 About this manual

Copyright ............................................................................................................................................... 4
Overview: documentation modules for ecomatmobile devices ............................................................. 5
CODESYS programming manual .......................................................................................................... 5
What do the symbols and formats mean? ............................................................................................. 6
How is this documentation structured? ................................................................................................. 7
History of the instructions (CR040n) ................................................................................................... 8
202
>

1.1 Copyright
6088

© All rights reserved by ifm electronic gmbh. No part of this manual may be reproduced and used
without the consent of ifm electronic gmbh.
All product names, pictures, companies or other brands used on our pages are the property of the respective rights owners:
• AS-i is the property of the AS-International Association, (→ www.as-interface.net)
• CAN is the property of the CiA (CAN in Automation e.V.), Germany (→ www.can-cia.org)
• CODESYS™ is the property of the 3S – Smart Software Solutions GmbH, Germany (→ www.codesys.com)
• DeviceNet™ is the property of the ODVA™ (Open DeviceNet Vendor Association), USA (→ www.odva.org)
• EtherNet/IP® is the property of the →ODVA™
• IO-Link® (→ www.io-link.com) is the property of the →PROFIBUS Nutzerorganisation e.V., Germany
• Microsoft® is the property of the Microsoft Corporation, USA (→ www.microsoft.com)
• PROFIBUS® is the property of the PROFIBUS Nutzerorganisation e.V., Germany (→ www.profibus.com)
• PROFINET® is the property of the →PROFIBUS Nutzerorganisation e.V., Germany
• Windows® is the property of the →Microsoft Corporation, USA

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About this manual Overview: documentation modules for ecomatmobile devices

>

1.2 Overview: documentation modules for ecomatmobile devices

17405

The documentation for ecomatmobile devices consists of the following modules:

1. Data sheet
Contents Technical data in a table
Source → www.ifm.com > select your country > [Data sheet search] > CR0401 > [Technical data in PDF format]

2. Installation instructions / operating instructions

Contents Instructions for installation, electrical installation, (commissioning*), technical data
Source The instructions are supplied with the device
They are also found on ifm's homepage:
→ www.ifm.com > select your country > [Data sheet search] > CR0401 > [Operating instructions]

3. Programming manual + online help

Contents Description of the configuration and the functions of the device software
Source → www.ifm.com > select your country > [Data sheet search] > CR0401 > [Operating instructions]

4. System manual "Know-how ecomatmobile"

Contents Know-how about the following topics:
• Overview Templates and demo programs
• CAN, CANopen
• Control outputs
• User flash memory
• Visualisations
• Overview of the files and libraries used
Source → www.ifm.com > select your country > [Data sheet search] > CR0401 > [Operating instructions]
*) The descriptions in brackets are only included in the instructions of certain devices.
>

1.3 CODESYS programming manual

17542

In the additional "Programming Manual for CODESYS V2.3" you obtain more details about the use of
the programming system.
This manual can be downloaded free of charge from ifm's website:
→ www.ifm.com > Select your country > [Service] > [Download] > [Systems for mobile machines]
You also find manuals and online help for ecomatmobile at:
→ ecomatmobile DVD "Software, tools and documentation"

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About this manual What do the symbols and formats mean?

>

1.4 What do the symbols and formats mean?

203

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

WARNING
Death or serious irreversible injuries may result.

CAUTION
Slight reversible injuries may result.

NOTICE
Property damage is to be expected or may result.

Important notes concerning malfunctions or disturbances

Other remarks
► ... Request for action
> ... Reaction, result
→ ... "see"
abc Cross-reference
123 Decimal number
0x123 Hexadecimal number
0b010 Binary number
[...] Designation of pushbuttons, buttons or indications

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About this manual How is this documentation structured?

>

1.5 How is this documentation structured?

204
1508

This documentation is a combination of different types of manuals. It is for beginners and also a
reference for advanced users. This document is addressed to the programmers of the applications.
How to use this manual:
• Refer to the table of contents to select a specific subject.
• Using the index you can also quickly find a term you are looking for.
• At the beginning of a chapter we will give you a brief overview of its contents.
• Abbreviations and technical terms → Annex.
In case of malfunctions or uncertainties please contact the manufacturer at:
→ www.ifm.com > Select your country > [Contact].
We want to become even better! Each separate section has an identification number in the top right
corner. If you want to inform us about any inconsistencies, indicate this number with the title and the
language of this documentation. Thank you very much for your support!
We reserve the right to make alterations which can result in a change of contents of the
documentation. You can find the current version on ifm's website at:
→ www.ifm.com > Select country > [Data sheet search] > (Article no.) > [Operating instructions]

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About this manual History of the instructions (CR040n)

>

1.6 History of the instructions (CR040n)

12110

What has been changed in this manual? An overview:

Date Theme Change

2012-07-24 Target upgrade to v02

2012-10-04 FB PWM1000 RESULT corrected
2013-06-24 various new document structure
2013-09-05 Target Upgrade to V03
2014-01-13 FBs FASTCOUNT, INC_ENCODER, PERIOD • permissible frequency areas corrected
• new RESULT for FB PERIOD
2014-04-28 Various function blocks More precise description of the function block input
CHANNEL
2014-04-29 FB CAN_REMOTE_RESPONSE More precise description of the function block ENABLE
2014-05-12 Limitations CAN Limitations added for CAN, CANopen and CAN J1939
2014-06-30 Name of the documentation "System manual" renamed as "Programming manual"
2014-08-08 FB PERIOD completed by operating mode "phase measurement"
(LZS V03.02.zz or higher)
2014-08-26 Description of inputs, outputs highside / lowside replaced by positive / negative
switching
2014-11-12 Chapter "Outputs (technology)" Section "Diagnostics of the binary outputs"
supplemented or corrected
2015-01-13 Structure of documentation for error codes, system • error flags:
flags now only in the annex, chapter System flags
• CAN / CANopen errors and error handling:
now only in the system manual "Know-How"
• error codes, EMCY codes:
now in the annex, chapter Error tables
2015-03-10 Available memory Description improved
>

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Safety instructions Please note!

2 Safety instructions

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

What previous knowledge is required? ............................................................................................... 10
Start-up behaviour of the controller ..................................................................................................... 10
213
>

2.1 Please note!

6091
11212

No characteristics are warranted with the information, notes and examples provided in this manual.
With the drawings, representations and examples given no responsibility for the system is assumed
and no application-specific particularities are taken into account.
► The manufacturer of the machine/equipment is responsible for ensuring the safety of the
machine/equipment.
► Follow the national and international regulations of the country in which the machine/installation is
to be placed on the market!

WARNING
Non-observance of these instructions can lead to property damage or bodily injury!
ifm electronic gmbh does not assume any liability in this regard.
► The acting person must have read and understood the safety instructions and the corresponding
chapters in this manual before working on and with this device.
► The acting person must be authorised to work on the machine/equipment.
► The acting person must have the qualifications and training required to perform this work.
► Adhere to the technical data of the devices!
You can find the current data sheet on ifm's homepage at:
→ www.ifm.com > Select your country > [Data sheet search] > (article number.) > [Technical data
in PDF format]
► Note the installation and wiring information as well as the functions and features of the devices!
→ supplied installation instructions or on ifm's homepage:
→ www.ifm.com > Select your country > [Data sheet search] > (article number.) > [Operating
instructions]
► Please note the corrections and notes in the release notes for the existing documentation,
available on the ifm website:
→ www.ifm.com > Select your country > [Data sheet search] > (article number.) > [Operating
instructions]

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Safety instructions What previous knowledge is required?

>

2.2 What previous knowledge is required?

215

This document is intended for people with knowledge of control technology and PLC programming
with IEC 61131-3.
To program the PLC, the people should also be familiar with the CODESYS software.
The document is intended for specialists. These specialists are people who are qualified by their
training and their experience to see risks and to avoid possible hazards that may be caused during
operation or maintenance of a product. The document contains information about the correct handling
of the product.
Read this document before use to familiarise yourself with operating conditions, installation and
operation. Keep the document during the entire duration of use of the device.
Adhere to the safety instructions.
>

2.3 Start-up behaviour of the controller

6827
15233

WARNING
Danger due to unintentional and dangerous start of machine or plant sections!
► When creating the program, the programmer must ensure that no unintentional and dangerous
start of machines or plant sections after a fault (e.g. e-stop) and the following fault elimination can
occur!
 Realise restart inhibit!
► In case of an error, set the outputs concerned to FALSE in the program!

A restart can, for example, be caused by:

• voltage restoration after power failure
• reset after watchdog response because of too long a cycle time
• error elimination after an E-stop
To ensure a safe behaviour of the controller:
► monitor the voltage supply in the application program.
► In case of an error switch off all relevant outputs in the application program.
► Additionally monitor relay contacts which can cause hazardous movements in the application
program (feedback).
► If necessary, ensure that welded relay contacts in the application project cannot trigger or continue
hazardous movements.
► Additionally monitor relay contacts which can cause hazardous movements in the application
program (feedback).
► If necessary, ensure that welded relay contacts in the application project cannot trigger or continue
hazardous movements.
>

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System description Information about the device

3 System description

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

Hardware description........................................................................................................................... 11
Interface description ............................................................................................................................ 26
Software description ............................................................................................................................ 27
975
>

3.1 Information about the device

14551

This manual describes of the ecomatmobile family for mobile machines of ifm electronic gmbh:
• BasicController: CR0401
>

3.2 Hardware description

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

Inputs (technology) .............................................................................................................................. 13
Outputs (technology) ........................................................................................................................... 19
Note on wiring...................................................................................................................................... 24
Safety instructions about Reed relays ................................................................................................. 24
Status LED .......................................................................................................................................... 25
14081

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>

3.2.1 Hardware setup

14561

Basic device without cover

Protection IP 20
>

Available memory
13736
>

FLASH-Speicher
13053

FLASH memory (non-volatile, slow memory) 1 536 kByte

overall existing in the device
Thereof the following memory areas are reserved for ...
maximum size of the application program 512 kByte
data other than the application program 64 kByte
read data with FB FLASH_READ (→ page 184)
(files: 128 bytes less for header)
The remaining rest of the memory is reserved for system internal purposes.
>

SRAM
12269

SRAM (volatile, fast memory) 208 kByte

overall existing in the device
SRAM indicates here all kinds of volatile and fast memories.
Thereof the following memory areas are reserved for ...
data reserved by the application program 32 kByte
The remaining rest of the memory is reserved for system internal purposes.
>

FRAM
2262

FRAM (non-volatile, fast memory) 2 kByte

overall existing in the device
FRAM indicates here all kinds of non-volatile and fast memories.
Thereof the following memory areas are reserved for ...
variables in the application program, declared as VAR_RETAIN 128 Byte
fixed as remanent defined flags (%MB0...127) 128 Byte
The remaining rest of the memory is reserved for system internal purposes.

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System description Hardware description

>

3.2.2 Inputs (technology)

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

Digital inputs ........................................................................................................................................ 15
Input group I0 (IN0...IN3) ..................................................................................................................... 16
Input group I1 (IN4...IN7) ..................................................................................................................... 16
Input group I2 (IN8...IN11) ................................................................................................................... 18
14090

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System description Hardware description

>

Analogue inputs
15444

The analogue inputs can be configured via the application program. The measuring range can be set
as follows:
• current input 0...20 mA
• voltage input 0...10 V
• voltage input 0...32 V
• resistance measurement 16...30 000 Ω (measurement to GND)
The voltage measurement can also be carried out ratiometrically (0...1000 ‰, adjustable via function
blocks). This means potentiometers or joysticks can be evaluated without additional reference voltage.
A fluctuation of the supply voltage has no influence on this measured value.
As an alternative, an analogue channel can also be evaluated binarily.

In case of ratiometric measurement the connected sensors should be supplied with VBBS of the
device. So, faulty measurements caused by offset voltage are avoided.
8971

In = pin multifunction input n

(CR) = device
(1) = input filter
(2) = analogue current measuring
(3a) = binary-input plus switching
(3b) = binary-input minus switching
(4a) = analogue voltage measuring 0...10 V
(4b) = analogue voltage measuring 0...32 V
(5) = voltage
(6) = reference voltage

Figure: principle block diagram multifunction input

8972

Figure: block diagram of the resistor survey input

In = pin resistor survey input n

(CR) = device
(1) = input filter
(2) = constant-current source
(3) = voltage

>

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System description Hardware description

>

Digital inputs
1015
7345

The binary input can be operated in following modes:

• binary input plus switching (BL) for positive sensor signal
• binary input minus switching (BH) for negative sensor signal
Depending on the device the binary inputs can configured differently. In addition to the protective
mechanisms against interference, the binary inputs are internally evaluated via an analogue stage.
This enables diagnosis of the input signals. But in the application software the switching signal is
directly available as bit information

In = pin binary-input n
(CR) = device
(1) = input filter
(2a) = input minus switching
(2b) = input plus switching
(3) = voltage

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

In = pin binary-input n In = pin binary-input n

(S) = sensor (S) = sensor

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

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

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System description Hardware description

>

Input group I0 (IN0...IN3)

14568

These inputs are a group of multifunction channels.

These inputs can be used as follows (each input separately configurable):
• analogue input 0...20 mA
• analogue input 0...10 V
• analogue input 0...32 V
• voltage measurement ratiometric 0...1000 ‰
• binary input plus switching (BL) for positive sensor signal (with/without diagnosis)
• binary input minus switching (BH) for negative sensor signal
• fast input for e.g. incremental encoders and frequency or interval measurement
→ chapter Possible operating modes inputs/outputs (→ page 205)
Sensors with diagnostic capabilities to NAMUR can be evaluated.
All inputs show the same behaviour concerning function and diagnosis.
Detailed description → chapter Address assignment inputs / outputs (→ page 203)
Configuration of each input is made via the application program:
• FB INPUT (→ page 173) > input MODE
• FBs FASTCOUNT (→ page 168), INC_ENCODER (→ page 170) or PERIOD (→ page 175)
> If the analogue inputs are configured for current measurement, the device switches to the safe
voltage measurement range (0...32 V DC) and the output RESULT is set accordingly in the
function block INPUT when the final value (23 mA for > 40 ms) is exceeded. After about one
second the input automatically switches back to the current measuring range.
>

Input group I1 (IN4...IN7)

14569

These inputs are a group of multifunction channels.

These inputs can be used as follows (each input separately configurable):
• binary input plus switching (BL) for positive sensor signal
• input for resistance measurement (e.g. temperature sensors or fuel sensors)
→ chapter Possible operating modes inputs/outputs (→ page 205)
Sensors with diagnostic capabilities to NAMUR can be evaluated.
► Configuration of each input is made via the application program:
• FB INPUT (→ page 173) > input MODE

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System description Hardware description

>

Resistance measurement
9773

Typical sensors on these inputs:

• tank level
• temperature (PT1000, NTC)
8972

Figure: block diagram of the resistor survey input

In = pin resistor survey input n

(CR) = device
(1) = input filter
(2) = constant-current source
(3) = voltage

8970

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

Figure: resolution dependent on the

resistance value

(1) = resistance value at the input

(2) = resolution

By how many ohms does the measured value change when the signal of the A/D converter on the input changes by 1?
Examples:
• In the range of 1...100 Ω the resolution is 1.2 Ω.
• In the range of 1 kΩ the resolution is approx. 2 Ω.
• In the range of 2 kΩ the resolution is approx. 3 Ω.
• In the range of 3 kΩ the resolution is approx. 6 Ω.
• In the range of 6 kΩ the resolution is approx. 10 Ω.
• In the range of 10 kΩ the resolution is approx. 11 Ω
• In the range of 20 kΩ the resolution is approx. 60 Ω.

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System description Hardware description

>

Input group I2 (IN8...IN11)

14570

These inputs are a group of multifunction channels.

These inputs can be used as follows (each input separately configurable):
• binary input plus switching (BL) for positive sensor signal (with/without diagnosis)
→ chapter Possible operating modes inputs/outputs (→ page 205)
Sensors with diagnostic capabilities to NAMUR can be evaluated.
► Configuration of each input is made via the application program:
• FB INPUT (→ page 173) > input MODE

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>

3.2.3 Outputs (technology)

Protective functions of the outputs ...................................................................................................... 19

Output group Q0 (OUT0...OUT3) ........................................................................................................ 21
Output group Q1 (OUT4, OUT5) ......................................................................................................... 22
Output group Q2 (OUT6, OUT7) ......................................................................................................... 23
14093
>

Protective functions of the outputs

15248

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

Definition: overload
15249

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

Overload is defined as ...
"a nominal maximum current of 12.5 %" according to the data sheet.
>

Definition: short circuit

15644

A short circuit can be detected on all outputs with diagnostic capabilities and is defined as follows:
A short circuit is defined as ...
"a drop of the output voltage below 93.5% (± 2.0%) of the corresponding supply voltage."
> A ground fault can only be detected in case of output = TRUE.

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System description Hardware description

>

Reaction of the outputs to overload or short circuit

15251
>

Self-protection of the output

15253

The hardware protects itself, irrespective of the operating mode of the output and of the fault
detection. In case of a too high thermal load (caused by short circuit or overload), the output driver
begins to clock.
The driver may be damaged in case of too long clocking of the output (several hours).
We therefore recommend:
that you operate device outputs with diagnostic capabilities in the following mode, since, in this case,
the software protects the drivers additionally by switching off:
• FB OUTPUT (→ page 178) > input MODE = 16
This is also the default setting if only the flags in the control configuration are used.
>

Reaction according to the operating mode of the output

15252

In case of an overload or a short circuit, the behaviour of the output depends on its operating mode
(→ FB OUTPUT (→ page 178) > input MODE):
• MODE=2: binary output plus switched: no diagnosis and no protection
> the output continues to be operated.
• MODE=15: binary output plus switched with diagnosis
> error is detected and signalled on the output RESULT by the FB OUTPUT:
e.g.: RESULT = 128, 141, 142 or 145.
This depends on the type of output and the current or voltage at the output.
The programmer can react to the error in the program.
• MODE=16: binary output plus switched with diagnosis and protection
> error is detected and signalled on the output RESULT by the FB OUTPUT.
> The respective output is switched off.
> The logic state of the output remains unaffected by this!
>

Reaction when using PWM or CURRENT_CONTROL

15254

The situation is different when the FBs PWM or CURRENT_CONTROL are used:
There is no diagnosis. The →self-protection of the output becomes active.
► For outputs with current feedback:
Query the typical current for the output in the application program!
It is the responsibility of the programmer to react to the event.

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>

Output group Q0 (OUT0...OUT3)

14574

These outputs are a group of multifunction channels.

These outputs provide several function options (each output separately configurable):
• binary output, plus switching (BH)
• analogue output with Pulse Width Modulation (PWM)
→ chapter Possible operating modes inputs/outputs (→ page 205)
► Configuration of each output is made via the application program:
→ FB OUTPUT (→ page 178)> input MODE
PWM output: → FB PWM1000 (→ page 180)
► For the limit values please make sure to adhere to the data sheet!

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System description Hardware description

>

Output group Q1 (OUT4, OUT5)

14694

These outputs are a group of multifunction channels.

These outputs provide several function options (each output separately configurable):
• binary output, plus switching (BH) with/without diagnostic function
→ chapter Possible operating modes inputs/outputs (→ page 205)
► Configuration of each output is made via the application program:
→ FB OUTPUT (→ page 178)> input MODE
► For the limit values please make sure to adhere to the data sheet!
>

Diagnosis: binary outputs (via voltage measuring)

19403
19397

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

Figure: principle block diagram

(1) Output channel
(2) Read back channel for diagnosis
(3) Pin output n
(4) Load

>

Diagnosis: overload
19448

The outputs have no current measuring, no overload detection.

>

Diagnosis: wire break

19404

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

Diagnosis: short circuit

19405

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

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Output group Q2 (OUT6, OUT7)

14578

These outputs are a group of multifunction channels.

These outputs provide several function options (each output separately configurable):
• binary output, plus switching (BH) with/without diagnostic function
• analogue output with Pulse Width Modulation (PWM)
→ chapter Possible operating modes inputs/outputs (→ page 205)
► Configuration of each output is made via the application program:
→ FB OUTPUT (→ page 178)> input MODE
PWM output: → FB PWM1000 (→ page 180)
► For the limit values please make sure to adhere to the data sheet!
>

Diagnosis: binary outputs (via voltage measuring)

19403
19397

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

Figure: principle block diagram

(1) Output channel
(2) Read back channel for diagnosis
(3) Pin output n
(4) Load

>

Diagnosis: overload
19448

The outputs have no current measuring, no overload detection.

>

Diagnosis: wire break

19404

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

Diagnosis: short circuit

19405

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

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3.2.4 Note on wiring

1426

The wiring diagrams (→ installation instructions of the devices, chapter "Wiring") describe the standard
device configurations. The wiring diagram helps allocate the input and output channels to the IEC
addresses and the device terminals.
The individual abbreviations have the following meaning:
A Analogue input
BH Binary high side input: minus switching for negative sensor signal
Binary high side output: plus switching for positive output signal
BL Binary low side input: plus switching for positive sensor signal
Binary low side output: minus switching for negative output signal
CYL Input period measurement
ENC Input encoder signals
FRQ Frequency input
H bridge Output with H-bridge function
PWM Pulse-width modulated signal
PWMi PWM output with current measurement
IH Pulse/counter input, high side: minus switching for negative sensor signal
IL Pulse/counter input, low side: plus switching for positive sensor signal
R Read back channel for one output

Allocation of the input/output channels: → Catalogue, mounting instructions or data sheet

>

3.2.5 Safety instructions about Reed relays

7348

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

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

► Remedy: Install a series resistor for the Reed relay:

Series resistor = max. input voltage / permissible current in the Reed relay
Example: 32 V / 500 mA = 64 Ohm
► The series resistor must not exceed 5 % of the input resistance RE of the device input (→ data
sheet). Otherwise, the signal will not be detected as TRUE.
Example:
RE = 3 000 Ohm
⇒ max. series resistor = 150 Ohm

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3.2.6 Status LED

7998

The operating states are indicated by the integrated status LED (default setting).
LED colour Flashing frequency Description
Off permanently off no operating voltage
Red / green briefly on INIT state, reset checks
Green 5 Hz no runtime system loaded
Green 2 Hz RUN state: application is running
Green permanently on STOP state: application is stopped
STOP state with error: application is stopped
Red 5 Hz
reason: undervoltage
STOP state with error: application is stopped
Cause: exceeded timeout of the application or visualisation:
Red 10 Hz  Delete the application!
 PowerOn reset
 Reload the application into the device
FATAL ERROR: application is stopped
Cause: software watchdog has failed
 PowerOn reset
If without success:
 Goto Bootloader
Red permanently on
 PowerOn reset
 Reload the BasicSystem into the device
 Reload the application into the device
If without success:
 Hardware error: send device to ifm!
.

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

Control the LED in the application program

15481

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

The use of the LED function block in the application program replaces the system setting of the
status LED in the RUN state.

