IFM CR711S Original Programming Manual
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IFM CR711S Original Programming Manual

Ecomatcontroller/60-1, operating system v2.5.0.n codesys v3.5 sp 11
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Original Programming Manual
ecomatController/60-1
CR711S
Operating System V2.5.0.n
®
CODESYS
V3.5 SP11
English
1

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Summary of Contents for IFM CR711S

  • Page 1 Original Programming Manual ecomatController/60-1 CR711S Operating System V2.5.0.n ® CODESYS V3.5 SP11 English...

  • Page 2: Table Of Contents

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Contents Contents About this manual Legal and copyright information ................... 6 Purpose of the document ..................... 7 Symbols and formats used ....................7 Overview: documentation modules for CR711S ..............8 Overview: documentation for CODESYS 3.n ..............8 How is this documentation structured? ................
  • Page 3 9.1.2 Delete application from CR711S ....................92 Operating states .........................93 Status LEDs ........................94 9.3.1 Status LED: system ifm operating system (SYS0+SYS1) ............94 9.3.2 Status LED: system PLC (SYS0, SYS1) ..................95 9.3.3 Status LED: System bootloader (SYS0) ..................95 9.3.4...
  • Page 4 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Contents Reset ..........................97 9.4.1 Supported reset variants ......................97 9.4.2 Reset application (warm) ......................97 9.4.3 Reset application (cold) ......................98 9.4.4 Reset application (origin) ......................98 Data transmission for series production ................99 9.5.1...
  • Page 5 .................182 12.2.1 General............................. 182 12.2.2 Behaviour model ENABLE ....................... 182 12.2.3 Behaviour model EXECUTE ..................... 183 Glossary of Terms Index Notizen • Notes • Notes ifm weltweit • ifm worldwide • ifm à l’échelle internationale...

  • Page 6: About This Manual

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 About this manual Legal and copyright information About this manual Legal and copyright information ......................6 Purpose of the document ........................7 Symbols and formats used ........................7 Overview: documentation modules for CR711S ................... 8 Overview: documentation for CODESYS 3.n ..................

  • Page 7: Purpose Of The Document

     Firmware update of the device in the recovery mode  Configuration of the device using CODESYS  Programming of the device-internal PLC of the CR711S using the CODESYS programming system.  Description of the device-specific CODESYS function libraries >...

  • Page 8: Overview: Documentation Modules For Cr711S

     Visualisations  Overview of the files and libraries > Overview: documentation for CODESYS 3.n 22856 The following user documentation is provided by 3S GmbH for programming the CR711S with CODESYS: Document Content / Description  Online help Context-sensitive help ...

  • Page 9: How Is This Documentation Structured

     Abbreviations and technical terms → Appendix. In case of malfunctions or uncertainties please contact the manufacturer at: ifm weltweit • ifm worldwide • ifm à l’échelle internationale Contact → (→ p. 205) We want to become even better! Each separate section has an identification number in the top right corner.

  • Page 10: Functions And Features

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Functions and features History of the document CR0711 Functions and features 23289 This device is used to control processes in applications. For this, device 2 contains 2 PLCs that can be programmed independently of each other.

  • Page 11: Safety Instructions

    ► Please note the corrections and notes in the release notes for the existing hardware, software and documentation, available on the website ifm weltweit • ifm worldwide • ifm à l’échelle internationale Website → (→ p. 205) 8340 WARNING The user is responsible for the reliable function of the application programs he designed.

  • Page 12: What Previous Knowledge Is Required

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Safety instructions What previous knowledge is required? > 23368 WARNING The safety functionality is in preparation. At present the device has NO safety functionality! ► Do NOT use the device for safety-related functions! >...

  • Page 13: Important Standards

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Safety instructions Important standards > Important standards 22977 23368 WARNING The safety functionality is in preparation. At present the device has NO safety functionality! ► Do NOT use the device for safety-related functions!

  • Page 14: Organise The Creation Of Safe Machinery With The V Model

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Safety instructions Organise the creation of safe machinery with the V model > Organise the creation of safe machinery with the V model 13264 Summary ► Define, observe, check and document the workflow steps in the V model ►...
  • Page 15 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Safety instructions Organise the creation of safe machinery with the V model Figure: V model showing the individual work steps ► In accordance with the applicable directives and standards:  adhere to the mechanical and electrical layout of the safety functions when designing the mobile machine ...

  • Page 16: Start-Up Behaviour Of The Controller

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Safety instructions Start-up behaviour of the controller > Start-up behaviour of the controller 15233 11575 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.

  • Page 17: Notes: Serial Number

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Safety instructions Notes: serial number > Notes: serial number 20780 ► In the user's production facility, draw a diagram of the controller network in the machine. Enter the serial number of each controller installed into the network diagram.

  • Page 18: Installation

    • ifm worldwide • ifm à l’échelle internationale (→ p. 205) > 4.1.3 Licensing 22914 By buying a controller CR711S, the buyer also purchases a licence that is valid for the use of the CODESYS 3.5 programming system.

  • Page 19: Carry Out Installation

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Installation Carry out installation > Carry out installation CODESYS programming software ...................... 19 Complete package for ecomatController CR711S ................20 Check the operating system version of the device ................22 Update the operating system of the device ..................24 23077 >...

  • Page 20: Complete Package For Ecomatcontroller Cr711S

    23372 > Components of the complete package 23393 To program the device-internal PLC, ifm provides a complete package "CODESYS for ifm R360III Products". The overall package is structured as follows and includes the following components: Description Data name / path Complete package "CODESYS for ifm R360III Products".zip...
  • Page 21 To install a package Requirements > CODESYS 3.5 SP11 is installed on the PC/laptop. > ifm package "CODESYS for ifm R360III Products" is stored on the PC/laptop. Start CODESYS ► Start CODESYS as administrator. > CODESYS user interface appears. Start Package Manager ►...

  • Page 22: Check The Operating System Version Of The Device

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Installation Carry out installation > Uninstall package (PC/laptop) 23371 To uninstall a package: Start package manager ► Select [Tools] > [Package Manager] to start the Package Manager. > Window [Package Manager] shows installed packages.
  • Page 23 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Installation Carry out installation > Check the hardware version of the device 23587 To check the hardware version of the device: Set communication path of PLC ► Connect to PLC (→ (→ p. 61)) Manage files ►...

  • Page 24: Update The Operating System Of The Device

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Installation Carry out installation > 4.2.4 Update the operating system of the device Update the operating system of the device with the batch file ............24 23501 ATTENTION Important: During the update process, the electric voltage supply of the device must be assured.
  • Page 25 ► Follow the instructions on the screen. > The updated process is executed. ATTENTION ► After loading the first file cmd.ifm and after the instruction on the screen, execute a power-on reset of the controller. > Otherwise the controller may be destroyed! ►...

