System Manual

SafetyController
ExtendedSafetyController

CR7021
CR7201
CR7506
for ISO 13849 up to PL d
for IEC 62061 up to SIL CL 2

CoDeSys® V2.3
Target V06

English
11 / 2010
7390661 / 04
 ifm System Manual ecomatmobile SafetyController (CR7021, CR7201, CR7506) V06
Contents

Contents

1 About this manual 7

1.1 What do the symbols and formats mean? ...........................................................................7
1.2 How is this manual structured?............................................................................................8
1.3 Changes of the manual (S16)............................................................................................8

2 Safety instructions 9
2.1 Important! .............................................................................................................................9
2.2 What previous knowledge is required?..............................................................................10

3 Notes on safety-related applications 11

3.1 General information ...........................................................................................................11
3.1.1 What does machine safety mean? ......................................................................11
3.1.2 Risk assessment of a machine ............................................................................11
3.1.3 Archiving of documentation .................................................................................12
3.2 Standard ISO 13849 ..........................................................................................................13
3.2.1 Risk assessment..................................................................................................13
3.2.2 Performance level PL ..........................................................................................14
3.2.3 Categories to ISO 13849 .....................................................................................16
3.2.4 Risk graph to ISO 13849 .....................................................................................18
3.2.5 Technology of the safety-related control functions for PL or SIL.........................19
3.2.6 Safety for bus systems ........................................................................................20
3.3 Safety-related programming with CoDeSys to ISO 13849 ................................................21
3.3.1 Safety-related applications software (SRASW) ...................................................22
3.3.2 Rules on the specification of the SRASW ...........................................................23
3.3.3 Rules for selecting the tools, libraries, languages ...............................................23
3.3.4 Rules on the program structure ...........................................................................24
3.3.5 Rules on SRASW and non safety-related software in one component...............25
3.3.6 Rules on the software implementation / coding...................................................25
3.3.7 Rules on the safety-related function blocks.........................................................25
3.3.8 Rules on the use of variables ..............................................................................26
3.3.9 Rules on the use of data types ............................................................................27
3.3.10 Rules for testing safety-related software .............................................................27
3.3.11 Rules for documenting safety-related software ...................................................28
3.3.12 Rules on the verification of safety-related software.............................................28
3.3.13 Rules for subsequent program modifications ......................................................28
3.4 SafetyController .................................................................................................................29
3.4.1 ExtendedSafetyController CR7200/CR7201 .......................................................29
3.4.2 Safe state.............................................................................................................29
3.4.3 Safety-related inputs and outputs........................................................................29
3.4.4 Fail-safe sensors and safety signal transmitters .................................................30
3.4.5 Test input .............................................................................................................30
3.4.6 Use in applications up to CAT 3 / PL d................................................................31
3.5 Safety functions .................................................................................................................33
3.5.1 SAFE_ANALOG_OK (FB) ...................................................................................34
3.5.2 SAFE_FREQUENCY_OK (FB)............................................................................36
3.5.3 SAFE_INPUTS_OK (FB) .....................................................................................38
3.5.4 SAFETY_SWITCH (FB).......................................................................................41

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Contents

4 System description 44
4.1 Information concerning the device .....................................................................................44
4.1.1 Test basis for certification ....................................................................................44
4.1.2 Functions and features ........................................................................................44
4.2 Information concerning the software..................................................................................46
4.3 PLC configuration ..............................................................................................................47
4.4 Monitoring concept.............................................................................................................48
4.4.1 Hardware structure ..............................................................................................48
4.4.2 Operating principle of the delayed switch-off.......................................................49
4.4.3 Operating principle of the monitoring concept .....................................................50
4.4.4 Feedback in case of externally supplied outputs.................................................54
4.4.5 Safety concept .....................................................................................................55

5 Operating states and operating system 57

5.1 Operating states.................................................................................................................57
5.1.1 INIT state (Reset) ................................................................................................57
5.1.2 STOP state ..........................................................................................................57
5.1.3 Fatal error ............................................................................................................57
5.1.4 RUN state ............................................................................................................58
5.1.5 No operating system............................................................................................58
5.2 Status LED .........................................................................................................................58
5.3 Load the operating system.................................................................................................59
5.4 Operating modes ...............................................................................................................60
5.4.1 TEST mode..........................................................................................................60
5.4.2 SERIAL_MODE ...................................................................................................60
5.4.3 DEBUG mode ......................................................................................................60

6 Configurations 61
6.1 Set up programming system ..............................................................................................61
6.1.1 Set up programming system manually ................................................................61
6.1.2 Set up programming system via templates .........................................................65
6.1.3 ifm demo programs..............................................................................................75
6.2 Function configuration of the inputs and outputs ...............................................................78
6.2.1 Configure inputs...................................................................................................79
6.2.2 Configure outputs ................................................................................................92
6.3 Hints to wiring diagrams.................................................................................................. 101
6.4 Operating modes of the ExtendedSafetyController ........................................................ 103
6.4.1 Operating mode master/master........................................................................ 104
6.4.2 Operating mode master/slave........................................................................... 105

7 Limitations and programming notes 107

7.1 Limits of the device ......................................................................................................... 107
7.1.1 CPU frequency ................................................................................................. 107
7.1.2 Above-average stress....................................................................................... 108
7.1.3 Limits of the SafetyController............................................................................ 108
7.1.4 Watchdog behaviour......................................................................................... 109
7.1.5 Available memory (CR7nnn)............................................................................. 109
7.2 Programming notes for CoDeSys projects ..................................................................... 110
7.2.1 FB, FUN, PRG in CoDeSys .............................................................................. 110
7.2.2 Note the cycle time! .......................................................................................... 110
7.2.3 Creating application program............................................................................ 111
7.2.4 Save.................................................................................................................. 112

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Contents

7.2.5 Using ifm downloader ....................................................................................... 112

7.2.6 Certification and distribution of the safety-related software.............................. 112
7.2.7 Changing the safety-relevant software after certification ................................. 113

8 Error messages 114

8.1 Slight errors..................................................................................................................... 114
8.2 Serious errors.................................................................................................................. 115
8.3 CAN error ........................................................................................................................ 116
8.4 Fatal errors...................................................................................................................... 116
8.5 Response to the system error......................................................................................... 117
8.5.1 Notes on devices with monitoring relay ............................................................ 117
8.5.2 Example process for response to a system error ............................................. 118

9 Using CAN 119

9.1 General about CAN......................................................................................................... 119
9.1.1 Topology ........................................................................................................... 119
9.1.2 CAN interfaces.................................................................................................. 120
9.1.3 System configuration ........................................................................................ 120
9.2 Physical connection of CAN............................................................................................ 121
9.2.1 Network structure.............................................................................................. 121
9.2.2 CAN bus level ................................................................................................... 122
9.2.3 CAN bus level according to ISO 11992-1......................................................... 122
9.2.4 Bus cable length ............................................................................................... 123
9.2.5 Wire cross-sections .......................................................................................... 124
9.3 Exchange of CAN data ................................................................................................... 125
9.3.1 Hints.................................................................................................................. 126
9.3.2 Data reception .................................................................................................. 128
9.3.3 Data transmission ............................................................................................. 128
9.4 Description of the CAN standard program units ............................................................. 129
9.4.1 CAN1_BAUDRATE (FB)................................................................................... 130
9.4.2 CAN1_DOWNLOADID (FB) ............................................................................. 132
9.4.3 CAN1_EXT (FB) ............................................................................................... 134
9.4.4 CAN1_EXT_TRANSMIT (FB)........................................................................... 136
9.4.5 CAN1_EXT_RECEIVE (FB) ............................................................................. 138
9.4.6 CAN1_EXT_ERRORHANDLER (FB)............................................................... 140
9.4.7 CAN2 (FB) ........................................................................................................ 141
9.4.8 CANx_TRANSMIT (FB) .................................................................................... 143
9.4.9 CANx_RECEIVE (FB)....................................................................................... 145
9.4.10 CANx_RECEIVE_RANGE (FB)........................................................................ 147
9.4.11 CANx_EXT_RECEIVE_ALL (FB)..................................................................... 150
9.4.12 CANx_ERRORHANDLER (FB) ........................................................................ 152
9.5 CAN units acc. to SAE J1939 ......................................................................................... 154
9.5.1 CAN for the drive engineering .......................................................................... 154
9.5.2 Units for SAE J1939 ......................................................................................... 158
9.6 ifm CANopen library........................................................................................................ 170
9.6.1 Technical about CANopen................................................................................ 171
9.6.2 Start-up of the network without [Automatic startup].......................................... 186
9.6.3 Units for CANopen............................................................................................ 204
9.7 CANopen Safety in safety-related applications .............................................................. 231
9.7.1 General notes and explanations on CANopen Safety...................................... 231
9.7.2 CANopen for safety-related communication..................................................... 232
9.7.3 Functions for CANopen Safety ......................................................................... 236
9.8 CAN errors and error handling........................................................................................ 242
9.8.1 CAN errors ........................................................................................................ 242
9.8.2 Structure of an EMCY message ....................................................................... 245
9.8.3 Overview CANopen error codes ....................................................................... 247

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Contents

10 In-/output functions 250

10.1 Processing analogue input values........................................................................ 250
10.1.1 INPUT_ANALOG (FB)...................................................................................... 251
10.1.2 INPUT_VOLTAGE (FB).................................................................................... 253
10.1.3 INPUT_CURRENT (FB) ................................................................................... 254
10.2 Adapting analogue values .................................................................................... 255
10.2.1 NORM (FB)....................................................................................................... 256
10.3 Counter functions for frequency and period measurement .................................. 258
10.3.1 Applications ...................................................................................................... 258
10.3.2 Use as digital inputs ......................................................................................... 258
10.4 PWM functions...................................................................................................... 272
10.4.1 Availability of PWM........................................................................................... 272
10.4.2 PWM signal processing .................................................................................... 273
10.4.3 Current control with PWM................................................................................. 285
10.4.4 Hydraulic control in PWMi ................................................................................ 292
10.5 Controller functions............................................................................................... 313
10.5.1 General ............................................................................................................. 313
10.5.2 Setting rule for a controller ............................................................................... 315
10.5.3 Functions for controllers ................................................................................... 316

11 Communication via interfaces 327

11.1 Use of the serial interface ..................................................................................... 327
11.1.1
SERIAL_SETUP (FB)....................................................................................... 328
11.1.2
SERIAL_TX (FB) .............................................................................................. 330
11.1.3
SERIAL_RX (FB).............................................................................................. 331
11.1.4
SERIAL_PENDING (FB) .................................................................................. 333
11.2 Communication via the internal SSC interface ..................................................... 334
11.2.1 SSC_RECEIVE (FB) ........................................................................................ 335
11.2.2 SSC_TRANSMIT (FB)...................................................................................... 337

12 Managing the data 338

12.1 Software reset....................................................................................................... 338
12.1.1
SOFTRESET (FB) ............................................................................................ 339
12.2 Reading / writing the system time......................................................................... 340
12.2.1 TIMER_READ (FB) .......................................................................................... 341
12.2.2 TIMER_READ_US (FB) ................................................................................... 342
12.3 Saving, reading and converting data in the memory ............................................ 343
12.3.1 Automatic data backup ..................................................................................... 343
12.3.2 Manual data storage......................................................................................... 344
12.4 Data access and data check ................................................................................ 351
12.4.1 SET_DEBUG (FB)............................................................................................ 352
12.4.2 SET_IDENTITY (FB) ........................................................................................ 353
12.4.3 GET_IDENTITY (FB)........................................................................................ 355
12.4.4 SET_PASSWORD (FB).................................................................................... 357
12.4.5 CHECK_DATA (FB) ......................................................................................... 359

13 Optimising the PLC cycle 361

13.1 Processing interrupts ............................................................................................ 361
13.1.1 SET_INTERRUPT_XMS (FB) .......................................................................... 362
13.1.2 SET_INTERRUPT_I (FB) ................................................................................. 365

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Contents

14 Annex 368
14.1 Address assignment and I/O operating modes .................................................... 368
14.1.1
Addresses / I/O variables ................................................................................. 368
14.1.2
Possible operating modes inputs / outputs....................................................... 370
14.1.3
Address assignment inputs / outputs ............................................................... 372
14.2 System flags ......................................................................................................... 374
14.3 Overview of the files and libraries used................................................................ 376
14.3.1 General overview.............................................................................................. 376
14.3.2 What are the individual files and libraries used for?......................................... 378
14.4 Troubleshooting .................................................................................................... 382

15 Glossary of Terms 383

16 Index 398

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 ifm System Manual ecomatmobile SafetyController (CR7021, CR7201, CR7506) V06
About this manual What do the symbols and formats mean?

1 About this manual

What do the symbols and formats mean? .....................................................................................7
How is this manual structured? ......................................................................................................8
Changes of the manual (S16) ......................................................................................................8
202

In the additional "Programming Manual for CoDeSys V2.3" you will obtain more details about the use
of the programming system "CoDeSys for Automation Alliance". This manual can be downloaded free
of charge from ifm's website:
a)  www.ifm.com > select your country > [Service] > [Download] > [Control systems]
b)  ifm-CD "Software, tools and documentation"
Nobody is perfect. Send us your suggestions for improvements to this manual and you will receive a
little gift from us to thank you.
© 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.

1.1 What do the symbols and formats mean?

203

The following symbols or pictograms depict different kinds of remarks in our manuals:

DANGER
Death or serious irreversible injuries are to be expected.

WARNING
Death or serious irreversible injuries are possible.

CAUTION
Slight reversible injuries are possible.

NOTICE
Property damage is to be expected or possible.

NOTE
Important notes on faults and errors.

Info
Further hints.

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 ifm System Manual ecomatmobile SafetyController (CR7021, CR7201, CR7506) V06
About this manual How is this manual structured?

► ... Required action

> ... Response, effect
 ... "see"
abc Cross references (links)
[...] Designations of keys, buttons or display

1.2 How is this manual structured?

204

This documentation is a combination of different types of manuals. It is for beginners and also a
reference for advanced users.
How to use this documentation:
 Refer to the table of contents to select a specific subject.
 The print version of the manual contains a search index in the annex.
 At the beginning of a chapter we will give you a brief overview of its contents.
 Abbreviations and technical terms are listed in the glossary.
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, please indicate this number with the title
and the language of this documentation. Thank you 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 your country > [Service] > [Download] > [Control systems]

1.3 Changes of the manual (S16)

9191

What has been changed in this manual? An Overview:

Date Theme Change
2010-09-09 PID2 (FB) parameters of the inputs corrected
2010-10-20 extended safety outputs for CR7200, CR7201 UK only: correction in topic 3816
2010-11-10 terminating resistors correction in topic 1244

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Safety instructions Important!

2 Safety instructions
Important! .......................................................................................................................................9
What previous knowledge is required? ........................................................................................10
213

2.1 Important!
214

No characteristics are warranted with the information, notes and examples provided in this manual.
The drawings, representations and examples imply no responsibility for the system and no
application-specific particularities.
The manufacturer of the machine/equipment is responsible for the safety of the machine/equipment.

WARNING
Property damage or bodily injury possible when the notes in this manual are not adhered to!
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 of this manual before performing any work on or with this device.
► The acting person must be authorised to work on the machine/equipment.
► 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 no.) > [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 no.) > [Operating
instructions]

ATTENTION
The driver module of the serial interface can be damaged!
Disconnecting the serial interface while live can cause undefined states which damage the driver
module.
► Do not disconnect the serial interface while live.

Start-up behaviour of the controller

The manufacturer of the machine/equipment must ensure with his application program that when the
controller starts or restarts no dangerous movements can be triggered.
A restart can, for example, be caused by:
 voltage restoration after power failure
 reset after watchdog response because of too long a cycle time

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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.
If this device contains a PLC, in addition these persons should know the CoDeSys® software.
The document is intended for specialists. These specialists are people who are qualified by their
training and their experience to see risks and to avoid possible hazards that may be caused during
operation or maintenance of a product. The document contains information about the correct handling
of the product.
Read this document before use to familiarise yourself with operating conditions, installation and
operation. Keep the document during the entire duration of use of the device.
Adhere to the safety instructions.

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 ifm System Manual ecomatmobile SafetyController (CR7021, CR7201, CR7506) V06
Notes on safety-related applications General information

3 Notes on safety-related applications

General information......................................................................................................................11
Standard ISO 13849 ....................................................................................................................13
Safety-related programming with CoDeSys to ISO 13849 ..........................................................21
SafetyController ...........................................................................................................................29
Safety functions............................................................................................................................33
3750

3.1 General information

What does machine safety mean?...............................................................................................11

Risk assessment of a machine ....................................................................................................11
Archiving of documentation..........................................................................................................12
3836

3.1.1 What does machine safety mean?

3751

The European directive and the standards define the safety of a machine as its ability to execute their
function without causing any injury. By means of the design of the machine it must be ensured that
operation, equipment and maintenance in case of proper usage or foreseeable misuse can be carried
out without causing hazard to persons.

3.1.2 Risk assessment of a machine

3752

The machinery directive requires to exclude accident risks during the life cycle of the machine.
Principally, there is no zero risk for technical equipment, i.e. residual risks must be reduced to an
acceptable level. A risk of a machine can be considered acceptable if it is borne by the operators.
The standard defines the following risk elements:
 risk without protective measure,
 risk without safety-related protective measure (STS),
 acceptable or justifiable residual risk,
 actual residual risk.