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>

3.3 Interface description

CAN interfaces .................................................................................................................................... 26

14098
>

3.3.1 CAN interfaces

CAN: interfaces and protocols ............................................................................................................. 26

14101

Connections and data → data sheet

>

CAN: interfaces and protocols

14589
15238

The devices are equipped with several CAN interfaces depending on the hardware design. Basically,
all interfaces can be used with the following functions independently of each other:
• RAW-CAN (Layer 2): CAN on level 2 (→ chapter Function elements: RAW-CAN (Layer 2) (→ page 64))
• CANopen master / CANopen slave (→ chapter Function elements: CANopen (→ page 90))
• CANopen network variables (via CODESYS) (→ chapter Network variables (→ page 55))
• SAE J1939 (for drive management, → chapter Function elements: SAE J1939 (→ page 135))
• Bus load detection
• Error frame counter
• Download interface
• 100 % bus load without package loss
14591

The following CAN interfaces and CAN protocols are available in this ecomatmobile device:
CAN interface CAN 1 CAN 2 CAN 3 CAN 4

Default download ID ID 127 ID 126 ID 125 ID 124

CAN Layer 2 CAN Layer 2

Interface do not Interface do not
CAN protocols CANopen CANopen
exist exist
SAE J1939 SAE J1939

Standard baud rate = 250 Kbits/s

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

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3.4 Software description

Software modules for the device ......................................................................................................... 27

Programming notes for CODESYS projects ....................................................................................... 30
Operating states .................................................................................................................................. 34
Performance limits of the device ......................................................................................................... 36
14107
>

3.4.1 Software modules for the device

Bootloader ........................................................................................................................................... 28
Runtime system ................................................................................................................................... 28
Application program............................................................................................................................. 28
Libraries ............................................................................................................................................... 29
14110

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

software module Can user change the module? By means of what tool?
Application program CODESYS,
Yes
with libraries MaintenanceTool
Upgrade yes
Runtime system *) MaintenanceTool
Downgrade no
Bootloader No ---
(Hardware) No ---
*) The runtime system version number must correspond to the target version number in the CODESYS target system setting.
→ chapter Set up the target (→ page 42)

Below we describe this software module:

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Bootloader
14111

On delivery ecomatmobile controllers only contain the boot loader.

The boot loader is a start program that allows to reload the runtime system and the application
program on the device.
The boot loader contains basic routines...
• for communication between hardware modules,
• for reloading the operating system.
The boot loader is the first software module to be saved on the device.
>

Runtime system
14112

Basic program in the device, establishes the connection between the hardware of the device and the
application program.
On delivery, there is normally no runtime system loaded in the controller (LED flashes green at 5 Hz).
Only the bootloader is active in this operating mode. It provides the minimum functions for loading the
runtime system, among others support of the interfaces (e.g. CAN).
Normally it is necessary to download the runtime system only once. Then, the application program can
be loaded into the controller (also repeatedly) without affecting the runtime system.
The runtime system is provided with this documentation on a separate data carrier. In addition, the
current version can be downloaded from the website of ifm electronic gmbh:
→ www.ifm.com > Select your country > [Service] > [Download]
>

Application program
14118

Software specific to the application, implemented by the machine manufacturer, generally containing
logic sequences, limits and expressions that control the appropriate inputs, outputs, calculations and
decisions.
8340

WARNING
The user is responsible for the reliable function of the application programs he designed. If necessary,
he must additionally carry out an approval test by corresponding supervisory and test organisations
according to the national regulations.

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Libraries
15409

ifm electronic offers a series of libraries (*.LIB) suitable for each device, containing the program
modules for the application program. Examples:
Library Use
ifm_CR0401_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
Detail information → ifm libraries for the device CR0401 (→ page 56)

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3.4.2 Programming notes for CODESYS projects

FB, FUN, PRG in CODESYS .............................................................................................................. 30

Note the cycle time! ............................................................................................................................. 31
Creating application program .............................................................................................................. 32
Using ifm maintenance tool ................................................................................................................. 33
Distribution of the application program ................................................................................................ 33
7426

Here you receive tips how to program the device.

► See the notes in the CODESYS programming manual
→ www.ifm.com > select your country > [Data sheet search] > CR0401 > [Operating instructions]
→ ecomatmobile DVD "Software, tools and documentation".
>

FB, FUN, PRG in CODESYS

15410

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.

NOTE
Function blocks must NOT be called in functions!
Otherwise: During execution the application program will crash.
All function elements must NOT be called recursively, nor indirectly!
An IEC application may contain maximum 8000 function elements; in this device maximum 512
function elements!

Background:
All variables of functions...
• are initialised when called and
• become invalid after return to the caller.
Function blocks have 2 calls:
• an initialisation call and
• the actual call to do something.
Consequently that means for the function block call in a function:
• every time there is an additional initialisation call and
• the data of the last call gets lost.

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Note the cycle time!

8006

For the programmable devices from the controller family ecomatmobile numerous functions are
available which enable use of the devices in a wide range of applications.
As these units use more or fewer system resources depending on their complexity it is not always
possible to use all units at the same time and several times.

NOTICE
Risk that the device acts too slowly!
Cycle time must not become too long!
► When designing the application program the above-mentioned recommendations must be
complied with and tested.
► If necessary, the cycle time must be optimised by restructuring the software and the system set-
up.

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Creating application program

8007

The application program is generated by the CODESYS programming system and loaded in the
controller several times during the program development for testing:
In CODESYS: [Online] > [Login] > load the new program.
For each such download via CODESYS the source code is translated again. The result is that each
time a new checksum is formed in the controller memory. This process is also permissible for safety
controllers until the release of the software.

Graphics: Creation and distribution of the software

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Using ifm maintenance tool

8492

The ifm Maintenance Tool serves for easy transfer of the program code from the programming station
to the controller. As a matter of principle each application software can be copied to the controllers
using the ifm Maintenance Tool. Advantage: A programming system with CODESYS licence is not
required.
Here you will find the current ifm Maintenance Tool:
→ www.ifm.com > Select your country > [Service] > [Download] > [Systems for mobile machines]
→ ecomatmobile DVD "Software, tools and documentation" under the tab 'R360 tools [D/E]'
>

Distribution of the application program

8493

We recommend the following sequence, if the application software is to be copied to the series
machine and used:
• Saving the software
After completion of program development the latest version of the application program loaded in
the controller using the ifm Maintenance Tool has to be read from the controller and saved on a
data carrier using the name project_file.RESX. Only this process ensures that the application
software and its checksums are stored.
• Download of the software.
To equip all machines of a series production with an identical software only this file may be loaded
in the controllers using the ifm Maintenance Tool.
• An error in the data of this file is automatically recognised by the integrated checksum when
loaded again using the ifm Maintenance Tool.

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>

3.4.3 Operating states

1075

After power on the ecomatmobile device can be in one of five possible operating states:
• BOOTLOADER
• INIT
• STOP
• RUN
• SYSTEM STOP
>

INIT state (Reset)

1076

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
>

STOP state
8288

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)

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>

RUN state
8287

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

• from the INIT state (autostart) if the following conditions are met:
• The operating voltage has reached a minimum value. AND:
• The application program exists.
• From the STOP state:
• via the CODESYS command RUN.
• The operating voltage has reached or exceeded a minimum value.
In the RUN state:
> The runtime system is running.
> The application program is running.
> The LED flashes green with 2 Hz.
The LED can be controlled differently by the application program → FB SET_LED (→ page 196).
A transition from this state into one of the following states is possible:
• INIT (after power-on-reset)
• STOP
• ERROR
• FATAL ERROR
>

ERROR state
8290

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

8289

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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>

3.4.4 Performance limits of the device

7358

Note the limits of the device! → Data sheet

>

Watchdog behaviour
15365

In this device, a watchdog monitors the program runtime of the CODESYS application.
If the maximum watchdog time (100 ms) is exceeded:
> the device changes to the "Timeout Error" state
> all processes are stopped (reset)
> all outputs are switched off
> the status LED flashes red at 10 Hz
Eliminate the fault:
 Delete application program!
 PowerOn reset
 Reload the application program into the device
If the watchdog in question fails:
> a second watchdog leads the device to the state "Fatal Error"
> the status LED lights red
Eliminate the fault:
 PowerOn reset
If without success:
 Goto Bootloader
 PowerOn reset
 Reload the runtime system into the device
 Reload the application program into the device
If without success:
 Hardware error: send device to ifm!

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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 (→ page 74)
- CAN_RX_RANGE_FIFO (→ page 78)
The number of FIFo messages is limited. The following limitations of the devices are valid:
Device BasicController: CR040n,
CR041n, CR043n
Criterion PDM360 NG: CR108n
BasicDisplay: CR045n
SmartController: CR253n
max. FiFo transmit
- with FB CAN_TX... 4 messages 4 messages
- with FB CAN_TX_ENH... 16 messages 16 messages
max. FiFo receive
- with FB CAN_RX_..._FIFO 32 messages 32 messages
>

Limitations for CANopen in this device

17976

The following limitations of the devices are valid:

Device BasicController: CR040n,
CR041n, CR043n
Criterion PDM360 NG: CR108n
BasicDisplay: CR045n
SmartController: CR253n
max. guarding error 32 messages 128 messages
max. SDO data 2 048 bytes 2 048 bytes
>

Limitations for CAN J1939 in this device

17977

The following limitations of the devices are valid:

Device BasicController: CR040n,
CR041n, CR043n
Criterion PDM360 NG: CR108n
BasicDisplay: CR045n
SmartController: CR253n
max. FiFo transmit
- with FB J1939_TX 4 messages 4 messages
- with FB J1939_TX_ENH 16 messages 16 messages
max. FiFo receive
- with FB J1939_RX_FIFO 32 messages 32 messages
max. DTCs 64 messages 64 messages
max. data J1939 1 785 bytes 1 785 bytes
>

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Configurations Set up the runtime system

4 Configurations

Set up the runtime system ................................................................................................................... 38

Set up the programming system ......................................................................................................... 41
Function configuration in general ........................................................................................................ 45
Function configuration of the inputs and outputs ................................................................................ 46
Variables .............................................................................................................................................. 54
1016

The device configurations described in the corresponding installation instructions or in the Annex
(→ page 202) to this documentation are used for standard devices (stock items). They fulfil the
requested specifications of most applications.
Depending on the customer requirements for series use it is, however, also possible to use other
device configurations, e.g. with respect to the inputs/outputs and analogue channels.
>

4.1 Set up the runtime system

Reinstall the runtime system ............................................................................................................... 39

Update the runtime system ................................................................................................................. 40
Verify the installation ........................................................................................................................... 40
14091

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>

4.1.1 Reinstall the runtime system

14635
8486

On delivery of the ecomatmobile controller no runtime system is normally loaded (LED flashes green
at 5 Hz). Only the boot loader is active in this operating mode. It provides the minimum functions for
loading the operating system (e.g. RS232, CAN).
Normally it is necessary to download the runtime system only once. The application program can then
be loaded to the device (also several times) without influencing the runtime system.
The runtime system is provided with this documentation on a separate data carrier. In addition, the
current version can be downloaded from the website of ifm electronic gmbh at:
→ www.ifm.com > Select your country > [Service] > [Download] > [Systems for mobile machines]

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_CR0401_Vxxyyzz.RESX),
• PLC configuration (ifm_CR0401_Vxx.CFG),
• device library (ifm_CR0401_Vxxyyzz.LIB ) and
• the further files.
V version
xx: 00...99 target version number
yy: 00...99 release number
zz: 00...99 patch number

The basic file name (e.g. "CR0401") and the software version number "xx" (e.g. "01") must always
have the same value! Otherwise the device goes to the STOP mode.
The values for "yy" (release number) and "zz" (patch number) do not have to match.
4368

The following files must also be loaded:

• the internal libraries (created in IEC 1131) required for the project,
• the configuration files (*.CFG) and
• the target files (*.TRG).

It may happen that the target system cannot or only partly be programmed with your currently
installed version of CODESYS. In such a case, please contact the technical support department of ifm
electronic gmbh.
The runtime system is transferred to the device using the separate program "Maintenance Tool". (The
downloader is on the ecomatmobile DVD "Software, tools and documentation" or can be downloaded
from ifm's website, if necessary):
→ www.ifm.com > Select your country > [Service] > [Download] > [Systems for mobile machines].
Normally the application program is loaded to the device via the programming system. But it can also
be loaded using the "Maintenance Tool" if it was first read from the device.

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>

4.1.2 Update the runtime system

13269

An older runtime system is already installed on the device. Now, you would like to update the runtime
system on the device?
14158

NOTICE
Risk of data loss!
When deleting or updating the runtime system all data and programs on the device are deleted.
► Save all required data and programs before deleting or updating the runtime system!
3084

When the operating system software or the CODESYS runtime system is considerably improved, ifm
releases a new version. The versions are numbered consecutively (V01, V02, V03, ...).
Please see the respective documentation for the new functions of the new software version. Note
whether special requirements for the hardware version are specified in the documentation.
If you have a device with an older version and if the conditions for the hardware and your project are
OK, you can update your device to the new software version.
For this operation, the same instructions apply as in the previous chapter 'Reinstall the runtime
system'.
>

4.1.3 Verify the installation

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:
GET_SW_INFO (→ page 188) Delivers information about the system software of the device:
• software name,
• software version,
• build number,
• build date

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>

4.2 Set up the programming system

Set up the programming system manually .......................................................................................... 41

Set up the programming system via templates ................................................................................... 45
14461
>

4.2.1 Set up the programming system manually

Set up the target .................................................................................................................................. 42

Activate the PLC configuration ............................................................................................................ 43
CAN declaration (e.g. CR1080) ........................................................................................................... 44
3963

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>

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_CR0401_Vxxyyzz.LIB manually!

NOTE
The software versions suitable for the selected target must always be used:
• runtime system (ifm_CR0401_Vxxyyzz.RESX),
• PLC configuration (ifm_CR0401_Vxx.CFG),
• device library (ifm_CR0401_Vxxyyzz.LIB ) and
• the further files.
V version
xx: 00...99 target version number
yy: 00...99 release number
zz: 00...99 patch number

The basic file name (e.g. "CR0401") and the software version number "xx" (e.g. "01") must always
have the same value! Otherwise the device goes to the STOP mode.
The values for "yy" (release number) and "zz" (patch number) do not have to match.
4368

The following files must also be loaded:

• the internal libraries (created in IEC 1131) required for the project,
• the configuration files (*.CFG) and
• the target files (*.TRG).

It may happen that the target system cannot or only partly be programmed with your currently
installed version of CODESYS. In such a case, please contact the technical support department of ifm
electronic gmbh.

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Configurations Set up the programming system

>

Activate the PLC configuration

10079

The PLC configuration is automatically loaded with the target system. The PLC configuration maps the
contents of the file CR0401.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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>

CAN declaration (e.g. CR1080)

10080

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...]:

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

> The CAN parameters of the PLC configuration are displayed. Some CAN parameters are already
set as default:

► If the device is operated on CAN Layer 2 or as a slave via network variables or CAN_RX /
CAN_TX:
Check whether the correct baud rate is set for the device (baud rate must be identical for all
participants).
► If the device is operated as a CANopen master:
Check all parameter settings.
► Close the window [PLC Configuration].
► In the menu [File] > [Save as ...] give a sensible name to the project and save it in the requested
directory.
► In the application program always call an own instance of the FB CANOPEN_ENABLE
(→ page 91) for every CAN interface!

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Configurations Function configuration in general

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.
970

When installing the ecomatmobile DVD "Software, tools and documentation", projects with
templates have been stored in the program directory of your PC:
…\ifm electronic\CoDeSys V…\Projects\Template_DVD_V…
► Open the requested template in CODESYS via:
[File] > [New from template…]
> CODESYS creates a new project which shows the basic program structure. It is strongly
recommended to follow the shown procedure.
>

4.3 Function configuration in general

3971
>

4.3.1 System variables

15576

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

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Configurations Function configuration of the inputs and outputs

>

4.4 Function configuration of the inputs and outputs

Configuration of the inputs and outputs (default setting)..................................................................... 46

Configure inputs .................................................................................................................................. 47
Configure outputs ................................................................................................................................ 52
7995
1394

For some devices of the ecomatmobile controller family, additional diagnostic functions can be
activated for the inputs and outputs. So, the corresponding input and output signal can be monitored
and the application program can react in case of a fault.
Depending on the input and output, certain marginal conditions must be taken into account when
using the diagnosis:
► It must be checked by means of the data sheet if the device used has the described input and
output groups (→ data sheet).
• Constants are predefined (e.g. IN_DIGITAL_H) in the device libraries (e.g. ifm_CR0020_Vx.LIB)
for the configuration of the inputs and outputs.
For details → Possible operating modes inputs/outputs (→ page 205).
>

4.4.1 Configuration of the inputs and outputs (default setting)

2249

• All inputs and outputs are in the binary mode (plus switching!) when delivered.
• The diagnostic function is not active.
• The overload protection is active.

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>

4.4.2 Configure inputs

Safety instructions about Reed relays ................................................................................................. 47

Configure the software filters of the inputs .......................................................................................... 48
Analogue inputs: configuration and diagnosis ..................................................................................... 49
Binary inputs: configuration and diagnosis .......................................................................................... 50
Fast inputs ........................................................................................................................................... 51
3973

Valid operating modes → chapter Possible operating modes inputs/outputs (→ page 205)
>

Safety instructions about Reed relays

7348

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

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

► Remedy: Install a series resistor for the Reed relay:

Series resistor = max. input voltage / permissible current in the Reed relay
Example: 32 V / 500 mA = 64 Ohm
► The series resistor must not exceed 5 % of the input resistance RE of the device input (→ data
sheet). Otherwise, the signal will not be detected as TRUE.
Example:
RE = 3 000 Ohm
⇒ max. series resistor = 150 Ohm

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>

Configure the software filters of the inputs

15418

Via the input FILTER in the FB INPUT (→ page 173) a software filter can be configured which filters the
measured input voltage at the analogue inputs.
The filter behaves like a low-pass filter; the filter frequency is set with the value entered in FILTER. For
FILTER, values from 0...8 are permitted.
Table: limit frequency software low-pass filter at the analogue input
Step response [ms] for ...
FILTER Filter frequency [Hz] Remarks
0…70 % 0…90 % 0…99 %
0 Filter deactivated
1 120 2 4 7
2 47 5 9 17
3 22 10 18 35
4 10 19 36 72 recommended
5 5 38 73 146
6 2.5 77 147 293
7 1.2 154 294 588
8 0.7 308 589 1177

The following statements of the step response are relevant:

• Input analogue: 0...90 % and 0...99 %
• Input binary: 0...70 %

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

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>

Analogue inputs: configuration and diagnosis

14656

Configuration of each input is made via the application program:

• FB INPUT (→ page 173) > input MODE
► If the analogue inputs are configured for current measurement, the device switches to the safe
voltage measurement range (0...32 V DC) and the output RESULT is set accordingly in the
function block INPUT when the final value (23 mA for > 40 ms) is exceeded. After about one
second the input automatically switches back to the current measuring range.
As an alternative, an analogue channel can also be evaluated binarily.
8971

In = pin multifunction input n

(CR) = device
(1) = input filter
(2) = analogue current measuring
(3a) = binary-input plus switching
(3b) = binary-input minus switching
(4a) = analogue voltage measuring 0...10 V
(4b) = analogue voltage measuring 0...32 V
(5) = voltage
(6) = reference voltage

Figure: principle block diagram multifunction input

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>

Binary inputs: configuration and diagnosis

14672

Configuration of each input is made via the application program:

• FB INPUT (→ page 173) > input MODE
MODE BYTE operating mode of the input channel:
0 = 0x00 off
3 = 0x03 voltage input 0…10 000 mV
6 = 0x06 voltage input, ratiometric 0...1 000 ‰
7 = 0x07 current input 0…20 000 µA
9 = 0x09 voltage input 0…32 000 mV
(only for analogue evaluated inputs)
10 = 0x0A
binary input, plus switching (BL)
(only for analogue evaluated inputs)
11 = 0x0B binary input, plus switching (BL) with diagnosis
(Namur)
12 = 0x0C binary input, minus switching (BH)
16…3 600 Ω
18 = 0x12 resistance input from HW state
AD:
16...30 000 Ω
>

Activation of the input diagnosis

7352

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

► Set the mode of the input via input MODE of the function block INPUT (→ page 173).
> The FB INPUT (→ page 173) provides the diagnostic messages of the inputs on its RESULT
output.

Diagnosis of non-electronic switches:

► Equip the switch with an additional resistor
connection!
Figure: non-electronic switch S at input Inn

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

In this case, no additional resistor connection is required.

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>

Fast inputs
8292

The devices dispose of fast counting/pulse inputs for an input frequency up to 30 kHz (→ data sheet).
If, for example, mechanical switches are connected to these inputs, there may be faulty signals in the
controller due to contact bouncing.
Appropriate function blocks are e.g.:
FAST_COUNT Counter block for fast input pulses
INC_ENCODER (→ page 170) Up/down counter function for the evaluation of encoders
PERIOD (→ page 175) Measures the frequency and the cycle period (cycle time) in [µs] at the indicated channel

When using these units, the parameterised inputs and outputs are automatically configured, so the
programmer of the application does not have to do this.
>

Use as binary inputs

3804

The permissible high input frequencies also ensure the detection of faulty signals, e.g. bouncing
contacts of mechanical switches.
► If required, suppress the faulty signals in the application program!

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>

4.4.3 Configure outputs

Binary outputs: configuration and diagnosis ....................................................................................... 52

PWM outputs ....................................................................................................................................... 53
3976

Valid operating modes → chapter Possible operating modes inputs/outputs (→ page 205)
>

Binary outputs: configuration and diagnosis

14689

The following operating modes are possible for the device outputs (→ data sheet):
• binary output, plus switching (BH) with/without diagnostic function
15451

Qn = pin output n
(L) = load

Basic circuit of binary output plus switching (BH)

for positive output signal

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

→ FB OUTPUT (→ page 178)> input MODE.

WARNING
Dangerous restart possible!
Risk of personal injury! Risk of material damage to the machine/plant!
If in case of a fault an output is switched off via the hardware, the logic state generated by the
application program is not changed.
► Remedy:
• Reset the output logic in the application program!
• Remove the fault!
• Reset the outputs depending on the situation.
>

Configuration of the output diagnosis

8301

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

► If using the output as binary output with diagnosis (→ data sheet):
→ FB OUTPUT > input MODE = 15 or 18
> The FB OUTPUT (→ page 178) provides the diagnostic messages of the outputs on its RESULT
output.

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>

PWM outputs
14705

The following operating modes are possible for the device outputs (→ data sheet):
• PWM output, plus switching (BH) without diagnostic function
15451

Qn = pin output n
(L) = load

Basic circuit of binary output plus switching (BH)

for positive output signal
15414

WARNING
Property damage or bodily injury possible due to malfunctions!
For outputs in PWM mode:
• there are no diagnostic functions
• the overload protection OUT_OVERLOAD_PROTECTION is NOT active
9980

NOTE
PWM outputs must NOT be operated in parallel, e.g. in order to increase the max. output current. The
outputs do not operate synchronously.
Otherwise the entire load current could flow through only one output. The current measurement would
no longer function.