  • Page 26: System Description

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System description Hardware description System description Hardware description........................... 26 Interfaces ............................. 51 Software description ..........................53 Hardware description Hardware structure ..........................26 Device supply (technology) ......................... 33 Monitoring concept ..........................36 Inputs (technology) ..........................38 Outputs (technology) ...........................
  • Page 27 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System description Hardware description > Overview: Hardware 22921 > System context of the controller 22922 23368 WARNING The safety functionality is in preparation. At present the device has NO safety functionality! ► Do NOT use the device for safety-related functions! All devices of this controller family can execute both security levels simultaneously: •...
  • Page 28 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System description Hardware description > System overview 23405 Overview of the system modules Details: Module Device supply (technology) (→ p. 33) Power supply Inputs (technology) Inputs (→ p. 38) Interfaces Interfaces Available memory Memory, ports (→...
  • Page 29 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System description Hardware description > Block diagram of the supply and of the output deactivation 22934 Figure: Block diagram of the supply > Note on wiring 23102 > Group designations 23103 Inputs and outputs are assigned in groups.
  • Page 30 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System description Hardware description > Standard PLC and safety PLC 22916 23368 WARNING The safety functionality is in preparation. At present the device has NO safety functionality! ► Do NOT use the device for safety-related functions! The device features separate controllers: •...
  • Page 31 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System description Hardware description > Available memory 13736 > Memory allocation 22928 IEC61131-1 divides the memory for the storage of the user data into:  memory of the applications (parts are configurable) •...
  • Page 32 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System description Hardware description > Memory allocation variants 22932 23368 WARNING The safety functionality is in preparation. At present the device has NO safety functionality! ► Do NOT use the device for safety-related functions! The user can select from the pre-defined configurations of the memory partitioning.

  • Page 33: Device Supply (Technology)

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System description Hardware description > 5.1.2 Device supply (technology) Voltage ranges of the on-board system ....................33 Start conditions ............................ 33 Switch on/off via main switch ......................34 Switch on/off via ignition lock (Terminal 15) ..................35 23404 >...
  • Page 34 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System description Hardware description > Switch on/off via main switch 22917 To do so: VBB15 is connected with VBB30 Procedure when switching on the main switch > The system recognises the applied voltage (VBB15 > 5 V AND VBB30 > 8 V) and activates the connection of the controller to the VBB30 potential via solid-state switch.
  • Page 35 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System description Hardware description > Switch on/off via ignition lock (Terminal 15) 22918 To do so: ► Connect the VBB15 via the ignition lock (= vehicle terminal 15 *) with the vehicle plus pole.

  • Page 36: Monitoring Concept

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System description Hardware description > 5.1.3 Monitoring concept 22919 The controller monitors the supply voltage for overvoltage and undervoltage. In case of undervoltage, the controller switches off. > Monitoring and securing mechanisms 22941 >...
  • Page 37 The watchdog has multiple levels:  IEC task-related watchdog This watchdog works in the ifm operating system and is executed in each CPU core. Each task is monitored individually. If an error occurs, the system only deactivates the affected PLC and the corresponding outputs.

  • Page 38: Inputs (Technology)

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System description Hardware description > 5.1.4 Inputs (technology) Types of inputs ............................ 38 List of inputs ............................42 14090 Types of inputs Binary input block diagram plus/minus-switching ................38 Input type IN MULTIFUNCTION-A ...................... 39 Input type IN FREQUENCY-A/B ......................

  • Page 39: Input Type In Multifunction-A

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System description Hardware description > Input type IN MULTIFUNCTION-A 23081 Binary and analogue inputs Block diagram IN MULTIFUNCTION-A IN#### = Connection of multi-function input no. #### (CR) = device (1) = input filter (2) = analogue current measurement = 300 ...

  • Page 40: Input Type In Resistor-A

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System description Hardware description > Input type IN RESISTOR-A 23083 Binary inputs and resistance measurement Block diagram IN RESISTOR-A IN#### = Connection of frequency / counting input no. #### (CR) = device...

  • Page 41: Input Type In Digital-B

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System description Hardware description > Input type IN DIGITAL-B 23089 Binary inputs Block diagram IN DIGITAL-B IN#### = Connection of binary input no. #### (CR) = device (1) = input filter (2) = measured value (analogue)

  • Page 42: List Of Inputs

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System description Hardware description > List of inputs 23117 IEC identifier Input type IN0000 IN Frequency-A IN0001 IN Frequency-A IN0002 IN Frequency-A IN0003 IN Frequency-A IN0100 IN Multifunction-A IN0101 IN Multifunction-A IN0102...

  • Page 43: Outputs (Technology)

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System description Hardware description > 5.1.5 Outputs (technology) Output types ............................43 List of outputs ............................49 14093 Output types Binary output block diagram plus/minus-switching ................43 Output type OUT PWM-n-A ......................... 44 Output type OUT PWM-n-B .........................

  • Page 44: Output Type Out Pwm-N-A

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System description Hardware description > Output type OUT PWM-n-A 23091 n = current rating Example: n = 25  I = 2.5 A Binary output or analogue output with pulse width modulation (PWM), optionally current-controlled (PWM...

  • Page 45: Output Type Out Pwm-N-B

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System description Hardware description > Output type OUT PWM-n-B 23093 n = current rating Example: n = 25  I = 2.5 A Binary output or analogue output with pulse width modulation (PWM)

  • Page 46: Output Type Out Pwm-N-Bridge-A

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System description Hardware description > Output type OUT PWM-n-BRIDGE-A 23094 n = current rating Example: n = 25  I = 2.5 A Binary output or analogue output with pulse width modulation (PWM), optionally current-controlled (PWM...

  • Page 47: Output Type Out Supply-A

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System description Hardware description > Output type OUT Supply-A 23125 The output OUT3000 is used to supply sensors with a stable voltage (5 V or 10 V) that is not affected by fluctuations of the supply voltage.

  • Page 48: Output Type Out Voltage-A

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System description Hardware description > Output type OUT Voltage-A 23126 The output provides 0...10 V e.g. for further controllers or actuators. M3071n / CR071n: only OUT3001 M3072n / CR072n: OUT3001 and OUT3002 The output is protected against overload and automatically switches off if overloaded.