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Notes on safety-related applications General information

Figure: Residual risk after risk reduction

The standard defines for the risk probability:

 frequency and duration of the hazard,
 possibility of a hazardous event,
 possibility to avoid or limit damage.
Besides the risk probability, also the possible extent of damage must be taken into account,  Risk
assessment (→ page 13).
Thus, the risk depends on the severity of the harm AND the probability of occurrence of that
harm.

3.1.3 Archiving of documentation

3840

Documentation must be archived as follows:

 printed source code of the application software,
 application software as two copies, write-protected (e.g. disk, CD),
Documentation must clearly show, among others, the following:
 the version of the operating system used,
 the programming software and
 the hardware used.
If requested, the version of the application software and the operating system can be compared with
the archived software via the download software. When doing so, also the checksum CRC is
compared.

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Notes on safety-related applications Standard ISO 13849

3.2 Standard ISO 13849

Risk assessment ..........................................................................................................................13

Performance level PL ...................................................................................................................14
Categories to ISO 13849..............................................................................................................16
Risk graph to ISO 13849..............................................................................................................18
Technology of the safety-related control functions for PL or SIL .................................................19
Safety for bus systems.................................................................................................................20
4007

The standard ISO 13849 belongs to the type B1 standards

 chapter Safety standard types (→ page 395).

3.2.1 Risk assessment

3756

The standard ISO 13849 is based on the principles of risk assessment. The standard is independent
of the application and the technology used (controller, hydraulics, etc.). Depending on function and
operating mode different safety requirements can exist in a machine.
Risk assessment is important for obtaining a safe machine. Risk potentials of any kind are to be
detected before the first development step is taken or the first line of the application software is
programmed. Measures to minimise the risk must be implemented by means of design and technical
protective equipment.
When assigning safety tasks to the machine control system, ISO 13849 must be taken into account.
One part of ISO 13849 is a risk assessment. Moreover, the 5 levels (PL a...PL e) provide information
about the machine control system's resistance to the loss of the safety function.
For every single safety function the machine manufacturer must carry out the following process:
Step Activity
1. ► Determine the required performance level PLr ( PLr).
 ISO 13849, annex A
2. ► Design and technically implement safety functions,
identify safety-related parts which execute the safety function.
 SRP/CS (→ page 396)
3. ► Determine the performance level PL of the above-mentioned safety-related parts.
► To be taken into account:
- category (CAT),
- mean life MTTFd ( MTTFd),
- diagnostic coverage DC,
- possible common cause failure CCF.
4. ► Verification of the PL for the safety function.
If PL > PLr ,  continue with step 5.
If PL < PLr ,  go back to step 2.
5. ► The validation must show that the combination for each safety function of the SRP/CS meets the
corresponding requirements of ISO 13849.
If all requirements are met,  continue with step 6.
If not all requirements are met, go back to step 2.
6. When all safety functions have been analysed,  ready!
Otherwise:  Analyse the next safety function
Table: Iterative process for designing the safety-related parts of controllers SRP/CS

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Notes on safety-related applications Standard ISO 13849

3.2.2 Performance level PL

4011

Parts of machine control systems which are assigned to provide safety functions are called
"safety-related parts of control systems" (SRP/CS). These parts can consist of hardware and / or
software and can either be separate from the control machine or an integral part of it. In addition to
providing safety functions an SRP/CS can also provide operating functions, e.g. a two-hand control for
starting a process.
The ability of safety-related parts of controllers to perform a safety function at foreseeable conditions is
assigned to one of 5 levels of the so-called performance level PL (PL a...PL e). This performance level
is defined as the probability of a dangerous failure per hour.
Performance level Probability of a dangerous failure Probable operating time without a dangerous
[1/h] failure [h]
PL a > 0.000 01 ... < 0.000 1 > 10 000 ... < 100 000
PL b > 0.000 003 ... < 0.000 01 > 100 000 ... < 333 333
PL c > 0.000 001 ... < 0.000 003 > 333 333 ... < 1 000 000
PL d > 0.000 000 1 ... < 0.000 001 > 1 000 000 ... < 10 000 000
PL e > 0.000 000 01 ... < 0.000 000 1 > 10 000 000 ... < 100 000 000
The probability of a dangerous failure of the safety function depends on several factors, e.g.:
- the hardware and software structure,
- the scope of the fault detection mechanisms (= diagnosis coverage degree DC),
- the reliability of components (= mean time to failure MTTFd),
- the failures with a common cause CCF,
- the design process,
- operating stress,
- environmental conditions and
- the operating conditions.
NOTE: For achieving the PL, further measures are necessary in addition to the maximum permissible
probability of a dangerous failure per hour.
The PL of the SRP/CS must be determined by assessing the following aspects:
- MTTFd value of individual components ( ISO 13849, annexes C+D),
- the diagnosis coverage degree DC,
- the possible failure of several components due to the same cause CCF,
- the structure,
- the behaviour of the safety function under fault conditions,
- safety-relevant software,
- systematic failures,
- the ability to perform a safety function under foreseeable conditions.
If required, further aspects are important for the PL:
- operational aspects
- demand rate rd,
- test rate rt.

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Notes on safety-related applications Standard ISO 13849

In order to simplify the determination of the achieved PL, ISO 13849 provides a method based on the
categorisation of structures according to specific design criteria and specified behaviour under fault
conditions. These categories are allocated one of 5 levels, the categories CAT B, CAT 1...CAT 4:
Category Requirement System behaviour
CAT B The system must withstand the influences to be A fault may lead to a loss of the safety function.
expected.
CAT 1 The requirement of CAT B must be met. System behaviour of CAT B, but with a lower fault
probability.
Use of tried-and-tested components and principles.
CAT 2 The requirement of CAT 1 must be met. System behaviour of CAT B, but a fault is identified at
The safety function must be checked by the machine the following check.
control system at defined intervals.
CAT 3 The requirement of CAT 1 must be met. Some but not all faults are detected. Accumulation of
A single fault must be identified and must not lead to a undetected faults can lead to a loss of the safety
function.
loss of the safety function.
CAT 4 The requirement of CAT 3 must be met. Faults are detected in due time.
Single faults are detected in each safety-related part.
Accumulation of faults must not lead to a loss of the
safety function.

Category CAT B CAT 1 CAT 2 CAT 2 CAT 3 CAT 3 CAT 4

DC none none low medium low medium high
low MTTFd PL a not covered PL a PL b PL b PL c not covered
medium MTTFd PL b not covered PL b PL c PL c PL d not covered
high MTTFd not covered PL c PL c PL d PL d PL d PL e
DC = diagnosis coverage degree
MTTFd = mean life

NOTE
Part of the inputs and outputs of the SafetyController is approved for applications ...
- up to PL d to ISO 13849,
- up to SIL CL 2 to IEC 62061.
A prerequisite for this is that the inputs and outputs of the SafetyController are wired and evaluated by
the application program (as described in the chapter Configurations (→ page 61)).

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Notes on safety-related applications Standard ISO 13849

3.2.3 Categories to ISO 13849

4013

The standard ISO 13849 differentiates between the following categories:

Characteristic Category
B 1 2 3 4
Draft according to the corresponding standards. X X X X X
Must withstand to the expected influences.
Fundamental safety principles X X X X X
Tried-and-tested safety principles X X X X
Use of tried-and-tested components. X X X X
Mean time to dangerous failure MTTFd low to high low to high low to high high
medium
Fault detection (tests) X X X
Single fault tolerance X X
Consideration of fault accumulation X
Diagnostic coverage DC none none medium to medium to high
low low
Measures against CCF X X X
Mainly characterised by component selection structure
X = characteristic must be met

Especially for category 3 / performance level d this means in detail:

According to ISO 13849 the SRP/CS shall, as a minimum, be designed, constructed, selected,
assembled and combined in accordance with the relevant standards, and meet basic safety principles
for the specific application to withstand the following:
 the expected operating requirements e.g. the reliability regarding switching capacity and switching
frequency,
 the influence of the material to be processed, e.g. the cleaning agent,
 other relevant external influences, e.g. mechanical vibrations, electromagnetic interference,
interruptions or disturbances of the power supply.
SRP/CS shall be designed and constructed using tried-and-tested components and safety principles.
This means:
 A tried-and-tested component for a safety-related application has been widely used with
successful results in similar applications in the past.
 Or it has been produced and verified by using principles which demonstrate its suitability and
reliability for safety-related applications.
 Newly developed components and safety principles can be considered equivalent if they meet the
foregoing condition.
The MTTFd (mean time to failure) of each redundant channel (depending on the PLr (required
performance level)) must be low to high.
In SRP/CS the machine control system must check its functions at suitable intervals.
 The check must be carried out...
- when starting the machine
- prior to initiation of hazardous situations,
- periodically during operation if the risk assessment and operating mode indicate this to be
necessary.
 The test must allow the operation if no fault was detected or generate an output which initiates
suitable control measures if a fault is detected.
 The test itself must not lead to a hazardous situation.

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The diagnosis coverage DC of the entire SRP/CS including fault detection is to be as high as possible
if the MTTFd is low.
Measures against CCF (common cause failure) must be taken.
A single fault in one of the components of an SRP/CS must be detected and must not lead to a loss of
the safety function.
 If feasibly in an appropriate manner, the fault must be detected at or before the next time when the
safety function is required, e.g. by positively guided relay contacts and monitoring of redundant
outputs.
 Some but not all faults are detected.
 Accumulation of undetected faults can lead to a loss of the safety function.

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3.2.4 Risk graph to ISO 13849

3757

hoch - Beitrag zur Risikominderung - niedrig

high - Contribution to risk reduction - low
PLr a
P1
F1 P2
PLr b
S1
F2 P1
P2
Start
PLr c
P1
F1 P2
S2 PLr d

F2 P1

P2
PLr e

Graphics: Risk graph to ISO 13849

Legend:
S = How severe is the possible injury?
S1 = slight, reversible injury
S2 = severe, irreversible injury of one or several persons or death of a person
F = How often occurs the hazard and how long is the exposure to the hazard? ¹)
F1 = seldom to less often and / or exposure time is short
F2 = frequently to continuously and / or exposure time is long
P = Is it possible to avoid that the person is exposed to the hazard? ²)
P1 = possible under certain conditions
P2 = scarcely possible
PLr = required performance level
a = low contribution to risk reduction
...
e = high contribution to risk reduction
¹) For the frequency it is not important whether always the same person is exposed to the hazard or
whether several persons are exposed to the hazard one after the other.
²) Can the corresponding person identify or avoid the hazard in due time or can the impact of an
accident significantly be reduced? This depends, among others, on the following aspects:
- operation with or without supervision,
- operation by qualified or unqualified staff,
- the speed with which the hazard arises
- good or bad possibility to evade hazard by escaping,
- practical experiences with the safety of such a process.
The graphic representation shown should be taken into account for each safety function. The risk
assessment method is based on ISO 14121 and should be carried out according to ISO 12100-1.

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3.2.5 Technology of the safety-related control functions for PL or

SIL
4012

IEC 62061 and ISO 13849-1 specify requirements for the design and implementation of safety-related
control systems of machines. The user of one of the two standards can assume that he meets the
required safety requirements if he works in compliance with the indicated areas of application. The
following table summarizes the application areas of IEC 62061 and ISO 13849-1.
Type Technology of the safety-related Performance level PL Safety integrity level SIL
control functions to ISO 13849 to IEC 62061
A not electrical, e.g. hydraulic limited to the specified architectures - not contained -
B electromechanical, e.g. relay and / or limited to the specified architectures ¹) all architectures up to SIL CL 3
non complex electronics up to PL e
C complex electronics ²), limited to the specified architectures ¹) all architectures up to SIL CL 3
e.g. programmable up to PL d
D A combined with B limited to the specified architectures ¹) all architectures ³)
up to PL e
E C combined with B limited to the specified architectures ¹) all architectures up to SIL CL 3
up to PL d
F C combined with A or limited to the specified architectures ¹) all architectures ³)
C combined with A and B up to PL d

¹) specified architectures  ISO 13849-1,  chapter Categories to ISO 13849 (→ page 16).
²) for complex electronics: use of the specified architectures to ISO 13849-1 up to PL d or any
architecture to IEC 62061.
³) for non electrical technology: use of the components in accordance with ISO 13849-1 as
subsystems.
For information purposes we show here how the results of the standard ISO 13849 (Performance
Level PL) and the standard IEC 62061 (Safety Integrity Level SIL) can be compared:
Performance level PL Safety integrity level SIL
to ISO 13849 to IEC 62061
PL a (no equivalence)
PL b  SIL CL 1
PL c  SIL CL 1
PL d  SIL CL 2
PL e  SIL CL 3
(no equivalence) SIL CL 4

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3.2.6 Safety for bus systems

3761

In addition to the above-mentioned measures for the set-up of safe machine control systems, the
faults during the transmission of "safe data" via a bus system must be detected and controlled.
For the development of the protocol supplement CANopen Safety, the measures below were taken
into account and integrated into the protocol.

Info
In conjunction with the SafetyController, CANopen Safety can be used in applications up to PL d.

useful measure
Fault 1 2 3 4 5 6 7 8
Repetition of old messages X X
which are no longer valid.
Loss of messages X
Insertion of wrong messages X X X X
Wrong order of messages X X
Data corruption X X
Delay in message X X
transmission
Mixing of safety-related and X X X
non safety-related messages
1 = assign and check a serial number
2 = timestamp (to be sent to specified times)
3 = expected time (time-out to be monitored)
4 = echo (receiver repeats the command)
5 = identification of transmitter and receiver
6 = message identification
7 = data storage
8 = encryption methods

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3.3 Safety-related programming with CoDeSys to

ISO 13849

Safety-related applications software (SRASW) ...........................................................................22

Rules on the specification of the SRASW ....................................................................................23
Rules for selecting the tools, libraries, languages........................................................................23
Rules on the program structure....................................................................................................24
Rules on SRASW and non safety-related software in one component .......................................25
Rules on the software implementation / coding ...........................................................................25
Rules on the safety-related function blocks .................................................................................25
Rules on the use of variables.......................................................................................................26
Rules on the use of data types.....................................................................................................27
Rules for testing safety-related software......................................................................................27
Rules for documenting safety-related software............................................................................28
Rules on the verification of safety-related software .....................................................................28
Rules for subsequent program modifications...............................................................................28
4120

For SRASW in components with PLr c to PLr e (ecomatmobile controller only to PLr d possible) the
following measures are additionally required or recommended:

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3.3.1 Safety-related applications software (SRASW)

3834

 Principally all information and notes in this manual must be taken into account for creation of the
application software.
 All activities in the life cycle of safety-related embedded software or application software must
mainly target to avoid faults caused during the software life cycle ( following graphics).
The main goal of the following requirements is to achieve readable, understandable and serviceable
software.
Spezifikationen
der Sicherheits- Sicherheitsbezogene
funktionen Software-Spezifikation Validierung Validierung Validierte Software

Specifications Safety related Validation Validation Validated software

of the safety software specification
functions

Systementwurf Integrationstests

System design Integration tests

Ergebnis
Result Modulentwurf Modulttests

Verifikation Module design Module tests

Verification

Codierung

Coding

Graphics: Simplified V model of the software life cycle to ISO 13849

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3.3.2 Rules on the specification of the SRASW

4122

► Check the specification of the SRASW.

► Make the specification available to all persons who are involved in the life cycle of the software.
The specification must contain the following descriptions:
 safety functions with required PLr and corresponding operating modes,
 performance criteria, e.g. response times,
 hardware architecture with external signal interfaces,
 methods for detecting and controlling external failures.

3.3.3 Rules for selecting the tools, libraries, languages

4123

► Use appropriate tools proven in use.

► Tools should enforce language subsets and programming guidelines, or at least guide the
developer. This is largely supported by CoDeSys.
► During the developing phase check as often as possible the application software by means of
compilation in CoDeSys. In this way systematic errors are detected and eliminated at an early
stage.
► Use validated function block libraries (FB) in compliance with the applicable standards:
- safety-related FB libraries delivered by ifm or
- validated application-specific FB libraries.
Principally, all programming languages are allowed, however:
Only the following programming languages shall be used for safety-related applications:
 Limited variability language (LVL) that provides the capability of combining predefined,
application-specific library functions.
In CoDeSys these are LD (ladder diagram) and FBD (function block diagram).
 Full variability language (FVL) provides the capability of implementing a wide variety of functions.
These include e.g. C, C++, Assembler. In CoDeSys it is ST (structured text).
► Structured text is recommended exclusively in separate, certified functions, usually in embedded
software.
► In the "normal" application program only LD and FBD should be used. The following minimum
requirements shall be met.
In general the following minimum requirements are made on the safety-related application software
(SRASW):
► Modular and clear structure of the program. Consequence: simple testability.
► Functions are represented in a comprehensible manner:
- for the operator on the screen (navigation)
- readability of a subsequent print of the document.
► Use symbolic variables (no IEC addresses).
► Use meaningful variable names and comments.
► Use easy functions (no indirect addressing, no variable fields).
► Defensive programming.
► Easy extension or adaptation of the program possible.
We highly recommend to establish procedures and data backup to identify and archive all documents,
software modules, results of verification and validation and tool configuration related to a specific
SRASW.