>

Availability of PWM
14711

Number of available of which current- PWM frequency

Device
PWM outputs controlled (PWMi) [Hz]
BasicController: CR0401 8 --- 20...250
>

FBs for PWM functions

14712

The following function blocks are available for the PWM function:
PWM1000 (→ page 180) Initialises and configures a PWM-capable output channel
the mark-to-space ratio can be indicated in steps of 1 ‰

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>

4.5 Variables

Retain variables ................................................................................................................................... 54

Network variables ................................................................................................................................ 55
3130

In this chapter you will learn more about how to handle variables.
14486

The device supports the following types of variables:

Declaration place Validity area Memory behaviour
Variable
local in the declaration part of the function Only valid in the function element volatile
local retain element (POU) (POU) where it was configured. nonvolatile
global Valid in all function elements of this volatile
In [Resources] > [Global Variables] >
[Globale_Variables]: CODESYS project.
global retain nonvolatile

Network Values are available to all CODESYS volatile

In [Resources] > [Global Variables] > projects in the whole network if the
declaration list variable is contained in its declaration
Network retain lists. nonvolatile

→ CODESYS programming manual

→ ecomatmobile DVD "Software, tools and documentation"

>

4.5.1 Retain variables

8672

Retain variables can be saved automatically in a protected memory area and be reloaded
automatically during a reboot.
14166

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.

NOTE
In this device, do NOT use the following functions from the 3S library SysLibPlcCtrl.lib:
- FUN SysSaveRetains
- FUN SysRestoreRetains

>

Read back retain variables

9854

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

NOTE
In this device, do NOT use the following functions from the 3S library SysLibPlcCtrl.lib:
- FUN SysSaveRetains
- FUN SysRestoreRetains

>

4.5.2 Network variables

15242
9856

Global network variables are used for data exchange between controllers in the network. The values
of global network variables are available to all CODESYS projects in the whole network if the variables
are contained in their declaration lists.
► Integrate the following library/libraries into the CODESYS project:
 3S_CANopenNetVar.lib
 ifm_NetVarLib_NT_Vxxyyzz.lib
>

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5 ifm function elements

ifm libraries for the device CR0401 ..................................................................................................... 56

ifm function elements for the device CR0401 ..................................................................................... 62
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 CR0401

Library ifm_CR0401_V03yyzz.LIB ...................................................................................................... 57

Library ifm_RAWCan_NT_Vxxyyzz.LIB .............................................................................................. 58
Library ifm_CANopen_NT_Vxxyyzz.LIB.............................................................................................. 59
Library ifm_J1939_NT_Vxxyyzz.LIB ................................................................................................... 61
14235
Legend for ..._Vxxyyzz.LIB:
V version
xx: 00...99 target version number
yy: 00...99 release number
zz: 00...99 patch number

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

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>

5.1.1 Library ifm_CR0401_V03yyzz.LIB

14746

This is the device library.

This ifm library contains the following function blocks:
Function element Short description
FASTCOUNT (→ page 168) Counter block for fast input pulses
FLASH_INFO (→ page 183) Reads the information from the user flash memory:
• name of the memory area (user defined),
• software version,
• start address (for simple reading with IEC structure)
FLASH_READ (→ page 184) Transfers different data types directly from the flash memory to the RAM
GET_APP_INFO (→ page 185) Delivers information about the application program stored in the device:
• name of the application,
• version of the application,
• unique CODESYS build number,
• CODESYS build date
GET_HW_INFO (→ page 186) Delivers information about the device hardware:
• ifm article number (e.g. CR0403),
• article designation,
• unambiguous serial number,
• hardware revision,
• production date
GET_IDENTITY (→ page 187) Reads the identification of the application stored in the device
(has previously been saved by means of SET_IDENTITY (→ page 195))
GET_SW_INFO (→ page 188) Delivers information about the system software of the device:
• software name,
• software version,
• build number,
• build date
GET_SW_VERSION (→ page 189) Delivers information about the software versions stored in the device:
• BasicSystem version,
• bootloader version,
• SIS version,
• application program version,
• user flash version
INC_ENCODER (→ page 170) Up/down counter function for the evaluation of encoders
INPUT (→ page 173) Assigns an operating mode to an input channel
Provides the current state of the selected channel
MEM_ERROR (→ page 190) Signals errors in some parameters or in the memory
(Re-)initialisation of system resources
MEMCPY (→ page 191) Writes and reads different data types directly in the memory
OHC (→ page 193) Adjustable operating hours counter (0...3)
OUTPUT (→ page 178) Assigns an operating mode to an output channel
Provides the current state of the selected channel
PERIOD (→ page 175) Measures the frequency and the cycle period (cycle time) in [µs] at the indicated channel
PWM1000 (→ page 180) Initialises and configures a PWM-capable output channel
the mark-to-space ratio can be indicated in steps of 1 ‰
SET_IDENTITY (→ page 195) Sets an application-specific program identification
SET_LED (→ page 196) Change the frequency and color of the status LED in the application program
SET_PASSWORD (→ page 198) Sets a user password for access control to program and memory upload
TIMER_READ_US (→ page 199) Reads out the current system time in [µs]
Max. value = 1h 11min 34s 967ms 295µs
>

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>

5.1.2 Library ifm_RAWCan_NT_Vxxyyzz.LIB

14715

This ifm library contains the following function blocks:

Function element Short description
CAN_ENABLE (→ page 65) Initialises the indicated CAN interface
Configures the CAN baud rate
CAN_RECOVER (→ page 66) Activate / deactivate the automatic bus off handling
Restart the CAN interface in case of bus off
CAN_REMOTE_REQUEST (→ page 87) Send a corresponding request and return the response of the other device as a result
CAN_REMOTE_RESPONSE (→ page 88) 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 (→ page 71) Configures a data receive object and reads out the receive buffer of the data object
CAN_RX_ENH (→ page 72) • 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 (→ page 74) • 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 (→ page 76) • 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 (→ page 78) • 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 (→ page 67) = Set CAN download ID
Sets the download identifier for the CAN interface
CAN_STATUS (→ page 68) 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 (→ page 81) Transfers a CAN data object (message) to the configured CAN interface for transmission at each
call
CAN_TX_ENH (→ page 82) 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 (→ page 84) Cyclically transfers a CAN data object (message) to the configured CAN interface for
transmission
CAN-specific characteristics can be set

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>

5.1.3 Library ifm_CANopen_NT_Vxxyyzz.LIB

14914

This ifm library contains the following function blocks:

Function element Short description
CANOPEN_ENABLE (→ page 91) Initialises the indicated CANopen master interface
Configures the CAN baud rate
CANOPEN_GETBUFFERFLAGS (→ page 93) = CANopen get buffer flags
Provides information on the buffer flags
The flags can be reset via the optional inputs.
CANOPEN_GETEMCYMESSAGES (→ page 130) = 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 (→ page 132) = 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 (→ page 126) = 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 (→ page 127) = 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 (→ page 100) = CANopen slave get network management state
Signals the network operating status of the node
CANOPEN_GETODCHANGEDFLAG (→ page 104) = Get object directory changed flag
Reports any change of value for a particular object directory entry
CANOPEN_GETSTATE (→ page 95) = CANopen set state
Request the parameters of the master, a slave device or a specific node in the network
CANOPEN_GETSYNCSTATE (→ page 122) = 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 (→ page 101) = 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 (→ page 105) = CANopen read object directory
Reads configuration data from the object directory of the device
CANOPEN_SDOREAD (→ page 109) = CANopen read SDO
Reads an "Expedited SDO" = Expedited Service Data Object
CANOPEN_SDOREADBLOCK (→ page 111) = CANopen read SDO block
Reads the indicated entry in the object directory of a node in the network via SDO block transfer
CANOPEN_SDOREADMULTI (→ page 113) = CANopen read SDO multi
Reads the indicated entry in the object directory of a node in the network
CANOPEN_SDOWRITE (→ page 115) = SDO write
Writes an "Expedited SDO" = Expedited Service Data Object
CANOPEN_SDOWRITEBLOCK (→ page 117) = 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 (→ page 119) = CANopen write SDO multi
Writes in the indicated entry in the object directory of a node in the network
CANOPEN_SENDEMCYMESSAGE (→ page 133) = CANopen send emergency message
Sends an EMCY message. The message is assembled from the according parameters and
entered in register 0x1003

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Function element Short description

CANOPEN_SETSTATE (→ page 97) = CANopen set state
Set the parameters of the master, a slave device or a specific node in the network
CANOPEN_SETSYNCSTATE (→ page 124) = CANopen set SYNC state
Switch the SYNC functionality on and off
CANOPEN_WRITEOBJECTDICT (→ page 106) = CANopen write object directory
Writes configuration data into the object directory of the device

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>

5.1.4 Library ifm_J1939_NT_Vxxyyzz.LIB

14912

This ifm library contains the following function blocks:

Function element Short description
J1939_DM1RX (→ page 160) J1939 Diagnostic Message 1 RX
Receives diagnostic messages DM1 or DM2 from other ECUs
J1939_DM1TX (→ page 162) J1939 Diagnostic Message 1 TX
Transmit an active error message to the CAN stack
J1939_DM1TX_CFG (→ page 165) J1939 Diagnostic Message 1 TX configurable
CAN stack does not send cyclic DM1 "zero active faults" messages
J1939_DM3TX (→ page 166) J1939 Diagnostic Message 3 TX
Deletes inactive DTCs (DM2) on a device
J1939_ENABLE (→ page 136) Initialises the J1939 stack
J1939_GETDABYNAME (→ page 138) = Get destination arbitrary name
Determine the target address of one or several participants by means of the name information
J1939_NAME (→ page 140) Give the device a name for identification in the network
J1939_RX (→ page 147) Receives a single frame message
Shows the message last read on the CAN bus
J1939_RX_FIFO (→ page 148) = J1939 RX with FIFO
Receives all specific messages and successively reads them from a FiFo
J1939_RX_MULTI (→ page 150) = J1939 RX multiframe message
Receives multiframe messages
J1939_SPEC_REQ (→ page 144) = J1939 specific request
Requests and receives a specific message from another controller
J1939_SPEC_REQ_MULTI (→ page 145) = J1939 specific request multiframe message
Requests and receives a specific multiframe message from another controller
J1939_STATUS (→ page 142) Shows relevant information on the J1939 stack
J1939_TX (→ page 152) Sends individual single frame messages
J1939_TX_ENH (→ page 153) = J1939 TX enhanced
Sends individual single frame messages
Can also be set: transmission priority, data length
J1939_TX_ENH_CYCLIC (→ page 155) = J1939 TX enhanced cyclic
Cyclically sends single frame messages
Can also be set: transmission priority, data length, period
J1939_TX_ENH_MULTI (→ page 157) = J1939 TX enhanced Multiframe Message
Sends individual multiframe messages

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5.2 ifm function elements for the device CR0401

Function element outputs .................................................................................................................... 63

Function elements: RAW-CAN (Layer 2) ............................................................................................ 64
Function elements: CANopen ............................................................................................................. 90
Function elements: SAE J1939 ......................................................................................................... 135
Function elements: processing input values ..................................................................................... 167
Function elements: output functions.................................................................................................. 177
Function elements: system ................................................................................................................ 182
13988
3826

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

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5.2.1 Function element outputs

8354
7556

Some function elements return a RESULT message.

Possible results for RESULT:
Value
Description
dec | hex
0 00 FB is inactive
1...31 Global return values; examples:
1 01 FB execution completed without error – data is valid
4 04 FB is being processed – data is cyclically processed
5 05 FB is being processed – still receiving
6 06 FB is being processed – still sending
7 07 FB is being processed – remote for ID active
8 08 function block is active
14 0E FB is active
CANopen manager configures devices and sends SDOs
15 0F 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 EE Error: CANopen configuration is too large and cannot be started
239 EF Error: CANopen manager could not be started
240 F0 Error: several modal inputs are active
e.g. CANopen NTM services
241 F1 Error: CANopen state transition is not permitted
242 F2 Error: setting is not possible
247 F7 Error: memory exceeded (length larger than array)
250 FA Error: FiFo is full – data was lost
252 FC Error: CAN multiframe transmission failed
253 FD Error: CAN transmission failed.
Data cannot be sent.
255 FF Error: not enough memory available for the consuming multiframe

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5.2.2 Function elements: RAW-CAN (Layer 2)

Function elements: RAW-CAN status ................................................................................................. 64

Function elements: receive RAW-CAN data ....................................................................................... 70
Function elements: transmit RAW-CAN data ...................................................................................... 80
Function elements: RAW-CAN remote................................................................................................ 86
15051

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

Function elements: RAW-CAN status

CAN_ENABLE ..................................................................................................................................... 65
CAN_RECOVER ................................................................................................................................. 66
CAN_SETDOWNLOADID ................................................................................................................... 67
CAN_STATUS ..................................................................................................................................... 68
15049

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CAN_ENABLE
7492

Unit type = function block (FB)

Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7494

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

7495

Data type Description

Parameter
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
>

Parameters of the outputs

8530

Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid
8 08 function block is active
9 09 CAN is not active
242 F2 Error: setting is not possible

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CAN_RECOVER
7512

Unit type = function block (FB)

Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

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

Data type Description

Parameter
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 TIME := T#1s Waiting time between bus off and restart of the CAN interface
(optional use of the parameter)

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CAN_SETDOWNLOADID
7516

= Set download ID
Unit type = function block (FB)
Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7517

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

7519

Data type Description

Parameter
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
>

Parameters of the outputs

7520

Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
8 08 function block is active
242 F2 Error: setting is not possible

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CAN_STATUS
7499

Unit type = function block (FB)

Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7501

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

7502

Data type Description

Parameter
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

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Parameters of the outputs

7504

Data type Description

Parameter
BAUDRATE WORD current baudrate of the CANopen node in [kBaud]
DOWNLOAD_ID BYTE current download ID
BUSOFF BOOL Error CAN BUS OFF at the interface
WARNING_RX BOOL Warning threshold for receiving is exceeded at the interface
WARNING_TX BOOL Warning threshold for transmitting is exceeded at the interface
VERSION DWORD Version of the ifm CAN stack library
BUSLOAD BYTE Current bus load in [%]
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
8 08 function block is active
9 09 CAN is not active
242 F2 Error: setting is not possible

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Function elements: receive RAW-CAN data

CAN_RX .............................................................................................................................................. 71
CAN_RX_ENH .................................................................................................................................... 72
CAN_RX_ENH_FIFO .......................................................................................................................... 74
CAN_RX_RANGE ............................................................................................................................... 76
CAN_RX_RANGE_FIFO ..................................................................................................................... 78
15050

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CAN_RX
7586

Unit type = function block (FB)

Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

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

Data type Description

Parameter
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 DWORD Number of the data object identifier:
normal frame (211 IDs):
0...2 047 = 0x0000 0000...0x0000 07FF
Extended Frame (229 IDs):
2 048...536 870 911 = 0x0000 0800...0x1FFF FFFF
>

Parameters of the outputs

7590

Data type Description

Parameter
DATA ARRAY [0..7] OF BYTE received data, (1...8 bytes)
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
5 05 FB is being processed – still receiving
9 09 CAN is not active
242 F2 Error: setting is not possible

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CAN_RX_ENH
7606

= CAN RX enhanced
Unit type = function block (FB)
Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7608

In addition, CAN_RX_ENH provides the following possibilities (as opposed to CAN_RX (→ page 71)):
• select the frame type (11 or 29 bits),
• define a mask for the evaluation of the CAN ID.

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

ID and mask: If ID_MASK-Bit = 1, then CAN-ID-Bit must be = ID-Bit.

With the mask several identifiers can be defined as filters.

Example:
ID = 0x100 = 0b0001 0000 0000
ID_MASK = 0x1F1 = 0b0001 1111 0001
Result The CAN IDs with the following bit pattern are evaluated:
0bxxx1 0000 xxx0 (x = any), i.e. for this example (all in [hex]):
100, 102, 104, 106, 108, 10A, 10C, 10E,
300, 302, 304, 306, 308, 30A, 30C, 30E,
500, 502, 504, 506, 508, 50A, 50C, 50E,
700, 702, 704, 706, 708, 70A, 70C, 70E
>

Parameters of the inputs

7609

Data type Description

Parameter
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 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 BOOL := FALSE TRUE: Extended Frame (ID = 0...229-1)
(optional use of the parameter) FALSE: Normal Frame (ID = 0...211-1)
ID_Mask DWORD := 0 filter mask for the identifier:
(optional use of the parameter) if ID_MASK bit = 0, CAN ID bit may be = 0 or 1
if ID_MASK bit = 1, CAN ID bit must be = ID bit

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Parameters of the outputs

7613

Data type Description

Parameter
MATCHED_ID DWORD number of the data object identifier
DATALENGTHCOUNT BYTE = Data Length Count
number of the data bytes received
DATA ARRAY [0..7] OF BYTE received data, (1...8 bytes)
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
5 05 FB is being processed – still receiving
9 09 CAN is not active
242 F2 Error: setting is not possible

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CAN_RX_ENH_FIFO
7615

= CAN RX enhanced with FiFo

Unit type = function block (FB)
Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7616

In addition, CAN_RX_ENH_FIFO provides a FiFo for the received data (as opposed to CAN_RX_ENH
(→ page 72)). Thus several CAN messages can be received in one cycle.

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

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

Parameters of the inputs

7609

Data type Description

Parameter
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 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 BOOL := FALSE TRUE: Extended Frame (ID = 0...229-1)
(optional use of the parameter) FALSE: Normal Frame (ID = 0...211-1)
ID_Mask DWORD := 0 filter mask for the identifier:
(optional use of the parameter) if ID_MASK bit = 0, CAN ID bit may be = 0 or 1
if ID_MASK bit = 1, CAN ID bit must be = ID bit

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Parameters of the outputs

7617

Data type Description

Parameter
MATCHED_ID DWORD number of the data object identifier
DATALENGTHCOUNT BYTE = Data Length Count
number of the data bytes received
DATA ARRAY [0..7] OF BYTE received data, (1...8 bytes)
MORE_DATA_AVAILABLE BOOL TRUE: further received data available in the FiFo
FALSE: no further data available in the FiFo
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
5 05 FB is being processed – still receiving
9 09 CAN is not active
242 F2 Error: setting is not possible
250 FA Error: FiFo is full – data was lost

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CAN_RX_RANGE
7592

Unit type = function block (FB)

Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

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

Data type Description

Parameter
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 BOOL := FALSE TRUE: Extended Frame (ID = 0...229-1)
(optional use of the parameter) FALSE: Normal Frame (ID = 0...211-1)

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Parameters of the outputs

7598

Data type Description

Parameter
ID DWORD Number of the data object identifier:
normal frame (211 IDs):
0...2 047 = 0x0000 0000...0x0000 07FF
Extended Frame (229 IDs):
2 048...536 870 911 = 0x0000 0800...0x1FFF FFFF
DATALENGTHCOUNT BYTE = Data Length Count
number of the data bytes received
DATA ARRAY [0..7] OF BYTE received data, (1...8 bytes)
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
5 05 FB is being processed – still receiving
9 09 CAN is not active
242 F2 Error: setting is not possible

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CAN_RX_RANGE_FIFO
7601

= CAN RX range with FiFo

Unit type = function block (FB)
Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7603

CAN_RX_RANGE_FIFO basically works like CAN_RX_RANGE (→ page 76).

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

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

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

Parameters of the inputs

7595

Data type Description

Parameter
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 BOOL := FALSE TRUE: Extended Frame (ID = 0...229-1)
(optional use of the parameter) FALSE: Normal Frame (ID = 0...211-1)

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Parameters of the outputs

7604

Data type Description

Parameter
ID DWORD Number of the data object identifier:
normal frame (211 IDs):
0...2 047 = 0x0000 0000...0x0000 07FF
Extended Frame (229 IDs):
2 048...536 870 911 = 0x0000 0800...0x1FFF FFFF
DATALENGTHCOUNT BYTE = Data Length Count
number of the data bytes received
DATA ARRAY [0..7] OF BYTE received data, (1...8 bytes)
MORE_DATA_AVAILABLE BOOL TRUE: further received data available in the FiFo
FALSE: no further data available in the FiFo
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
5 05 FB is being processed – still receiving
9 09 CAN is not active
242 F2 Error: setting is not possible
250 FA Error: FiFo is full – data was lost

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Function elements: transmit RAW-CAN data

CAN_TX .............................................................................................................................................. 81
CAN_TX_ENH ..................................................................................................................................... 82
CAN_TX_ENH_CYCLIC ..................................................................................................................... 84
15055

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CAN_TX
7522

Unit type = function block (FB)

Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

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

Data type Description

Parameter
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 DWORD Number of the data object identifier:
normal frame (211 IDs):
0...2 047 = 0x0000 0000...0x0000 07FF
Extended Frame (229 IDs):
2 048...536 870 911 = 0x0000 0800...0x1FFF FFFF
DATA ARRAY [0..7] OF BYTE data to be sent (1...8 bytes)
>

Parameters of the outputs

7527

Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
242 F2 Error: setting is not possible
250 FA Error: FiFo is full – data was lost

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CAN_TX_ENH
7558

= CAN TX enhanced
Unit type = function block (FB)
Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7559

Additional setting options are offered through CAN_TX_ENH (for: enhanced). Here, all CAN specific
characteristics can be set individually, e.g.:
• Is it an 11 or a 29 bit identifier?
• The additional inputs can be preset so that CAN_TX (→ page 81) 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

Data type Description

Parameter
ENABLE BOOL FALSE  TRUE (edge):
Initialise block (only 1 cycle)
> Read block inputs
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CHANNEL BYTE CAN interface (1...n) depending on the device
ID 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 BOOL := FALSE TRUE: Extended Frame (ID = 0...229-1)
(optional use of the parameter) 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)

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Parameters of the outputs

7527

Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
242 F2 Error: setting is not possible
250 FA Error: FiFo is full – data was lost

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CAN_TX_ENH_CYCLIC
7568

= CAN TX enhanced cyclic

Unit type = function block (FB)
Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7569

CAN_TX_ENH_CYCLIC serves for cyclical transmitting of CAN messages.

Otherwise, the FB corresponds to CAN_TX_ENH (→ page 82).
► Set the period duration via the parameter PERIOD.

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

>

Parameters of the inputs

7582

Data type Description

Parameter
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 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 BOOL := FALSE TRUE: Extended Frame (ID = 0...229-1)
(optional use of the parameter) FALSE: Normal Frame (ID = 0...211-1)
DataLengthCode BYTE := 8 length of the data to be sent (0...8 bytes)
(optional use of the parameter)
DATA ARRAY [0..7] OF BYTE data to be sent (1...8 bytes)
PERIOD TIME period duration

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Parameters of the outputs

7510

Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
8 08 function block is active
9 09 CAN is not active
250 FA Error: FiFo is full – data was lost

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Function elements: RAW-CAN remote

CAN_REMOTE_REQUEST ................................................................................................................ 87
CAN_REMOTE_RESPONSE ............................................................................................................. 88
15057

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CAN_REMOTE_REQUEST
7625

Unit type = function block (FB)

Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7627

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

7628

Data type Description

Parameter
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
ID 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 BOOL := FALSE TRUE: Extended Frame (ID = 0...229-1)
(optional use of the parameter) FALSE: Normal Frame (ID = 0...211-1)
>

Parameters of the outputs

7629

Data type Description

Parameter
DATALENGTHCOUNT BYTE = Data Length Count
number of the data bytes received
DATA ARRAY [0..7] OF BYTE received data, (1...8 bytes)
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
5 05 FB is being processed – still receiving
9 09 CAN is not active
242 F2 Error: setting is not possible

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CAN_REMOTE_RESPONSE
7631

Unit type = function block (FB)

Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7633

CAN_REMOTE_RESPONSE provides data to the CAN controller in the device which is automatically
sent upon the request of a remote message.
This FB strongly depends on the device type. Only a limited number of remote messages can be set
up:
BasicController: CR040n, CR041n, CR043n
max. 40 remote messages
BasicDisplay: CR045n
PDM360 NG: CR108n max. 100 remote messages
>

Parameters of the inputs

7634

Data type Description

Parameter
ENABLE BOOL FALSE  TRUE (edge):
Initialise block (only 1 cycle)
> Read block inputs
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CHANNEL BYTE CAN interface (1...n) depending on the device
ID 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 BOOL := FALSE TRUE: Extended Frame (ID = 0...229-1)
(optional use of the parameter) 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)

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Parameters of the outputs

7636

Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
6 06 FB is being processed – remote for ID not active
7 07 FB is being processed – remote for ID active

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5.2.3 Function elements: CANopen

Function elements: CANopen status ................................................................................................... 90

Function elements: CANopen network management.......................................................................... 99
Function elements: CANopen object directory .................................................................................. 103
Function elements: CANopen SDOs ................................................................................................. 108
Function elements: CANopen SYNC ................................................................................................ 121
Function elements: CANopen guarding ............................................................................................ 125
Function elements: CANopen emergency ........................................................................................ 129
15059

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

Function elements: CANopen status

CANOPEN_ENABLE........................................................................................................................... 91
CANOPEN_GETBUFFERFLAGS ....................................................................................................... 93
CANOPEN_GETSTATE...................................................................................................................... 95
CANOPEN_SETSTATE ...................................................................................................................... 97
15061

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CANOPEN_ENABLE
7785

Unit type = function block (FB)

Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7787

CANOPEN_ENABLE allows to switch the CANopen master on or off.