  • Page 49: List Of Outputs

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System description Hardware description > List of outputs 23116 IEC identifier Output type OUT0000 OUT PWM-25-A OUT0001 OUT PWM-25-B OUT0002 OUT PWM-25-A OUT0003 OUT PWM-25-B OUT0004 OUT PWM-25-A OUT0005 OUT PWM-25-B OUT0006...

  • Page 50: Feedback In Case Of Externally Supplied Outputs

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System description Hardware description > 5.1.6 Feedback in case of externally supplied outputs 23874 Do not apply any external voltage to the outputs! > As soon as output group switch VBBn_SW_Q = FALSE: The internal device monitoring checks the voltage on the contact bar after the output group switch.

  • Page 51: Interfaces

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System description Interfaces > Interfaces 23132 The device includes the interfaces described in the following. Position of the connections on the device and technical data: → Installation instructions, data sheet > 5.2.1...

  • Page 52: Can: Interfaces And Protocols

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System description Interfaces > 5.2.3 CAN: Interfaces and protocols 23147 ► Familiarise yourself with the following CODESYS functions!  CAN-based fieldbuses → Online help > Fieldbus support > CAN-based fieldbuses The device has 4 CAN interfaces. Each CAN interface supports the following protocols: ...

  • Page 53: Software Description

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System description Software description > Software description Overview: Software ..........................53 Software module for the device ......................55 23148 > 5.3.1 Overview: Software 23511 We differentiate between the following software components: >...
  • Page 54 The programmer can store files and directories on the controller and use them in the application. Or the applications themselves create files and store them in the controller. The bootloader is a fallback level for cases in which the ifm operating system is no (longer) available or corrupt.

  • Page 55: Software Module For The Device

    23503 The bootloader is a start program with which the operating system and the application can be reloaded on the device. 23561 Only execute the bootloader update when explicitly requested by ifm! > Operating system 23504 Basic program in the device, establishes the connection between the hardware of the device and the application.
  • Page 56 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System description Software description > Application 23505 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.

  • Page 57: Getting Started

    Manage a project → Online help > CODESYS Development System > Protecting and Saving the Project ifm electronic provides a special template for each model of the device family. The user can select the corresponding template when the project is created.

  • Page 58: Create New Project With Cr711S

    6.2.1 Create new project with CR711S 23452 Requirements > ifm package "CODESYS for ifm R360III Products" has been correctly installed (→ Installation). Create new CR711S project ► Select [File] > [New Project...]. > The window [New Project] appears. ► Set the following values: 1.

  • Page 59: Overview: Project Structure With Cr711S

    23387 A CODESYS project contains all components for configuration, management and programming of the CR711S. All components of a project are shown in the window [Devices] in a hierarchic tree view. CODESYS projects with a CR711S have the following structure:...

  • Page 60: Use Codesys User Manual

    > Use CODESYS user manual 15221 This manual only describes the integration, configuration and the programming of the CR711S using the CODESYS development system. For the description of user actions and user interface elements the CODESYS terminology will be used.

  • Page 61: Configure Programming Interface

    CODESYS PC/laptop and Ethernet interface of the device are connected. > Optional: Adjust IP settings of the Ethernet interface. Select communication settings ► In the device tree: Double-click on symbol [Device (CR711S)] > In the editor window: Select tab [Communication]. >...

  • Page 62: Add Ifm Function Libraries To The Application

    → Online help > CODESYS Development System > Managing Libraries > Adding a library to the application The ifm package includes function libraries for the programming of the device under CODESYS. The libraries are installed in CODESYS together with the ifm package.

  • Page 63: Activate The Access Protection For A Project

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Getting started Activate the access protection for a project > Activate the access protection for a project 21783 ► Familiarise yourself with the following CODESYS functions!  Protect and save project → Online help > CODESYS Development System > Protect and save project The user can use a password to protect the device from unauthorised access.

  • Page 64: System Configuration

    (→ p. 32) To allocate the memory partitions to the PLCs: Select memory partition ► In the device tree: Double-click on symbol [Device (CR711S)] ► In the editor window: Select [Memory Layout] tab. > The editor window shows the partitioning of the memory:...

  • Page 65: Allocate Inputs/Outputs

    To allocate the I/Os to the PLCs: Before the programming of the application may even begin: Select I/O allocation ► In the CODESYS device tree: Double-click on symbol [Device (CR711S)] ► In the editor window: Select [I/O Assignment] tab. >...

  • Page 66: Manage Files

    23520 To transfer files between PC and device: Select file view ► In the device tree: Double-click on symbol [Device (CR711S)] ► In the editor window: Select the [Files] tab. > The editor window shows the file structure on the PC on the left and on the device on the right Transfer file from PC to device ►...

  • Page 67: Configure Inputs And Outputs

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System configuration Configure inputs and outputs > Configure inputs and outputs 23099 The inputs and outputs can be configured applying two methods: > 7.2.1 via system configuration 23149 This method is useful if the configuration is not supposed to be changed again during the runtime of the application.

  • Page 68: Configure Interfaces

    The the IP parameter of the Ethernet interface 23455 In order to update the runtime system of the CR711S via a network, the device must be connected to the corresponding network. For the configuration of the Ethernet interface, the following options are available: ...
  • Page 69 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System configuration Configure interfaces > Address assignment in Ethernet networks 14436 In the Ethernet network every IP address MUST be unique. The following IP addresses are reserved for network-internal purposes and are therefore not allowed as an address for participants: nnn.nnn.nnn.0 | nnn.nnn.nnn.255.

  • Page 70: Configure Can Interfaces

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System configuration Configure interfaces > 7.3.3 Configure CAN interfaces 23156 The CAN interfaces are configurable as follows:  via system configuration: • CANopen • SAE J1939  via function block: • RAW-CAN...
  • Page 71 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System configuration Configure interfaces > via system configuration: CANopen Manager 23159 In the CODESYS device tree, you will find the following entry under each PLC: [Communication] > [CAN] Configure each interface only at ONE position! ...
  • Page 72 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System configuration Configure interfaces >  Set CANopen manager parameters ► In the CODESYS device tree: Double-click on [Communication] > [CAN] > [CiA CANopenManager] > [CANopenManager]. ► Tab [General] > [General] > [Node ID]: assign a node ID to this interface using /.
  • Page 73 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System configuration Configure interfaces > via system configuration: CANopen device 23523 In the CODESYS device tree, you will find the following entry under each PLC: [Communication] > [CAN] These entries are equivalent.
  • Page 74 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System configuration Configure interfaces > via system configuration: J1939 manager 23522 In the CODESYS device tree, you will find the following entry under each PLC: [Communication] > [CAN] These entries are equivalent.
  • Page 75 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System configuration Configure interfaces >  Attach J1939-ECU ► In the CODESYS device tree: Right mouse click on [Communication] > [CAN] > [ifmCANBus] > [J1939_Manager]. ► Select [Add Device...]. > Window [Add Device] appears.