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3.3.4 Rules on the program structure

4124

► Design and implement the interface between user and SRP/CS such that no person is
endangered during the intended use (= functions and features) or reasonably foreseeable
incorrect use of the machine.
► Use ergonomic principles so that machine and controller, including the safety-related components,
are easy to use and the user is not tempted to act in a dangerous way.
► Apply the safety requirements in order to comply with the ergonomic principles of ISO 12100-2.
► Use semi formal procedures to describe the data and control flow, e.g. status diagram or program
flow diagram.
Structure the program to generate a consistent and understandable frame in which different processes
can easily be found.
► Use templates for typical programs and functions.
► The complete application should be called by the program block PLC_PRG. Nothing else should
be programmed in the PLC_PRG (no logic processing).
► Implement safety functions separately from pure control functions, i.e. in their own program and
function blocks.
► Use safety functions from validated safety-related POU libraries.
► Write safety-related functions blocks (FBs) with code lengths as minimized as possible.
► Within the function block (FB) the code should be executed with only one input jump and only
output jump.
► Describe the tasks of the functions in the comment.
► For clear differentiation precede the names of safety functions with an "S_".
► Comment each program section of the source code to facilitate updates, checks and corrections.
 Architecture model of 3 stages: Inputs  Processing  Outputs.
 e.g. ISO 13849, annex J
 following graphics:

Sensors  Logic  Actuators

Input blocks Processing blocks Output blocks

Detect the information of the Processing required to implement Control drive elements via safety
different fail-safe sensors via the the safety functions which lead to outputs
safety inputs. a safe state
► Assign each safety output to only one program part each. No assignments to several program
parts!
► Processing of the program is NOT to depend on variables such as jump addresses which are
calculated during the runtime, otherwise there is the risk of random faults in the program
processing. However, conditional jumps are permitted.
► Use methods for detection of external failures and for defensive programming within input,
processing and output blocks which lead to the safe state.
► Activate the controller-specific options for monitoring the total runtime ( Watchdog behaviour
(→ page 109)) and set them significantly below the error tolerance time ( Safety considerations
(→ page 31))

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3.3.5 Rules on SRASW and non safety-related software in one

component
4125

If SRASW and non safety-related software are combined in one component (otherwise impossible in
the SafetyController):
► Code SRASW and non safety-related software in different function blocks with well-defined data
links.
► Safety-related functions are not to call any non safety-related functions. Check this in CoDeSys
with the function [Project] > [Show Call Tree].
► Non safety-related functions are to activate only standard safety-related functions. Check this in
CoDeSys with the function [Project] > [Show Call Tree].
► There shall be no logical combination of non safety-related and safety-related data which could
lead to downgrading of the integrity of the safety-related signals.
Example: OR function of a safety-related signal and a non safety-related signal where the result
controls safety-related signals.

3.3.6 Rules on the software implementation / coding

4126

► The code must be readable, understandable and testable. Therefore symbolic variables are to be
used instead of explicit hardware addresses.
► Use justified or accepted programming guidelines.
► On the application layer use data integrity and plausibility tests, e.g. range checks: "defensive
programming".
► Test the code by means of simulation.
► For PL d (or PL e): Verify the code by control and data flow analysis.

3.3.7 Rules on the safety-related function blocks

4127

► Function blocks validated by ifm are preferred.

► Check whether the accepted operating conditions for these validated blocks comply with the
conditions of the program.
► Limit the size of the coded block to the following guideline values:
- Parameters: max. 8 digital + 2 INT inputs +1 output, (+ diagnosis and status signals),
- Function code: max. 10 local variables, max. 20 Boolean equations.
► Function blocks should not modify the values of the global variables.
 Rules on the use of variables (→ page 26).
► Check a digital value by means of a specified comparative test to ensure the scope of validity.
► Inconsistencies of variables to be processed should be detected by this function block and not
afterwards outside the function block.
► The error code of a block is to be externally accessible to differentiate the error from others.
► After noticing the fault, comment the possible error code and the status of the block in the source
code.
► For the error case comment the reset of the block or the recovery of the normal status in the
source code.

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3.3.8 Rules on the use of variables

4128

► Each output and each variable is to be switched on only at ONE position and switched off only at
ONE position in the program (centralised conditions).
► Variables which are used with read access several times during a cycle and which are written by
another task should be copied, at the beginning of the cycle, to a separated variable which is
nowhere else changed. Consequence: The values of the variables remain consistent in the cycle.
► Protect large variables requiring several cycles for reading or writing (e.g. in case of interruptions
of read or write processes) against inconsistencies.
► Assign each used address with "AT" in the declaration to a variable. Never use IEC addresses
directly in the program code!
► Mark the input / output variable by a prefix (e.g. "I_" / "O_" and define it separately in the
declaration, e.g.:
VAR_INPUT
I_VARIABLE: WORD; (* input variable *)
I_...
END_VAR
VAR_OUTPUT
O_VARIABLE: WORD; (* output variable *)
O_...
END_VAR
► For variables the memory is automatically assigned suitably. Therefore, if possible, DO NOT use
concrete IEC addresses for flag "%M..." because of the error rate during assignment.
► If possible, DO NOT use addresses several times because of unclear side effects.
If access is to be made by word or by bit, define a variable for the word and access the bit by
means of the bit access variable.bitnumber. Examples:
Good example: Bad example:
VAR CONSTANT VAR_GLOBAL
EnableBit: INT:=0; Flags AT %QW12: WORD;
END_VAR Enable AT %QX12.0: BOOL;
VAR_GLOBAL END_VAR
Flags AT %QW12: WORD;
END_VAR Flags:=0;
Enable:=TRUE;
Flags:=0;
Flags.0:=TRUE;
► Non safety-related POUs must not have writing access to safety-related variables. Check this with
the function [Project] > [Deliver cross-link list] in CoDeSys.
► Safety-related POUs must not have writing access to non safety-related variables. Check this with
the function [Project] > [Deliver cross-link list] in CoDeSys.
► For safety-related retain variables provide explicit test cases for the power down case.
► Use an own declaration line for each variable. No enumeration of identical variable types in the
same declaration line!  Examples:
Good example: VAR
A: BOOL; (* 1st Variable *)
B: BOOL; (* 2nd Variable *)
C: BOOL; (* 3rd Variable *)
END_VAR
Bad example: VAR
A, B, C: BOOL; (* Some Variables *)
END_VAR

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► Assign a unique and self-explanatory name and describe it in the comment of the source text for
each global variable, input and output.
► Precede the name of global variables with a "G_" for clear differentiation.
Precede the name of safety-related global variables with a "GS_".
Precede the name of safety-related variables with an "S_".
► Check values of variables on plausibility:
Never compare for "equal" (=) but for "greater than" (>) or "smaller than" (<) because exactly
"equal" is actually never achieved or found in the measuring cycle.

3.3.9 Rules on the use of data types

4130

Among the data types defined in CoDeSys the following are approved for safety-related applications:
Data type approved for safety-related applications
BOOL yes
BYTE yes
SINT
USINT
WORD yes
INT
UINT
DWORD yes
DINT
UDINT
TIME yes
TOD
DATE
DT
STRING conditionally: use does not make sense due to missing safety-related input/output units.
LREAL conditionally: error-prone due to rounding errors thus no check with EQ operator possible.
REAL Pay attention to invalid operations!
ARRAY conditionally: only with explicit range check!
STUCT yes
Enumerated types yes
Sub-data types yes
POINTER conditionally: no pointer arithmetic! Range check! New assignment of the pointer value at the
beginning of each cycle!
► An explicit range check of the index should be carried out prior to each access to an array.
► In case of an index above or below the range which cannot be explained by the application the
controller is to be put in the safe state.

3.3.10 Rules for testing safety-related software

4131

► Carry out a complete function test for all parts of the application software (test input must be
deactivated!).
The appropriate validation procedure is black box testing of the functional behaviour and the
performance criteria, e.g. timing behaviour.
For PL d (or PL e) it is recommended to execute test cases based on boundary value analyses.
We recommend a test planning. The test planning should contain test cases with completion criteria
and required tools.
I/O tests must ensure that the safety-related signals are correctly used in the SRASW.

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3.3.11 Rules for documenting safety-related software

4133

► All life cycle and modification activities are to be documented.

► Documentation must be complete, available, readable and understandable.
► Documentation within the source text must contain module headers with the following information:
 indication of a legal entity,
 description of the functions and the inputs and outputs,
 version of the FB library used and
 sufficient documented networks, instructions and declaration lines.

3.3.12 Rules on the verification of safety-related software

4134

E.g. verification, inspection, walkthrough or other appropriate activities.

3.3.13 Rules for subsequent program modifications

3838

► Upon approval of the application software in safety-related applications no more modifications

may be made in this software.
► The application software may only be used with an unchanged (after approval) operating system
software.
► Upon approval only the HEX file name_of_projectfile.H86 may be loaded via the
downloader software in the controller modules.
 chapter Creating application program (→ page 111).
► If subsequent modifications are made, the entire application software must be tested and certified
again.
 After modifying an SRASW, an impact analysis must be carried out to ensure compliance with the
specification.
 After modifying, carry out appropriate life cycle activities.
 Check the access rights regarding the modifications. Document the history of modifications.
Under the following conditions the new certification may not be necessary:
 a new risk assessment was made for the change,
 NO safety-related elements were changed, added or removed,
 the change was correctly documented.

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3.4 SafetyController

ExtendedSafetyController CR7200/CR7201................................................................................29
Safe state .....................................................................................................................................29
Safety-related inputs and outputs ................................................................................................29
Fail-safe sensors and safety signal transmitters..........................................................................30
Test input......................................................................................................................................30
Use in applications up to CAT 3 / PL d ........................................................................................31
3841

The mobile controller SafetyController is a single-channel controller which meets the following
requirements:
Safety class according to the standard
Performance level PL d / CAT 3 ISO 13849-1 ( standard ISO 13849 (→ page 13))
Safety integrity level SIL 2 IEC 62061-1

 chapter Safety concept (→ page 55)

3.4.1 ExtendedSafetyController CR7200/CR7201

4036

In this special version of the SafetyController two PLC modules are integrated in one housing. They
are internally connected via a bus.
If both PLC modules are to be used for safe applications, both PLC modules must be loaded with an
own independent program. Otherwise the secondary control device (slave) cannot be used for
safety-related functions.
 chapter Operating modes of the ExtendedController (→ page 103)
The internal interface is only available to non safety-related data exchange. If required, safe
communication is implemented externally via CANopen Safety.
 chapter CANopen Safety in safety-related applications (→ page 231)

3.4.2 Safe state

3829

The safe state of an output with safety function is the power-free status (L signal, "0").
This state must be implemented via 2 separate and independent switch-off modes. To do so,
approved switching elements are to be used.

3.4.3 Safety-related inputs and outputs

3830

Safety-related inputs and outputs must be used redundantly. That means:

 redundant connection of signal transmitters to the inputs,
 redundant outputs as second switch-off mode in the application (e.g. hydraulic valve and pump).
 chapter Safety concept (→ page 55)

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3.4.4 Fail-safe sensors and safety signal transmitters

3831

The binary safety signal transmitters must be connected to two different input groups. To do so, the
inputs marked as safe must be used as far as possible. For the redundancy the analogue channels
(configured as digital inputs) must be used.
 chapter Function configuration of the inputs and outputs (→ page 78)
Analogue fail-safe sensors must be connected to the channels marked as safe, as far as possible with
different input signals (current / voltage) in a diverse manner.
If fail-safe inductive sensors are connected, the outputs and inputs provided must be used.
 chapter Inputs for fail-safe inductive sensors (→ page 83)

3.4.5 Test input

3837

The test input must be set if e.g. the software is to be loaded into the controller (program download).
 chapter TEST mode (→ page 60).
During operation of the application the test input must not be used.
If outputs are configured as safety-related (MODE byte = OUT_SAFETY), they cannot be used when
the test input is active.
The safety-related outputs are only available after the following actions:
- when the test input is deactivated and
- a reset of the controller has been carried out (power off and on).
Nevertheless, to enable software monitoring (no program download) with the programming system
CoDeSys for maintenance purposes, SET_DEBUG (→ page 352) is provided.

NOTE
Risk of misuse and malfunction!
SET_DEBUG should be accessible only for authorised persons, e.g. locked with a key switch.

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3.4.6 Use in applications up to CAT 3 / PL d

3828

If the SafetyController is used in applications up to safety category CAT 3 or performance level PL d or

safety-integrity level SIL CL 2, the special conditions and obligations described below must be
adhered to.
Configuration and use in safety-related applications must be based on a risk assessment.
In addition, the following points must be adhered to ( Safety considerations (→ page 31)).
 also chapter Safety-related application software (SRASW) (→ page 22)

Safety considerations
3833

On the basis of the monitoring functions of the above-mentioned points implemented in the operating
system it must be assessed if with corresponding design of the safety system and the application
software process-dependent safety functions are met according to PL d.

Fault tolerance time

In this context, especially the fault tolerance time of the process is to be assessed.
The max. time it may take between the occurrence of a fault and the establishment of the safe state in
the application without having to assume a danger for people.
The max. cycle time of the application program (in the worst case 100 ms,  Watchdog
(→ page 109)) and the possible delay and response times due to switching elements have to be
considered.
The resulting total time must be smaller than the fault tolerance time of the application.

First fault occurrence time

Moreover, the first fault occurrence time must be taken into account.
Time until the first failure of a safety element.
The operating system verifies the controller by means of the internal monitoring and test routines
within a period of max. 30 s.
This "test cycle time" must be smaller than the statistical first fault occurrence time for the application.

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Operating system and software versions

835

The number of the operating system and the article number of the device must correspond, e.g.:
CR7020_V050100.H86 for CR7020.

NOTE
The software versions suitable for the selected target must always be used:
 operating system (CRnnnn_Vxxyyzz.H86 / CRnnnn_Vxxyyzz.HEX)
 PLC configuration (CRnnnn_Vxx.CFG)
 device library (ifm_CRnnnn_Vxxyyzz.LIB)
 and the further files ( chapter Overview of the files and libraries used (→ page 376))
CRnnnn device article number
Vxx: 00...99 target version number
yy: 00...99 release number
zz: 00...99 patch number
The basic file name (e.g. "CR0032") and the software version number "xx" (e.g. "02") 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.

IMPORTANT: 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).
Principally the most important data of the operating system is automatically monitored via a checksum
(CRC check). For safety-related data which is generated by the application program CHECK_DATA
(→ page 359) can additionally be used.

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Notes on safety-related applications Safety functions

3.5 Safety functions

SAFE_ANALOG_OK (FB)............................................................................................................34
SAFE_FREQUENCY_OK (FB) ....................................................................................................36
SAFE_INPUTS_OK (FB) .............................................................................................................38
SAFETY_SWITCH (FB) ...............................................................................................................41
907

For safety functions of the SafetyController we provide the following certified function blocks:
In the safety library _ifm_SafetyIO_Vxxyyzz.LIB:
 SAFE_ANALOG_OK (→ page 34)
 SAFE_FREQUENCY_OK (→ page 36)
 SAFE_INPUTS_OK (→ page 38)

In the device library _ifm_CR7xxx_Vxxyyzz.LIB:

 SAFETY_SWITCH (→ page 41)
 CAN_SAFETY_TRANSMIT (→ page 237) *)
 CAN_SAFETY_RECEIVE (→ page 239) *)

NOTE
CAN SAFETY FBs need 2 11-bit operated CAN interfaces at the same time.
When CAN SAFETY FBs are used the 2nd CAN interface can therefore not be used for SAE J1939
FBs (29 bits).

*) description of CANopen Safety and its functions:

 chapter CANopen Safety in safety-related applications (→ page 231).

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Notes on safety-related applications Safety functions

3.5.1 SAFE_ANALOG_OK (FB)

3863

Contained in the library:

ifm_SafetyIO_Vxxyyzz.LIB
Available for the following devices:
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506

Symbol in CoDeSys:

SAFE_ANALOG_OK
SAFE_ANALOG_IN1 ANALOG_INPUTS_OK
SAFE_ANALOG_IN2 ERROR_INPUTS
ACCEPT_TOLERANCE
ANALOG_MIN
ANALOG_MAX

Description
3886

SAFE_ANALOG_OK monitors safety-related analogue input signals.