► In the application program always call an own instance of the FB CANOPEN_ENABLE
(→ page 91) for every CAN interface!

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

If the master is restarted after a stop, all other connected nodes also have to be re-initialised.
Without CANOPEN_ENABLE, the CANopen master is started automatically, as far as this has been
selected in the configuration.
The configured baud rate is only adopted if CAN_ENABLE (→ page 65) has not been activated before.
>

Parameters of the inputs

7788

Data type Description

Parameter
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 WORD := 0 Baud rate [kbits/s]
(optional use of the parameter) permissible values = 20, 50, 100, 125, 250, 500, 800, 1 000
0 = use setting from the PLC configuration

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Parameters of the outputs

7789

Parameters Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
14 0E FB is active
CANopen manager configures devices and sends SDOs
15 0F FB is active
CANopen manager is started
238 EE Error: CANopen configuration is too large and cannot be started
239 EF Error: CANopen manager could not be started
242 F2 Error: setting is not possible

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CANOPEN_GETBUFFERFLAGS
7890

= Get buffer flags

Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7892

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

7893

Data type Description

Parameter
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 BOOL := FALSE TRUE: Provide fag status at the output and
(optional use of the parameter) then reset
FALSE: function element is not executed
ResetTXFlags BOOL := FALSE TRUE: Provide flag status at the output and
(optional use of the parameter) then reset
FALSE: function element is not executed

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Parameters of the outputs

7894

Data type Description

Parameter
RXOVFL BOOL condition of the RX overflow flag
TRUE: overflow in the receive buffer
FALSE: no overflow in receive buffer
RXWARN BOOL condition of the RX overflow warning flag
TRUE: level in the receive buffer is critical
FALSE: level in the input buffer is uncritical
TXOVFL BOOL condition of the TX overflow flag
TRUE: overflow in the transmit buffer
FALSE: no overflow in transmit buffer
TXWARN BOOL Condition of the TX overflow warning flag
TRUE: Level in the transmit buffer is critical
FALSE: Level in the transmit buffer is uncritical
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
8 08 function block not yet executed
242 F2 Error: setting is not possible

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CANOPEN_GETSTATE
7865

= Get state
Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7867

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

Parameters of the inputs

7868

Data type Description

Parameter
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

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Parameters of the outputs

7869

Data type Description

Parameter
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).
0 0x00 BOOTUP
4 0x04 STOPPED
5 0x05 OPERATIONAL
127 0x7F PRE-OPERATIONAL
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid
8 08 FB is active – not yet processed
242 F2 Error: setting is not possible

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CANOPEN_SETSTATE
7858

= Set state
Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7860

Via CANOPEN_SETSTATE, parameters of the master, a slave device or a node in the network can be
set.
The treatment of the NMT state of master, node or device is carried out in the CAN stack or via the
commands of the FB CANOPEN_NMTSERVICES (→ page 101). At the same time admissibility checks are
carried out. For reasons of consistency no inputs are provided for this purpose.

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Parameters of the inputs

7861

Data type Description

Parameter
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 BOOL := TRUE Requirement: FB must be called immediately after starting the IEC
(optional use of the parameter) program. This setting overwrites the setting of the configuration.
TRUE: Start all participants simultaneously
FALSE: Start all participants one after the other
CfgTimeout TIME := T#0ms set configuration timeout for a node:
(optional use of the parameter) Value = 0:
no action – retain configuration data
Value not 0:
overwrite data from the configuration with the new value
InitNoSdos BOOL := FALSE To the node indicated in NODE, during initialisation,...
(optional use of the parameter) TRUE: do not send configuration data
FALSE: send configured SDOs
>

Parameters of the outputs

7862

Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid
8 08 FB is active – not yet processed
242 F2 Error: setting is not possible

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Function elements: CANopen network management

CANOPEN_GETNMTSTATESLAVE ................................................................................................ 100

CANOPEN_NMTSERVICES ............................................................................................................. 101
15063

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CANOPEN_GETNMTSTATESLAVE
7851

= Get network management state slave

Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7853

► 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

7854

Data type Description

Parameter
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
>

Parameters of the outputs

7855

Data type Description

Parameter
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)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
8 08 FB is active – not yet processed
242 F2 Error: setting is not possible

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>

CANOPEN_NMTSERVICES
7843

= Network management services

Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7844

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

7847

Data type Description

Parameter
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
NODEID BYTE node ID = ID of the node (0...12710)
NODEID = 0:
command is valid for all nodes connected to the network
NODEID = node ID of the device:
command is valid for the device itself
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 TIME := T#0ms waiting time of the FB for the initialisation
(optional use of the parameter) when the time has elapsed, the FB stops waiting.
0 = use value from the configuration

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Parameters of the outputs

7848

Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
8 08 function block is active
35 23 at least 1 SDO of the configuration was not successful
36 24 node was already initialised
37 25 when initialisation was requested the node was not in the PRE-
OPERATIONAL mode
043 2B master / slave is not initialised
241 F1 Error: CANopen state transition is not permitted
242 F2 Error: setting is not possible

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Function elements: CANopen object directory

CANOPEN_GETODCHANGEDFLAG .............................................................................................. 104

CANOPEN_READOBJECTDICT ...................................................................................................... 105
CANOPEN_WRITEOBJECTDICT .................................................................................................... 106
15065

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CANOPEN_GETODCHANGEDFLAG
7927

= Get object directory changed flag

Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7928

CANOPEN_GETODCHANGEDFLAG reports any change of value for a particular object directory

entry.
>

Parameters of the inputs

7930

Data type Description

Parameter
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
>

Parameters of the outputs

7931

Data type Description

Parameter
DATA DWORD parameter value
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
8 08 FB is active – not yet processed
242 F2 Error: setting is not possible

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CANOPEN_READOBJECTDICT
7933

= Read object directory

Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

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

Data type Description

Parameter
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
>

Parameters of the outputs

7937

Data type Description

Parameter
DATA DWORD parameter value
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
8 08 function block not yet executed
40 28 object directory entry is invalid
242 F2 Error: setting is not possible

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CANOPEN_WRITEOBJECTDICT
7940

= Write object directory

Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7942

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

NOTICE
This could lead to falsification of important system settings, e.g.:
- guarding times
- heartbeat times
► Carefully verify input parameters!

>

Parameters of the inputs

7943

Data type Description

Parameter
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

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Parameters of the outputs

7945

Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
8 08 function block not yet executed
40 28 object directory entry is invalid
242 F2 Error: setting is not possible

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Function elements: CANopen SDOs

CANOPEN_SDOREAD ..................................................................................................................... 109

CANOPEN_SDOREADBLOCK......................................................................................................... 111
CANOPEN_SDOREADMULTI .......................................................................................................... 113
CANOPEN_SDOWRITE ................................................................................................................... 115
CANOPEN_SDOWRITEBLOCK ....................................................................................................... 117
CANOPEN_SDOWRITEMULTI ........................................................................................................ 119
2071

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

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CANOPEN_SDOREAD
7791

= SDO read
Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7793

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

7794

Data type Description

Parameter
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 TIME := T#10ms waiting time of the FB for the response
(optional use of the parameter) when the time has elapsed, the FB stops waiting.
value = 0: use value from the configuration

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Parameters of the outputs

7795

Data type Description

Parameter
LEN BYTE number of the bytes received (1...4)
DATA DWORD the received data value
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid
5 05 FB is active – no data received yet
32 20 SDO transmission aborted by client or server
(SDO abort code 0x80)
33 21 TIMEOUT elapsed
242 F2 Error: setting is not possible
255 FF buffer overflow – too many data bytes were received

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CANOPEN_SDOREADBLOCK
14942

= SDO Read Block

Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
14943

CANOPEN_SDOREADBLOCK reads the indicated entry in the object directory of a node in the
network via SDO block transfer.
> If the node doesn't support block transfer, the FB automatically changes to "segmented transfer".
You can also directly change to "segmented transfer" via the input.
> The COB ID for the SDO is calculated from the transmitted node ID.
The length of multiframe SDOs is generally not limited.

For systems without a file system (e.g. BasicController CR04nn) the following applies:
► transmit an address to the FB which is accessed by the pointer for writing. The memory area
determined by the start address DATA and the amount of data MAX_LEN must be available!
> If the amount of data is greater than indicated, the transfer is stopped and signalled via RESULT.

For systems with a file system (e.g. PDM360NG CR108n) the following applies:
► transmit the path and name of a file to the FB, in which the data is to be saved in binary format.
> The output RESULT provides information on the status of the SDO transmission.

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>

Parameters of the inputs

14945

Data type Description

Parameter
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
allowed = 0x01...0x7F = 1...127
The COB ID of the SDO is calculated from the node ID + 0x600
IDX WORD index in object directory
SUBIDX BYTE sub-index referred to the index in the object directory
DATA DWORD Address of the data zone for storage of the received data
Input is without function for devices with file system (Linux).
FILE STRING(80) Path and file name for storage of the received data in binary format
Input without function for device without file system
(BasicSystem).
MAX_LEN DWORD Maximum permitted number of bytes which may be received
SegmentedTransfer BOOL := FALSE TRUE: Segmented SDO transfer
(optional use of the parameter) FALSE: SDO block transfer
Timeout TIME := T#10ms waiting time of the FB for the response
(optional use of the parameter) when the time has elapsed, the FB stops waiting.
value = 0: use value from the configuration
>

Parameters of the outputs

14951

Data type Description

Parameter
LEN DWORD Number of received data bytes
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid
16 10 Transmission is active as a segmented download
17 11 Transmission is active as a block download
32 20 SDO transmission aborted by client or server
(SDO abort code 0x80)
33 21 TIMEOUT elapsed
64 40 Error: Write pointer outside admissible data range
65 41 Error: File could not be opened
66 42 Error when writing to file
242 F2 Error: setting is not possible

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>

CANOPEN_SDOREADMULTI
7806

= SDO read multi

Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7808

CANOPEN_SDOREADMULTI reads the indicated entry in the object directory of a node in the
network. The COB ID for the SDO is calculated from the transmitted node ID according to CANopen
convention.
>

Parameters of the inputs

7809

Data type Description

Parameter
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
allowed = 0x01...0x7F = 1...127
The COB ID of the SDO is calculated from the node ID + 0x600
IDX WORD index in object directory
SUBIDX BYTE sub-index referred to the index in the object directory
Timeout TIME := T#10ms waiting time of the FB for the response
(optional use of the parameter) when the time has elapsed, the FB stops waiting.
value = 0: use value from the configuration

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>

Parameters of the outputs

7810

Data type Description

Parameter
LEN DWORD number of the bytes received
permissible values = 0x0000 0001...0x0000 0800 = 1...2 048
DATA ARRAY [0..SDOMAXDATA] OF buffer memory for user data of the SDO data transmission
BYTE
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid
5 05 FB is active – no data received yet
32 20 SDO transmission aborted by client or server
(SDO abort code 0x80)
33 21 TIMEOUT elapsed
242 F2 Error: setting is not possible
255 FF Error: not enough memory available for the consuming multiframe

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>

CANOPEN_SDOWRITE
7825

= SDO write
Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7826

CANOPEN_SDOWRITE is an easy function block for editing "Expedited SDOs", i.e. SDOs with max.
4 bytes 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 because this FB only needs to reserve 4 bytes as buffer storage and does
not create a large data array itself.
>

Parameters of the inputs

7828

Data type Description

Parameter
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
LEN BYTE number of the data bytes to be transmitted
permissible values = 1...4 = 0x01...0x04
DATA ARRAY [0..3] OF BYTE data area (1...4 bytes)
Timeout TIME := T#10ms waiting time of the FB for the response
(optional use of the parameter) when the time has elapsed, the FB stops waiting.
value = 0: use value from the configuration

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>

Parameters of the outputs

7829

Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid
8 08 function block is active
32 20 SDO transmission aborted by client or server
(SDO abort code 0x80)
33 21 TIMEOUT elapsed
242 F2 Error: setting is not possible

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>

CANOPEN_SDOWRITEBLOCK
14961

= SDO Write Block

Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
14963

CANOPEN _SDOWRITEBLOCK writes in the indicated entry in the object directory of a node in the
network via SDO block transfer.
You can change to segmented transfer via the FB input if required.
> The COB ID for the SDO is calculated from the transmitted node ID.
> The output RESULT provides information on the status of the SDO transmission.
The length of multiframe SDOs is generally not limited.

For systems without a file system (e.g. BasicController CR04nn) the following applies:
► transmit an address to the FB which is accessed by the pointer for reading.

For systems with a file system (e.g. PDM360NG CR108n) the following applies:
► Transmit the path and name of a file to the FB, from which the data is to be read in binary format.

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>

Parameters of the inputs

14964

Data type Description

Parameter
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
allowed = 0x01...0x7F = 1...127
The COB ID of the SDO is calculated from the node ID + 0x600
IDX WORD index in object directory
SUBIDX BYTE sub-index referred to the index in the object directory
LEN DWORD Number of data bytes to be transmitted in DATA
allowed = 1...2 048 = 0x0000 0001...0x0000 0800
DATA DWORD Address of the data zone for reading of the data to be transmitted
Input is without function for devices with file system (Linux).
FILE STRING(80) Path and file name for reading of the data to be transmitted in binary
format
Input without function for device without file system
(BasicSystem).
SegmentedTransfer BOOL := FALSE TRUE: Segmented SDO transfer
(optional use of the parameter) FALSE: SDO block transfer
Timeout TIME := T#10ms waiting time of the FB for the response
(optional use of the parameter) when the time has elapsed, the FB stops waiting.
value = 0: use value from the configuration
>

Parameters of the outputs

14968

Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid
16 10 Transmission is active as a segmented download
17 11 Transmission is active as a block download
32 20 SDO transmission aborted by client or server
(SDO abort code 0x80)
33 21 TIMEOUT elapsed
65 41 Error: File could not be opened
242 F2 Error: setting is not possible

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>

CANOPEN_SDOWRITEMULTI
7832

= SDO write multi

Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7834

CANOPEN_SDOWRITEMULTI writes the indicated entry in the object directory of a node in the
network. The COB ID for the SDO is calculated from the transmitted node ID according to CANopen
convention.
>

Parameters of the inputs

7835

Data type Description

Parameter
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
LEN DWORD number of the data bytes to be transmitted
permissible values = 0x0000 0001...0x0000 0800 = 1...2 048
DATA ARRAY [0..SDOMAXDATA] OF buffer memory for user data of the SDO data transmission
BYTE
Timeout TIME := T#10ms waiting time of the FB for the response
(optional use of the parameter) when the time has elapsed, the FB stops waiting.
value = 0: use value from the configuration

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>

Parameters of the outputs

7836

Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid
8 08 function block is active
32 20 SDO transmission aborted by client or server
(SDO abort code 0x80)
33 21 TIMEOUT elapsed
242 F2 Error: setting is not possible

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>

Function elements: CANopen SYNC

CANOPEN_GETSYNCSTATE.......................................................................................................... 122
CANOPEN_SETSYNCSTATE .......................................................................................................... 124
15069

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>

CANOPEN_GETSYNCSTATE
7871

= Get SYNC state

Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7872

CANOPEN_GETSYNCSTATE reads...
• the setting of the SYNC functionality (active / not active),
• the error state of the SYNC functionality (SyncError).
If the PLC CAN runs as CANopen slave, it is signalled via this FB whether SYNC signals are absent or
appear regularly.
Synchronous PDOS etc. are handled in the CAN stack. CANOPEN_GETSYNCSTATE, however,
provides the error state so that the application program can react accordingly.
>

Parameters of the inputs

7874

Data type Description

Parameter
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

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>

Parameters of the outputs

7875

Data type Description

Parameter
SYNC BOOL status of the SYNC functionality
TRUE: SYNC is activated:
In the master mode SYNC telegrams are generated according to the
settings in the configuration, and synchronous PDOs are transmitted
and received.
In the slave mode SYNC telegrams are received and accordingly
processed.
FALSE: SYNC is not active
SYNCERROR BYTE (sync error) SYNC error message
0 = no error
>0 = SYNC error (slave mode)
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
8 08 function block not yet executed
242 F2 Error: setting is not possible

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>

CANOPEN_SETSYNCSTATE
7883

= Set SYNC state

Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7884

With CANOPEN_SETSYNCSTATE, the SYNC functionality is switched on and off.

>

Parameters of the inputs

7886

Data type Description

Parameter
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
SYNC BOOL status of the SYNC functionality
TRUE: SYNC is activated:
In the master mode SYNC telegrams are generated according to the
settings in the configuration, and synchronous PDOs are transmitted
and received.
In the slave mode SYNC telegrams are received and accordingly
processed.
FALSE: SYNC is not active
>

Parameters of the outputs

7887

Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
8 08 function block not yet executed
38 26 SYNC could not be activated
242 F2 Error: setting is not possible

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>

Function elements: CANopen guarding

CANOPEN_GETGUARDHBERRLIST .............................................................................................. 126

CANOPEN_GETGUARDHBSTATSLV ............................................................................................. 127
15071

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>

CANOPEN_GETGUARDHBERRLIST
7896

= Get guard and heartbeat error list

Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7898

CANOPEN_GETGUARDHBERRLIST lists all nodes in an array for which the master has detected an
error:
• guarding error
• heartbeat error
>

Parameters of the inputs

7899

Data type Description

Parameter
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
ResetList BOOL := FALSE Reset error list
(optional use of the parameter) TRUE: Provide the error list as well as number of faulty
nodes at the output and then reset.
FALSE: function element is not executed
>

Parameters of the outputs

7900

Data type Description

Parameter
N_NODES WORD Number of nodes with heartbeat or guarding error
0 = none of the nodes has a guarding or heartbeat error
NODEID ARRAY List of node IDs with heartbeat or guarding error.
[0..MAXGUARDERROR] OF The most recent entry is in index 0.
BYTE MAXGUARDERROR depends on device
→ chapter Limitations for CANopen in this device (→ page 37)
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
8 08 FB is active – not yet processed
242 F2 Error: setting is not possible

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>

CANOPEN_GETGUARDHBSTATSLV
7902

= Get guard and heartbeat state slave

Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7904

CANOPEN_GETGUARDANDHBSTATESLAVE reports the following states to the controller in slave

operation:
- monitoring of node guarding
- monitoring of heartbeat
The controller can either be the heartbeat producer or the heartbeat consumer.
>

Parameters of the inputs

7905

Data type Description

Parameter
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
Reset BOOL := FALSE TRUE: Provide the current states at the outputs
(optional use of the parameter) and then reset to "No error"

FALSE: function element is not executed

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>

Parameters of the outputs

7906

Data type Description

Parameter
GUARDSTATE BYTE Status of node guarding:
0 = 0x00 = no error (or: not active)
1 = 0x01 = timeout (configuration)
127 = 0x7F = no guarding message received
PROD_HBSTATE BYTE controller as heartbeat producer:
0 = 0x00 = inactive
1 = 0x01 = active
CONS_HBSTATE BYTE controller as heartbeat consumer:
0 = 0x00 = no fault
1 = 0x01 = timeout (configuration)
127 = 0x7F = no heartbeat message received yet
CONS_HBCOBID WORD COB-ID of the heartbeat message the consumer heartbeat of the
controller is reacting to (configuration)
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
8 08 FB is active – not yet processed
242 F2 Error: setting is not possible

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>

Function elements: CANopen emergency

CANOPEN_GETEMCYMESSAGES................................................................................................. 130
CANOPEN_GETERRORREGISTER ................................................................................................ 132
CANOPEN_SENDEMCYMESSAGE ................................................................................................ 133
15073

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>

CANOPEN_GETEMCYMESSAGES
7921

= Get emergency messages

Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7923

CANOPEN_GETEMCYMESSAGES returns 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. A maximum of MAXEMCYMSGS messages is
stored. Each message contains information from which the node it was sent. The most recent
message is in index 0.
>

Parameters of the inputs

7924

Data type Description

Parameter
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
RstList BOOL := FALSE TRUE: Provide list with accumulated CAN messages
(optional use of the parameter) at the output and then delete
FALSE: function element is not executed

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>

Parameters of the outputs

7925

Data type Description

Parameter
N_MSGS DWORD Number of accumulated messages
EMCY ARRAY [0..MAXEMCYMSGS] Emergency messages
OF T_EMCY The most recent entry is in index 0.
Structure of T_EMCY:
.NODEID ID of the node from which the message came
.EEC Emergency Error Code
.ER Error register
.MSEF Manufacturer Specific Error Code
MAXEMCYMSG = 10
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
8 08 FB is active – not yet processed
242 F2 Error: setting is not possible

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>

CANOPEN_GETERRORREGISTER
7915

= Get error register

Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7917

CANOPEN_GETERRORREGISTER reads the error registers 0x1001 and 0x1003 from the controller.
>

Parameters of the inputs

7918

Data type Description

Parameter
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
Reset_1001 BOOL := FALSE TRUE: Reset error register 0x1001
(optional use of the parameter) FALSE: function element is not executed
Reset_1003 BOOL := FALSE TRUE: Reset error register 0x1003
(optional use of the parameter) Set number of entries to 0
FALSE: function element is not executed
The inputs remain unchanged.
>

Parameters of the outputs

7919

Data type Description

Parameter
ER BYTE Content of the error register 0x1001
ERROR_FIELD ARRAY [0..MAXERR] OF Content of the error register 0x1003
DWORD Index 0 = number of the stored errors
Index 1...MAXERR = stored errors
The most recent error is in index 1
Preset: MAXERR = 5
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
8 08 FB is active – not yet processed
242 F2 Error: setting is not possible

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>

CANOPEN_SENDEMCYMESSAGE
7908

= Send emergency message

Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7910

CANOPEN_SENDEMCYMESSAGE sends an EMCY message. The message is assembled from the

according parameters and entered in register 0x1003. The COB ID for the emergency message is
determined from the configuration data.
>

Parameters of the inputs

7911

Data type Description

Parameter
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
ERRORACTIVE BOOL FALSE  TRUE (edge):
sends the next error code
TRUE  FALSE (edge):
If the error is no longer given, a
message that there is no error is sent
after a delay of 1 s.
EEC WORD EEC = Emergency Error Code
ER BYTE := 0 0 = use value from error register 0x1001
(optional use of the parameter)
MSEF ARRAY [0..4] OF BYTE MSEF = Manufacturer Specific Error Code =
Additional error code which is defined by the manufacturer.
Value comes from the application.
Write1003 BOOL := FALSE TRUE: Enter this EMCY message in object 0x1003
(optional use of the parameter) FALSE: function element is not executed
SendSysStatus BOOL := FALSE Send system status
(optional use of the parameter) TRUE: The system status is checked and in case of an
error state this is transmitted to the network.
FALSE: function element is not executed

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>

Parameters of the outputs

7912

Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
8 08 FB is active – not yet processed
39 27 no object 100116 in the configuration
242 F2 Error: setting is not possible

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>

5.2.4 Function elements: SAE J1939

Function elements: SAE J1939 status .............................................................................................. 135

Function elements: SAE J1939 request ............................................................................................ 143
Function elements: receive SAE J1939 ............................................................................................ 146
Function elements: transmit SAE J1939 ........................................................................................... 151
Function elements: SAE J1939 diagnosis ......................................................................................... 159
2273

For SAE J1939, ifm electronic provides a number of function elements which will be explained in the
following.
>

Function elements: SAE J1939 status

J1939_ENABLE................................................................................................................................. 136
J1939_GETDABYNAME ................................................................................................................... 138
J1939_NAME .................................................................................................................................... 140
J1939_STATUS................................................................................................................................. 142
15077

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>

J1939_ENABLE
7641

Unit type = function block (FB)

Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7642

For initialisation of the J1939 stack, J1939_ENABLE is set to TRUE=1.