  • Page 76: Interface Configuration File Comconf.cfg

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 System configuration Configure interfaces > 7.3.4 Interface configuration file comconf.cfg 22929 The file directory /com of the device contains the file comconf.cfg. To change the configuration data of the following interfaces, this file must be written into the device with the corresponding changes: •...

  • Page 77: Programming

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Programming Objects of a PLC application Programming Objects of a PLC application ....................... 77 Create PLC application ........................78 Use ifm function libraries ........................81 Use IO mapping ........................... 83 Use RawCAN (CAN Layer 2) ......................87 Use CANopen ............................

  • Page 78: Create Plc Application

    Editor window shows input mask of the selected programming language. ► Enter program code. > 8.2.1 Supported programming languages 23454 The following table shows which ifm function libraries support which programming languages according to IEC 61131: Library ifmDeviceCR711S.library ifmCANopenManager.library ifmRawCAN.library ifmFastInput.library...

  • Page 79: Supported Variable Types

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Programming Create PLC application > 8.2.2 Supported variable types Retain variables ........................... 79 23456 ► Familiarise yourself with the following CODESYS functions!  Local variables → Online help > CODESYS Development System > Reference Programming >...

  • Page 80: Options To Access Input And Output Data

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Programming Create PLC application > 8.2.3 Options to access input and output data 17621 In a CODESYS project, each input and output has a physical address according to the IEC standard (e.g. %IW5). CODESYS offers the following options to access this address from a PLC application and thereby to access the input and outputs data of the device: ...

  • Page 81: Use Ifm Function Libraries

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Programming Use ifm function libraries > Use ifm function libraries 23458 ifm electronic provides the following function libraries for the programming of the device under CODESYS 3.5: Description Name Functions for use of the CAN interfaces as CANopen Manager...

  • Page 82: Access To Outputs

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Programming Use ifm function libraries > 8.3.2 Access to outputs 23608 To access the outputs of the device, the following functional elements are available: Function element Short description Output (→ p. 128)

  • Page 83: Use Io Mapping

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Programming Use IO mapping > Use IO mapping Access inputs ............................84 Access outputs ............................ 85 Read diagnostic data of the device ..................... 86 23498 During the IO mapping (I/O image), global variables are coupled to the IEC addresses (%Ixx, %Qxx).

  • Page 84: Access Inputs

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Programming Use IO mapping > 8.4.1 Access inputs 23499 The user can use the following global variables to access the operating modes and the values of the inputs of the device. Data...

  • Page 85: Access Outputs

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Programming Use IO mapping > 8.4.2 Access outputs 23515 The user can use the following global variables to access the operating modes and the values of the outputs of the device. Data type Access Description...

  • Page 86: Read Diagnostic Data Of The Device

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Programming Use IO mapping > 8.4.3 Read diagnostic data of the device 23528 The user can use the following global variables to access the current diagnostic data of the device: Data type Access Description...

  • Page 87: Use Rawcan (Can Layer 2)

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Programming Use RawCAN (CAN Layer 2) > Use RawCAN (CAN Layer 2) RawCAN: Control CAN network nodes ....................87 RawCAN: Send and receive CAN messages ..................87 RawCAN: Request and send remote CAN messages ................ 88 23545 ►...

  • Page 88: Rawcan: Request And Send Remote Can Messages

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Programming Use RawCAN (CAN Layer 2) > 8.5.3 RawCAN: Request and send remote CAN messages 23548 The following POUs are available to request remote messages in a CAN network or to send replies to...

  • Page 89: Use Canopen

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Programming Use CANopen > Use CANopen CANopen: Send and receive SDO ...................... 89 CANopen: Network Management (NMT) .................... 89 23544 Configure task processing ► Observe the notes on task configuration! (→ (→ p. 80)) ►...

  • Page 90: Use Sae J1939

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Programming Use SAE J1939 > Use SAE J1939 23802 To use the SAE J1939 network protocol, 3S provides the library IoDrvJ1939.

  • Page 91: Operation

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Operation Transfer CODESYS project to device Operation Transfer CODESYS project to device ....................91 Operating states ..........................93 Status LEDs ............................94 Reset ..............................97 Data transmission for series production ....................99 Display system information .......................

  • Page 92: Delete Application From Cr711S

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Operation Transfer CODESYS project to device > 9.1.2 Delete application from CR711S 18030 To delete an application stored on the device: Connect with the device ► In the device tree: highlight application as active application.

  • Page 93: Operating States

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Operation Operating states > Operating states 23421 The following figure shows the possible operating modes of the device: It contains: • status of the application • status of the process communication (inputs/outputs, CAN bus) •...

  • Page 94: Status Leds

    APPL3 > 9.3.1 Status LED: system ifm operating system (SYS0+SYS1) 23429 For the status of the ifm operating system, both LEDs SYS0 and SYS1 are lit simultaneously: LED colour Display Description permanently off ifm operating system on the unit: POWER_OFF...

  • Page 95: Status Led: System Plc (Sys0, Sys1)

    Status LED: System bootloader (SYS0) 23426 The SYS0 LED is for the bootloader status only. The SYS1 LED is switched off in these cases. 23561 Only execute the bootloader update when explicitly requested by ifm! LED colour Display Description Flashing with 5 Hz...

  • Page 96: Status Led: Ethernet Interfaces (Eth0, Eth1)

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Operation Status LEDs > 9.3.4 Status LED: Ethernet interfaces (ETH0, ETH1) 23445 The two Ethernet interfaces indicate their status as follows: LED colour Display Description Ethernet connection is established permanently on non data traffic...

  • Page 97: Reset

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Operation Reset > Reset Supported reset variants ........................97 Reset application (warm) ........................97 Reset application (cold) ........................98 Reset application (origin) ........................98 18025 > 9.4.1 Supported reset variants 18613 The following table shows the reset variants supported by the device-internal CODESYS PLC and the...

  • Page 98: Reset Application (Cold)

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Operation Reset > 9.4.3 Reset application (cold) 7230 To reset the application: ► In the device tree: Select [Application]. ► Select [Online] > [Login]. > CODESYS changes to the online mode. ► Select [Online] > [Reset cold] to reset the application.

  • Page 99: Data Transmission For Series Production

    23520 To transfer files between PC and device: Select file view ► In the device tree: Double-click on symbol [Device (CR711S)] ► In the editor window: Select the [Files] tab. > The editor window shows the file structure on the PC on the left and on the device on the right Transfer file from PC to device ►...