In safety-related applications input signals have to be evaluated redundantly and as diversified as
possible. This FB evaluates 2 input channels (if possible from different input groups) and compares if
the measured values are within defined set tolerance and within the defined value range.
The two channels should each be processed with INPUT_ANALOG (→ page 251) Furthermore, it is
useful to evaluate the signal voltage only in a limited range (e.g. 10...90 %). This allows to detect the
following errors:
- short to ground (< 10 %)
- wire break (< 10 %)
- short to voltage supply (> 90 %)
- short circuit (< 10 %)
The result is also provided redundantly:
Comparison of inputs shows ANALOG_INPUTS_OK ERROR_INPUTS
Values within tolerance and within value range TRUE FALSE
Values within tolerance and out of value range FALSE TRUE
Values out of tolerance and within value range FALSE TRUE
Values out of tolerance and out of value range FALSE TRUE

 Example for SAFE_ANALOG_OK (→ page 35)

Parameters of the inputs

3889

Parameter Data type Description

SAFE_ANALOG_IN1 DWORD safety-related analogue value 1
SAFE_ANALOG_IN2 DWORD safety-related analogue value 2 (reference value)
ACCEPT_TOLERANCE BYTE permissible deviation analogue value 1 to analogue value 2 in [%]
value range = 0...100 %
ANALOG_MIN WORD bottom limit of the analogue input value
(e.g. wire-break detection)
ANALOG_MAX WORD upper limit of the analogue input value
(e.g. detection short to supply voltage)

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Parameters of the outputs

3893

Parameter Data type Description

ANALOG_INPUTS_OK BOOL TRUE:
values within tolerance and within value range
FALSE:
values out of tolerance and/or out of value range
ERROR_INPUTS BOOL TRUE:
values out of tolerance and/or out of value range
FALSE:
values within tolerance and within value range

Example: SAFE_ANALOG_OK
3887

In the following example for the redundant use of input signals SAFE_ANALOG_OK (→ page 34)
(from library ifm_SafetyIO_Vxxyyzz.Lib) compares the two analogue values SAFE_A_IN_1a
and SAFE_A_IN_1b. If the difference is smaller than or equal to the value of ACCEPT_TOLERANCE
the two analogue values are accepted as equal and can be further processed. If not, the error
message Safe_AnalogIn_Error is given.

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3.5.2 SAFE_FREQUENCY_OK (FB)

3865

Contained in the library:

ifm_SafetyIO_Vxxyyzz.LIB
Available for the following devices:
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506

Symbol in CoDeSys:

SAFE_FREQUENCY_OK
SAFE_FREQUENCY_IN1 FREQUENCY_INPUTS_OK
SAFE_FREQUENCY_IN2 ERROR_INPUTS
ACCEPT_TOLERANCE

Description
3890

SAFE_FREQUENCY_OK monitors safety-related frequency signals.

In safety-related applications input signals have to be evaluated redundantly. This FB evaluates
2 input channels and compares if the measured values are within the set tolerance and within the
defined value range.
The input channels should be in two different input groups. One input channel should be measured
with FREQUENCY (→ page 259) and the other channel with PERIOD (→ page 261). This will meet
the demands for redundancy and diversity.
The result is also provided redundantly:
Comparison of inputs shows FREQUENCY_INPUTS_OK ERROR_INPUTS
Values within tolerance TRUE FALSE
Values out of tolerance FALSE TRUE

 Example for SAFE_FREQUENCY_OK (→ page 37)

Applications
3802

Due to the different measuring methods errors can occur when the frequency is determined:
FREQUENCY (→ page 259) is suited for frequencies between 0.1...50 kHz; the error is reduced at
high frequencies.
PERIOD (→ page 261) carries out the period measurement. It is thus suitable for frequencies lower
than 1 kHz. The measurement of higher frequencies has a strong impact on the cycle time. This has to
be taken into account when designing the application software.
As a consequence, a safe measurement of frequencies is only possible between 100...1000 Hz.

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Parameters of the inputs

3894

Parameter Data type Description

SAFE_FREQUENCY_IN1 DWORD safety-related frequency value 1
SAFE_FREQUENCY_IN2 DWORD safety-related frequency value 2 (reference value)
ACCEPT_TOLERANCE BYTE permissible deviation frequency value 1 to frequency value 2 in [%]
value range = 0...100 %

Parameters of the outputs

3895

Parameter Data type Description

ANALOG_FREQUENCY_OK BOOL TRUE: values within tolerance
FALSE: values out of tolerance
ERROR_INPUTS BOOL TRUE: values out of tolerance
FALSE: values within tolerance

Example: SAFE_FREQUENCY_OK
3891

In the example above SAFE_FREQUENCY_OK (→ page 36) compares the two frequency values
SAVE_frequency und REF_frequency. If the difference is smaller than or equal to the value of
ACCEPT_TOLERANCE the two frequency values are accepted as equal and can be further
processed.

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3.5.3 SAFE_INPUTS_OK (FB)

3867

Contained in the library:

ifm_SafetyIO_Vxxyyzz.LIB
Available for the following devices:
 SafetyController: CR7nnn

Symbol in CoDeSys:

SAFE_INPUTS_OK
SAFE_DIGITAL_IN1 DIGITAL_INPUTS_OK
SAFE_DIGITAL_IN2 ERROR_INPUTS
SYNCHRONOUS_TIME

Description
3897

SAFE_INPUTS_OK monitors safety-related digital input signals.

In safety-related applications input signals have to be evaluated redundantly and as diversified as
possible. This FB evaluates 2 digital inputs (if possible from different input groups) and checks if the
signals have switched synchronously, i.e. within the stated SYNCHRONOUS_TIME.

Start behavior of the SYNCHRONOUS_TIME:

DIGITAL_INPUTS_OK SYNCHRONOUS_TIME starts...
FALSE ... if both SAFE_DIGITAL_IN signals were switched off AND
since one SAFE_DIGITAL_IN signal is switched on (edge FALSE  TRUE).
TRUE ... since one SAFE_DIGITAL_IN signal is switched off (edge TRUE  FALSE).

The result is also provided redundantly:

Comparison of inputs shows DIGITAL_INPUTS_OK ERROR_INPUTS
If DIGITAL_INPUTS_OK = FALSE:
Both SAFE_DIGITAL_IN signals are switched on within FALSE  TRUE *) FALSE
the SYNCHRONOUS_TIME.
If DIGITAL_INPUTS_OK = FALSE:
One SAFE_DIGITAL_IN signal is switched on within the FALSE FALSE  TRUE *)
SYNCHRONOUS_TIME.
If DIGITAL_INPUTS_OK = TRUE:
TRUE  FALSE
One SAFE_DIGITAL_IN signal is switched off within the FALSE  TRUE *)
(at once)
SYNCHRONOUS_TIME.
If DIGITAL_INPUTS_OK = TRUE:
TRUE  FALSE
Both SAFE_DIGITAL_IN signals are switched off within FALSE
(at once)
the SYNCHRONOUS_TIME.
If DIGITAL_INPUTS_OK = FALSE
AND the SYNCHRONOUS_TIME passed by: FALSE FALSE
Both SAFE_DIGITAL_IN signals are switched off.
*) switches not until after SYNCHRONOUS_TIME passed by.
 Example: SAFE_INPUTS_OK (→ page 40)

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WARNING
Risk for people if one of the operating elements on the SAFE_DIGITAL_IN inputs is mechanically stuck
(e.g. tampering).
► The user has to ensure that the operating elements always function perfectly and cannot be
tampered with.

SAFE_INPUTS_OK monitors e.g. switching signals of positively guided contacts in e-stops or the
synchronous switching of two-hand controls.
Antivalent contact pairs (one normally closed and normally open contact each) can also be processed
by inverting the input signals. Antivalent contact pairs additionally allow the detection of wiring errors
such as cross fault.
If e-stop or two-hand control are not used regularly they need to be tested manually at defined
intervals. This ensures that an error (e.g. in the wiring or the e-stop) does not remain undetected.

NOTE
Max. permissible delay times SYNCHRONOUS_TIME for typical 2-channel input signals:
e-stop max. 100 ms
two-hand control (to CAT 3) max. 500 ms

Parameters of the inputs

3900

Parameter Data type Description

SAFE_DIGITAL_IN1 BOOL safety-related input signal 1
SAFE_DIGITAL_IN2 BOOL safety-related input signal 2 (reference value)
SYNCHRONOUS_TIME TIME max. permissible delay time of the two input signals in relation to each
other

Parameters of the outputs

3901

Parameter Data type Description

DIGITAL_INPUTS_OK BOOL TRUE: signals are synchronous
= within the SYNCHRONOUS_TIME
FALSE: signals are not synchronous
= out of the SYNCHRONOUS_TIME
OR: no input signal (both = FALSE)
ERROR_INPUTS BOOL TRUE: signals are not synchronous
= out of the SYNCHRONOUS_TIME
FALSE: no error

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Example: SAFE_INPUTS_OK
3898

In this example for a 2-channel e-stop 2 digital inputs from different inputs groups have to switch on
simultaneously within 100 ms to switch on the output.
In the case of a complementary circuit (e.g. for a protective guard) the normally closed contact (e.g.
signal_1b) has to be scanned in a negated way, the normally open contact (e.g. signal_1a) without
negation.

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Notes on safety-related applications Safety functions

3.5.4 SAFETY_SWITCH (FB)

3869

Contained in the library:

ifm_CR7nnn_Vxxyyzz.LIB
Available for the following devices:
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506

Symbol in CoDeSys:

SAFETY_SWITCH
ENABLE SWITCH_ON
INIT ERROR
INPUT_CHANNEL
ENABLE_CLOCK_Q23
ENABLE_CLOCK_Q47

NOTE regarding CR7505/CR7506: Input ENABLE_CLOCK_Q47 not available.

Description
3896

SAFETY_SWITCH evaluates the signals of inductive fail-safe sensors.

The FB has to be integrated once for each connected sensor and has to be initialised during program
start once for one cycle.
The configuration of the FB (selected input channel and clock output) is taken over during initialisation
and is thus firmly set. The configuration of the FB cannot be changed during the processing of the
program.
The FB can be deactivated via input ENABLE.
> If the SafetyController reads the generated clock signal with the correct chronological sequence at
the configured output is output SWITCH_ON set to TRUE when the sensor is damped.
> In the case of an error the ERROR output is set to TRUE and output SWITCH_ON is set to FALSE
simultaneously.
> The output SWITCH_ON becomes TRUE again as soon as an error-free sensor signal is received.
The result is provided redundantly:
Comparison of inputs shows SWITCH_ON ERROR
Received clock signal (INPUT_CHANNEL) corresponds to TRUE FALSE
transmitted clock signal (Q23/Q47).
Received clock signal (INPUT_CHANNEL) does not FALSE TRUE
correspond to transmitted clock signal (Q23/Q47).
The safe output signal SWITCH_ON can be evaluated in the application.

NOTICE
> The result can vary in each PLC cycle, corresponding to the signal constellation.
► The application programmer has to evaluate a signalled error in the same cycle.
► In case of a fault, the application programmer has to bring the machine / installation into the safe
state.

 Example for SAFETY_SWITCH (→ page 43)

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Parameters of the inputs

3905

Parameter Data type Description

ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active
INIT BOOL TRUE (for only 1 cycle):
unit is initialised
FALSE: during further processing of the program
INPUT_CHANNEL BYTE input channel for evaluating the fail-safe sensor:
0 = I24 / %IX1.4
1 = I25 / %IX1.5
2 = I26 / %IX1.6
3 = I27 / %IX1.7
ENABLE_CLOCK_Q23 BOOL the associated clock signal for the fail-safe sensor comes from output
Q23 / %QX0.7
ENABLE_CLOCK_Q47 *) BOOL the associated clock signal for the fail-safe sensor comes from output
Q47 / %QX1.7 *)

*) not for CR7505, CR7506

Parameters of the outputs

3906

Parameter Data type Description

SWITCH_ON BOOL TRUE: inductive sensor is damped and generates a safe
input signal
FALSE: sensor is not damped
ERROR BOOL TRUE: sensor signal is faulty OR:
sensor is manipulated
FALSE: no faulty sensor signal

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Example: SAFETY_SWITCH
3902

In this example 2 protective guards on a waste compactor are monitored:

 Protective guard 1, connected to input channel 0 (= I24 / %IX1.4)
 Protective guard 2, connected to input channel 1 (= I25 / %IX1.5)
Only when both protective guards are closed safely does the controller release the waste compactor.

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System description Information concerning the device

4 System description
Information concerning the device ...............................................................................................44
Information concerning the software ............................................................................................46
PLC configuration.........................................................................................................................47
Monitoring concept .......................................................................................................................48
975

4.1 Information concerning the device

1324

This manual describes the ecomatmobile controller family of ifm electronic gmbh with a 16-bit
microcontroller for mobile vehicles:
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506

4.1.1 Test basis for certification

4092

Testing and certification were carried out on the basis of the following standards and specifications:
ISO 13849-1 / 03.2007
Safety of machines - safety-related parts of control systems
Part 1: General design principles

4.1.2 Functions and features

3747

The freely programmable controllers of the "SafetyController ecomatmobile" series are rated for use
under difficult conditions, e.g.:
- extended temperature range,
- strong vibration,
- intensive EMC interference.
The controllers are thus suited for direct installation in machines in mobile and robust applications. By
their specification the inputs and outputs are specially rated for this use.
Integrated hardware and software functions (operating system) offer already high protection. In
addition, special hardware and software functions are integrated in the certified controllers for
safety-related applications to enable use as a safety controller.
The SafetyController is approved for safety-related tasks according to the protection of persons if the
corresponding system check routines are integrated in the operating system and the application
software.

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System description Information concerning the device

Achievable safety class

4064

Depending on the use of the hardware or its external wiring ( chapter Hardware structure
(→ page 48)) and the structure of the application program ( chapter Safety concept (→ page 55)),
the following safety class can be achieved with the certified SafetyControllers:
Safety class according to the standard
Performance level PL d ISO 13849-1 ( standard ISO 13849 (→ page 13))
Safety integrity level SIL CL 2 IEC 62061-1

4094

The final classification may only be effected upon a risk assessment of the application. Approval of
hardware and software must be obtained from the corresponding supervisory organisations.

NOTE
Principally only certified operating systems can and may be used for safety-related applications.
The user is responsible for the reliable function of the application programs he designed. If necessary,
he must obtain an approval from the corresponding supervisory and test organisations according to the
national regulations.

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System description Information concerning the software

4.2 Information concerning the software

2730

The device operates with CoDeSys, version 2.3.9.1 or higher.

In the "programming manual CoDeSys 2.3" you will find more details about how to use the
programming system "CoDeSys for Automation Alliance". This manual can be downloaded free of
charge from ifm's website at:
 www.ifm.com > select your country > [Service] > [Download] > [Control systems]
 ifm-CD "Software, tools and documentation"
The application software conforming to IEC 61131-3 can be easily designed by the user with the
programming system CoDeSys ( www.3s-software.com). Before using this software on the PC
please note the following minimal system requirements:
 CPU Pentium II, 500 MHz
 Memory (RAM) 128 MB, recommended: 256 MB
 Free hard disc required (HD) 100 MB
 Runtime system platform Windows 2000 or higher
NOTE: Not yet released for the 64-bit platforms of Windows Vista and Windows 7
 CD ROM drive
Moreover the user must take into account which software version is used (in particular for the
operating system and the function libraries).

NOTE
The software versions suitable for the selected target must always be used:
 operating system (CRnnnn_Vxxyyzz.H86 / CRnnnn_Vxxyyzz.HEX)
 PLC configuration (CRnnnn_Vxx.CFG)
 device library (ifm_CRnnnn_Vxxyyzz.LIB)
 and the further files ( chapter Overview of the files and libraries used (→ page 376))
CRnnnn device article number
Vxx: 00...99 target version number
yy: 00...99 release number
zz: 00...99 patch number
The basic file name (e.g. "CR0032") and the software version number "xx" (e.g. "02") 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.

IMPORTANT: 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).

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System description PLC configuration

Important: the following devices must have at least the here listed targets:
Device Target at least version ...
BasicController: CR040n V01
BasicDisplay: CR0451 V01
CabinetController: CR030n V05
ClassicController: CR0020, CR0505 V05
ClassicController: CR0032 V02
ExtendedController: CR0200 V05
ExtendedController: CR0232 V01
SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506 V05
SafetyController: CR7032, CR7232 V01
SafetyController: CR7nnn V05

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.

4.3 PLC configuration

1797

The control system ecomatmobile is a device concept for series use. This means that the devices
can be configured in an optimum manner for the applications. If necessary, special functions and
hardware solutions can be implemented. In addition, the current version of the ecomatmobile
software can be downloaded from our website at: www.ifm.com.
 Setup the target (→ page 62)
Before using the devices it must be checked whether certain functions, hardware options, inputs and
outputs described in the documentation are available in the hardware.

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System description Monitoring concept

4.4 Monitoring concept

Hardware structure.......................................................................................................................48
Operating principle of the delayed switch-off ...............................................................................49
Operating principle of the monitoring concept .............................................................................50
Feedback in case of externally supplied outputs .........................................................................54
Safety concept..............................................................................................................................55
991

The controller monitors the supply voltages and the system error flags. Depending on the status the
controller switches off the internal relays or the controller.

4.4.1 Hardware structure

3772

The SafetyController has 2 internal monitoring relays (ExtendedController: 4 relays) each of which can
disconnect 12 outputs from the terminal voltage VBBx.
The monitoring relay is triggered by the microcontroller via two channels. To do so, one channel is
triggered by an AND function of the watchdog signal (internal microcontroller monitoring) and the
system flag bit RELAIS via a solid-state switch. The other channel is only triggered by the system flag
bit ERROR via a solid-state switch. When damped, the outputs to be monitored are connected to the
terminal voltage VBBx via the relay contact (not positively guided).
The second relay (clamp relay) can be integrated into the monitoring concept via the application
software as system flag RELAY_CLAMP_15.
 As for the monitoring relay for e-stop or power off, the power supply of the output circuits can be
switched off via the program.
 In addition, switching off the complete controller via the program (clamp 15 technology) can be
implemented using this relay.
The following block diagram shows the dependence of the relays on the applied signals and the logic
states of the system flags.