> This FB also causes booting of the soft I/Os of the CFG file.
> A different baud rate is only adopted if CAN_ENABLE has not been activated before.
ACE = Address Claiming Enable:
• If an ifm controller communicates with only one engine controller via J1939:
set ACE = FALSE.
• If however several engine controllers are working on the same bus:
set ACE = TRUE.
In this case the engine controllers must support the address claiming!
Otherwise you will risk an overlapping of addresses with subsequent system failure.
>

Parameters of the inputs

7643

Data type Description

Parameter
ENABLE BOOL := FALSE TRUE: Enable J1939 channel
Ace=TRUE: Address claiming effected
FALSE: Block J1939 channel
CHANNEL BYTE CAN interface (1...n) depending on the device
Baud rate WORD := 250 Baud rate [Kbits/s]
(optional use of the parameter) permissible values: 20, 50, 100, 125, 250, 500, 800, 1 000
PreferredAddress BYTE = 252 preferred source address
(optional use of the parameter)
Ace BOOL := TRUE Address Claiming Enable
(optional use of the parameter) TRUE: Address claiming enabled
(control unit is self-configuring)
FALSE: No address claiming

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>

Parameters of the outputs

8542

Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
8 08 function block is active
9 09 CAN is not active
242 F2 Error: setting is not possible

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J1939_GETDABYNAME
7664

= get destination arbitrary name

Unit type = function block (FB)
Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7665

Via J1939_GETDABYNAME, the target address of one or several participants can be determined by
means of the name information.
• If a specific value is set on the optional inputs:
 the result list will only show the participants with this specific value.
• If no value or the default value is set on the optional inputs:
 this entry is not taken into account during filtration of the list.

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Parameters of the inputs

7667

Data type Description

Parameter
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
IndustryGroup BYTE = 0xFF industry group = industry group of the device
(optional use of the parameter) permissible values = 0...7
255 = 0xFF = filter for all
VehicleSystemInstance BYTE := 0xFF instance of the vehicle system
(optional use of the parameter) permissible values = 0...15 = 0x00...0x0F
255 = 0xFF = filter for all
VehicleSystem BYTE := 0xFF vehicle system
(optional use of the parameter) permissible values = 0...127 = 0x00...0x7F
255 = 0xFF = filter for all
nFunction WORD := 0xFFFF function of the device
(optional use of the parameter) permissible values = 0...255 = 0x0000...0x00FF
65 535 = 0xFFFF = filter for all
FunctionInstance BYTE := 0xFF instance of the function
(optional use of the parameter) permissible values = 0...31 = 0x00...0x1F
255 = 0xFF = filter for all
ECUInstance BYTE := 0xFF instance of the control device
(optional use of the parameter) permissible values = 0...7
255 = 0xFF = filter for all
ManufacturerCode WORD := 0xFFFF manufacturer code (must be requested from SAE)
(optional use of the parameter) permissible values = 0...2047 (211-1) = 0x0000...0x07FF
65 535 = 0xFFFF = filter for all
IdentityNumber DWORD := 0xFFFF FFFF serial number of the device (should not be overwritten)
(optional use of the parameter) permissible values = 0...2047 (211-1))
4 294 967 295 = 0xFFFF FFFF = filter for all
>

Parameters of the outputs

7668

Data type Description

Parameter
DA ARRAY [0..254] OF BYTE List of found participants
255 = no participant found with this number
NUMBER BYTE Number of found bus participants.
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid
8 08 function block is active
242 F2 Error: setting is not possible

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J1939_NAME
7646

Unit type = function block (FB)

Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7648

Via J1939_NAME, the device can be given a name for identification in the network.
By default the name of ifm is used.
The user has the following options to change the name of the device:
► use the information from the CFG file or
► overwrite the requested data via J1939_NAME.
> If no value or a default value is set at the optional inputs:
 the preset value is not overwritten.
The following list shows the composition of the 64 bit NAME information according to SAE J1939-81:
Data type Description
Parameter
arbitrary address capable 1 bit any desired address available
industry group 3 bits industry group of the device
vehicle system instance 4 bits instance of the vehicle system
vehicle system 7 bits vehicle system
reserved 1 bit reserved
function 8 bits function of the device
function instance 5 bits instance of the function
ECU instance 3 bits instance of the controller
manufacturer code 11 bits manufacturer code (must be applied for at SAE)
identify number 21 bits serial number of the device (should not be overwritten)
Table: Composition of the 64 bit NAME information according to SAE J1939-81

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Parameters of the inputs

7652

Data type Description

Parameter
ENABLE BOOL := FALSE TRUE: Any desired address available
FALSE: Fixed address
CHANNEL BYTE CAN interface (1...n) depending on the device
IndustryGroup BYTE = 0xFF industry group = industry group of the device
(optional use of the parameter) permissible values = 0...7
255 = 0xFF = filter for all
VehicleSystemInstance BYTE := 0xFF instance of the vehicle system
(optional use of the parameter) permissible values = 0...15 = 0x00...0x0F
255 = 0xFF = filter for all
VehicleSystem BYTE := 0xFF vehicle system
(optional use of the parameter) permissible values = 0...127 = 0x00...0x7F
255 = 0xFF = filter for all
nFunction WORD := 0xFFFF function of the device
(optional use of the parameter) permissible values = 0...255 = 0x0000...0x00FF
65 535 = 0xFFFF = filter for all
FunctionInstance BYTE := 0xFF instance of the function
(optional use of the parameter) permissible values = 0...31 = 0x00...0x1F
255 = 0xFF = filter for all
ECUInstance BYTE := 0xFF instance of the control device
(optional use of the parameter) permissible values = 0...7
255 = 0xFF = filter for all
ManufacturerCode WORD := 0xFFFF manufacturer code (must be requested from SAE)
(optional use of the parameter) permissible values = 0...2047 (211-1) = 0x0000...0x07FF
65 535 = 0xFFFF = filter for all
IdentityNumber DWORD := 0xFFFF FFFF serial number of the device (should not be overwritten)
(optional use of the parameter) permissible values = 0...2047 (211-1))
4 294 967 295 = 0xFFFF FFFF = filter for all
>

Parameters of the outputs

7661

Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
8 08 function block is active
242 F2 Error: setting is not possible

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J1939_STATUS
7670

Unit type = function block (FB)

Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7672

Via J1939_STATUS, relevant information can be read back to the J1939 stack.
>

Parameters of the inputs

7673

Data type Description

Parameter
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
>

Parameters of the outputs

7674

Data type Description

Parameter
SA BYTE current source address
(e.g. after address claiming)
CYCLIC WORD number of the cyclic messages
TIMEOUT BYTE source address of the node which did not provided data for the
process image in due time
255 = 0xFF = all nodes sent the data in due time
VERSION DWORD Version of the ifm CAN stack library
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 Protocol is active
2 02 Protocol is not active
3 03 Source address requested
4 04 Address lost
242 F2 Error: setting is not possible

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Function elements: SAE J1939 request

J1939_SPEC_REQ ........................................................................................................................... 144

J1939_SPEC_REQ_MULTI .............................................................................................................. 145
15079

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J1939_SPEC_REQ
15023

= J1939 Specific Request

Unit type = function block (FB)
Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
15026

J1939_SPECIFIC_REQUEST requests and receives a specific message from another controller.

If a multiframe message is requested:
• the FB provides the first 8 bytes of the data
• RESULT indicates an error
>

Parameters of the inputs

15028

Data type Description

Parameter
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
PGN DWORD PGN = Parameter Group Number
allowed = 1...??? = 0x00000001...0x???
DA BYTE J1939 address of the requested device
>

Parameters of the outputs

15029

Data type Description

Parameter
PRIO BYTE message priority (0…7)
LEN WORD number of the bytes received (0...8)
DATA ARRAY [0..7] OF BYTE received data, (1...8 bytes)
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid
5 05 FB is active – no data received yet
64 40 Error: receive multiframe
242 F2 Error: setting is not possible

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J1939_SPEC_REQ_MULTI
15033

= J1939 Specific Request Multiframe Message

Unit type = function block (FB)
Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
15036

J1939_SPECIFIC_REQUEST requests and receives a specific multiframe message from another

controller.
>

Parameters of the inputs

15037

Data type Description

Parameter
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
PGN DWORD PGN = Parameter Group Number
allowed = 1...??? = 0x00000001...0x???
DA BYTE J1939 address of the requested device
>

Parameters of the outputs

15038

Data type Description

Parameter
PRIO BYTE message priority (0…7)
LEN WORD Number of data bytes to be transmitted
allowed = 1...1 785 = 0x0001...0x06F9
DATA ARRAY [0..1784] OF BYTE Received data (1...1785 bytes)
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid
5 05 FB is active – no data received yet
242 F2 Error: setting is not possible

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Function elements: receive SAE J1939

J1939_RX .......................................................................................................................................... 147

J1939_RX_FIFO................................................................................................................................ 148
J1939_RX_MULTI ............................................................................................................................. 150
15081

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J1939_RX
7724

Unit type = function block (FB)

Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7725

J1939_RX is the easiest method for receiving single frame messages. The message read last on the
CAN bus is returned.
>

Parameters of the inputs

7726

Data type Description

Parameter
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
PGN DWORD PGN = Parameter Group Number
Permissible = 0...262 143 = 0x00000000...0x0003FFFF

The PGN = 0 is not used.

>

Parameters of the outputs

7727

Data type Description

Parameter
SA BYTE Source address of the transmitter
PRIO BYTE message priority (0…7)
LEN WORD number of the bytes received (0...8)
DATA ARRAY [0..7] OF BYTE received data, (1...8 bytes)
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
5 05 FB is active – no data received yet
9 09 CAN is not active
242 F2 Error: setting is not possible

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J1939_RX_FIFO
7732

= J1939 RX with FIFO

Unit type = function block (FB)
Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7733

J1939_RX_FIFO enables receipt of all specified messages and their successive reading from a FIFO.
>

Parameters of the inputs

7734

Data type Description

Parameter
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
PGN DWORD PGN = Parameter Group Number
Permissible = 0...262 143 = 0x00000000...0x0003FFFF

The PGN = 0 is not used.

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Parameters of the outputs

7735

Data type Description

Parameter
SA BYTE Source address of the transmitter
PRIO BYTE message priority (0…7)
LEN BYTE number of the bytes received (0...8)
DATA ARRAY [0..7] OF BYTE received data, (1...8 bytes)
MORE_DATA_AVAILABLE BOOL TRUE: further received data available in the FiFo
FALSE: no further data available in the FiFo
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid
5 05 FB is active – no data received yet
242 F2 Error: setting is not possible
250 FA Error: FiFo is full – data was lost

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J1939_RX_MULTI
7736

= J1939 RX multiframe message

Unit type = function block (FB)
Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7741

J1939_RX_MULTI enables receipt of multi-frame messages.

>

Parameters of the inputs

7743

Data type Description

Parameter
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
PGN DWORD PGN = Parameter Group Number
Permissible = 0...262 143 = 0x00000000...0x0003FFFF

The PGN = 0 is not used.

>

Parameters of the outputs

7744

Data type Description

Parameter
SA BYTE Source address of the transmitter
PRIO BYTE message priority (0…7)
LEN WORD number of the bytes received
permissible values = 0000 0000...0000 06F916 = 0...1 78510
DATA ARRAY [0..1784] OF BYTE data to be sent (1...1785 bytes)
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid
5 05 FB is active – no data received yet
242 F2 Error: setting is not possible

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>

Function elements: transmit SAE J1939

J1939_TX .......................................................................................................................................... 152

J1939_TX_ENH................................................................................................................................. 153
J1939_TX_ENH_CYCLIC ................................................................................................................. 155
J1939_TX_ENH_MULTI .................................................................................................................... 157
15083

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J1939_TX
7688

Unit type = function block (FB)

Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7689

J1939_TX is the easiest method for transmitting single frame messages.

>

Parameters of the inputs

7690

Data type Description

Parameter
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
DA BYTE := 249 DA = Destination Address of the ECU
PGN > 61139: parameter DA is ignored
PGN DWORD PGN = Parameter Group Number
Permissible = 0...262 143 = 0x00000000...0x0003FFFF
DATA ARRAY [0..7] OF BYTE data to be sent (1...8 bytes)
>

Parameters of the outputs

7693

Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
242 F2 Error: setting is not possible
250 FA Error: FiFo is full – data was lost

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J1939_TX_ENH
7696

= J1939 TX enhanced
Unit type = function block (FB)
Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7697

Additional setting options are provided by J1939_TX_ENH (for: enhanced) for single frame messages:
• transmitting priority
• data length
Multi frame messages → J1939_TX_ENH_MULTI (→ page 157).
>

Parameters of the inputs

7702

Data type Description

Parameter
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
DA BYTE := 249 DA = Destination Address of the ECU
PGN > 61139: parameter DA is ignored
Prio BYTE := 3 message priority
(optional use of the parameter) permissible values = 0…7
PGN DWORD PGN = Parameter Group Number
Permissible = 0...262 143 = 0x00000000...0x0003FFFF
Len BYTE := 8 number of the bytes to be transmitted
(optional use of the parameter) permissible values = 0...8
DATA ARRAY [0..7] OF BYTE data to be sent (1...8 bytes)

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Parameters of the outputs

7969

Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
242 F2 Error: setting is not possible
250 FA Error: FiFo is full – data was lost

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J1939_TX_ENH_CYCLIC
7716

= J1939 TX enhanced cyclic

Unit type = function block (FB)
Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7718

J1939_TX_ENH_CYCLIC serves for cyclic transmitting of CAN messages.

Otherwise, the FB corresponds to J1939_TX_ENH (→ page 153).
► Set the period duration via the parameter PERIOD.

If a period is too short, this could lead to a high bus load!

The bus load can affect the performance of the complete system.

>

Parameters of the inputs

7719

Data type Description

Parameter
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
DA BYTE := 249 DA = Destination Address of the ECU
PGN > 61139: parameter DA is ignored
Prio BYTE := 3 message priority
(optional use of the parameter) permissible values = 0…7
PGN DWORD PGN = Parameter Group Number
Permissible = 0...262 143 = 0x00000000...0x0003FFFF
Len BYTE := 8 number of the bytes to be transmitted
(optional use of the parameter) permissible values = 0...8
DATA ARRAY [0..7] OF BYTE data to be sent (1...8 bytes)
PERIOD TIME period duration

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Parameters of the outputs

7720

Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
8 08 function block is active
242 F2 Error: setting is not possible

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J1939_TX_ENH_MULTI
7699

= J1939 TX enhanced multiframe message

Unit type = function block (FB)
Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7705

The transmission of multi-frame messages is carried out via J1939_TX_ENH_MULTI.

The FB corresponds to J1939_TX_ENH (→ page 153). In addition, it can be determined whether the
transmission shall be executed as BAM (Broadcast Announce Message).
>

Parameters of the inputs

7712

Data type Description

Parameter
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
DA BYTE := 249 DA = Destination Address of the ECU
PGN > 61139: parameter DA is ignored
Prio BYTE := 3 message priority
(optional use of the parameter) permissible values = 0…7
PGN DWORD PGN = Parameter Group Number
Permissible = 0...262 143 = 0x00000000...0x0003FFFF
Len BYTE := 8 number of the bytes to be transmitted
(optional use of the parameter) permissible values = 0...8
DATA ARRAY [0..1784] OF BYTE data to be sent (1...1785 bytes)
Bam BOOL := FALSE BAM = Broadcast Announce Message = message to all participants
(optional use of the parameter) TRUE: multi-frame transmission as BAM
message to all participants
FALSE: automatic; message only to target address

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Parameters of the outputs

7714

Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
8 08 function block is active
65 41 Error: transmission is not possible
242 F2 Error: setting is not possible

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>

Function elements: SAE J1939 diagnosis

J1939_DM1RX .................................................................................................................................. 160

J1939_DM1TX................................................................................................................................... 162
J1939_DM1TX_CFG ......................................................................................................................... 165
J1939_DM3TX................................................................................................................................... 166
15085

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>

J1939_DM1RX
14977

= J1939 Diagnostic Message 1 RX

Unit type = function block (FB)
Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7761

J1939_RX_DM1 receives diagnostic messages DM1 or DM2 from other ECUs.

>

Parameters of the inputs

14979

Data type Description

Parameter
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
DA BYTE DA = Destination Address of the ECU from where the DTCs are to be
retrieved.
DA = 254: read DTCs from the device itself
ACTIVE BOOL TRUE: Read active DTCs (DM1)
FALSE: Read previously active DTCs (DM2)

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Parameters of the outputs

14980

Data type Description

Parameter
REDSTOPLAMP BOOL red stop lamp (for older projects only)
TRUE: OFF
FALSE: ON
AMBERWARNINGLAMP BOOL Amber warning lamp (for older projects only)
TRUE: OUT
FALSE: ON
PROTECTLAMP BOOL protect lamp (for older projects only)
TRUE: OFF
FALSE: ON
NUMBER BYTE number of the DTCs received (0...8)
SPN WORD Suspect Parameter Number
FMI BYTE Failure Mode Indicator
permissible values = 0...31 = 0x00...0x1F
SPN_CM BOOL conversion method
OC BYTE occurrence count
RESULT BYTE feedback of the function block
(possible messages → following table)
MIL_FC BYTE Status of the electronic component:
Malfunction indicatation light status and flash code:
0 = off
1 = on
2 = flash slowly
3 = flash quickly
REDSTOPLAMP_FC BYTE Status of the electronic component:
red stop light status and flash code:
0 = off
1 = on
2 = flash slowly
3 = flash quickly
AMBERWARNINGLAMP_FC BYTE Status of the electronic component:
Yellow warning light status and flash code:
0 = off
1 = on
2 = flash slowly
3 = flash quickly
PROTECTLAMP_FC BYTE Status of the electronic component:
protection light status and flash mode:
0 = off
1 = on
2 = flash slowly
3 = flash quickly

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid
8 08 FB is active – no data was received
242 F2 Error: setting is not possible

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>

J1939_DM1TX
14993

= J1939 Diagnostic Message 1 TX

Unit type = function block (FB)
Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7747

With J1939_TX_DM1 (DM = Diagnostic Message) the controller can only transmit an active error
message to the CAN stack.
> This message is stored in the hardware configuration.
> The message is marked "active" and transmitted once per second as DM1.
> If the error has already occurred, the event counter is incremented.
The event counter is managed by the CAN stack.
> A disjunction of all bits of the trouble codes is executed. As soon as a bit is set in one of the
trouble codes, it is equally set in the lamp state.
Upon arrival of a request at DM2, the CAN stack can read the according information from the
hardware configuration and transmit it.
> When a DM3 message arrives, all inactive errors are deleted in the error memory in the hardware
configuration.

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Parameters of the inputs

14995

Data type Description

Parameter
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
ACTIVE BOOL TRUE: DTC is active
Cyclically transmitted (1x per second) as DM1
FALSE: DTC is no longer active
Saved in the hardware configuration
Transmitted as DM2 when requested
REDSTOPLAMP BOOL red stop lamp (for older projects only)
TRUE: OFF
FALSE: ON
AMBERWARNINGLAMP BOOL Amber warning lamp (for older projects only)
TRUE: OUT
FALSE: ON
PROTECTLAMP BOOL protect lamp (for older projects only)
TRUE: OFF
FALSE: ON
SPN WORD Suspect Parameter Number
FMI BYTE Failure Mode Indicator
permissible values = 0...31 = 0x00...0x1F
SPN_CM BOOL conversion method
MIL_FC BYTE Status of the electronic component:
Malfunction indicatation light status and flash code:
0 = off
1 = on
2 = flash slowly
3 = flash quickly
REDSTOPLAMP_FC BYTE Status of the electronic component:
red stop light status and flash code:
0 = off
1 = on
2 = flash slowly
3 = flash quickly
AMBERWARNINGLAMP_FC BYTE Status of the electronic component:
Yellow warning light status and flash code:
0 = off
1 = on
2 = flash slowly
3 = flash quickly
PROTECTLAMP_FC BYTE Status of the electronic component:
protection light status and flash mode:
0 = off
1 = on
2 = flash slowly
3 = flash quickly

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Parameters of the outputs

7750

Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 data was marked "active" in the error memory
242 F2 Error: setting is not possible

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J1939_DM1TX_CFG
15424

= J1939 Diagnostic Message 1 TX configurable

Unit type = function block (FB)
Unit is contained in the library ifm_J1939_NT_V02.00.02.LIB or higher

Symbol in CODESYS:

>

Description
15426

As from runtime system V03.00.03 the CAN stack automatically sends a DM1 message every second
as soon as the FB J1939_ENABLE (→ page 136) is called for the corresponding CAN interface.
► Use the FB J1939_DM1TX_CFG if you do not want the CAN stack to automatically and cyclically
transmit DM1 messages.
The FB offers the following modes for cyclic transmission of DM1 messages:
MODE = 0 The CAN stack sends DM1 "zero active faults" messages in compliance with standards every second.
(preset) A manual transmission of DM1 messages via the FB J1939_DM1TX (→ page 162)is possible.
MODE = 1 The CAN stack does not send DM1 "zero active faults" messages.
DM2 requests are answered automatically.
A manual transmission of DM1 messages via the FBJ1939_DM1TX (→ page 162) is possible.
MODE = 2 The CAN stack does not send cyclic DM1 "zero active faults" messages
Nor does the CAN stack automatically reply to DM2 requests.
>

Parameters of the inputs

15427

Data type Description

Parameter
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
MODE BYTE := 0 Operating mode of the function block
allowed = 0...2 (→ Description of the FB)
>

Parameters of the outputs

15429

Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
242 F2 Error: setting is not possible

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J1939_DM3TX
15002

= J1939 Diagnostic Message 3 TX

Unit type = function block (FB)
Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
15004

With J1939_DM3TX (DM = Diagnostic Message) you can delete the inactive DTCs on another device.
> As soon as a DM3 message is received, all inactive errors in the error memory are deleted in the
hardware configuration.
>

Parameters of the inputs

15006

Data type Description

Parameter
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
DA BYTE DA = Destination Address of the ECU on which the DTCs are to be
deteled.
DA = 254: delete DTCs (DM2) in the device itself
>

Parameters of the outputs

15008

Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
242 F2 Error: setting is not possible

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5.2.5 Function elements: processing input values

FASTCOUNT..................................................................................................................................... 168
INC_ENCODER ................................................................................................................................ 170
INPUT ................................................................................................................................................ 173
PERIOD ............................................................................................................................................. 175
1302

In this chapter we show you ifm FBs which allow you to read and process the analogue or digital
signals at the device input.