  • Page 100: Data Transmission With Tftp

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Operation Data transmission for series production > 9.5.2 Data transmission with TFTP 23580 With the aid of the program TFTP, files can be transferred. Transfer file from device to PC: tftp -i IP-Adresse GET source target IP address = address of the source device, e.g.

  • Page 101: Display System Information

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Operation Display system information > Display system information 14161 In the online mode the device tree displays the current values of the following system parameters: Description Possible values Parameter IP settings [IP Settings] E.g.

  • Page 102: Ifm Function Libraries

    Library ifmOutGroup .......................... 142 Library ifmOutHBridge ........................147 Library ifmOutPWM ........................... 152 Library ifmRawCAN.library ........................ 161 7034 This chapter contains the detailed description of the function libraries provided by ifm electronic for programming the device under CODESYS 3.5. > 10.1 General...

  • Page 103: Cop_Getnodestate

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmCANopenManager.library > 10.2.1 COP_GetNodeState 15956 Function block (FB) Function block type: EXECUTE Behaviour model: ifmCANopenManager.library Library: Symbol in CODESYS: > Description 18445 The FB indicates the current state of a CANopen node.
  • Page 104 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmCANopenManager.library > Output parameter 18447 Data type Description Possible values Parameter BOOL Indication of whether execution of the FB FALSE FB is executed xDone has been successfully completed TRUE ...

  • Page 105: Cop_Sdoread

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmCANopenManager.library > 10.2.2 COP_SDOread 18448 Function block (FB) Function block type: EXECUTE Behaviour model: ifmCANopenManager.library Library: Symbol in CODESYS: > Description 7144 The FB reads the contents of a Service Data Object (SDO) and writes them into a buffer storage. The SDO is selected via the CAN interface, the ID of the CANopen node, as well as index and subindex of the object directory.
  • Page 106 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmCANopenManager.library > Output parameters 11271 Data type Description Possible values Parameter BOOL Indication of whether execution of the FB FALSE FB is executed xDone has been successfully completed TRUE ...

  • Page 107: Cop_Sdowrite

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmCANopenManager.library > 10.2.3 COP_SDOwrite 17128 Function block (FB) Function block type: EXECUTE Behaviour model: ifmCANopenManager.library Library: Symbol in CODESYS: > Description 19833 The FB writes the contents of a Service Data Object (SDO). The SDO is selected via the CAN interface, the ID of the CANopen node, as well as index and subindex of the object directory.
  • Page 108 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmCANopenManager.library > Output parameters 7005 Data type Description Possible values Parameters BOOL Indication of whether execution of the FB FALSE FB is executed xDone has been successfully completed TRUE ...

  • Page 109: Cop_Sendnmt

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmCANopenManager.library > 10.2.4 COP_SendNMT 7006 Function block (FB) Function block type: EXECUTE Behaviour model: ifmCANopenManager.library Library: Symbol in CODESYS: > Description 7001 The FB sends a command for the control of a CANopen node.
  • Page 110 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmCANopenManager.library > Output parameters 7147 Data type Description Possible values Parameters BOOL Indication of whether execution of the FB FALSE FB is executed xDone has been successfully completed TRUE ...

  • Page 111: Nmt_Service (Enum)

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmCANopenManager.library > 10.2.5 NMT_SERVICE (ENUM) 7132 Description Possible values Data type Value Name Command for the INIT_NODE Initiate CAN node NMT_SERVICE control of a CANopen SET_PRE_OPERATIONAL Set preoperational state...

  • Page 112: Library Ifmdevicecr0721.Library

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmDeviceCR0721.library > 10.3 Library ifmDeviceCR0721.library CAN_BAUDRATE (ENUM) ....................... 113 CAN_CHANNEL (ENUM) ........................113 CANconstants (GVL) ......................... 113 SysInfo (GVL) ............................ 113 SysInfoStruct (STRUCT) ........................114 LED_COLOUR (ENUM) ........................114 LED_FLASH_FREQ (ENUM) ......................

  • Page 113: Can_Baudrate (Enum)

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmDeviceCR0721.library > 10.3.1 CAN_BAUDRATE (ENUM) 23253 Description Possible values Data type Value Name CAN baud rate Data transmission rate of the CAN KBAUD_20 20 kilobaud interface KBAUD_33 33.3 kilobaud...

  • Page 114: Sysinfostruct (Struct)

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmDeviceCR0721.library > 10.3.5 SysInfoStruct (STRUCT) 21317 Data type Description Possible values Designation INFO_TYPE System component E.g. FIRMWARE_DEVICE eInfoType STRING (255) Value of the system component E.g. 3.1 sValue...

  • Page 115: Ifmfastinput.library

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries ifmFastInput.library > 10.4 ifmFastInput.library FastCount ............................116 IncEncoder ............................118 Period ..............................120 COUNT_DIRECTION (ENUM) ......................122 ENCODER_RESOLUTION (ENUM) ....................122 FREQ_SENSE_PERIODS (ENUM) ....................122 MODE_FAST_COUNT (ENUM) ......................122 MODE_INC_ENCODER (ENUM) .....................

  • Page 116: Fastcount

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries ifmFastInput.library > 10.4.1 FastCount 23262 Function block (FB) Function block type: ifmIFastInput.library Library: Symbol in CODESYS: > Description 23259 The FB functions as a counter block for pulses on fast input channels.
  • Page 117 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries ifmFastInput.library > Output parameters 23261 Data type Description Possible values Parameters BOOL Indication if an error occurred during the FB FALSE No error occurred or the FB is xError...

  • Page 118: Incencoder

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries ifmFastInput.library > 10.4.2 IncEncoder 23298 Function block (FB) Function block type: ifmIFastInput.library Library: Symbol in CODESYS: > Description 23299 The FB is used to configure and to operate a digital input pair to record and count incremental encoder pulses.
  • Page 119 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries ifmFastInput.library > Output parameters 23301 Data type Description Possible values Parameters BOOL Indication if an error occurred during the FB FALSE No error occurred or the FB is xError...

  • Page 120: Period

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries ifmFastInput.library > 10.4.3 Period 23313 Function block (FB) Function block type: ifmIFastInput.library Library: Symbol in CODESYS: > Description 23314 TheFB is used to configure and to operate an input channel or a pair of input channels to detect and count pulses.
  • Page 121 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries ifmFastInput.library > Output parameters 23316 Data type Description Possible values Parameters BOOL Indication if an error occurred during the FB FALSE No error occurred or the FB is xError...