Graphics: Block diagram of the monitoring concept

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4.4.2 Operating principle of the delayed switch-off

Connect terminal VBBS (23) to the ignition switch ......................................................................49

Connect terminal VBBO (5) to battery (not switched) ..................................................................49
Latching........................................................................................................................................49
993

If the ecomatmobile controllers are disconnected from the supply voltage (ignition off), all outputs are
normally switched off at once, input signals are no longer read and processing of the controller
software (operating system and application program) is interrupted. This happens irrespective of the
current program step of the controller.
If this is not requested, the controller must be switched off via the program. After switch-off of the
ignition this enables, for example, saving of memory states.
The ClassicControllers can be switched off via the program by means of a corresponding connection
of the supply voltage inputs and the evaluation of the related system flags. The block diagram in the
chapter Hardware set-up (→ page 48) shows the context of the individual current paths.

Connect terminal VBBS (23) to the ignition switch

994

Via terminal 23 the controller is supplied and can be switched off by an ignition switch.
In automotive engineering the potential is called "clamp 15".
This terminal is monitored internally. If no supply voltage is applied, the system flag CLAMP_15 is set
to FALSE. The reset of the flag CLAMP_15 can be monitored by the application program.

Connect terminal VBBO (5) to battery (not switched)

995

Up to 12 outputs of the output group VBBO can be supplied via terminal 5. At the same time latching of
the control electronics is supplied via this terminal.

Latching
996

Latching is active if voltage is applied to VBBO and the system flag RELAY_CLAMP_15 (and so the
relay [Clamp]) is set.
If the system flag RELAY_CLAMP_15 is reset, the relay [Clamp] is de-energised. If at this moment no
voltage is applied to terminal 23, latching is removed and the controller switches off completely.

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4.4.3 Operating principle of the monitoring concept

Monitoring of the supply voltage VBBs ........................................................................................51

Monitoring and securing mechanisms..........................................................................................52
997

During program processing the monitoring relay is completely controlled via the software by the user.
So a parallel contact of the safety chain, for example, can be evaluated as an input signal and the
monitoring relay can be switched off accordingly. To be on the safe side, the corresponding applicable
national regulations must be complied with.
If an error occurs during program processing, the relay can be switched off using the system flag bit
ERROR to disconnect critical plant sections.
By resetting the system flag bit RELAIS (via the system flag bit ERROR or directly) all outputs are
switched off. The outputs in the current path VBBR are disconnected directly by means of the
monitoring relay. So the outputs in the current path VBBO are only disconnected via the software.

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.
► To do so, the required outputs must be additionally switched off and the logic states must be linked
to the relay state and evaluated.
If an output to be monitored is continuously switched and the contact of the monitoring relay is stuck,
the corresponding output cannot be switched off!

NOTE
If a watchdog error occurs, the program processing is interrupted automatically and the controller is
reset. The controller then starts again as after power on.

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Monitoring of the supply voltage VBBs

6752

Available for the following devices:

 SafetyController: CR7021, CR7201, CR7506
The undervoltage detection is not carried out on the terminal voltage VBBx but directly on the supply
voltage VBBS.
In case of a fault we differentiate 2 scenarios:
1) The terminal voltage VBBx falls below the limit value of 8 V:
> As long as the supply voltage VBBS remains in the accepted range of > 8 V the controller can be
operated.
► By a corresponding design of the application software (customer's responsibility!) the system can
be configured so that the application continues to operate when the terminal voltage VBBx
recovers and is in the regular range again.
2) The supply voltage VBBs falls below the limit value of 8 V:
> The controller detects undervoltage. The CPU stops the watchdog.
> After the watchdog time (→ page 109) has elapsed, the internal controllers are reset.
> A restart of the controller is not carried out before the supply voltages are above the limit value
again.

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System description Monitoring concept

Monitoring and securing mechanisms

After application of the supply voltage .........................................................................................52

If runtime system / application is running .....................................................................................52
If the TEST pin is not active .........................................................................................................53
One-time mechanisms .................................................................................................................53
3926

For the ClassicController family the following monitoring activities are automatically carried out:

After application of the supply voltage

3927

After application of the supply voltage (controller is in the boot loader) the following tests are carried
out in the device:
> RAM test (one-time)
> Supply voltage > 10 V DC
> System data consistency
> CRC of the boot loader
> CRC of the runtime system
> CRC of the application
> Memory error:
- If the test is running: flag ERROR_MEMORY = TRUE
(can be evaluated as from the first cycle).
- If the test is not running: red LED is lit.

If runtime system / application is running

3928

then the following tests are cyclically carried out:

> Triggering of the watchdog (100 ms)
Then continuous program check watchdog
> Continuous temperature check
In case of a fault: system flag ERROR_TEMPERATURE = TRUE
> Continuous voltage monitoring
In case of a fault: system flag ERROR_POWER = TRUE or ERROR_VBBR = TRUE
> Continuous CAN bus monitoring
> Continuous system data monitoring:
- program loaded
- operating mode RUN / STOP,
- runtime system loaded,
- node ID,
- baud rate of CAN and RS232.
> In the operating mode RUN:
Cyclical I/O diagnosis:
- short circuit,
- wire break,
- overload (current) of the inputs and outputs,
- cross fault (only for SafetyController).

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System description Monitoring concept

Only for SafetyController:

> Monitoring of the PIC controller (PIC = coprocessor of the controller):
- PIC available and active,
- quarz clock signal
> RELAY test
> Monitoring of the memory
> Controller command check
In case of a fault:
> red LED is lit,
> Controller passes to the STOP mode.

If the TEST pin is not active

3929

> Write protection for system data in FRAM, e.g.:

- runtime system loaded,
- calibration data.
Implemented via hardware and software.
> Write protection for application program (in the flash memory)
> DEBUG mode

One-time mechanisms
3930

> CRC monitoring during download or upload.

> It must be checked that the runtime system and the application are assigned to the same device.

Safety-related processing of the memory areas

3932

For the downloader from version V05.10.01 onwards, the memory areas for retain data, user flash,
data flash as well as EEPROM or FRAM data are monitored as follows:
Upload without CRC Upload with CRC
If the downloader detects a safety controller CR7nnn during the It is expected that the last 2 bytes of the memory area contain
login, a warning is displayed. a checksum.
The checksum of the last 2 bytes of the memory is ignored. If this checksum is not correct (or missing), the upload is
A checksum is appended to the end of the H86 file. aborted and no file is created.
A checksum is appended to the end of the H86 file.

Download without CRC Download with CRC

If the downloader detects a safety controller CR7nnn during the It is expected that the last 2 bytes of the H86 file contain a
login, a warning is displayed. checksum. If this checksum is not correct, no download is
The checksum at the end of the H86 file is ignored but carried out.
nevertheless transmitted. After the download the checksum is checked again in the
If the checksum at the end of the H86 file was wrong, the controller. If this checksum was not correct, the downloader
generates an error message (not for the EEPROM area).
checksum in the last 2 bytes of the memory is also wrong after
the download.

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System description Monitoring concept

4.4.4 Feedback in case of externally supplied outputs

2422

In some applications actuators are not only controlled by outputs of the PLC but additionally by
external switches. In such cases the externally supplied outputs must be protected with blocking
diodes ( see graphics below).

ATTENTION
Destruction of outputs if there is inadmissible feedback!
If actuators are externally controlled, the corresponding output bar must not become potential-free (e.g.
for RELAIS = FALSE).
Otherwise the terminal voltage VBBx is fed back to the potential bar of the output group via the
protective diode integrated in the output driver. A possibly set output thus triggers its connected load.
The load current destroys the output which feeds back.
► Protect externally supplied outputs by means of blocking diodes!

O
Example:

VBBo Without the blocking diodes V1+V2 an

external switch S1 VBBO feeds from
S1 the output Q1 to the internal potential
RELAIS bar of the outputs via the internal
protective diode (red).
V1 V2
If output Q2 = TRUE, K2 is supplied
K1 Q1 with voltage from Q1 via the protective
diode despite RELAIS = FALSE. Due
to overload this protective diode burns
out and output Q1 is destroyed!
Q2
K2 ► Insert the blocking diodes
V1+V2 green arrows)!
Graphics: Example wiring with blocking diodes due to the danger of feedback

NOTE
Help for externally supplied outputs
► The externally supplied outputs must be decoupled via diodes so that no external voltage is applied
to the output terminal.

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4.4.5 Safety concept

System test...................................................................................................................................55
Software structure ........................................................................................................................55
Operating system .........................................................................................................................56
Application program .....................................................................................................................56
Maximum program cycle time ......................................................................................................56
3776

The following chapters describe the safety concept of the hardware and its application in safety-related
applications. If the inputs and outputs are correspondingly selected and wired, certified
SafetyControllers can be used in applications up to PL d.

WARNING
Warning of loss of the safety category!
Principally a second switch-off mode must be available for applications to PL c (and higher) if the
dangerous failure is not signalled in due time (warning, alarm, display, etc.). For this purpose an
additional relay is available in the SafetyController. Only those outputs switched off via this monitoring
relay and having extended diagnosis possibilities can be identified in the configuration overviews by the
marking "Safe outputs" and the reference to the relay contact.  data sheet!
The analysis of the safety system must show whether a safety-related output must be designed as
redundant or whether monitoring and testing as described above are sufficient.
Further, the analysis must show whether switch-off via the internal relay is sufficient in case of a fault or
whether a second output (electrical or hydraulic) must be used for the redundant switch-off.
If e.g. a cable harness to an external valve does not contain a supply line or if a short-circuit to GND is
harmless in terms of safety, it is sufficient to switch off the output via the internal relay in case of a fault.

System test
3779

All software parts in the controller are monitored to the extent possible by the operating system and
the additional internal processor. This allows to detect and react to errors such as exceeded runtimes
in case of incorrect processing of the program.
When switching on the controller, all hardware and software parts are tested. These internal tests and
monitoring activities are periodically repeated. For these tests the occurrence time of the first error of
30 s is adhered to. So all functional parts of the controller are checked independently of the user
program.

Software structure
3780

The software in the controller consists of the operating system and the application software. By means
of checksums these parts are cyclically checked for correctness, individually and as a whole. The
checksums are automatically generated and appended to the software parts.

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Operating system
3781

The user receives the operating system together with the programming system. He must (normally)
load the operating system only once in the controller.
The number of the operating system and the hardware must correspond, e.g.:
CR7020_V050100.H86 for CR7020.

Application program
3782

The application program is created on site. The structure must comply with the required safety class. It
may only be loaded in the controller after the operating system has been loaded.
► When creating the application program observe version consistency of operating system (*.H86),
PLC configuration (*.CFG) and libraries (*.LIB)!

Maximum program cycle time

3783

The maximum program cycle time of an application program must not exceed 100 ms. Longer times
can result in triggering the watchdog and thus causing a fatal error (> red LED is lit).
Typically the cycle time should not be longer than 50 ms to ensure sufficient excess gain.

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Operating states and operating system Operating states

5 Operating states and operating system

Operating states ...........................................................................................................................57
Status LED ...................................................................................................................................58
Load the operating system...........................................................................................................59
Operating modes..........................................................................................................................60
1074

5.1 Operating states

1075

After power on the ecomatmobile controller can be in one of five possible operating states:

5.1.1 INIT state (Reset)

1076

This state is passed through after every power on reset:

> The operating 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 yellow.

Change out of this state possible into one of the following states:
 RUN
 FATAL ERROR
 STOP

5.1.2 STOP state

1078

This state is reached in the following cases:

 From the INIT state if no program is loaded
 From the RUN state if:
- the STOP command is sent via the interface
- AND: operating mode = Test ( chapter TEST mode (→ page 60))

5.1.3 Fatal error

1079

The ecomatmobile controller goes to this state if a non tolerable error was found. This state can only
be left by a reset.
> The LED lights red.

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Operating states and operating system Status LED

5.1.4 RUN state

1077

This state is reached in the following cases:

 From the INIT state (autostart)
 From the STOP state by the RUN command
- only for the operating mode = Test ( chapter TEST mode (→ page 60))

5.1.5 No operating system

1080

No operating system was loaded, the controller is in the boot loading state. Before loading the
application software the operating system must be downloaded.
> The LED flashes green (quickly).

5.2 Status LED

1430

The operating states are indicated by the integrated status LED (default setting).
LED colour Flashing frequency Description
off permanently out no operating voltage
green 5 Hz no operating system loaded
green 2 Hz RUN state
green permanently on STOP state
red 2 Hz RUN state with error
red permanently on fatal error
yellow/orange briefly on initialisation or reset checks

The operating states STOP and RUN can be changed by the programming system.
For this controller the status LED can also be set by the application program. To do so, the following
system variables are used:
LED LED colour for "active" (= on)
LED_X LED colour for "pause" (= out)
LED_COLOR colour constant from the data structure "LED colour"
allowed: LED_GREEN, LED_BLUE, LED_RED, LED_WHITE, LED_MAGENTA, LED_CYAN,
LED_YELLOW, LED_BLACK (= LED out)
LED_MODE flashing frequency from the data structure "LED_MODES"
allowed: LED_2HZ, LED_1HZ, LED_05HZ, LED_0HZ (permanently)

NOTE
In case of an error the LED colour RED is set by the operating system. Therefore this colour should not
be used by the application.
If the colours and/or flashing modes are changed by the application program, the above-mentioned
table (default setting) is no longer valid.

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Operating states and operating system Load the operating system

5.3 Load the operating system

2733

On delivery of the ecomatmobile controller no operating 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 operating system only once. The application program can
then be loaded to the controller (also several times) without influencing the operating system.
Advantage:
 No EPROM replacement is necessary for an update of the operating system.
The operating 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] > [Control systems]

NOTE
The software versions suitable for the selected target must always be used:
 operating system (CRnnnn_Vxxyyzz.H86 / CRnnnn_Vxxyyzz.HEX)
 PLC configuration (CRnnnn_Vxx.CFG)
 device library (ifm_CRnnnn_Vxxyyzz.LIB)
 and the further files ( chapter Overview of the files and libraries used (→ page 376))
CRnnnn device article number
Vxx: 00...99 target version number
yy: 00...99 release number
zz: 00...99 patch number
The basic file name (e.g. "CR0032") and the software version number "xx" (e.g. "02") 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.

IMPORTANT: 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).
The operating system is transferred to the device using the separate program "downloader". (The
downloader is on the ecomatmobile CD "Software, Tools and Documentation" or can be downloaded
from ifm's website, if necessary).
Normally the application program is loaded to the device via the programming system. But it can also
be loaded using the downloader if it was first read from the device upload).

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Operating states and operating system Operating modes

5.4 Operating modes

1083

Independent of the operating states the ecomatmobile controller can be operated in different modes.
The corresponding control bits can be set and reset with the programming software CoDeSys
(window: Global Variables) via the application software or in test mode ( chapter TEST mode
(→ page 60)).

5.4.1 TEST mode

1084

This operating mode is reached by applying a high level (supply voltage) to the test input
( installation instructions, chapter "wiring"). The ecomatmobile controller can now receive
commands via one of the interfaces in the RUN or STOP mode and, for example, communicate with
the programming system. Moreover the software can only be downloaded to the controller in this
operating state.
The state of the application program can be queried via the flag TEST.

NOTICE
Loss of the stored software possible!
In the test mode there is no protection of the stored operating system and application software.

5.4.2 SERIAL_MODE
1085

The serial interface is available for the exchange of data in the application. Debugging the application
software is then only possible via the CAN interface.
For CRnn32: Debugging of the application software is then only possible via all 4 CAN interfaces or
via USB.
This function is switched off as standard (FALSE). Via the flag SERIAL_MODE the state can be
controlled and queried via the application program or the programming system.
 chapter Use of the serial interface (→ page 327)

5.4.3 DEBUG mode

1086

If the input DEBUG of SET_DEBUG (→ page 352) is set to TRUE, the programming system or the
downloader, for example, can communicate with the controller and execute system commands (e.g.
for service functions via the GSM modem CANremote).
In this operating mode a software download is not possible because the test input ( chapter
(→ page 60)) is not connected to supply voltage.

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Configurations Set up programming system

6 Configurations
Set up programming system ........................................................................................................61
Function configuration of the inputs and outputs .........................................................................78
Hints to wiring diagrams............................................................................................................ 101
Operating modes of the ExtendedSafetyController .................................................................. 103
1016

The device configurations described in the corresponding installation instructions and in the annex
(→ page 368) 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.

WARNING
Property damage or bodily injury possible due to malfunctions!
The software functions described in this documentation only apply to the standard configurations. In
case of use of customer-specific devices:
► Note the special hardware versions and additional remarks (additional documentation) on use of
the software.

Installation of the files and libraries in the device:

Factory setting: the device contains only the boot loader.
► Load the operating system (*.H86 or *.HEX)
► Create the project (*.PRO) in the PC: enter the target (*.TRG)
► Additionally depending on device and target:
Define the PLC configuration (*.CFG)
> CoDeSys integrates the files belonging to the target into the project:
*.TRG, *.CFG, *.CHM, *.INI, *.LIB
► If required, add further libraries to the project (*.LIB).
Certain libraries automatically integrate further libraries into the project.
Some FBs in ifm libraries (ifm_*.LIB) e.g. are based on FBs in CoDeSys libraries (3S_*.LIB).