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FASTCOUNT
8112

= Fast Count
Unit type = function block (FB)
Unit is contained in the library ifm_CR0401_Vxxyyzz.LIB
Symbol in CODESYS:

>

Description
8114

FASTCOUNT operates as counter block for fast input pulses (up to 30 kHz).
This FB detects pulses at the fast input channels (→ data sheet).

Overflow or underflow of the counter value is not detected.

>

Parameters of the inputs

8115

Data type Description

Parameter
ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> initiated processes continue in the background
> FB outputs are not updated
CHANNEL BYTE Number of the fast input channel (0...3)
0...3 for the inputs I00...I03
MODE BYTE Operating mode of the function block:
0 = 0x00 = stop counter
21 = 0x15 = upwards counter
22 = 0x16 = downwards counter
PRESET_VALUE DWORD counter start value
PRESET BOOL TRUE (for only 1 cycle):
load the start value PRESET_VALUE
FALSE: counter is active

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Parameters of the outputs

8116

Data type Description

Parameter
VALUE DWORD ouput value
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid
2 02 function block is active (action not yet completed)
3 03 function block is active – valid values not yet available
130 82 channel setting is invalid
132 84 mode setting is invalid

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INC_ENCODER
8134

= Incremental Encoder
Unit type = function block (FB)
Unit is contained in the library ifm_CR0401_Vxxyyzz.LIB
Symbol in CODESYS:

>

Description
8135

INC_ENCODER handles up/down counter functions for the evaluation of encoders.

Two frequency inputs form the input pair which is evaluated by means of the FB.
Permissible limit frequency = 0...1 000 Hz
Via PRESET_VALUE the counter can be set to a preset value. The value is adopted if PRESET is set
to TRUE. Afterwards, PRESET must be set to FALSE again for the counter to become active again.
The current counter value is available at the output VALUE. The outputs UP and DOWN indicate the
last counting direction of the counter. The outputs are TRUE if the counter has counted in the
corresponding direction. If the counter was not changed since the last call of the FB, both the outputs
are FLASE.
On input RESOLUTION the resolution of the encoder can be evaluated in multiples:
1 = normal resolution (-536 870 912...536 870 911, identical with the resolution of the encoder),
2 = double evaluation of the resolution (-1 073 741 824...1 073 741 823),
4 = 4-fold evaluation of the resolution (-2 147 483 648...2 147 483 647).
All other values on this input mean normal resolution.

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RESOLUTION = 1
counts for every fourth edge
(= resolution of the encoder).

RESOLUTION = 2
counts for every second edge

RESOLUTION = 4
counts for every rising and falling edge

>

Parameters of the inputs

8137

Data type Description

Parameter
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 number of the input channel pair (0/2):
0 = channel pair 0 = inputs I00 + I01
2 = channel pair 1 = inputs I02 + I03
PRESET_VALUE DINT counter start value
PRESET BOOL FALSE  TRUE (edge):
PRESET_VALUE is loaded to COUNTER
TRUE: Counter ignores the input pulses
FALSE: Counter counts the input pulses
RESOLUTION BYTE evaluation of the encoder resolution:
01 = counts for every fourth edge (= resolution of the encoder)
02 = counts for every second edge
04 = counts for every rising and falling edge
All other values count as "01".

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Parameters of the outputs

8138

Data type Description

Parameter
VALUE DINT if RESOLUTION = 1:
VALUE = –536 870 912...536 870 911
(= ¼ area of DINT)
if RESOLUTION = 2:
VALUE = –1 073 741 824...1 073 741 823
(= ½ area of DINT)
if RESOLUTION = 4:
VALUE = –2 147 483 648…2 147 483 647
(= area of DINT)
UP BOOL TRUE: counter counts upwards in the last cycle
FALSE: counter counts not upwards in the last cycle
DOWN BOOL TRUE: counter counts downwards in the last cycle
FALSE: counter counts not downwards in the last cycle
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid
2 02 function block is active (action not yet completed)
3 03 function block is active – valid values not yet available
130 82 channel setting is invalid
138 8A resolution setting is invalid

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INPUT
8103

Unit type = function block (FB)

Unit is contained in the library ifm_CR0401_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
8104

INPUT enables determining the state at the input channels (→ data sheet).
The FB provides the current state at the selected channel. The measurement and the output value
results from the operating mode indicated via MODE:
- digital input (lowside) (with/without diagnosis)
- digital input (highside)
- analogue input 0...20 mA
- analogue input 0...10 V
- analogue input 0...32 V
- analogue input ratiometric measurement 0...32 V
- analogue input resistance measurement 0...3600 Ω
.

The operating mode should not be changed during operation.

The analogue values are provided as standardised values.

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Parameters of the inputs

8105

Data type Description

Parameter
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 Number of input channel (0...11)
0...11 for the inputs IN0...IN11
MODE BYTE operating mode of the input channel:
0 = 0x00 off
3 = 0x03 voltage input 0…10 000 mV
6 = 0x06 voltage input, ratiometric 0...1 000 ‰
7 = 0x07 current input 0…20 000 µA
9 = 0x09 voltage input 0…32 000 mV
(only for analogue evaluated inputs)
10 = 0x0A
binary input, plus switching (BL)
(only for analogue evaluated inputs)
11 = 0x0B binary input, plus switching (BL) with diagnosis
(Namur)
12 = 0x0C binary input, minus switching (BH)
16…3 600 Ω
18 = 0x12 resistance input from HW state
AD:
16...30 000 Ω
FILTER BYTE filter for the measurement on the input:
valid= 0...8 recommended = 4
→ chapter Configure the software filters of the inputs
(→ page 48)
>

Parameters of the outputs

8106

Data type Description

Parameter
VALUE WORD current value or status of the input channel
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid
2 02 function block is active (action not yet completed)
3 03 function block is active – valid values not yet available
130 82 channel setting is invalid
132 84 mode setting is invalid
136 88 filter setting is invalid
141 8D wire break occurred
142 8E short to supply voltage occurred
144 90 Current at the input is too high

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PERIOD
8122

Unit type = function block (FB)

Unit is contained in the library ifm_CR0401_Vxxyyzz.LIB
Symbol in CODESYS:

>

Description
15850

PERIOD measures the frequency in [Hz] or the period time (cycle time) in [µs] or the phase shift in [°]
on the specified channel, depending on the set operating mode:
MODE
Description
dec | hex
0 00 no measurement
14 0E Frequency measurement
Count the positive edges for a certain time.
19 13 Period duration measurement (better replace by MODE = 20!)
Measure the time interval between two positive edges.
Specify the average value over a certain number of periods.
20 14 Period duration and ratio measurement
Measure the time interval between two positive edges.
Specify the average value over a certain number of periods.
25 19 (LZS version 03.02.zz or higher)
Phase shift (0...359°) between channel A and channel B of an input channel pair
(message makes only sense if no great jumps > 179° can occur in the system)
.

The operating mode should not be changed during operation.

If MODE=19 or MODE=20 or MODE=25:

Permissible input frequency = 0.1...3 000 Hz
If the load is too high the cycle time can get unacceptably long.
→ chapter Performance limits of the device (→ page 36)

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Parameters of the inputs

8124

Data type Description

Parameter
ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> initiated processes continue in the background
> FB outputs are not updated
CHANNEL BYTE (MODE = 14 / 19 / 20)
Number of the fast input channel (0...3)
0...3 for the input IN0...IN3
(MODE = 25)
Number of the fast input A channel (0 / 2)
0 / 2 for the inputs IN0 / IN2
B channel = A channel + 1
MODE BYTE Operating mode of the function block:
0 = 0x00 = no measurement
14 = 0x0E = frequency measurement
19 = 0x13 = interval measurement
20 = 0x14 = invertal and ratio measurement
25 = 0x19 = phase shift of two input signals
PERIODS BYTE Number of periods to be averaged (1...4)
• if MODE = 14 / 19 / 20  average arithmetically
• if MODE = 25  average geometrically
• if PERIODS = 1  no averaging
TIMEBASE TIME (only relevant if MODE = 14)
time for counting the edges in [ms]
permissible values = 1...2 000
>

Parameters of the outputs

8125

Data type Description

Parameter
VALUE_CYCLE DWORD period duration of the input signal in [µs]
VALUE_FREQ REAL frequency of the input signal in [Hz]
VALUE_TIME TIME time elapsed since the last positive edge
VALUE_RATIO WORD mark-to-space ratio of the input signal in [‰]
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid
2 02 function block is active (action not yet completed)
3 03 function block is active – valid values not yet available
130 82 channel setting is invalid
132 84 mode setting is invalid
137 89 value for PERIODS or TIMEBASE is invalid
146 92 Period duration is too long

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5.2.6 Function elements: output functions

OUTPUT ............................................................................................................................................ 178

PWM1000 .......................................................................................................................................... 180
15075
10462

For this device you can set the mode of some or all outputs. Here we show you a couple of function
elements to it.

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OUTPUT
8078

Unit type = function block (FB)

Unit is contained in the library ifm_CR0401_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
8079

OUTPUT assigns an operating mode to an output channel (→ data sheet). The FB enables the status
detection on the selected output channel.
The measurement and the output value result from the operating mode indicated via MODE:
• binary output, plus switching (BH) with/without diagnostic function
• binary output, plus switching (BH) with diagnostic function and protection
.

The operating mode should not be changed during operation.

>

Parameters of the inputs

8080

Data type Description

Parameter
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 Number of the output channel (0...7)
0...7 for the outputs OUT0...OUT7
VALUE BOOL TRUE: activate output
FALSE: deactivate output
MODE BYTE Operating mode of the function block:
0 = 0x00 = off
2 = 0x02 = binary output plus switching
15 = 0x0F = binary output plus switching with diagnosis
16 = 0x10 = binary output plus switching with diagnosis
and protection
FILTER BYTE only for outputs with current feedback:
filter for the measurement on the output:
valid = 0...8 recommended = 4
→ chapter Configure the software filters of the outputs
For outputs without current feedback:
FILTER = 0 or: do not set the parameter FILTER!
.

The operating mode should not be changed during operation.

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Parameters of the outputs

8081

Data type Description

Parameter
OUTPUT BOOL TRUE: output is activated
FALSE: output is deactivated
CURRENT WORD only available for current controlable outputs:
current output current in [mA]
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid
2 02 function block is active (action not yet completed)
3 03 function block is active – valid values not yet available
128 80 undervoltage on VBBx
129 81 overvoltage on VBBx
130 82 channel setting is invalid
132 84 mode setting is invalid
136 88 filter setting is invalid
141 8D a wire break was detected
(for binary output, plus switching (BH) with diagnosis)
142 8E a short circuit was detected
(for binary output plus switching (BH) with diagnosis)
145 91 current at the output is too high
(for binary output plus switching (BH) with diagnosis and protection)

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PWM1000
8060

Unit type = function block (FB)

Unit is contained in the library ifm_CR0401_Vxxyyzz.LIB
Symbol in CODESYS:

>

Description
8062

PWM1000 handles the initialisation and parameter setting of the PWM outputs.
The FB enables a simple use of the PWM FB in the device. For each channel an own PWM frequency,
the mark-to-space ratio and the dither can be set.
The PWM frequency FREQUENCY can be directly indicated in [Hz] and the mark-to-space ratio
VALUE in steps of 1 ‰.
>

Parameters of the inputs

8063

Data type Description

Parameter
ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> initiated processes continue in the background
> FB outputs are not updated
CHANNEL BYTE Number of the PWM output channel (0...7)
0...7 for the outputs OUT0...OUT7
FREQUENCY WORD PWM frequency in [Hz]
allowed = 20...250 = 0x0014...0x00FA
VALUE WORD PWM value (mark-to-space ratio) in [‰]
allowed = 0...1 000 = 0x0000...0x03E8
Values > 1 000 are regarded as = 1 000
DITHER_FREQUENCY WORD dither frequency in [Hz]
value range = 0...FREQUENCY / 2
FREQUENCY / DITHER_FREQUENCY must be even-numbered!
The FB increases all other values to the next matching value.
DITHER_VALUE WORD peak-to-peak value of the dither in [‰]
permissible values = 0...1 000 = 0000...03E8

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Output parameters
8523

Data type Description

Parameter
CURRENT WORD only available for current controlable outputs:
current output current in [mA]
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid
2 02 function block is active (action not yet completed)
3 03 function block is active – valid values not yet available
128 80 undervoltage on VBBx
130 82 channel setting is invalid
131 83 value for VALUE is invalid
132 84 mode setting is invalid
133 85 value for FREQUENCY is invalid
134 86 dither setting is invalid

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5.2.7 Function elements: system

FLASH_INFO .................................................................................................................................... 183

FLASH_READ ................................................................................................................................... 184
GET_APP_INFO ............................................................................................................................... 185
GET_HW_INFO................................................................................................................................. 186
GET_IDENTITY ................................................................................................................................. 187
GET_SW_INFO ................................................................................................................................. 188
GET_SW_VERSION ......................................................................................................................... 189
MEM_ERROR ................................................................................................................................... 190
MEMCPY ........................................................................................................................................... 191
OHC ................................................................................................................................................... 193
SET_IDENTITY ................................................................................................................................. 195
SET_LED ........................................................................................................................................... 196
SET_PASSWORD............................................................................................................................. 198
TIMER_READ_US ............................................................................................................................ 199
15067

Here we show you ifm functions that enable you to

• manage memory contents
• read information from software and hardware
• set or read various data and parameters

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FLASH_INFO
11580

Unit type = function block (FB)

Unit is contained in the library ifm_CR0401_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
11588

FLASH_INFO 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).
>

Parameters of the inputs

11589

Data type Description

Parameter
ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
>

Parameters of the outputs

11590

Data type Description

Parameter
NAME STRING(24) Name of the memory area (user defined)
VERSION STRING(24) Software version
START_ADDR DWORD Start address of the data
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid
157 9D Software header invalid (CRC error)

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>

FLASH_READ
8147

Unit type = function block (FB)

Unit is contained in the library ifm_CR0401_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
11579

FLASH_READ enables reading of different types of data directly from the flash memory.
The FB reads the contents as from the address of SRC from the flash memory. In doing so, as many
bytes as indicated under LEN are transmitted.
► The address resulting from SRC + LEN must be < 65 408.
► To the destination address DST applies:
Determine the address by means of the operator ADR and assigne it to the FB!
>

Parameters of the inputs

8148

Data type Description

Parameter
ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
DST DWORD destination address
Determine the address by means of the operator ADR and
assigne it to the FB!
SRC DWORD relative start address in the memory
valid = 0...65 407 = 0x0000 0000...0x0000 FF7F
LEN WORD number (> 1) of the data bytes to be transmitted
>

Parameters of the outputs

8152

Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid
152 98 inadmissible memory area:
• invalid source address
• invalid destination address
• invalid number of bytes

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GET_APP_INFO
11581

= get application information

Unit type = function block (FB)
Unit is contained in the library ifm_CR0401_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
11593

GET_APP_INFO provides information about the application software stored in the device:
• name (= file name of the CODESYS project),
• version (= from CODESYS menu [Project] > [Project Info] > [Version]),
• unambiguous CoDeSys build number,
• CoDeSys build date.
>

Parameters of the inputs

11594

Data type Description

Parameter
ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
>

Parameters of the outputs

11595

Data type Description

Parameter
NAME STRING(24) Name of the application
VERSION STRING(24) Version of the application program
BUILD_NUM STRING(24) Unique CODESYS build number (e.g.: "45")
BUILD_DATE STRING(24) CODESYS build date (e.g.: "20111006123800")
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid

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>

GET_HW_INFO
11582

= get hardware information

Unit type = function block (FB)
Unit is contained in the library ifm_CR0401_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
1599

GET_HW_INFO provides information about the hardware of the device:

• ifm article number (e.g. CR0403),
• article designation,
• unambiguous serial number,
• hardware revision,
• production date.
>

Parameters of the inputs

11600

Data type Description

Parameter
ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
>

Parameters of the outputs

11601

Data type Description

Parameter
ORDER_NUM STRING(24) ifm article no. (e.g.: CR0403)
NAME STRING(24) Article designation (e.g.: "BasicController 12/12")
SERIAL STRING(24) Serial number of the device (e.g.: "000045784")
REVISION STRING(24) Hardware revision level of the device (e.g.: "V01.00.01")
MAN_DATE STRING(24) Date of manufacture of the device (e.g.: "20111007123800")
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid

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>

GET_IDENTITY
8166

Unit type = function block (FB)

Unit is contained in the library ifm_CR0401_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
15411

GET_IDENTITY reads the identification stored in the device (has previously been saved by means of
SET_IDENTITY (→ page 195)).
>

Parameters of the inputs

8167

Data type Description

Parameter
ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
>

Parameters of the outputs

8168

Data type Description

Parameter
APP_IDENT STRING(80) identifier of the application
as a string of max. 80 characters, e.g.: "Crane1704"
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid
155 9B value could not be read

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>

GET_SW_INFO
11583

= get software information

Unit type = function block (FB)
Unit is contained in the library ifm_CR0401_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
11596

GET_SW_INFO provides information about the system software of the device:

• software name,
• software version,
• build number,
• build date.
>

Parameters of the inputs

11597

Data type Description

Parameter
ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
>

Parameters of the outputs

11598

Data type Description

Parameter
NAME STRING(24) Name of the system software (e.g.: "BasicSystem")
VERSION STRING(24) Version of the system software (e.g.: "V02.00.03")
BUILD_NUM STRING(24) Build number of the system software (e.g.: "45")
BUILD_DATE STRING(24) Build date of the system software (e.g.: "20111006123800")
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid

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>

GET_SW_VERSION
14763

= get software version

Unit type = function block (FB)
Unit is contained in the library ifm_CR0401_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
14765

GET_SW_VERSION provides information on the software in the device:

• BasicSystem version
• bootloader version
• SIS version
• IEC application program version
• IEC user flash version
>

Parameters of the inputs

14766

Data type Description

Parameter
ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
>

Parameters of the outputs

14767

Data type Description

Parameter
BS_VERSION STRING(24) Basic system version
BL_VERSION STRING(24) Bootloader version
SIS_VERSION STRING(24) SIS version (SIS = System Information Service)
IEC_VERSION STRING(24) IEC application program version
USER_VERSION STRING(24) IEC user flash version
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid

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>

MEM_ERROR
14770

= Memory Error
Unit type = function block (FB)
Unit is contained in the library ifm_CR0401_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
14772

MEM_ERROR signals errors in some parameters or in the memory.

The memory areas can be deleted via the corresponding FB inputs.
>

Parameters of the inputs

14773

Data type Description

Parameter
ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
RESET_RETAIN BOOL TRUE: Delete non-volatile retain memory
FALSE: No changes to memory contents
RESET_OHC BOOL TRUE: Delete non-volatile OHC memory
FALSE: No changes to memory contents
>

Parameters of the outputs

14774

Data type Description

Parameter
COM_ERR BOOL Download ID and baud rate are set to default values
(download parameters got lost)
CALIB_ERR BOOL Calibration values are invalid
(analogue inputs, PWM outputs, system voltages)
RETAIN_ERR BOOL Retain memory is invalid
(e.g. partially deleted due to strong magnetic field)
OHC_ERR BOOL OHC values are invalid
(e.g. partially deleted due to strong magnetic field)
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid

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>

MEMCPY
8160

= memory copy
Unit type = function block (FB)
Unit is contained in the library ifm_CR0401_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
412

MEMCPY enables writing and reading different types of data directly in the memory.
The FB writes the contents of the address of SRC to the address DST.
► To the addresses SRC and DST apply:
Determine the address by means of the operator ADR and assigne it to the FB!
> In doing so, as many bytes as indicated under LEN are transmitted. So it is also possible to
transmit exactly one byte of a word variable.
>

Parameters of the inputs

8162

Data type Description

Parameter
ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
DST DWORD destination address
Determine the address by means of the operator ADR and
assigne it to the FB!
SRC DWORD source address
LEN WORD number (> 1) of the data bytes to be transmitted
SWAP_TYPE BYTE Swap the byte sequence:
0 = no swapping
e.g.: 1A 2B 3C 4D  1A 2B 3C 4D
1 = swap 2 bytes (WORD, INT, ...)
e.g.: 1A 2B 3C 4D  2B 1A 4D 3C
LEN must be a multiple of 2!
2 = swap 4 bytes (DWORD, DINT, REAL, TIME, ...)
e.g.: 1A 2B 3C 4D  4D 3C 2B 1A
LEN must be a multiple of 4!

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>

Parameters of the outputs

8163

Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid
152 98 inadmissible memory area:
• invalid source address
• invalid destination address
• invalid number of bytes
156 9C inadmissible values:
• invalid value for SWAP_TYPE
• LEN does not match SWAP_TYPE

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>

OHC
14777

= Operating Hours Counter

Unit type = function block (FB)
Unit is contained in the library ifm_CR0401_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
14778

OHC provides 4 operating hours counters for universal use.

However, for hardware version < AD: only 2 operating hours counters possible.
Valid counting range: 0:00...4 294 967 295:59 hours (= 490 293 years, 25 days, 15 hours)

If hardware version of device < AD:

reset the memory area for OHC once:
 In the FB MEM_ERROR (→ page 190), set input RESET_OHC = TRUE!
> Only now can the operating hours counters be used.

>

Parameters of the inputs

14779

Data type Description

Parameter
ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> initiated processes continue in the background
> FB outputs are not updated
OHC BYTE Operating hours counter
Number of the counter (0...3)
MODE BYTE Operating mode of the counter
Permissible values =
0 = stop counter
1 = continue counting at the last stored value
2 = reset counter
3 = preset counter with the following values
PRESET_HOURS DWORD Preset hours
(0...4 294 967 295 = 0x0000 0000...0xFFFF FFFF)
PRESET_MINUTES BYTE Preset minutes (0...59 = 0x00...0x3B)

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>

Parameters of the outputs

14780

Data type Description

Parameter
HOURS DWORD Counter value hours
(0...4 294 967 295 = 0x0000 0000...0xFFFF FFFF)
MINUTES BYTE Counter value minutes (0...59 = 0x00...0x3B)
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid
130 82 Counter number in OHC_NUM is invalid
131 83 Preset value is invalid
132 84 mode setting is invalid
158 9E Remanent memory is invalid (CRC error)

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>

SET_IDENTITY
8174

Unit type = function block (FB)

Unit is contained in the library ifm_CR0401_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
8535

SET_IDENTITY sets an application-specific program identification.