  • Page 122: Count_Direction (Enum)

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries ifmFastInput.library > 10.4.4 COUNT_DIRECTION (ENUM) 23267 Description Possible values Name COUNT_DIRECTION Counting direction COUNT_OFF Counting function off COUNT_UP Counting function up COUNT_DOWN Counting function down 10.4.5 ENCODER_RESOLUTION (ENUM) 23269...

  • Page 123: Mode_Inc_Encoder (Enum)

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries ifmFastInput.library > 10.4.8 MODE_INC_ENCODER (ENUM) 23271 Description Possible values Name MOTE_INC_ENCODER Operating mode of the input UNCHANGED Setting remains unchanged IN_INC_ENCODER_CSI Input for the evaluation of an incremental encoder, channel A;...

  • Page 124: Library Ifmiocommon.library

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmIOcommon.library > 10.5 Library ifmIOcommon.library Input ..............................125 Output ..............................128 SetLED .............................. 131 SupplySwitch ............................. 133 SystemSupply ............................ 135 Temperature ............................137 FILTER_INPUT (ENUM) ........................139 FILTER_OUTPUT (ENUM) ....................... 139 MODE_INPUT (ENUM) ........................

  • Page 125: Input

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmIOcommon.library > 10.5.1 Input 23155 Function block (FB) Function block type: ifmIOcommon.library Library: Symbol in CODESYS: > Description 23164 The FB is used to configure and read a digital or analogue input channel.
  • Page 126 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmIOcommon.library > Output parameters 23158 Data type Description Possible values Parameters BOOL Indication if an error occurred during the FB FALSE No error occurred or the FB is...
  • Page 127 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmIOcommon.library > Messages / diagnostic codes of the function blocks Diagnostic codes (→ (→ p. 180)):  ERR_INVALID_VALUE Error: at least 1 invalid input parameter or invalid combination of input parameters;...

  • Page 128: Output

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmIOcommon.library > 10.5.2 Output 23161 Function block (FB) Function block type: ifmIOcommon.library Library: Symbol in CODESYS: > Description 23206 The FB is used to configure and control a digital or analogue output channel.
  • Page 129 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmIOcommon.library > Output parameters 23163 Data type Description Possible values Parameters BOOL Indication if an error occurred during the FB FALSE No error occurred or the FB is...
  • Page 130 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmIOcommon.library > Messages / diagnostic codes of the function blocks Diagnostic codes (→ (→ p. 180)):  ERR_INVALID_VALUE Error: at least 1 invalid input parameter or invalid combination of input parameters;...

  • Page 131: Setled

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmIOcommon.library > 10.5.3 SetLED 23220 Function block (FB) Function block type: ifmIOcommon.library Library: Symbol in CODESYS: > Description 23221 The FB is used to configure and control an LED.
  • Page 132 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmIOcommon.library > Output parameters 23223 Data type Description Possible values Parameter BOOL Indication if an error occurred during the FB FALSE No error occurred or the FB is...

  • Page 133: Supplyswitch

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmIOcommon.library > 10.5.4 SupplySwitch 8034 Function block (FB) Function block type: ifmIOcommon.library Library: Symbol in CODESYS: > Description 23252 The FB stops all running applications and switches off the voltage supply latching (terminal 30) in order to shut down the device safely.
  • Page 134 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmIOcommon.library > Output parameters 23154 Data type Description Possible values Parameters BOOL Indication if an error occurred during the FB FALSE No error occurred or the FB is...

  • Page 135: Systemsupply

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmIOcommon.library > 10.5.5 SystemSupply 23242 Function block (FB) Function block type: ifmIOcommon.library Library: Symbol in CODESYS: > Description 23237 The FB indicates the value of the system voltage.
  • Page 136 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmIOcommon.library > Messages / diagnostic codes of the function blocks Diagnostic codes (→ (→ p. 180)):  STAT_DONE State: FB/Function has been successfully executed and completed. There are valid results on the outputs.

  • Page 137: Temperature

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmIOcommon.library > 10.5.6 Temperature 23245 Function block (FB) Function block type: ifmIOcommon.library Library: Symbol in CODESYS: > Description 23247 The FB indicates the value of the system temperature.
  • Page 138 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmIOcommon.library > Output parameters 23248 Data type Description Possible values Parameter BOOL Indication if an error occurred during the FB FALSE No error occurred or the FB is...

  • Page 139: Filter_Input (Enum)

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmIOcommon.library > 10.5.7 FILTER_INPUT (ENUM) 23166 The input signal can be changed with a digital low-pass filter. For the output signal of the function bloc, the delay time is changed to the input signal change by the filter.

  • Page 140: Mode_Input (Enum)

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmIOcommon.library > 10.5.9 MODE_INPUT (ENUM) 23168 Description Possible values Name Operating mode of the inputs UNCHANGED Preset mode is maintained MODE_INPUT IN_DIGITAL_CSI Input for analogue value measurement and digital evaluation without diagnostics;...

  • Page 141: Mode_Output (Enum)

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmIOcommon.library > 10.5.10 MODE_OUTPUT (ENUM) 23169 Description Possible values Name Operating mode of the UNCHANGED Preset mode is maintained MODE_OUTPUT outputs OUT_DIGITAL_CSI Digital output without diagnostics; CSI OUT_DIGITAL_CSO Digital output without diagnostics;...

  • Page 142: Library Ifmoutgroup

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmOutGroup > 10.6 Library ifmOutGroup OutputGroup ............................143 FILTER_OUTPUT_GROUP (ENUM) ....................146 MODE_OUTPUT_GROUP (ENUM) ....................146 23341 The library contains function blocks (POU) to control extended output functions.

  • Page 143: Outputgroup

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmOutGroup > 10.6.1 OutputGroup 23326 Function block (FB) Function block type: ifmIOutGroup.library Library: Symbol in CODESYS: > Description 23327 The FB controls the activation status of an output group and provides diagnostic information about the group and the connected outputs.
  • Page 144 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmOutGroup > Output parameters 23329 Data type Description Possible values Parameter BOOL Indication if an error occurred during the FB FALSE No error occurred or the FB is...
  • Page 145 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmOutGroup > Messages / diagnostic codes of the function blocks Diagnostic codes (→ (→ p. 180)):  ERR_INVALID_VALUE Error: At least one input parameter is invalid or outside the value range.

  • Page 146: Filter_Output_Group (Enum)

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmOutGroup > 10.6.2 FILTER_OUTPUT_GROUP (ENUM) 23338 Filter setting for voltage measurement in an output group. The signal of the voltage measurement is damped via a first-order low-pass filter.