6.1 Set up programming system

Set up programming system manually.........................................................................................61

Set up programming system via templates..................................................................................65
ifm demo programs ......................................................................................................................75
3968

6.1.1 Set up programming system manually

Setup the target............................................................................................................................62

Activating the PLC configuration ..................................................................................................63
3963

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Configurations Set up programming system

Setup the target

2687
®
When creating a new project in CoDeSys the target file corresponding to the controller must be
loaded. It is selected in the dialogue window for all hardware and acts as an interface to the hardware
for the programming system.

Figure: Target system settings

At the same time, all important libraries and the PLC configuration are loaded when selecting the
target. These can be removed by the programmer or complemented by further libraries, if necessary.

NOTE
The software versions suitable for the selected target must always be used:
 operating system (CRnnnn_Vxxyyzz.H86 / CRnnnn_Vxxyyzz.HEX)
 PLC configuration (CRnnnn_Vxx.CFG)
 device library (ifm_CRnnnn_Vxxyyzz.LIB)
 and the further files ( chapter Overview of the files and libraries used (→ page 376))
CRnnnn device article number
Vxx: 00...99 target version number
yy: 00...99 release number
zz: 00...99 patch number
The basic file name (e.g. "CR0032") and the software version number "xx" (e.g. "02") 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.

IMPORTANT: 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).

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Activating the PLC configuration

2688

During the configuration of the programming system ( previous section) automatically also the PLC
configuration was carried out.
The point [PLC Configuration] is reached via the tab [Resources]. Double-click on [PLC Configuration]
to open the corresponding window.
► Click on the tab [Resources] in CoDeSys:

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

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

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Configurations Set up programming system

Based on the configuration the following is available in the program environment for the user:
 All important 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.
 The 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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6.1.2 Set up programming system via templates

About the ifm templates ...............................................................................................................68

Supplement project with further functions....................................................................................72
3977

ifm offers ready-to-use templates (program templates) for a fast, simple, and complete setting up of
the programming system.

NOTE
When installing the ecomatmobile CD "Software, Tools and Documentation", projects with templates
have been stored in the program directory of your PC:
…\ifm electronic\CoDeSys V…\Projects\Template_CDVxxyyzz
► 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.
 chapter Set up programming system via templates (→ page 65)

How do you set up the programming system fast and simply?

► In the CoDeSys menu select: [File] > [New from template...]
► Select directory of the current CD, e.g. ...\Projects\TEMPLATE_CDV010500:

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Configurations Set up programming system

► Find article number of the unit in the list, e.g. CR2500 as CANopen master:

► How is the CAN network organised?

Do you want to work on layer 2 basis or is there a master with several slaves (for CANopen)?
(Here an example: CANopen-Slave,  figure above)
► Confirm the selection with [Open].
> A new CoDeSys project is generated with the following folder structure (left):
Example for CR2500 as CANopen master: Another example for CR1051 as CANopen slave:

(via the folder structures in Templates  Section About the ifm Templates (→ page 68)).
► Save the new project with [file] > [Save as...], and define suitable directory and project name.
► Configuration of the CAN network in the project:
Double click the element [PLC configuration] above the tabulator [resources] in the CoDeSys
project.

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Configurations Set up programming system

► Right mouse click in the entry [CR2500, CANopen Master]

► Click in the context menu [Append subelement]:

> A list of all available EDS files appears in the extended context menu.
► Select requested element, e.g. "System R360": I/O CompactModule CR2011 (EDS)".
The EDS files are in directory C:\\CoDeSys V\Library\PLCConf\.
> The window [PLC configuration] changes as follows:

► Set CAN parameters, PDO mapping and SDOs for the entered slave according to the
requirements. Note: Better deselect [Create all SDOs].
► With further slaves proceed as described above.
► Save the project!
This should be a sufficient description of your project. You want to supplement this project with further
elements and functions?
 chapter Supplement project with further functions (→ page 72)

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About the ifm templates

Folder structure in general ...........................................................................................................68

Programs and functions in the folders of the templates...............................................................69
Structure of the visualisations in the templates............................................................................71
3981

As a rule the following templates are offered for each unit:

 ifm_template_CRnnnnLayer2_Vxxyyzz.pro for the operation of the unit with CAN layer 2
 ifm_template_CRnnnnMaster_Vxxyyzz.pro for the operation of the unit as CAN master
 ifm_template_CRnnnnSlave_Vxxyyzz.pro for the operation of the unit as CAN slave
The templates described here are for:
- CoDeSys from version 2.3.9.6
- on the ecomatmobile-CD from version 010500
The templates all have the same structures.
The selection of this program template for CAN operation already is an important basis for a
functioning program.

Folder structure in general

3978

The POUs are sorted in the following folders:

Folder Description
CAN_OPEN for Controller and PDM,
CAN operation as master or slave:
contains the FBs for CANopen.
I_O_CONFIGURATION for Controller,
CAN operation with layer 2 or as master or slave:
FBs for parameter setting of the operating modes of the inputs and outputs.
PDM_COM_LAYER2 for Controller,
CAN operation as layer 2 or as slave:
FBs for basis communication via layer 2 between PLC and PDM.
CONTROL_CR10nn for PDM,
CAN operation with layer 2 or as master or slave:
Contains FBs for image and key control during operation.
PDM_DISPLAY_SETTINGS for PDM,
CAN operation with layer 2 or as master or slave:
Contains FBs for adjusting the monitor.

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Programs and functions in the folders of the templates

3980

The above folders contain the following programs and function blocks (all = POUs):
POUs in the folder Description
CAN_OPEN
CANopen for Controller and PDM,
CAN operation as master:
Contains the following parameterised POUs:
- CAN1_MASTER_EMCY_HANDLER
( CANx_MASTER_EMCY_HANDLER (→ page 205)),
- CAN1_MASTER_STATUS ( CANx_MASTER_STATUS (→ page 210)),
- SELECT_NODESTATE ( down).
CANopen for Controller and PDM,
CAN operation as slave:
Contains the following parameterised POUs:
- CAN1_SLAVE_EMCY_HANDLER
( CANx_SLAVE_EMCY_HANDLER (→ page 218)),
- CAN1_SLAVE_STATUS ( CANx_SLAVE_STATUS (→ page 223)),
- SELECT_NODESTATE ( down).
Objekt1xxxh for Controller and PDM,
CAN operation as slave:
Contains the values [STRING] for the following parameters:
- ManufacturerDeviceName, e.g.: 'CR1051'
- ManufacturerHardwareVersion, e.g.: 'HW_Ver 1.0'
- ManufacturerSoftwareVersion, e.g.: 'SW_Ver 1.0'
SELECT_NODESTATE for PDM,
CAN operation as master or slave:
Converts the value of the node status [BYTE] into the corresponding text [STRING]:
4  'STOPPED'
5  'OPERATIONAL'
127  'PRE-OPERATIONAL'

POUs in the folder Description

I_O_CONFIGURATION
CONF_IO_CRnnnn for Controller,
CAN operation with layer 2 or as master or slave:
Parameterises the operating modes of the inputs and outputs.

POUs in the folder Description

PDM_COM_LAYER2
PLC_TO_PDM for Controller,
CAN operation with layer 2 or as slave:
Organises the communication from the Controller to the PDM:
- monitors the transmission time,
- transmits control data for image change, input values etc.
TO_PDM for Controller,
CAN operation with layer 2 or as slave:
Organises the signals for LEDs and keys between Controller and PDM.
Contains the following parameterised POUs:
- PACK ( 3S),
- PLC_TO_PDM ( up),
- UNPACK ( 3S).

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POUs in the folder Description

CONTROL_CR10nn
CONTROL_PDM for PDM,
CAN operation with layer 2 or as master or slave:
Organises the image control in the PDM.
Contains the following parameterised POUs:
- PACK ( 3S),
- PDM_MAIN_MAPPER ( PDM_MAIN_MAPPER),
- PDM_PAGECONTROL ( PDM_PAGECONTROL),
- PDM_TO_PLC ( down),
- SELECT_PAGE ( down).
PDM_TO_PLC for PDM,
CAN operation with layer 2:
Organises the communication from the PDM to the Controller:
- monitors the transmission time,
- transmits control data for image change, input values etc.
Contains the following parameterised POUs:
- CAN_1_TRANSMIT ( CAN_x_TRANSMIT),
- CAN_1_RECEIVE ( CAN_x_RECEIVE).
RT_SOFT_KEYS for PDM,
CAN operation with layer 2 or as master or slave:
Provides the rising edges of the (virtual) key signals in the PDM. As many variables as
desired (as virtual keys) can be mapped on the global variable SoftKeyGlobal when e.g. a
program part is to be copied from a CR1050 to a CR1055. It contains only the keys
F1...F3:
 For the virtual keys F4...F6 variables have to be created. Map these self-created
variables on the global softkeys. Work only with the global softkeys in the program.
Advantage: Adaptations are only required in one place.
SELECT_PAGE for PDM,
CAN operation with layer 2 or as master or slave:
Organises the selection of the visualisations.
Contains the following parameterised POUs:
- RT_SOFT_KEYS ( up).

POUs in the folder Description

PDM_DISPLAY_SETTINGS
CHANGE_BRIGHTNESS for PDM,
CAN operation with layer 2 or as master or slave:
Organises brightness / contrast of the monitor.
DISPLAY_SETTINGS for PDM,
CAN operation with layer 2 or as master or slave:
Sets the real-time clock, controls brightness / contrast of the monitor, shows the software
version.
Contains the following parameterised POUs:
- CHANGE_BRIGHTNESS ( up),
- CurTimeEx ( 3S),
- PDM_SET_RTC ( PDM_SET_RTC),
- READ_SOFTWARE_VERS ( down),
( 3S).
READ_SOFTWARE_VERS for PDM,
CAN operation with layer 2 or as master or slave:
Shows the software version.
Contains the following parameterised POUs:
- DEVICE_KERNEL_VERSION1 ( DEVICE_KERNEL_VERSION1),
- DEVICE_RUNTIME_VERSION ( DEVICE_RUNTIME_VERSION),
- LEFT ( 3S).

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POUs in the root directory Description

PLC_CYCLE for Controller,
CAN operation with layer 2 or as master or slave:
Determines the cycle time of the PLC in the unit.
PDM_CYCLE_MS for PDM,
CAN operation with layer 2 or as master or slave:
Determines the cycle time of the PLC in the unit.
PLC_PRG for Controller and PDM,
CAN operation with layer 2 or as master or slave:
Main program This is where further program elements are included.

Structure of the visualisations in the templates

3979

Available for the following devices:

- BasicDisplay: CR0451
- PDM: CR10nn
The visualisations are structured in folders as follows:
Folder Image no. Description contents
START_PAGE P00001 Setting / display of...
- node ID
- CAN baud rate
- status
- GuardErrorNode
- PLC cycle time
__MAIN_MENUES P00010 Menu screen:
- Display setup
____MAIN_MENUE_1
______DISPLAY_SETUP
________1_DISPLAY_SETUP1 P65000 Menu screen:
- Software version
- brightness / contrast
- display / set real-time clock
__________1_SOFTWARE_VERSION P65010 Display of the software version.
__________2_BRIGHTNESS P65020 Adjustment of brightness / contrast
__________3_SET_RTC P65030 Display / set real-time clock
In the templates we have organised the image numbers in steps of 10. This way you can switch into
different language versions of the visualisations by means of an image number offset.

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Supplement project with further functions

3987

You have created a project using an ifm template and you have defined the CAN network. Now you
want to add further functions to this project.
For the example we take a CabinetController CR2500 as CAN open Master to which an I/O
CabinetModule CR2011 and an I/O CompactModule are connected as slaves:

Example: PLC configuration

A joystick is connected to the CR2012 which is to trigger a PWM output on the CR2032. How is that
achieved in a fast and simple way?
► Save CoDeSys project!
► In CoDeSys use [Project] > [Copy...] to open the project containing the requested function:
e.g. CR2500Demo_CR2012_02.pro from directory DEMO_PLC_CDV underC:\...\CoDeSys
V\Projects\:

► Confirm the selection with [Open].

> Window [Copy objects] appears:

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► Highlight the elements which contain only the requested function, in this case e.g.:

NOTE: In other cases libraries and/or visualisations might be required.

► Confirm the selection with [OK].
> In our example project the elements selected in the demo project have been added:
POUs: Resources:

► Insert the program [CR2012] in the main program [PLC_PRG] e.g.:

► The comments of the POUs and global variables usually contain information on how the individual
elements have to be configured, included or excluded. This information has to be followed.
► Adapt input and output variables as well as parameters and possible visualisations to your own
conditions.
► [Project] > [Save] and
[Project] > [Rebuild all].

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► After possibly required corrections and addition of missing libraries ( Error messages after
rebuild) save the project again.
► Follow this principle to step by step (!) add further functions from other projects and check the
results.
► [Project] > [Save] and
[Project] > [Rebuild all].

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6.1.3 ifm demo programs

Demo program for controller ........................................................................................................75

Demo programs for PDM and BasicDisplay ................................................................................76
3982

In directory DEMO_PLC_CDV (for Controller) or DEMO_PDM_CDV (für PDMs) under

C:\\CoDeSys V\Projects\ we explain certain functions in tested demo programs. If required,
these functions can be implemented in own projects. Structures and variables of the ifm demos match
those in the ifm templates.
Each demo program shows just one topic. For the Controller as well some visualisations are shown
which demonstrate the tested function on the PC screen.
Comments in the POUs and in the variable lists help you adapt the demo to your project.
If not stated otherwise the demo programs apply to all controllers or to all PDMs.
The demo programs described here apply for:
- CoDeSys from version 2.3.9.6
- on the ecomatmobile CD from version 010500

Demo program for controller

3995

Demo program Function

CR2500Demo_CanTool_xx.pro separate for PDM360, PDM360compact, PDM360smart and Controller:
Contains FBs to set and analyse the CAN interface.
CR2500Demo_ClockFu_xx.pro Clock generator for Controller as a function of a value on an analogue
CR2500Demo_ClockKo_xx.pro input:
Fu = in function block diagram
CR2500Demo_ClockSt_xx.pro K0 = in ladder diagram
St = in structured text
CR2500Demo_CR1500_xx.pro Connection of a keypad module CR1500 as slave of a Controller
(CANopen master).
CR2500Demo_CR2012_xx.pro I/O cabinet module CR2012 as slave of a Controller (CANopen master),
Connection of a joystick with direction switch and reference medium
voltage.
CR2500Demo_CR2016_xx.pro I/O cabinet module CR2016 as slave of a Controller (CANopen master),
4 x frequency input,
4 x digital input high side,
4 x digital input low side,
4 x analogue input ratiometric,
4 x PWM1000 output and
12 x digital output.
CR2500Demo_CR2031_xx.pro I/O compact module CR2031 as slave of a Controller (CANopen master),
Current measurement on the PWM outputs
CR2500Demo_CR2032_xx.pro I/O compact module CR2032 as slave of a Controller (CANopen master),
4 x digital input,
4 x digital input analogue evaluation,
4 x digital output,
4 x PWM output.
CR2500Demo_CR2033_xx.pro I/O compact module CR2033 as slave of a Controller (CANopen master),
4 x digital input,
4 x digital input analogue evaluation,
4 x digital output,
CR2500Demo_CR2101_xx.pro Inclination sensor CR2101 as slave of a Controller (CANopen master).

CR2500Demo_CR2102_xx.pro Inclination sensor CR2102 as slave of a Controller (CANopen master).

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Demo program Function

CR2500Demo_CR2511_xx.pro I/O smart module CR2511 as slave of a Controller (CANopen master),
8 x PWM output current-controlled.
CR2500Demo_CR2512_xx.pro I/O smart module CR2512 as slave of a Controller (CANopen master),
8 x PWM output.
Display of the current current for each channel pair.
CR2500Demo_CR2513_xx.pro I/O smart module CR2513 as slave of a Controller (CANopen master),
4 x digital input,
4 x digital output,
4 x analogue input 0...10 V.
CR2500Demo_Interrupt_xx.pro Example with SET_INTERRUPT_XMS (→ page 362).