Using this FB, a program identification can be created by the application program.
► This identification can be read in order to identify the loaded program:
• via the software "Maintenance Tool"
• in the application program via the FB GET_IDENTITY (→ page 187)
>

Parameters of the inputs

8175

Data type Description

Parameter
ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
APP_IDENT STRING(80) identifier of the application
as a string of max. 80 characters, e.g.: "Crane1704"
Reset with APP_IDENT = ""
>

Parameters of the outputs

8176

Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid

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>

SET_LED
8052

Unit type = function block (FB)

Unit is contained in the library ifm_CR0401_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
8054

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

If the flashing mode is changed in the application program, the default setting table is no longer
valid (→ chapter Status LED (→ page 25)).

>

Parameters of the inputs

8223

Data type Description

Parameter
ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
COLOR_1 BYTE LED color for "switched on"
color constant from the data structure "System LED Color"; allowed:
00 = LED_BLACK (= LED out)
01 = LED_RED
02 = LED_GREEN
03 = LED_YELLOW
COLOR_2 BYTE LED color for "switched off"
color constant from the data structure "System LED Color"; allowed:
00 = LED_BLACK (= LED out)
01 = LED_RED
02 = LED_GREEN
03 = LED_YELLOW
FREQUENCY BYTE LED flashing frequency
Frequency constant from the data structure "System LED Frequency";
allowed:
00 = LED_0HZ = permanently ON
01 = LED_05HZ = flashes at 0.5 Hz
02 = LED_1HZ = flashes at 1 Hz
04 = LED_2HZ = flashes at 2 Hz
10 = LED_5HZ = flashes at 5 Hz

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>

Parameters of the outputs

8227

Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
2 02 function block is active (action not yet completed)
133 85 value for FREQUENCY is invalid
151 97 value for color is invalid

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>

SET_PASSWORD
8178

Unit type = function block (FB)

Unit is contained in the library ifm_CR0401_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
8179

SET_PASSWORD sets a user password for program and memory upload via the maintenance tool.
If the user password is active, reading of the application program or the data memory via the
maintenance tool is only possible if the correct password has been entered.
If an empty string (default condition) is assigned to the PASSWORD input, the password is reset. Than
an upload of the application software or of the data memory is possible at any time.

The password is reset when loading a new application program.

>

Parameters of the inputs

8180

Data type Description

Parameter
ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
PASSWORD STRING(16) password
If PASSWORD = "", than access is possible without enter of a
password
>

Parameters of the outputs

8181

Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid

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>

TIMER_READ_US
8219

Unit type = function block (FB)

Unit is contained in the library ifm_CR0401_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
660

TIMER_READ_US reads the current system time in [µs].

When the supply voltage is applied, the device generates a clock pulse which is counted upwards in a
register. This register can be read by means of the FB call and can for example be used for time
measurement.

Info
The system timer runs up to the counter value 4 294 967 295 µs at the maximum and then starts
again from 0.
4 294 967 295 µs = 1h 11min 34s 967ms 295µs

>

Parameters of the outputs

8220

Data type Description

Parameter
TIME_US DWORD current system time [µs]
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid
>

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Diagnosis and error handling Diagnosis

6 Diagnosis and error handling

Diagnosis ........................................................................................................................................... 200

Fault ................................................................................................................................................... 200
Response to system errors ............................................................................................................... 201
CAN / CANopen: errors and error handling ...................................................................................... 201
19598

The runtime-system (RTS) checks the device by internal error checks:

• during the boot phase (reset phase)
• during executing the application program
→ chapter Operating states (→ page 34)
In so doing a high operating reliability is provided, as much as possible.
>

6.1 Diagnosis
19601

During the diagnosis, the "state of health" of the device is checked. It is to be found out if and what
→faults are given in the device.
Depending on the device, the inputs and outputs can also be monitored for their correct function.
- wire break,
- short circuit,
- value outside range.
For diagnosis, configuration and log data can be used, created during the "normal" operation of the
device.
The correct start of the system components is monitored during the initialisation and start phase.
Errors are recorded in the log file.
For further diagnosis, self-tests can also be carried out.
>

6.2 Fault
19602

A fault is the state of an item characterized by the inability to perform the requested function, excluding
the inability during preventive maintenance or other planned actions, or due to lack of external
resources.
A fault is often the result of a failure of the item itself, but may exist without prior failure.
In →ISO 13849-1 "fault" means "random fault".

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>

6.3 Response to system errors

8504

In principle, the programmer is responsible to react to the error messages in the application program.
An error description is provided via the error message.
> The system resets the error message as soon as the error causing state is not present anymore.
>

6.3.1 Example process for response to an error message

8505

The runtime system cyclically writes the system flag TEMPERATURE.

The application program detects the device temperature by retrieving the INT variable.
If permissible values for the application are exceeded or not reached:
> The application program deactivates the outputs.
► Rectify the cause of the error.
> The application program detects the temperature value which has returned to normal:
The machine / system can be restarted or operation can be continued.
>

6.4 CAN / CANopen: errors and error handling

19604

→ System manual "Know-How ecomatmobile"

→ chapter CAN / CANopen: errors and error handling
>

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Annex System flags

7 Annex

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

Address assignment and I/O operating modes ................................................................................. 203
Error tables ........................................................................................................................................ 208
1664

Additionally to the indications in the data sheets you find summary tables in the annex.
>

7.1 System flags

8374
8440

Die zur den Systemmerkern gehörenden Merkeradressen können sich bei einer Erweiterung
der Steuerungskonfiguration ändern.
► Für die Programmierung nur die Symbolnamen der Systemmerker nutzen!

System flags (symbol name) Type Description

TEMPERATURE INT temperature in the device [°C]
SUPPLY_VOLTAGE_VBBS WORD supply voltage on VBBS in [mV]
SUPPLY_VOLTAGE_VBBx WORD supply voltage on VBBs in [mV]
CR040n: x = 1, 2
CR041n: x = 1, 2
CR253n: x = 1, 2
SUPPLY_VOLTAGE_VU WORD internal supply voltage in [mV]

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>

7.2 Address assignment and I/O operating modes

Address assignment inputs / outputs ................................................................................................ 203

Possible operating modes inputs/outputs ......................................................................................... 205
1656

→ also data sheet

>

7.2.1 Address assignment inputs / outputs

Inputs: address assignment .............................................................................................................. 204

Outputs: address assignment ............................................................................................................ 204
2371

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Annex Address assignment and I/O operating modes

>

Inputs: address assignment

8538
Abbreviations →chapter Note on wiring (→ page 24)
Operating modes of the inputs/outputs →chapter Possible operating modes inputs/outputs (→ page 205)

IEC address Symbolic address

%IB00 IN00
%IB01 IN01
%IB02 IN02
%IB03 IN03

%IB04 IN04
%IB05 IN05
%IB06 IN06
%IB07 IN07

%IB08 IN08
%IB09 IN09
%IB10 IN10
%IB11 IN11
>

Outputs: address assignment

8358
Abbreviations →chapter Note on wiring (→ page 24)
Operating modes of the inputs/outputs →chapter Possible operating modes inputs/outputs (→ page 205)

IEC address Symbolic address

%QB0 OUT00
%QB1 OUT01
%QB2 OUT02
%QB3 OUT03

%QB4 OUT04
%QB5 OUT05
%QB6 OUT06
%QB7 OUT07

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>

7.2.2 Possible operating modes inputs/outputs

Inputs: operating modes .................................................................................................................... 206

Outputs: operating modes ................................................................................................................. 207
2386

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Annex Address assignment and I/O operating modes

>

Inputs: operating modes

15243

= this configuration value is default

Value
Inputs Possible operating mode Set with function block Function block input
dec hex
IN00…IN03 Off INPUT MODE 0 00

voltage input 0…10 000 mV INPUT MODE 3 03

voltage input ratiometric 0…1 000 ‰ INPUT MODE 6 06

current input 0…20 000 µA INPUT MODE 7 07
voltage input 0…32 000 mV INPUT MODE 9 09
binary input plus switching INPUT MODE 10 0A
binary input with diagnosis
plus switching INPUT MODE 11 0B
(Namur)
binary input minus switching INPUT MODE 12 0C
resistance input 16…3 600 ohms INPUT MODE 18 12
frequency measurement 0…30 000 Hz PERIOD MODE 14 0E
period duration measurement 0.1...3 000 Hz PERIOD MODE 19 13
period and ratio measurement 0.1...3 000 Hz PERIOD MODE 20 14
Phase difference 0...359° PERIOD MODE 25 19
upwards counter 21 15
0…30 000 Hz FASTCOUNT MODE
downwards counter 22 16
detect encoder 0…1 000 Hz INC_ENCODER

IN04…IN07 off INPUT MODE 0 00

binary input plus switching INPUT MODE 10 0A
binary input with diagnosis
plus switching INPUT MODE 11 0B
(Namur)
16…3 600 ohms
resistance input from HW state AD: INPUT MODE 18 12
16...30 000 ohms

IN08…IN11 off INPUT MODE 0 00

binary input plus switching INPUT MODE 10 0A
binary input with diagnosis
plus switching INPUT MODE 11 0B
(Namur)

Set operating modes with the following function block:

INPUT (→ page 173) Assigns an operating mode to an input channel
Provides the current state of the selected channel
FASTCOUNT (→ page 168) Counter block for fast input pulses
INC_ENCODER (→ page 170) Up/down counter function for the evaluation of encoders
PERIOD (→ page 175) • measures at the indicated channel:
the frequency and the period length (cycle time) in [µs],
• measures at the indicated channel pair:
the phase shift in [°] between channel A and channel B

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Annex Address assignment and I/O operating modes

>

Outputs: operating modes

15245

= this configuration value is default

Value
Outputs Possible operating mode Set with function block Function block input
dec hex
OUT00
off OUTPUT MODE 0 00
…OUT03
binary output plus switching OUTPUT MODE 2 02
analogue output with pulse-
PWM1000
width modulation

OUT04
off OUTPUT MODE 0 00
…OUT07
binary output plus switching OUTPUT MODE 2 02
binary output with diagnosis plus switching OUTPUT MODE 15 0F
analogue output with pulse-
PWM1000
width modulation

Set operating modes with the following function block:

OUTPUT (→ page 178) Assigns an operating mode to an output channel
Provides the current state of the selected channel
PWM1000 (→ page 180) Initialises and configures a PWM-capable output channel
the mark-to-space ratio can be indicated in steps of 1 ‰

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Annex Error tables

>

7.3 Error tables

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

Errors: CAN / CANopen .................................................................................................................... 208
19606
>

7.3.1 Error flags

19608

→ chapter System flags (→ page 202)

>

7.3.2 Errors: CAN / CANopen

19610
19604

→ System manual "Know-How ecomatmobile"

→ chapter CAN / CANopen: errors and error handling
>

EMCY codes: CANx

13094

The indications for CANx also apply to each of the CAN interfaces.

EMCY code Object

Manufactor specific information
object 0x1003 0x1001
Byte 0 Byte 1 Byte 2
Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Description
[hex] [hex] [hex]
00 80 11 -- -- -- -- -- CANx monitoring SYNC error (only slave)
00 81 11 -- -- -- -- -- CANx warning threshold (> 96)
10 81 11 -- -- -- -- -- CANx receive buffer overrun
11 81 11 -- -- -- -- -- CANx transmit buffer overrun
30 81 11 -- -- -- -- -- CANx guard/heartbeat error (only slave)

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Annex Error tables

>

EMCY codes: I/Os, system

8412

EMCY code Object

Manufactor specific information
object 0x1003 0x1001
Byte 0 Byte 1 Byte 2
Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Description
[hex] [hex] [hex]
00 21 03 I0 LSB I0 MSB Inputs interruption
08 21 03 I0 LSB I0 MSB Inputs short circuit
10 21 03 I0 LSB I0 MSB Excess current 4…20 mA
00 23 03 Q0 LSB Q0 MSB Outputs interruption
08 23 03 Q0 LSB Q0 MSB Outputs short circuit
00 31 05 Power supply VBBS
00 33 05 Terminal voltage VBBO
08 33 05 Output voltage VBBR
00 42 09 Excess temperature

In the CANopen stack none of these EMCY codes are fix implemented. Advice:
► Make these EMCY codes with CANOPEN_SENDEMCYMESSAGE.

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8 Glossary of Terms
A
Address
This is the "name" of the bus participant. All participants need a unique address so that the signals can
be exchanged without problem.
>

Application software
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.
>

Architecture
Specific configuration of hardware and/or software elements in a system.
>

B
Baud
Baud, abbrev.: Bd = unit for the data transmission speed. Do not confuse baud with "bits per second"
(bps, bits/s). Baud indicates the number of changes of state (steps, cycles) per second over a
transmission length. But it is not defined how many bits per step are transmitted. The name baud can
be traced back to the French inventor J. M. Baudot whose code was used for telex machines.
1 MBd = 1024 x 1024 Bd = 1 048 576 Bd
>

Boot loader
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.
>

Bus
Serial data transmission of several participants on the same cable.
>

C
CAN
CAN = Controller Area Network
CAN is a priority-controlled fieldbus system for large data volumes. There are several higher-level
protocols that are based on CAN, e.g. 'CANopen' or 'J1939'.
>

CAN stack
CAN stack = software component that deals with processing CAN messages.

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>

CiA
CiA = CAN in Automation e.V.
User and manufacturer organisation in Germany / Erlangen. Definition and control body for CAN and
CAN-based network protocols.
Homepage → www.can-cia.org
>

CiA DS 304
DS = Draft Standard
CANopen device profile for safety communication
>

CiA DS 401
DS = Draft Standard
CANopen device profile for binary and analogue I/O modules
>

CiA DS 402
DS = Draft Standard
CANopen device profile for drives
>

CiA DS 403
DS = Draft Standard
CANopen device profile for HMI
>

CiA DS 404
DS = Draft Standard
CANopen device profile for measurement and control technology
>

CiA DS 405
DS = Draft Standard
CANopen specification of the interface to programmable controllers (IEC 61131-3)
>

CiA DS 406
DS = Draft Standard
CANopen device profile for encoders
>

CiA DS 407
DS = Draft Standard
CANopen application profile for local public transport
>

Clamp 15
In vehicles clamp 15 is the plus cable switched by the ignition lock.
>

COB ID
COB = Communication Object
ID = Identifier
ID of a CANopen communication object
Corresponds to the identifier of the CAN message with which the communication project is sent via the
CAN bus.

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>

CODESYS
CODESYS® is a registered trademark of 3S – Smart Software Solutions GmbH, Germany.
'CODESYS for Automation Alliance' associates companies of the automation industry whose hardware
devices are all programmed with the widely used IEC 61131-3 development tool CODESYS®.
Homepage → www.codesys.com
>

CSV file
CSV = Comma Separated Values (also: Character Separated Values)
A CSV file is a text file for storing or exchanging simply structured data.
The file extension is .csv.
Example: Source table with numerical values:
value 1.0 value 1.1 value 1.2 value 1.3
value 2.0 value 2.1 value 2.2 value 2.3
value 3.0 value 3.1 value 3.2 value 3.3

This results in the following CSV file:

value 1.0;value 1.1;value 1.2;value 1.3
value 2.0;value 2.1;value 2.2;value 2.3
value 3.0;value 3.1;value 3.2;value 3.3
.

>

Cycle time
This is the time for a cycle. The PLC program performs one complete run.
Depending on event-controlled branchings in the program this can take longer or shorter.
>

D
Data type
Depending on the data type, values of different sizes can be stored.
Data type min. value max. value size in the memory
BOOL FALSE TRUE 8 bits = 1 byte
BYTE 0 255 8 bits = 1 byte
WORD 0 65 535 16 bits = 2 bytes
DWORD 0 4 294 967 295 32 bits = 4 bytes
SINT -128 127 8 bits = 1 byte
USINT 0 255 8 bits = 1 byte
INT -32 768 32 767 16 bits = 2 bytes
UINT 0 65 535 16 bits = 2 bytes
DINT -2 147 483 648 2 147 483 647 32 bits = 4 bytes
UDINT 0 4 294 967 295 32 bits = 4 bytes
REAL -3.402823466 • 1038 3.402823466 • 1038 32 bits = 4 bytes
ULINT 0 18 446 744 073 709 551 615 64 Bit = 8 Bytes
STRING number of char. + 1
>

DC
Direct Current

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>

Diagnosis
During the diagnosis, the "state of health" of the device is checked. It is to be found out if and what
→faults are given in the device.
Depending on the device, the inputs and outputs can also be monitored for their correct function.
- wire break,
- short circuit,
- value outside range.
For diagnosis, configuration and log data can be used, created during the "normal" operation of the
device.
The correct start of the system components is monitored during the initialisation and start phase.
Errors are recorded in the log file.
For further diagnosis, self-tests can also be carried out.
>

Dither
Dither is a component of the →PWM signals to control hydraulic valves. It has shown for
electromagnetic drives of hydraulic valves that it is much easier for controlling the valves if the control
signal (PWM pulse) is superimposed by a certain frequency of the PWM frequency. This dither
frequency must be an integer part of the PWM frequency.
>

DLC
Data Length Code = in CANopen the number of the data bytes in a message.
For →SDO: DLC = 8
>

DRAM
DRAM = Dynamic Random Access Memory.
Technology for an electronic memory module with random access (Random Access Memory, RAM).
The memory element is a capacitor which is either charged or discharged. It becomes accessible via a
switching transistor and is either read or overwritten with new contents. The memory contents are
volatile: the stored information is lost in case of lacking operating voltage or too late restart.
>

DTC
DTC = Diagnostic Trouble Code = error code
In the protocol J1939 faults and errors well be managed and reported via assigned numbers – the
DTCs.
>

E
ECU
(1) Electronic Control Unit = control unit or microcontroller
(2) Engine Control Unit = control device of a engine
>

EDS-file
EDS = Electronic Data Sheet, e.g. for:
• File for the object directory in the CANopen master,
• CANopen device descriptions.
Via EDS devices and programs can exchange their specifications and consider them in a simplified
way.

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>

Embedded software
System software, basic program in the device, virtually the →runtime system.
The firmware establishes the connection between the hardware of the device and the application
program. The firmware is provided by the manufacturer of the controller as a part of the system and
cannot be changed by the user.
>

EMC
EMC = Electro Magnetic Compatibility.
According to the EC directive (2004/108/EEC) concerning electromagnetic compatibility (in short EMC
directive) requirements are made for electrical and electronic apparatus, equipment, systems or
components to operate satisfactorily in the existing electromagnetic environment. The devices must
not interfere with their environment and must not be adversely influenced by external electromagnetic
interference.
>

EMCY
abbreviation for emergency
Message in the CANopen protocol with which errors are signalled.
>

Ethernet
Ethernet is a widely used, manufacturer-independent technology which enables data transmission in
the network at a speed of 10...10 000 million bits per second (Mbps). Ethernet belongs to the family of
so-called "optimum data transmission" on a non exclusive transmission medium. The concept was
developed in 1972 and specified as IEEE 802.3 in 1985.
>

EUC
EUC = Equipment Under Control.
EUC is equipment, machinery, apparatus or plant used for manufacturing, process, transportation,
medical or other activities (→ IEC 61508-4, section 3.2.3). Therefore, the EUC is the set of all
equipment, machinery, apparatus or plant that gives rise to hazards for which the safety-related
system is required.
If any reasonably foreseeable action or inaction leads to →hazards with an intolerable risk arising from
the EUC, then safety functions are necessary to achieve or maintain a safe state for the EUC. These
safety functions are performed by one or more safety-related systems.
>

F
FiFo
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).
>

Flash memory
Flash ROM (or flash EPROM or flash memory) combines the advantages of semiconductor memory
and hard disks. Similar to a hard disk, the data are however written and deleted blockwise in data
blocks up to 64, 128, 256, 1024, ... bytes at the same time.
Advantages of flash memories
• The stored data are maintained even if there is no supply voltage.
• Due to the absence of moving parts, flash is noiseless and insensitive to shocks and magnetic
fields.

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Disadvantages of flash memories

• A storage cell can tolerate a limited number of write and delete processes:
• Multi-level cells: typ. 10 000 cycles
• Single level cells: typ. 100 000 cycles
• Given that a write process writes memory blocks of between 16 and 128 Kbytes at the same time,
memory cells which require no change are used as well.
>

FRAM
FRAM, or also FeRAM, means Ferroelectric Random Access Memory. The storage operation and
erasing operation is carried out by a polarisation change in a ferroelectric layer.
Advantages of FRAM as compared to conventional read-only memories:
• non-volatile,
• compatible with common EEPROMs, but:
• access time approx. 100 ns,
• nearly unlimited access cycles possible.
>

H
Heartbeat
The participants regularly send short signals. In this way the other participants can verify if a
participant has failed.
>

HMI
HMI = Human Machine Interface
>

I
ID
ID = Identifier
Name to differentiate the devices / participants connected to a system or the message packets
transmitted between the participants.
>

IEC 61131
Standard: Basics of programmable logic controllers
• Part 1: General information
• Part 2: Production equipment requirements and tests
• Part 3: Programming languages
• Part 5: Communication
• Part 7: Fuzzy Control Programming
>

IEC user cycle

IEC user cycle = PLC cycle in the CODESYS application program.
>

Instructions
Superordinate word for one of the following terms:
installation instructions, data sheet, user information, operating instructions, device manual, installation
information, online help, system manual, programming manual, etc.

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>

Intended use
Use of a product in accordance with the information provided in the instructions for use.
>

IP address
IP = Internet Protocol.
The IP address is a number which is necessary to clearly identify an internet participant. For the sake
of clarity the number is written in 4 decimal values, e.g. 127.215.205.156.
>

ISO 11898
Standard: Road vehicles – Controller area network
• Part 1: Data link layer and physical signalling
• Part 2: High-speed medium access unit
• Part 3: Low-speed, fault-tolerant, medium dependent interface
• Part 4: Time-triggered communication
• Part 5: High-speed medium access unit with low-power mode
>

ISO 11992
Standard: Interchange of digital information on electrical connections between towing and towed
vehicles
• Part 1: Physical and data-link layers
• Part 2: Application layer for brakes and running gear
• Part 3: Application layer for equipment other than brakes and running gear
• Part 4: Diagnostics
>

ISO 16845
Standard: Road vehicles – Controller area network (CAN) – Conformance test plan
>

J
J1939
→ SAE J1939
>

L
LED
LED = Light Emitting Diode.
Light emitting diode, also called luminescent diode, an electronic element of high coloured luminosity
at small volume with negligible power loss.
>

Link
A link is a cross-reference to another part in the document or to an external document.
>

LSB
Least Significant Bit/Byte

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>

M
MAC-ID
MAC = Manufacturer‘s Address Code
= manufacturer's serial number.
→ID = Identifier
Every network card has a MAC address, a clearly defined worldwide unique numerical code, more or
less a kind of serial number. Such a MAC address is a sequence of 6 hexadecimal numbers, e.g. "00-
0C-6E-D0-02-3F".
>

Master
Handles the complete organisation on the bus. The master decides on the bus access time and polls
the →slaves cyclically.
>

Misuse
The use of a product in a way not intended by the designer.
The manufacturer of the product has to warn against readily predictable misuse in his user
information.
>

MMI
→ HMI (→ page 215)
>

MRAM
MRAM = Magnetoresistive Random Access Memory
The information is stored by means of magnetic storage elements. The property of certain materials is
used to change their electrical resistance when exposed to magnetic fields.
Advantages of MRAM as compared to conventional RAM memories:
• non volatile (like FRAM), but:
• access time only approx. 35 ns,
• unlimited number of access cycles possible.
>

MSB
Most Significant Bit/Byte
>

N
NMT
NMT = Network Management = (here: in the CANopen protocol).
The NMT master controls the operating states of the NMT slaves.
>

Node
This means a participant in the network.
>

Node Guarding
Node = here: network participant
Configurable cyclic monitoring of each →slave configured accordingly. The →master verfies if the
slaves reply in time. The slaves verify if the master regularly sends requests. In this way failed network
participants can be quickly identified and reported.