  • Page 147: Library Ifmouthbridge

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmOutHBridge > 10.7 Library ifmOutHBridge HBridge .............................. 148 MODE_BRAKE (ENUM) ........................151 23467 The library contains function blocks (POU) to control extended output functions via an HBridge.

  • Page 148: Hbridge

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmOutHBridge > 10.7.1 HBridge 23469 Function block (FB) Function block type: ifmIOutHBridge.library Library: Symbol in CODESYS: > Description 23470 The FB configures and controls a pair of output channels in the "HBridge" operating type to control a motor.
  • Page 149 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmOutHBridge > Output parameters 23472 Data type Description Possible values Parameter BOOL Indication if an error occurred during the FB FALSE No error occurred or the FB is...
  • Page 150 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmOutHBridge > Messages / diagnostic codes of the function blocks Diagnostic codes (→ (→ p. 180)):  STAT_PREPARING State: FB/FUN is processed; final results are not yet available. Some output values are updated in each PLC cycle.

  • Page 151: Mode_Brake (Enum)

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmOutHBridge > 10.7.2 MODE_BRAKE (ENUM) 23480 Description Possible values Name Braking mode that is applied when UNCHANGED Setting remains unchanged MODE_BRAKE changing the direction (xDirection) BRAKE_OFF No braking. The voltage direction or when stopping (uiValue = 0).

  • Page 152: Library Ifmoutpwm

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmOutPWM > 10.8 Library ifmOutPWM CurrentControl ........................... 153 PWM1000 ............................156 MODE_CURRENT_CONTROL (ENUM) ..................160 MODE_PWM (ENUM) ........................160 23381 The library function blocks (POU) and enumeration types for pulse width modulation and current...

  • Page 153: Currentcontrol

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmOutPWM > 10.8.1 CurrentControl 23359 Function block (FB) Function block type: ifmIOutPWM.library Library: Symbol in CODESYS: > Description 23356 The FB is used to configure and operate a current controlled output. The current control is supported by pulse width modulation (PWM).
  • Page 154 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmOutPWM UNIT Peak-to-peak value of the dither signal permissible = 0...1 uiDitherValue which overlays with the PWM signal, in If the resulting PWM ratio value is outside [‰] the 0...1000 ‰...
  • Page 155 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmOutPWM > Messages / diagnostic codes of the function blocks Diagnostic codes (→ (→ p. 180)):  ERR_INVALID_VALUE Error: At least one input parameter is invalid or outside the value range.

  • Page 156: Pwm1000

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmOutPWM > 10.8.2 PWM1000 23343 Function block (FB) Function block type: ifmIOutPWM.library Library: Symbol in CODESYS: > Description 23344 The FB is used to configure and to operate an output with pulse width modulation.
  • Page 157 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmOutPWM > Input parameters 23345 Data type Description Possible values Parameters BOOL Reset request for an occurring error FALSE When switching from FALSE xResetError  TRUE: Reset request to the...
  • Page 158 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmOutPWM > Output parameters 23346 Data type Description Possible values Parameters BOOL Indication if an error occurred during the FB FALSE No error occurred or the FB is...
  • Page 159 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmOutPWM > Messages / diagnostic codes of the function blocks Diagnostic codes (→ (→ p. 180)):  ERR_INVALID_VALUE Error: At least one input parameter is invalid or outside the value range.

  • Page 160: Mode_Current_Control (Enum)

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmOutPWM > 10.8.3 MODE_CURRENT_CONTROL (ENUM) 23361 Description Possible values Name MODE_CURRENT_CONTROL Operating mode of the UNCHANGED Setting is maintained output OUT_CURRENT_CSO Output for current control without diagnostics and without protection;...
  • Page 161 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmRawCAN.library > 10.9 Library ifmRawCAN.library CAN_Enable ............................162 CAN_Recover ............................ 164 CAN_RemoteRequest ........................166 CAN_RemoteResponse ........................168 CAN_Rx ............................. 170 CAN_RxMask ............................ 172 CAN_RxRange ..........................174 CAN_Tx ............................. 176 CAN_Info (GVL) ..........................

  • Page 162: Library Ifmrawcan.library

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmRawCAN.library > 10.9.1 CAN_Enable 8709 Function block (FB) Function block type: ENABLE Behaviour model: ifmRawCAN.library Library: Symbol in CODESYS: > Description 7073 The FB activates the CAN Layer 2 functions of a CAN interface with a certain transmission rate.
  • Page 163 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmRawCAN.library > Output parameter 7135 Data type Description Possible values Parameter BOOL Indication if an error occurred during the FB FALSE No error occurred or the FB is...

  • Page 164: Can_Recover

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmRawCAN.library > 10.9.2 CAN_Recover 11765 Function block (FB) Function block type: EXECUTE Behaviour model: ifmRawCAN.library Library: Symbol in CODESYS: > Description 11771 The FB controls the processing of a failure of the CAN channel.
  • Page 165 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmRawCAN.library > Output parameter 11769 Data type Description Possible values Parameter BOOL Indication of whether execution of the FB FALSE FB is executed xDone has been successfully completed TRUE ...

  • Page 166: Can_Remoterequest

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmRawCAN.library > 10.9.3 CAN_RemoteRequest 10884 Function block (FB) Function block type: EXECUTE Behaviour model: ifmRawCAN.library Library: Symbol in CODESYS: > Description 10886 The FB sends the request for a CAN Remote message into a CAN network. The FB provides the data of the response message in an array.
  • Page 167 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmRawCAN.library > Output parameter 10890 Data type Description Possible values Parameter BOOL Indication of whether execution of the FB FALSE FB is executed xDone has been successfully completed TRUE ...

  • Page 168: Can_Remoteresponse

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmRawCAN.library > 10.9.4 CAN_RemoteResponse 19902 Function block (FB) Function block type: ENABLE Behaviour model: ifmRawCAN.library Library: Symbol in CODESYS: > Description 15962 The FB replies as reaction to the request of a CAN Remote message and sends the data required into a CAN network.
  • Page 169 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmRawCAN.library > Output parameter 11740 Data type Description Possible values Parameter BOOL Indication if an error occurred during the FB FALSE No error occurred or the FB is...

  • Page 170: Can_Rx

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmRawCAN.library > 10.9.5 CAN_Rx 6939 Function block (FB) Function block type: ENABLE Behaviour model: ifmRawCAN.library Library: Symbol in CODESYS: > Description 11777 The FB receives CAN messages with a defined identifier.
  • Page 171 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmRawCAN.library > Output parameter 14640 Data type Description Possible values Parameter BOOL Indication if an error occurred during the FB FALSE No error occurred or the FB is...