CR2500Demo_Operating_hours_xx. Example of an operating hours counter with interface to a PDM.

pro
CR2500Demo_PWM_xx.pro Converts a potentiometer value on an input into a normed value on an
output with the following POUs:
- INPUT_VOLTAGE (→ page 253),
- NORM (→ page 256),
- PWM100 (→ page 281).
CR2500Demo_RS232_xx.pro Example for the reception of data on the serial interface by means of the
Windows hyper terminal.
StartersetDemo.pro Various e-learning exercises with the starter set EC2074.
StartersetDemo2.pro
StartersetDemo2_fertig.pro
_xx = indication of the demo version

Demo programs for PDM and BasicDisplay

3996

Demo program Function

CR1051Demo_CanTool_xx.pro separate for PDM360, PDM360compact, PDM360smart and Controller:
CR1053Demo_CanTool_xx.pro Contains FBs to set and analyse the CAN interface.
CR1071Demo_CanTool_xx.pro
CR1051Demo_Input_Character_xx.p Allows to enter any character in a character string:
ro - capital letters,
- small letters,
- special characters,
- figures.
Selection of the characters via encoder. Example also suited for e.g.
entering a password.
Figure P01000: Selection and takeover of characters
CR1051Demo_Input_Lib_xx.pro Demo of INPUT_INT from the library ifm_pdm_input_Vxxyyzz
(possible alternative to 3S standard). Select and set values via encoder.
Figure P10000: 6 values INT
Figure P10010: 2 values INT
Figure P10020: 1 value REAL
CR1051Demo_Linear_logging_on_fl Writes a CVS data block with the contents of a CAN message in the
ash internal flash memory (/home/project/daten.csv), when
_intern_xx.pro [F3] is pressed or a CAN message is received on ID 100. When the
defined memory range is full the recording of the data is finished.
POUs used:
- WRITE_CSV_8BYTE,
- SYNC.
Figure P35010: Display of data information
Figure P35020: Display of current data record
Figure P35030: Display of list of 10 data records

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Demo program Function

CR1051Demo_O2M_1Cam_xx.pro Connection of 1 camera O2M100 to the monitor with CAM_O2M.
Switching between partial screen and full screen.
Figure 39000: Selection menu
Figure 39010: Camera image + text box
Figure 39020: Camera image as full screen
Figure 39030: Visualisation only
CR1051Demo_O2M_2Cam_xx.pro Connection of 2 cameras O2M100 to the monitor with CAM_O2M.
Switching between the cameras and between partial screen and full
screen.
Figure 39000: Selection menu
Figure 39010: Camera image + text box
Figure 39020: Camera image as full screen
Figure 39030: Visualisation only
CR1051Demo_Powerdown_Retain_bin Example with PDM_POWER_DOWN from the library
_xx.pro ifm_CR1051_Vxxyyzz.Lib, to save retain variable in the file
Retain.bin. Simulation of ShutDown with [F3].
CR1051Demo_Powerdown_Retain_bin Example with PDM_POWER_DOWN from the library
2 ifm_CR1051_Vxxyyzz.Lib, to save retain variable in the file
_xx.pro Retain.bin. Simulation of ShutDown with [F3].
CR1051Demo_Powerdown_Retain_cus Example with PDM_POWER_DOWN and the PDM_READ_RETAIN from
t the library ifm_CR1051_Vxxyyzz.Lib, to save retain variable
_xx.pro in the file /home/project/myretain.bin. Simulation of
ShutDown with [F3].
CR1051Demo_Read_Textline_xx.pro The example program reads 7 text lines at a time from the PDM file
system using READ_TEXTLINE.
Figure P01000: Display of read text
CR1051Demo_Real_in_xx.pro Simple example for entering a REAL value in the PDM.
Figure P01000: Enter and display REAL value
CR1051Demo_Ringlogging_on_flash Writes a CVS data block in the internal flash memory when [F3] is
_intern_xx.pro pressed or a CAN message is received on ID 100. The file names can be
freely defined. When the defined memory range is full the recording of the
data starts again.
POUs used:
- WRITE_CSV_8BYTE,
- SYNC.
Figure P35010: Display of data information
Figure P35020: Display of current data record
Figure P35030: Display of list of 8 data records
CR1051Demo_Ringlogging_on_flash Writes a CVS data block on the PCMCIA card when [F3] is pressed or a
_pcmcia_xx.pro CAN message is received on ID 100. The file names can be freely
defined. When the defined memory range is full the recording of the data
starts again.
POUs used:
- WRITE_CSV_8BYTE,
- OPEN_PCMCIA,
- SYNC.
Figure P35010: Display of data information
Figure P35020: Display of current data record
Figure P35030: Display of list of 8 data records
CR1051Demo_RW-Parameter_xx.pro In a list parameters can be selected and changed.
Example with the following POUs:
- READ_PARAMETER_WORD,
- WRITE_PARAMETER_WORD.
Figure P35010: List of 20 parameters
_xx = indication of the demo version

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6.2 Function configuration of the inputs and

outputs

Configure inputs ...........................................................................................................................79

Configure outputs .........................................................................................................................92
1375

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.
 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 370).
Only for CRn2nn: The ExtendedController (or ExtendedSafetyController) is configured via the same
system flags as the ClassicController (or SafetyController). If it is used in the operating mode 2
( chapter Operating modes of the ExtendedController (→ page 103)) the designations of the inputs
and outputs in the second controller are indicated by an appended _E.

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6.2.1 Configure inputs

Digital inputs.................................................................................................................................79
Digital safety inputs ......................................................................................................................80
Inputs for fail-safe inductive sensors............................................................................................83
Fast inputs....................................................................................................................................86
Fast safety inputs .........................................................................................................................86
Analogue inputs............................................................................................................................88
Use of analogue inputs for digital signals ....................................................................................89
Input group I0 (ANALOG0...7 or %IX0.0...%IX0.7) ......................................................................90
Input group I1...I4 (%IX0.8...%IX2.7) ...........................................................................................91
3973

Digital inputs
1015

Depending on the device, the digital inputs can be configured differently. In addition to the protective
mechanisms against interference, the digital 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. For some of these inputs (CRnn32: for all inputs) the potential can
be selected.
UB

Digital Input Filter

Eingang / Input Spannung
Voltage

Figure: Block diagram high/low side input for negative and positive sensor signals

UB UB

Sensor

Sensor

GND GND

High side input for negative sensor signal Low side input for positive sensor signal

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Digital safety inputs

3791

In the SafetyController only the following inputs are permitted for safety functions ( data sheet):
SafetyController input addresss Number
safety inputs
CR7020, CR7021 %IX0.00...%IX0.07 8
%IX0.12...%IX0.15 4
%IX1.04...%IX1.07 4
CR7505, CR7506 %IX0.00...%IX0.07 8
%IX0.12...%IX0.15 4
%IX1.04...%IX1.07 4
CR7200, CR7201 %IX0.00...%IX0.07 8
%IX0.12...%IX0.15 4
%IX1.04...%IX1.07 4
%IX32.00...%IX32.07 8 *)
%IX32.12...%IX32.15 4 *)
%IX33.04...%IX33.07 4 *)
*) only for a separate programming of CPU1 and CPU2

NOTE
Only when the digital inputs of the operating system are activated for the analogue inputs can these
digital inputs be used for applications to Performance Level PL d ( Section The risk graph to ISO
13849 (→ page 18)) (safety-integrity level SIL CL 2). To do so, the operating mode of the input in
question has to be set to IN_SAFETY. This activates the automatic monitoring and testing of the digital
input.

If an error is detected during this internal testing, the corresponding bit (only for safety inputs) in the
error flag ERROR_I0 and the error flags ERROR_ANALOG and ERROR_IO are set.
Errors in the wiring (short circuit, wire break) or in the sensor are NOT detected by these tests. Cause:
for digital signals (e.g. of mechanical switches) only the states 0 (no voltage applied) and 1 (voltage
applied) are possible.
Therefore the input signals must be connected to the controller in a redundant and diverse manner as
well as via separate cables and processed by the application software in a redundant and diverse
manner. In addition, the inputs should be in different input groups (if possible, except for mere
analogue signals). Using the diagnostic function does not release the user from this signal processing.

NOTE
SafetyControllers do NOT support the diagnosis ...
- via an additional resistor circuit for mechanical switches or
- of sensors according to NAMUR.

For safety-related signals preferably only inputs without parallel outputs should be set. For redundant
processing the input channels from the second input group (group of four) must be used.

NOTE
To monitor two-channel safety devices (e.g. e-stop) SAFE_INPUTS_OK (→ page 38) must be used.
If the safety device set up with this FB is not regularly used, it must be tested manually at defined
intervals. This ensures that an error (e.g. in the wiring or the e-stop) is detected.

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The following example shows the manual configuration of the input %IX1.07 in the SafetyController:

Screenshot: manual configuration of the input %IX1.07 in the SafetyController

If more than 8 (16) safety-related inputs are needed in the application, redundant processing can also
be carried out alternatively via the following inputs:
CR7020, CR7021 %IX1.08...%IX1.15
CR7505, CR7506 ---
CR7200, CR7201 %IX1.08...%IX1.15 %IX33.08...%IX33.15
Using a safety-related channel is imperative for the first input:
CR7020, CR7021 %IX0.12...%IX0.15
%IX1.04...%IX1.07
CR7505, CR7506 %IX0.12...%IX0.15
%IX1.04...%IX1.07
CR7200, CR7201 %IX0.12...%IX0.15 %IX32.12...%IX32.15 *)
%IX1.04...%IX1.07 %IX33.04...%IX33.07 *)
On no account is redundant processing only with the input channels %IX1.08...%IX1.15
(%IX33.08...%IX33.15) allowed.
*) Only for a separate programming of CPU1 and CPU2

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Connect e-stop
3792

In general, e-stops can also be connected to the SafetyController and can be processed directly via
the controller. Fail-safe sensors have to be connected via two channels and in a diverse way.
Switch-off has to be done via the safety-related outputs.

NOTE
To monitor two-channel safety devices (e.g. e-stop) SAFE_INPUTS_OK (→ page 38) must be used.
If the safety device set up with this FB is not regularly used, it must be tested manually at defined
intervals. This ensures that an error (e.g. in the wiring or the e-stop) is detected.

 Example: SAFE_INPUTS_OK (→ page 40)

Plausibility check via the process

3795

If the application permits, sufficient fault safety can be achieved by the following measures:
- Selection of suitable sensing element (mechanical or electronic),
- proper installation and
- checking of certain components with regard to plausibility.
This makes the installation of two identical sensing elements in one mounting position obsolete.

Wiring examples:

Example analogue sensor:

Input 08 with voltage signal,
Input 10 with current signal
of the same sensor.

Example digital sensor:

Input 20 with normally open signal,
Input 19 with normally closed signal
of the same sensor.

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Inputs for fail-safe inductive sensors

3805

With the SafetyController up to 4 safety chains (for the ExtendedSafetyController up to 8 safety

chains) each consisting of max. 9 inductive fail-safe sensors in series (i.e. up to 36 or 72 fail-safe
sensors) can be triggered and processed. An additional evaluation electronics is not required. The
generation of the required test signal and the processing of the sensor output signals are handled
directly via the SafetyController.
Fail-safe sensors have to be monitored with SAFETY_SWITCH (→ page 41)

NOTE
At present the SafetyController only supports the following unit types:
 order no. GG505S, cylindrical, M18, type GIGA
 order no. GI505S, cylindrical, M30, type GIIA
 order no. GM504S, rectangular, type GIMC
 order no. GM505S, rectangular, type GIMC
All units have to be supplied with 24 V DC. The use of fail-safe sensors in on-board systems of
12 V DC is not possible.

Operating principle
3806

The fail-safe sensors are supplied with a supply voltage of 24 V DC. In addition, the sensor has to get
a clock signal from the controller. By means of the clock signal wiring errors (wire break, short circuit,
and cross fault) and a simple defeating of the sensor (e.g. by bridging clock signal and control input)
are detected. The sensor monitors and evaluates clock signals generated in the controller. In addition,
the sensor monitors the supply voltage and the proper positioning of the damping element.
When the sensor detects no error, the clock signal is is provided again to the SafetyController as input
signal with a delay of approx. 1.5 ms (time td). The time offset and the correct signal form are
monitored and evaluated by the controller. If everything is correct, the output of the software function is
switched on and can be further processed as a digital input signal.

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Typical response times of the SafetyController (without response time of the sensor):
T = 250 ms + 2 x cycle time
T1 = 200 ms + 1 x cycle time
T2 = 50 ms + 1 x cycle time
Td 1.5 ms
Response time on safety request = max. 50 ms + 1 x cycle time (typ. cycle time)
(SWITCH_ON = FALSE)
Response time to the rising edge of the = max. 250 ms + 2 x cycle time (typ. 100 ms)
sensor signal (sensor damped)

For further technical data  see unit description of the individual sensors.

Permissible clock outputs:

CR7020, CR7021 Q23 / %QX0.07
Q47 / %QX1.07
CR7505, CR7506 Q23 / %QX0.07
CR7200, CR7201 Q23 / %QX0.07 Q55 / %QX32.07
Q47 / %QX1.07 Q99 / %QX33.07

Permissible signal inputs for inductive fail-safe sensors:

CR7020, CR7021, I24 / %IX1.04
CR7505, CR7506 I25 / %IX1.05
I26 / %IX1.06
I27 / %IX1.07
CR7200, CR7201 I24 / %IX1.04 I56 / %IX33.04
I25 / %IX1.05 I57 / %IX33.05
I26 / %IX1.06 I58 / %IX33.06
I27 / %IX1.07 I59 / %IX33.07

Number of independent safety chains / fail-safe sensors:

CR7020, CR7021, 4 safety chains with 9 fail-safe sensors each
CR7505, CR7506 = 36 fail-safe sensors
CR7200, CR7201 8 safety chains with 9 fail-safe sensors each
= 72 fail-safe sensors

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Example fail-safe sensor

3808

Connection of 2 safety chains with a total of 3 inductive fail-safe sensors:

Fail-safe sensors have to be monitored with SAFETY_SWITCH (→ page 41).

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Fast inputs
1018

In addition, the ecomatmobile controllers have up to 16 fast counter/pulse inputs for an input
frequency up to 50 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. Using the application
software, these "faulty signals" must be filtered if necessary.
Furthermore it has to be noted whether the pulse inputs are designed for frequency measurement
(FRQx) and/or period measurement (CYLx) ( data sheet).
The following FBs, for example, can be used here:
On FRQx inputs:

 Frequency measurement with FREQUENCY (→ page 259)

 Fast counter with FAST_COUNT (→ page 270)
On CYLx inputs:

 Period measurement with PERIOD (→ page 261) or with PERIOD_RATIO (→ page 263)
 Phase position of 2 fast inputs compared via PHASE (→ page 265)

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

Fast safety inputs

3797

Fast inputs for safety functions are ( data sheet):

CR7020, CR7021, %IX0.12...%IX0.15
CR7505, CR7506 %IX1.04...%IX1.07
CR7200, CR7201 %IX0.12...%IX0.15 %IX32.12...%IX32.15
%IX1.04...%IX1.07 %IX33.04...%IX33.07

NOTE
Only if FREQUENCY (→ page 259) and/or PERIOD (→ page 261) are used for the fast inputs
( Table above) and the measured frequencies are compared via SAFE_FREQUENCY_OK
(→ page 36) can these fast inputs be used for applications up to Performance Level Pl d ( chapter
The risk graph to ISO 13849 (→ page 18)) (safety-integrity level SIL CL 2).

Errors in the wiring (short circuit, wire break) or in the sensor are NOT detected by these tests. Cause:
for digital signals (e.g. of mechanical switches) only the states 0 (no voltage applied) and 1 (voltage
applied) are possible.
Therefore the input signals must be connected to the controller in a redundant and diverse manner as
well as via separate cables and processed by the application software in a redundant and diverse
manner. In addition, the inputs should be in different input groups (if possible, except for mere
analogue signals). Using the diagnostic function does not release the user from this signal processing.

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Measuring methods for fast inputs

3798

In the case of safety-related frequency measurements the signal frequency has to be determined in
two different ways (diversity) in addition to the external wiring. Depending on the selected software
function ( library CR7nnn_Vxxyyzz.LIB) different hardware parts are used in the SafetyController.
FREQUENCY (→ page 259) determines the frequency on the basis of the internal hardware counter;
PERIOD (→ page 261) by means of an internal timer. The result of these different measuring methods
has to be compared with SAFE_FREQUENCY_OK (→ page 36) in the application program.
Wiring example:

 Example for SAFE_FREQUENCY_OK (→ page 37)

Applications
3802

Due to the different measuring methods errors can occur when the frequency is determined:
FREQUENCY (→ page 259) is suited for frequencies between 0.1...50 kHz; the error is reduced at
high frequencies.
PERIOD (→ page 261) carries out the period measurement. It is thus suitable for frequencies lower
than 1 kHz. The measurement of higher frequencies has a strong impact on the cycle time. This has to
be taken into account when designing the application software.
As a consequence, a safe measurement of frequencies is only possible between 100...1000 Hz.

Safety aspects
3803

In the safety considerations errors in the reference measurement of up to 25 % can be tolerated as the
reference value is only used as function control of the measuring channel. The frequency value for the
application has to be derived from the "exact" measurement.

Use as digital inputs

3804

The permissible high input frequencies also ensure the detection of faulty signals, e.g. bouncing
contacts of mechanical switches. If necessary, this has to be suppressed in the application software.

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Analogue inputs
1369

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...30 / 32 V
If in the operating mode "0...30 / 32 V" the supply voltage is read back, the measurement can also be
performed ratiometrically. This means potentiometers or joysticks can be evaluated without additional
reference voltage. A fluctuation of the supply voltage then has no influence on this measured value.
As an alternative, an analogue channel can also be evaluated digitally.

NOTE
In case of ratiometric measurement the connected sensors should be supplied via the same voltage
source as the controller. So, faulty measurements caused by offset voltage are avoided.
In case of digital evaluation the higher input resistance must be taken into account.

UB

Referenz-Spannung
Reference Voltage
Analog
Eingang / Input Input Filter Spannung
Voltage
Current measurement
Strommessung

Voltage measurement
Spannungsmessung

0...10 / 32 V

Figure: block diagram of the analogue inputs

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Use of analogue inputs for digital signals

3789

The analogue inputs can also be used for the evaluation of digital signals. To do so, operating mode
IN_DIGITAL_H has to be set for the selected input.