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>

O
Obj / object
Term for data / messages which can be exchanged in the CANopen network.
>

Object directory
Contains all CANopen communication parameters of a device as well as device-specific parameters
and data.
>

OBV
Contains all CANopen communication parameters of a device as well as device-specific parameters
and data.
>

OPC
OPC = OLE for Process Control
Standardised software interface for manufacturer-independent communication in automation
technology
OPC client (e.g. device for parameter setting or programming) automatically logs on to OPC server
(e.g. automation device) when connected and communicates with it.
>

Operational
Operating state of a CANopen participant. In this mode →SDOs, →NMT commands and →PDOs can
be transferred.
>

P
PC card
→PCMCIA card
>

PCMCIA card
PCMCIA = Personal Computer Memory Card International Association, a standard for expansion
cards of mobile computers.
Since the introduction of the cardbus standard in 1995 PCMCIA cards have also been called PC card.
>

PDM
PDM = Process and Dialogue Module.
Device for communication of the operator with the machine / plant.
>

PDO
PDO = Process Data Object.
The time-critical process data is transferred by means of the "process data objects" (PDOs). The
PDOs can be freely exchanged between the individual nodes (PDO linking). In addition it is defined
whether data exchange is to be event-controlled (asynchronous) or synchronised. Depending on the
type of data to be transferred the correct selection of the type of transmission can lead to considerable
relief for the →CAN bus.
According to the protocol, these services are unconfirmed data transmission: it is not checked whether
the receiver receives the message. Exchange of network variables corresponds to a "1 to
n connection" (1 transmitter to n receivers).

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>

PDU
PDU = Protocol Data Unit.
The PDU is an item of the →CAN protocol →SAE J1939. PDU indicates a part of the destination or
source address.
>

PES
Programmable Electronic System ...
• for control, protection or monitoring,
• dependent for its operation on one or more programmable electronic devices,
• including all elements of the system such as input and output devices.
>

PGN
PGN = Parameter Group Number
PGN = PDU format (PF) + PDU source (PS)
The parameter group number is an item of the →CAN protocol →SAE J1939. PGN collects the
address parts PF and PS.
>

Pictogram
Pictograms are figurative symbols which convey information by a simplified graphic representation.
(→ chapter What do the symbols and formats mean? (→ page 6))
>

PID controller
The PID controller (proportional–integral–derivative controller) consists of the following parts:
• P = proportional part
• I = integral part
• D = differential part (but not for the controller CR04nn, CR253n).
>

PLC configuration
Part of the CODESYS user interface.
► The programmer tells the programming system which hardware is to be programmed.
> CODESYS loads the corresponding libraries.
> Reading and writing the periphery states (inputs/outputs) is possible.
>

Pre-Op
Pre-Op = PRE-OPERATIONAL mode.
Operating status of a CANopen participant. After application of the supply voltage each participant
automatically passes into this state. In the CANopen network only →SDOs and →NMT commands
can be transferred in this mode but no process data.
>

Process image
Process image is the status of the inputs and outputs the PLC operates with within one →cycle.
• At the beginning of the cycle the PLC reads the conditions of all inputs into the process image.
During the cycle the PLC cannot detect changes to the inputs.
• During the cycle the outputs are only changed virtually (in the process image).
• At the end of the cycle the PLC writes the virtual output states to the real outputs.

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>

PWM
PWM = pulse width modulation
The PWM output signal is a pulsed signal between GND and supply voltage.
Within a defined period (PWM frequency) the mark-to-space ratio is varied. Depending on the mark-to-
space ratio, the connected load determines the corresponding RMS current.
>

R
ratiometric
Measurements can also be performed ratiometrically. If the output signal of a sensor is proportional to
its suppy voltage then via ratiometric measurement (= measurement proportional to the supply) the
influence of the supply's fluctuation can be reduced, in ideal case it can be eliminated.
→ analogue input
>

RAW-CAN
RAW-CAN means the pure CAN protocol which works without an additional communication protocol
on the CAN bus (on ISO/OSI layer 2). The CAN protocol is international defined according to
ISO 11898-1 and garantees in ISO 16845 the interchangeability of CAN chips in addition.
>

remanent
Remanent data is protected against data loss in case of power failure.
The →runtime system for example automatically copies the remanent data to a →flash memory as
soon as the voltage supply falls below a critical value. If the voltage supply is available again, the
runtime system loads the remanent data back to the RAM memory.
The data in the RAM memory of a controller, however, is volatile and normally lost in case of power
failure.
>

ro
RO = read only for reading only
Unidirectional data transmission: Data can only be read and not changed.
>

RTC
RTC = Real Time Clock
Provides (batter-backed) the current date and time. Frequent use for the storage of error message
protocols.
>

Runtime system
Basic program in the device, establishes the connection between the hardware of the device and the
application program.
>

rw
RW = read/ write
Bidirectional data transmission: Data can be read and also changed.

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>

S
SAE J1939
The network protocol SAE J1939 describes the communication on a →CAN bus in commercial
vehicles for transmission of diagnosis data (e.g.engine speed, temperature) and control information.
Standard: Recommended Practice for a Serial Control and Communications Vehicle Network
• Part 2: Agricultural and Forestry Off-Road Machinery Control and Communication Network
• Part 3: On Board Diagnostics Implementation Guide
• Part 5: Marine Stern Drive and Inboard Spark-Ignition Engine On-Board Diagnostics Implementation
Guide
• Part 11: Physical Layer – 250 kBits/s, Shielded Twisted Pair
• Part 13: Off-Board Diagnostic Connector
• Part 15: Reduced Physical Layer, 250 kBits/s, Un-Shielded Twisted Pair (UTP)
• Part 21: Data Link Layer
• Part 31: Network Layer
• Part 71: Vehicle Application Layer
• Part 73: Application Layer – Diagnostics
• Part 81: Network Management Protocol
>

SD card
An SD memory card (short for Secure Digital Memory Card) is a digital storage medium that operates
to the principle of →flash storage.
>

SDO
SDO = Service Data Object.
The SDO is used for access to objects in the CANopen object directory. 'Clients' ask for the requested
data from 'servers'. The SDOs always consist of 8 bytes.
Examples:
• Automatic configuration of all slaves via →SDOs at the system start,
• reading error messages from the →object directory.
Every SDO is monitored for a response and repeated if the slave does not respond within the
monitoring time.
>

Self-test
Test program that actively tests components or devices. The program is started by the user and takes
a certain time. The result is a test protocol (log file) which shows what was tested and if the result is
positive or negative.
>

Slave
Passive participant on the bus, only replies on request of the →master. Slaves have a clearly defined
and unique →address in the bus.
>

stopped
Operating status of a CANopen participant. In this mode only →NMT commands are transferred.
>

Symbols
Pictograms are figurative symbols which convey information by a simplified graphic representation.
(→ chapter What do the symbols and formats mean? (→ page 6))

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>

System variable
Variable to which access can be made via IEC address or symbol name from the PLC.
>

T
Target
The target contains the hardware description of the target device for CODESYS, e.g.: inputs and
outputs, memory, file locations.
Corresponds to an electronic data sheet.
>

TCP
The Transmission Control Protocol is part of the TCP/IP protocol family. Each TCP/IP data connection
has a transmitter and a receiver. This principle is a connection-oriented data transmission. In the
TCP/IP protocol family the TCP as the connection-oriented protocol assumes the task of data
protection, data flow control and takes measures in the event of data loss. (compare: →UDP)
>

Template
A template can be filled with content.
Here: A structure of pre-configured software elements as basis for an application program.
>

U
UDP
UDP (User Datagram Protocol) is a minimal connectionless network protocol which belongs to the
transport layer of the internet protocol family. The task of UDP is to ensure that data which is
transmitted via the internet is passed to the right application.
At present network variables based on →CAN and UDP are implemented. The values of the variables
are automatically exchanged on the basis of broadcast messages. In UDP they are implemented as
broadcast messages, in CAN as →PDOs.
According to the protocol, these services are unconfirmed data transmission: it is not checked whether
the receiver receives the message. Exchange of network variables corresponds to a "1 to
n connection" (1 transmitter to n receivers).
>

Use, intended
Use of a product in accordance with the information provided in the instructions for use.
>

W
Watchdog
In general the term watchdog is used for a component of a system which watches the function of other
components. If a possible malfunction is detected, this is either signalled or suitable program
branchings are activated. The signal or branchings serve as a trigger for other co-operating system
components to solve the problem.
>

wo
WO = write only
Unidirectional data transmission: Data can only be changed and not read.

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Index

CANOPEN_GETGUARDHBSTATSLV ...............................................127
9 Index CANOPEN_GETNMTSTATESLAVE ..................................................100
CANOPEN_GETODCHANGEDFLAG ................................................104
A CANOPEN_GETSTATE ........................................................................95
CANOPEN_GETSYNCSTATE ............................................................122
About this manual ....................................................................................4
CANOPEN_NMTSERVICES ...............................................................101
Activate the PLC configuration ..............................................................43
CANOPEN_READOBJECTDICT ........................................................105
Activation of the input diagnosis ............................................................50
CANOPEN_SDOREAD .......................................................................109
Address ................................................................................................210
CANOPEN_SDOREADBLOCK ...........................................................111
Address assignment ............................................................................203
CANOPEN_SDOREADMULTI ............................................................113
Address assignment and I/O operating modes ...................................203
CANOPEN_SDOWRITE .....................................................................115
Address assignment inputs / outputs ..................................................203
CANOPEN_SDOWRITEBLOCK .........................................................117
Address assignment of the inputs .......................................................204
CANOPEN_SDOWRITEMULTI...........................................................119
Address assignment of the outputs .....................................................204
CANOPEN_SENDEMCYMESSAGE ..................................................133
Analogue inputs .....................................................................................14
configuration and diagnosis .......................................................................... 49
CANOPEN_SETSTATE ........................................................................97
Annex ...................................................................................................202 CANOPEN_SETSYNCSTATE ............................................................124
Application program ...............................................................................28 CANOPEN_WRITEOBJECTDICT ......................................................106
Application software.............................................................................210 CiA .......................................................................................................211
Architecture..........................................................................................210 CiA DS 304 ..........................................................................................211
Availability of PWM ................................................................................53 CiA DS 401 ..........................................................................................211
Available memory ..................................................................................12 CiA DS 402 ..........................................................................................211
CiA DS 403 ..........................................................................................211
B CiA DS 404 ..........................................................................................211
CiA DS 405 ..........................................................................................211
Baud.....................................................................................................210
CiA DS 406 ..........................................................................................211
Binary inputs
CiA DS 407 ..........................................................................................211
configuration and diagnosis .......................................................................... 50
Binary outputs Clamp 15..............................................................................................211
configuration and diagnosis .......................................................................... 52 COB ID.................................................................................................211
Boot loader ..........................................................................................210 CODESYS ...........................................................................................212
Bootloader..............................................................................................28 CODESYS programming manual ............................................................5
Bus .......................................................................................................210 Configuration of the inputs and outputs (default setting) ......................46
Configuration of the output diagnosis ....................................................52
C Configurations........................................................................................38
Configure inputs.....................................................................................47
CAN .....................................................................................................210
interfaces and protocols ................................................................................ 26 Configure outputs ..................................................................................52
CAN / CANopen Configure the software filters of the inputs ............................................48
errors and error handling............................................................................. 201 Control the LED in the application program ..........................................25
CAN declaration (e.g. CR1080).............................................................44 Copyright..................................................................................................4
CAN interfaces.......................................................................................26 Creating application program ................................................................32
CAN stack ............................................................................................210 CSV file ................................................................................................212
CAN_ENABLE .......................................................................................65 Cycle time ............................................................................................212
CAN_RECOVER ...................................................................................66
CAN_REMOTE_REQUEST ..................................................................87
D
CAN_REMOTE_RESPONSE................................................................88 Data type..............................................................................................212
CAN_RX ................................................................................................71 DC ........................................................................................................212
CAN_RX_ENH.......................................................................................72 Definition
CAN_RX_ENH_FIFO ............................................................................74 overload ......................................................................................................... 19
CAN_RX_RANGE .................................................................................76 short circuit .................................................................................................... 19
CAN_RX_RANGE_FIFO .......................................................................78 Diagnosis .................................................................................... 200, 213
CAN_SETDOWNLOADID .....................................................................67 binary outputs (via voltage measuring) ................................................... 22, 23
overload ................................................................................................... 22, 23
CAN_STATUS .......................................................................................68
short circuit .............................................................................................. 22, 23
CAN_TX .................................................................................................81
wire break ................................................................................................ 22, 23
CAN_TX_ENH .......................................................................................82 Diagnosis and error handling...............................................................200
CAN_TX_ENH_CYCLIC........................................................................84 Digital inputs ..........................................................................................15
CANOPEN_ENABLE .............................................................................91 Distribution of the application program..................................................33
CANOPEN_GETBUFFERFLAGS .........................................................93 Dither ...................................................................................................213
CANOPEN_GETEMCYMESSAGES...................................................130 DLC ......................................................................................................213
CANOPEN_GETERRORREGISTER ..................................................132 DRAM ..................................................................................................213
CANOPEN_GETGUARDHBERRLIST ................................................126 DTC......................................................................................................213

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Index

E GET_IDENTITY ...................................................................................187
GET_SW_INFO ...................................................................................188
ECU .....................................................................................................213 GET_SW_VERSION ...........................................................................189
EDS-file ................................................................................................213
Embedded software .............................................................................214 H
EMC .....................................................................................................214 Hardware description.............................................................................11
EMCY...................................................................................................214
Hardware setup .....................................................................................12
EMCY codes
Heartbeat .............................................................................................215
CANx ........................................................................................................... 208
History of the instructions (CR040n) .....................................................8
I/Os, system................................................................................................. 209
HMI ......................................................................................................215
Error flags ............................................................................................208
How is this documentation structured? ...................................................7
ERROR state .........................................................................................35
Error tables ..........................................................................................208 I
Errors
CAN / CANopen .......................................................................................... 208 ID .........................................................................................................215
Ethernet ...............................................................................................214 IEC 61131 ............................................................................................215
EUC .....................................................................................................214 IEC user cycle ......................................................................................215
Example process for response to an error message ..........................201 ifm function elements.............................................................................56
ifm function elements for the device CR0401 .......................................62
F ifm libraries for the device CR0401 .......................................................56
Fast inputs .............................................................................................51 ifm weltweit • ifm worldwide • ifm à l’échelle internationale.................231
FASTCOUNT .......................................................................................168 INC_ENCODER...................................................................................170
FATAL ERROR state .............................................................................35 Information about the device .................................................................11
Fault .....................................................................................................200 INIT state (Reset) ..................................................................................34
FB, FUN, PRG in CODESYS ................................................................30 INPUT ..................................................................................................173
FBs for PWM functions ..........................................................................53 Input group I0 (IN0...IN3) .......................................................................16
FiFo ......................................................................................................214 Input group I1 (IN4...IN7) .......................................................................16
Flash memory ......................................................................................214 Input group I2 (IN8...IN11) .....................................................................18
FLASH_INFO.......................................................................................183 Inputs
address assignment .................................................................................... 204
FLASH_READ .....................................................................................184
operating modes .......................................................................................... 206
FLASH-Speicher ....................................................................................12
Inputs (technology) ................................................................................13
FRAM .............................................................................................12, 215
Instructions ..........................................................................................215
Function configuration ...........................................................................46
Intended use ........................................................................................216
Function configuration in general ..........................................................45
Interface description ..............................................................................26
Function configuration of the inputs and outputs ..................................46
IP address............................................................................................216
Function element outputs ......................................................................63
ISO 11898 ............................................................................................216
Function elements
ISO 11992 ............................................................................................216
CANopen ....................................................................................................... 90
CANopen emergency .................................................................................. 129
ISO 16845 ............................................................................................216
CANopen guarding ...................................................................................... 125 ISO11992 .............................................................................................167
CANopen network management ................................................................... 99
CANopen object directory ........................................................................... 103
J
CANopen SDOs .......................................................................................... 108 J1939 ...................................................................................................216
CANopen status ............................................................................................ 90 J1939_DM1RX ....................................................................................160
CANopen SYNC .......................................................................................... 121
J1939_DM1TX .....................................................................................162
output functions ........................................................................................... 177
J1939_DM1TX_CFG ...........................................................................165
processing input values............................................................................... 167
RAW-CAN (Layer 2) ...................................................................................... 64 J1939_DM3TX .....................................................................................166
RAW-CAN remote ......................................................................................... 86 J1939_ENABLE ...................................................................................136
RAW-CAN status ........................................................................................... 64 J1939_GETDABYNAME .....................................................................138
receive RAW-CAN data ................................................................................ 70 J1939_NAME.......................................................................................140
receive SAE J1939 ...................................................................................... 146 J1939_RX ............................................................................................147
SAE J1939................................................................................................... 135 J1939_RX_FIFO ..................................................................................148
SAE J1939 diagnosis .................................................................................. 159
J1939_RX_MULTI ...............................................................................150
SAE J1939 request ..................................................................................... 143
J1939_SPEC_REQ .............................................................................144
SAE J1939 status ........................................................................................ 135
J1939_SPEC_REQ_MULTI ................................................................145
system ......................................................................................................... 182
transmit RAW-CAN data ............................................................................... 80 J1939_STATUS ...................................................................................142
transmit SAE J1939 .................................................................................... 151 J1939_TX.............................................................................................152
J1939_TX_ENH ...................................................................................153
G J1939_TX_ENH_CYCLIC ...................................................................155
GET_APP_INFO..................................................................................185 J1939_TX_ENH_MULTI ......................................................................157
GET_HW_INFO ...................................................................................186

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L Performance limits of the device ...........................................................36

PERIOD ...............................................................................................175
LED ......................................................................................................216 PES ......................................................................................................219
Libraries .................................................................................................29 PGN .....................................................................................................219
Library ifm_CANopen_NT_Vxxyyzz.LIB................................................59 Pictogram .............................................................................................219
Library ifm_CR0401_V03yyzz.LIB ........................................................57 Pictograms ...............................................................................................6
Library ifm_J1939_NT_Vxxyyzz.LIB .....................................................61 PID controller .......................................................................................219
Library ifm_RAWCan_NT_Vxxyyzz.LIB ................................................58 PLC configuration ..........................................................................42, 219
Limitations for CAN in this device..........................................................37 Please note! .............................................................................................9
Limitations for CAN J1939 in this device ...............................................37 Possible operating modes inputs/outputs ...........................................205
Limitations for CANopen in this device..................................................37 Pre-Op .................................................................................................219
Link ......................................................................................................216 Previous knowledge...............................................................................10
LSB ......................................................................................................216 Process image .....................................................................................219
Process input values ...........................................................................167
M Programming notes for CODESYS projects .........................................30
MAC-ID ................................................................................................217 Protective functions of the outputs ........................................................19
Master ..................................................................................................217 PWM ....................................................................................................220
MEM_ERROR .....................................................................................190 PWM outputs .........................................................................................53
MEMCPY .............................................................................................191 PWM1000 ............................................................................................180
Memory, available..................................................................................12
Misuse..................................................................................................217 R
MMI ......................................................................................................217 ratiometric ............................................................................................220
MRAM ..................................................................................................217 RAW-CAN ............................................................................................220
MSB .....................................................................................................217 Reaction according to the operating mode of the output ......................20
Reaction of the outputs to overload or short circuit ...............................20
N Reaction when using PWM or CURRENT_CONTROL ........................20
Network variables ..................................................................................55 Read back retain variables ....................................................................55
NMT .....................................................................................................217 Reinstall the runtime system .................................................................39
Node ....................................................................................................217 remanent..............................................................................................220
Node Guarding ....................................................................................217 Reset......................................................................................................34
Note on wiring ........................................................................................24 Resistance measurement ......................................................................17
Note the cycle time! ...............................................................................31 Response to system errors..................................................................201
Notizen • Notes • Notes .......................................................................227 Retain variables .....................................................................................54
ro ..........................................................................................................220
O RTC......................................................................................................220
Obj / object...........................................................................................218 RUN state ..............................................................................................35
Object directory....................................................................................218 Runtime system .............................................................................28, 220
OBV .....................................................................................................218 rw .........................................................................................................220
OHC .....................................................................................................193
OPC .....................................................................................................218 S
Operating hours counter ......................................................................193 SAE J1939 .................................................................................. 135, 221
Operating states ....................................................................................34 Safety instructions ...................................................................................9
Operational ..........................................................................................218 Safety instructions about Reed relays .............................................24, 47
OUTPUT ..............................................................................................178 Save retain variables .............................................................................55
Output group Q0 (OUT0...OUT3) ..........................................................21 SD card ................................................................................................221
Output group Q1 (OUT4, OUT5) ...........................................................22 SDO .....................................................................................................221
Output group Q2 (OUT6, OUT7) ...........................................................23 Self-protection of the output ..................................................................20
Output parameters ...............................................................................181 Self-test ................................................................................................221
Outputs Set up the programming system ...........................................................41
address assignment .................................................................................... 204 Set up the programming system manually ............................................41
operating modes .......................................................................................... 207 Set up the programming system via templates .....................................45
Outputs (technology) .............................................................................19 Set up the runtime system .....................................................................38
Overview Set up the target ....................................................................................42
documentation modules for ecomatmobile devices ....................................... 5
SET_IDENTITY ...................................................................................195
P SET_LED .............................................................................................196
SET_PASSWORD ...............................................................................198
PC card ................................................................................................218 Slave ....................................................................................................221
PCMCIA card .......................................................................................218 Software controller configuration ...........................................................42
PDM .....................................................................................................218 Software description ..............................................................................27
PDO .....................................................................................................218 Software modules for the device ...........................................................27
PDU .....................................................................................................219 SRAM.....................................................................................................12

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Index

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

Status LED.............................................................................................25
STOP state ............................................................................................34 UDP .....................................................................................................222
stopped ................................................................................................221 Update the runtime system....................................................................40
Symbols ...............................................................................................221 Use as binary inputs ..............................................................................51
System description ................................................................................11 Use, intended.......................................................................................222
System flags ........................................................................................202 Using ifm maintenance tool ...................................................................33
System variable ...................................................................................222
System variables ...................................................................................45
V
Variables ................................................................................................54
T Verify the installation .............................................................................40
Target...................................................................................................222
W
TCP ......................................................................................................222
Template ..............................................................................................222 watchdog..............................................................................................222
TIMER_READ_US...............................................................................199 Watchdog .............................................................................................222
Watchdog behaviour..............................................................................36
What do the symbols and formats mean?...............................................6
What previous knowledge is required? .................................................10
Wiring .....................................................................................................24
wo ........................................................................................................222

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10 Notizen • Notes • Notes

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