  • Page 172: Can_Rxmask

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmRawCAN.library > 10.9.6 CAN_RxMask 14643 Function block (FB) Function block type: ENABLE Behaviour model: ifmRawCAN.library Library: Symbol in CODESYS: > Description 14641 The FB receives CAN messages of a non-coherent area. The area is defined by a bit pattern and a bit mask.
  • Page 173 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmRawCAN.library > Output parameter 11736 Data type Description Possible values Parameter BOOL Indication if an error occurred during the FB FALSE No error occurred or the FB is...

  • Page 174: Can_Rxrange

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmRawCAN.library > 10.9.7 CAN_RxRange 11731 Function block (FB) Function block type: ENABLE Behaviour model: ifmRawCAN.library Library: Symbol in CODESYS: > Description 11732 The FB receives CAN messages of a coherent area. The area is defined by an upper and lower limit.
  • Page 175 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmRawCAN.library > Output parameter 14642 Data type Description Possible values Parameter BOOL Indication if an error occurred during the FB FALSE No error occurred or the FB is...

  • Page 176: Can_Tx

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmRawCAN.library > 10.9.8 CAN_Tx 2269 Function block (FB) Function block type: ENABLE Behaviour model: ifmRawCAN.library Library: Symbol in CODESYS: > Description 7401 By means of this FB CAN messages can be sent asynchronously. The FB writes the configured CAN message into the buffer storage of the selected CAN channel.
  • Page 177 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmRawCAN.library > Output parameter 13821 Data type Description Possible values Parameter BOOL Indication if an error occurred during the FB FALSE No error occurred or the FB is...

  • Page 178: Can_Info (Gvl)

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 ifm function libraries Library ifmRawCAN.library > 10.9.9 CAN_Info (GVL) 12281 Description Data type Possible values Name CAN_BUS_STATE → Status of the CAN interface to CiA 11898 Undefined eBusState (STRUCT) (→ p. 178)

  • Page 179: Troubleshooting

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Troubleshooting Error classes Troubleshooting Error classes ............................179 Error messages ..........................180 Messages / diagnostic codes of the function blocks ................. 180 23282 11.1 Error classes 23276 An error is classified according to its possible impact. The error class determines how the system reacts when a specific error occurs.

  • Page 180: Error Messages

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Troubleshooting Error messages > 11.2 Error messages 23459 (Most) FBs provide, among others, the following signals at their outputs. ► Evaluate these signals in the application! Data type Description Possible values Parameters...

  • Page 181: Appendix

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Appendix Directory structure and file overview Appendix Directory structure and file overview ....................181 ifm behaviour models for function blocks ..................182 10354 12.1 Directory structure and file overview 23443 The following directories and files are stored in the device:...

  • Page 182: Ifm Behaviour Models For Function Blocks

    Messages / diagnostic codes of the function blocks Diagnostic/error information → eDiagInfo (→ p. 180) All inputs and outputs in the function block that belong to the ifm behaviour model are featured at the top. > 12.2.2 Behaviour model ENABLE...

  • Page 183: Behaviour Model Execute

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Appendix ifm behaviour models for function blocks > 12.2.3 Behaviour model EXECUTE 23800 Function blocks that have the EXECUTE behaviour model are processed once after a rising edge at the xExecute input.

  • Page 184: Glossary Of Terms

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Glossary of Terms Glossary of Terms 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 that is programmed by the manufacturer into the machine specifically for the application.
  • Page 185 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Glossary of Terms > 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 >...
  • Page 186 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Glossary of Terms > CODESYS is a registered trademark of 3S – Smart Software Solutions GmbH, Germany. ® CODESYS 'CODESYS for Automation Alliance' associates companies of the automation industry whose hardware ®...
  • Page 187 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Glossary of Terms > 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...
  • Page 188 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Glossary of Terms 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.
  • Page 189 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Glossary of Terms > 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.
  • Page 190 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Glossary of Terms > 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 •...
  • Page 191 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Glossary of Terms > ISO 16845 Standard: Road vehicles – Controller area network (CAN) – Conformance test plan > J1939 → SAE J1939 > 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.
  • Page 192 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Glossary of Terms > 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.
  • Page 193 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Glossary of Terms > Operating system Basic program in the device that establishes the connection between the hardware of the device and the application program. Software module for the device → Chapter >...
  • Page 194 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Glossary of Terms > PGN = Parameter Group Number PGN = 6 zero bits + 1 bit reserved + 1 bit data page + 8 bit PDU Format (PF) + 8 PDU Specific (PS) The parameter group number is a term from the →CAN protocol →SAE J1939.
  • Page 195 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Glossary of Terms > 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.
  • Page 196 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Glossary of Terms > 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.
  • Page 197 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Glossary of Terms > 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.

  • Page 198: Index

    Configure CAN interfaces ..............70 Activate the access protection for a project .......... 63 Configure Ethernet interface..............68 Add ifm function libraries to the application ........... 62 Configure IEC watchdog ................ 37 Address ....................184 Configure inputs and outputs..............67 Address assignment in Ethernet networks ..........
  • Page 199 ..........182 MMI ...................... 191 ifm function libraries ................102 MODE_BRAKE (ENUM) ..............151 ifm weltweit • ifm worldwide • ifm à l’échelle internationale ....205 MODE_CURRENT_CONTROL (ENUM) ..........160 ifmFastInput.library ................115 MODE_FAST_COUNT (ENUM) ............122 Important standards ................
  • Page 200 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Index RAW-CAN .................... 195 serial number ....................17 Notizen • Notes • Notes ............... 202 Read device information ................ 82 Read diagnostic data of the device ............86 remanent ....................195 Reset ...................... 97 Obj / object ...................
  • Page 201 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Index SystemSupply ..................135 Target ....................196 TCP ...................... 196 Temperature ..................137 Template ....................196 The the IP parameter of the Ethernet interface ........68 Transfer CODESYS project to device ........... 91 Transmission of the files with CODESYS..........

  • Page 202: Notizen • Notes • Notes

    Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Notizen • Notes • Notes Notizen • Notes • Notes...
  • Page 203 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Notizen • Notes • Notes...
  • Page 204 Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19 Notizen • Notes • Notes...

  • Page 205: Ifm Weltweit • Ifm Worldwide • Ifm À L'échelle Internationale

    Pte. Ltd • 47100 Puchong Selangor • Tel. +603 8063 9522 ifm efector S. de R. L. de C. V. • Monterrey, N. L. 64630 • Tel. +52 81 8040-3535 Sivilingeniør J. F. Knudtzen A/S • 1396 Billingstad • Tel. +47 66 / 98 33 50 ifm elctronic (pty) Ltd •...

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