NOTE
If digital safety signals are to be evaluated via analogue inputs (Mode = IN_SAFETY), this signals
should only be statis signals (e.g. mechanical switches).
For the evaluation of frequencies the safety frequencies %IX0.12...%IX0.15 und %IX1.4...%IX1.7 have
to be used.

3785

NOTE
Only when the monitoring functions of the operating system are activated for the analogue inputs can
these analogue inputs be used for applications to Performance Level PL d ( Section The risk graph to
ISO 13849 (→ page 18)) (safety-integrity level SIL CL 2). To do so, the operating mode of the input in
question has to be set to IN_SAFETY. This activates the automatic monitoring and testing of the
analogue / digital converter.

If an error is detected during this internal testing, the corresponding bit in the error flag ERROR_I0 and
the error flags ERROR_ANALOG and ERROR_IO are set.
Errors in the wiring (short circuit, wire break) or in the sensor are NOT detected by these tests.
Therefore analogue input signals must be connected to the controller in a redundant (and if possible
diverse) manner as well as via separate cables and processed by the application software in a
redundant (and if possible diverse) manner.
Example analogue sensor:
input 08 with voltage signal,
input 10 with current signal
of the same sensor.

Graphics: connection example analogue safety inputs

Furthermore, it is useful to evaluate the signal voltage only in a limited range (e.g. 10...90 %). This
allows to detect the following errors:
- short to ground (< 10 %)
- wire break (< 10 %)
- short to voltage supply (> 90 %)
- short circuit (< 10 %)
In addition, analogue safety-related input signals must be evaluated with SAFE_ANALOG_OK
(→ page 34).

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Input group I0 (ANALOG0...7 or %IX0.0...%IX0.7)

1376

These inputs are a group of analogue channels which can also be evaluated digitally.
If used as analogue channels, they have diagnostic capabilities at all times via the permanent
analogue value in the system variables ANALOG0...ANALOG7 (or ANALOG0_E...ANALOG7_E).
If the analogue inputs are configured for current measurement, the device switches to the safe voltage
measurement range (0...30V DC) and the corresponding error bit in the flag byte ERROR_I0 is set
when the final value (> 21 mA) is exceeded. When the value is again below the limit value, the input
automatically switches back to the current measurement range.

Info
When using the analogue input functions the diagnosis does not have to be activated via the system
variable I0x_MODE.

The configuration of the inputs and outputs is carried out via the application software in the latest
generation of ecomatmobile controllers. INPUT_ANALOG (→ page 251) configures the operating
mode of the selected analogue channel via the input MODE. Accordingly, the function of the PWM
channels is also set via FBs ( following example).

INPUT_ANALOG
ENABLE OUT
MODE
CHANNEL

As an alternative the inputs and outputs can also be directly set by setting a system variable
Ixx_MODE.
Example:
The assignment sets the selected input to the
operating mode IN_DIGITAL_H with diagnosis:

If the diagnosis is to be used, it must be activated in addition. The system flag bit DIAGNOSE
indicates wire break or short circuit of the input signal as group error.

WARNING
Property damage or bodily injury due to malfunctions possible!
► Do not use any sensors with diagnostic capabilities to NAMUR with this input group.

Figure: non-electronic switches

To monitor the input signals of non-electronic

switches, they must be equipped with an additional
resistor connection.

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Input group I1...I4 (%IX0.8...%IX2.7)

1377

These inputs are digital inputs with internal analogue evaluation for diagnosis. In addition, a part of
these inputs can be configured for negative input signals and frequency measurement (only positive
input signals).
In principle, negative input signals have no diagnostic capabilities.
The configuration of these inputs is carried out via the system variables I1x_MODE...I4x_MODE. If the
diagnosis is to be used, it must be activated in addition. The system flag bit DIAGNOSE indicates wire
break or short circuit of the input signal as group error.
Example:
The following assignment sets the selected input
to the operating modes IN_DIGITAL_H, fast input
and input with diagnosis:

NOTE
Sensors with diagnostic capabilities to NAMUR can be used on all inputs. In this case, no additional
resistor connection is required.
To use the diagnostic function for inputs of the group I4 (%IX2.0...%IX2.7), the corresponding outputs
(%QX1.0...%QX1.7) must be switched off via the system flags Q4x_MODE. To do so, use the constant
OUT_NOMODE.
On delivery, all 8 outputs are switched off.

Figure: non-electronic switches

To monitor the input signals of non-electronic

switches, they must be equipped with an additional
resistor connection.

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6.2.2 Configure outputs

Digital and PWM outputs..............................................................................................................92

Output group Q1Q2 (%QX0.0...%QX0.7) ....................................................................................96
Output group Q3 (%QX0.8...%QX0.15) .......................................................................................98
Output group Q4 (%QX1.0...%QX1.7) .........................................................................................99
3976

Digital and PWM outputs

1346

Three types of controller outputs can be distinguished:

 High side digital outputs with and without diagnostic function,
 High side digital outputs with and without diagnostic function and additional PWM mode,
 Low side digital outputs with and without diagnostic function,
 PWM outputs which can be operated with and without current control function. Current-controlled
PWM outputs are mainly used for triggering proportional hydraulic functions.

WARNING
Property damage or bodily injury due to malfunctions possible!
Outputs which are operated in the PWM mode do not support any diagnostic functions and no ERROR
flags are set. This is due to the structure of the outputs.
OUT_OVERLOAD_PROTECTION is not active in this mode!

The ecomatmobile controllers operate either with high or low side outputs. So, a maximum of
2 H-bridges, e.g. for triggering electric motors, can be implemented in these devices.
UB UB
Last/
load

Last/
load

GND GND

High side output for positive output signal Low side output for negative output signal

WARNING
Property damage or bodily injury due to malfunctions possible!
The outputs with read back function (outputs with diagnostic capabilities) are to be preferred for
safety-related applications, i.e. group VBBR.

NOTE
If an output is switched off in case of a fault (e.g. short circuit) via the hardware (by means of a fuse),
the logic state created by the application program does not change.
To set the outputs again after removal of the peripheral fault, the outputs must first be logically reset in
the application program and then set again if required.

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Behaviour in case of short circuit, permanent overload or wire break:

(applies as from the hardware version AH, however not in the safety mode)
> System flag ERROR_SHORT_Qx (in case of short circuit or overload) or ERROR_BREAK_Qx (in
case of wire break) becomes active.
> Only in case of short circuit/overload: the operating system deactivates the affected output driver.
The logic of the affected output remains TRUE.
After a waiting time the output is activated again, which can lead to periodic switching to short
circuit.
The waiting time increases with the (over)load of the output.
Switch-on time in case of short circuit typically 50 µs, considerably longer in case of overload.
► Evaluate the error flag in the application program!
Reset the output logic, stop the machine if necessary.
If required, switch off the output group VBBR via RELAY=FALSE (e.g. via ERROR=TRUE).
After fault elimination:
► Reset the error flag ERROR_..._Qx.
> The monitoring relay re-enables the output group VBBR.
► New setting of the output or restart of the machine.

Digital outputs for safety functions

3811

NOTE
Only the outputs marked "safe" in the data sheet must be used for applications up to performance level
PL d ( chapter The risk graph to ISO 13849 (→ page 18)) (safety-integrity level SIL CL 2). Only these
outputs have diagnostic and monitoring functions (short circuit, wire break, and cross fault) described
below.
The monitoring functions of the operating systems that can be activated by the application software
have to be used. The application software has to evaluate the error and feedback messages and has to
react accordingly.

If an error is detected during this testing, the corresponding bits are set in the error bytes
ERROR_BREAK_..., ERROR_SHORT_..., possibly ERROR_OUTPUTBLANKING and the error flag
ERROR_IO.
To activate all monitoring functions the bits OUT_SAFETY and OUT_DIAGNOSTIC must be set in the
mode byte of the corresponding output.
In case of an error switching off the outputs is one of the most important features of machine
controllers. The switched-off output (no energy) is considered as safe state.
Therefore the continuous monitoring of the connected actuators for the following errors is absolutely
necessary:
- wire break,
- short circuit to supply voltage,
- short circuit to ground and
- cross fault between each other.
For the errors indicated above, the SafetyController provides outputs with diagnostic capabilities which
the operating system partly checks automatically and the user has to evaluate in the application
software.

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The following example shows the manual configuration of the output %QX0.00 in the SafetyController.

Screenshot: manual configuration of output %QX0.00 in the SafetyController

The following example shows monitoring of a safe output for various cable faults (short circuit, break,
cross fault) via the program:

Screenshot: monitoring of a safe output for wire damage in the SafetyController

Behaviour (in the safety mode) in case of short circuit, permanent overload, wire break or
cross fault.
> System flag ERROR_SHORT_Qx (in case of short circuit or overload) or ERROR_BREAK_Qx (in
case of wire break) or ERROR_OUTPUTBLANKING (in case of cross fault) as well as group error
flag ERROR_IO and ERROR become active.
> The operating system deactivates the affected output driver.
The logic of the affected output remains TRUE.
> The monitoring relay switches off the output group VBBR.
> The LED lights in red.
► Evaluate the error flag in the application program!
Stop the machine.
► Switch off the controller.
After fault elimination:
► Switch on the controller again.
> The monitoring relay re-enables the output group VBBR.
► Restart the machine.
Depending on the output group the internal structure of the output channels is different,
 chapter Function configuration of the inputs and outputs (→ page 78).

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Safety outputs for PWM and PWMi

3819

In the SafetyController only the following outputs are permitted for safety functions ( data sheet):
CR7020, CR7021 %QX0.04...%QX0.07 *)
%QX1.00...%QX1.07
CR7505, CR7506 %QX0.04...%QX0.07 *)
CR7200, CR7201 %QX0.04...%QX0.07 *) %QX32.04...%QX32.07 *)
%QX1.00...%QX1.07 %QX33.00...%QX33.07
*) outputs suited for PWMi

NOTE
No internal testing!
Due to the function principle there is no system internal monitoring and testing for these outputs. If
PWMi outputs ( Table above) are to be used for safety purposes the plausibility of the signals has to
be monitored via the application and the application program.
If an output is used as a PWM or a current-controlled PWM output, the criss-fault detection of the
output in question must NOT be activated (MODE byte OUT_SAFETY is not set).

Example:
When the PWM function is used the current can be read back via OUTPUT_CURRENT (→ page 291).
When the current-controlled PWM outputs are used it has to be ensured that the output is only
triggered within permissible limits. The plausibility can be monitored e.g. with additional sensors
( figure).

Figure: Monitoring a PWMi output with OUTPUT_CURRENT and additional sensor (input SAFE_PWM_current)

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Output group Q1Q2 (%QX0.0...%QX0.7)

1378

These outputs have two functions. When used as PWM outputs, the diagnosis is implemented via the
integrated current measurement channels, which are also used for the current-controlled output
functions.
Using OUTPUT_CURRENT (→ page 291) load currents ≥ 100 mA can be indicated.
When used as digital output, configuration is carried out using the system variables
Q1x_MODE...Q2x_MODE. If the diagnosis is to be used, it must be activated in addition. Wire break
and short circuit of the output signal are indicated separately via the system variables
ERROR_BREAK_Q1Q2 and ERROR_SHORT_Q1Q2. The individual output error bits can be masked
in the application program, if necessary.
Example:
The assignment sets the
selected output to the operating
mode OUT_DIGITAL_H with
diagnosis. The overload
protection is activated (default
state).

NOTE
To protect the internal measuring resistors, OUT_OVERLOAD_PROTECTION should always be active
(max. measurement current 4.1 A).
IMPORTANT: For the limit values please make sure to adhere to the data sheet!
OUT_OVERLOAD_PROTECTION is not supported in the pure PWM mode.

Wire break and short circuit detection are active when the output is switched on.

Safety outputs %QX0.04...0.07 (%QX32.04...32.07)

3813

In the SafetyController only the following outputs are permitted for safety functions ( data sheet):
CR7020, CR7021 %QX0.04...%QX0.07
%QX1.00...%QX1.07 *)
CR7505, CR7506 %QX0.04...%QX0.07
CR7200, CR7201 %QX0.04...%QX0.07 %QX32.04...%QX32.07
%QX1.00...%QX1.07 *) %QX33.00...%QX33.07 *)

*)  Next chapter

Structure of the output channels %QX0.04...%QX0.07 (%QX32.04...%QX32.07)

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Monitoring for wire break

Wire-break detection is done via the read back channel. When the output is switched wire break is
detected when no current flows on the resistor Ri (no voltage drops). Without wire break the load
current flows through the series resistor Ri generating a voltage drop which is evaluated via the read
back channel.

Info
The error bit in the system flag byte ERROR_BREAK.... is only set for an output when the state is
output ON.

Monitoring for short circuit

Short-circuit detection is done via the read back channel. When the output is switched a short circuit
against GND is detected when the supply voltage drops over the series resistor.

Info
The error bit in the system flag byte ERROR_SHORT.... is only set for an output when the state is
output ON.

Monitoring for cross fault

Depending on the result of the risk assessment of the application the outputs must be tested for the
following errors:
- cross fault between each other and
- short to supply voltage.
To do so, a short switch-off pulse (approx. 200 µs) is automatically applied to the monitored outputs
(= outputs which can be read back) by the operating system of the controller. This is read back and
evaluated by the integrated diagnostic channels. This testing is carried out cyclically (approx. every
30 s) during the whole controller testing and monitoring.
When the output is active the cross fault is detected in the safety-related outputs by this testing.
An error detected by the testing is indicated via the error bit ERROR_OUTPUTBLANKING. With a
further diagnosis (see above) the exact error can be determined more precisely.

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Output group Q3 (%QX0.8...%QX0.15)

1379

The configuration of these outputs is carried out via the system variables Q3x_MODE. If the diagnosis
is to be used, it must be activated in addition. At the same time, the corresponding input must be
deactivated by setting the system flag I3x_MODE to IN_NOMODE.

Example: The assignments on the right deactivate the input and set the selected output to the operating mode
"OUT_DIGITAL_H with diagnosis".

Wire break and short circuit of the output signal are indicated separately via the system variables
ERROR_BREAK_Q3 and ERROR_SHORT_Q3. The individual output error bits can be masked in the
application program, if necessary.
IMPORTANT: For the limit values please make sure to adhere to the data sheet!
The wire break detection is active when the output is switched off.
The short circuit detection is active when the output is switched on.

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Output group Q4 (%QX1.0...%QX1.7)

1380

On delivery, this output group is deactivated to enable diagnosis via the inputs. The outputs must be
activated in order to be used.
The configuration of these outputs is carried out via the system variables Q4x_MODE. If the diagnosis
is to be used, it must be activated in addition. At the same time, the corresponding input must be
deactivated by setting the system flag I4x_MODE to IN_NOMODE.
Wire break and short circuit of the output signal are indicated separately via the system variables
ERROR_BREAK_Q4 and ERROR_SHORT_Q4. The individual output error bits can be masked in the
application program, if necessary.
To implement an H-bridge function, the outputs %QX1.1/2/5/6 can be switched to the mode
OUT_DIGITAL_L in addition.
IMPORTANT: For the limit values please make sure to adhere to the data sheet!
The wire break detection is active when the output is switched off.
The short circuit detection is active when the output is switched on.

Safety outputs %QX1.00...1.07 (%QX33.00...33.07)

3816

In the SafetyController only the following outputs are permitted for safety functions ( data sheet):
CR7020, CR7021 %QX0.04...%QX0.07 *)
%QX1.00...%QX1.07
CR7505, CR7506 %QX0.04...%QX0.07 *)
CR7200, CR7201 %QX0.04...%QX0.07 *) %QX32.04...%QX32.07 *)
%QX1.00...%QX1.07 %QX33.00...%QX33.07

*)  Previous chapter

Structure of the output channels %QX1.00...%QX1.07 (%QX33.00...%QX33.07)

Monitoring for wire break

Wire-break detection is done via the read back channel. When the output is blockedd wire break is
detected when the resistor Ri 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).

Info
The error bit in the system flag byte ERROR_BREAK.... is only set for an output when the state is
output OFF.

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Monitoring for short circuit

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

Info
The error bit in the system flag byte ERROR_SHORT.... is only set for an output when the state is
output ON.

Monitoring for cross fault

Depending on the result of the risk assessment of the application the outputs must be tested for the
following errors:
- cross fault between each other and
- short to supply voltage.
To do so, a short switch-off pulse (approx. 200 µs) is automatically applied to the monitored outputs
(= outputs which can be read back) by the operating system of the controller. This is read back and
evaluated by the integrated diagnostic channels. This testing is carried out cyclically (approx. every
30 s) during the whole controller testing and monitoring.
When the output is active the cross fault is detected in the safety-related outputs by this testing.
An error detected by the testing is indicated via the error bit ERROR_OUTPUTBLANKING. With a
further diagnosis (see above) the exact error can be determined more precisely.

NOTE
Only limited diagnostic possibilities (no short circuit protection) are available in the configuration
LowSide for the outputs %QX1.01, %QX1.02, %QX1.05, %QX1.06 (%QX33.02, %QX33.03,
%QX33.05, %QX33.06). Therefore this configuration is not suited for safety signals.
To activate the testing the bits OUT_SAFETY and OUT_DIAGNOSTIC must be set in the mode byte of
the corresponding output.

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6.3 Hints to wiring diagrams

1426

The wiring diagrams ( installation instructions of the controllers, chapter "Wiring") show the standard
device configurations. The wiring diagrams help allocate the input and output channels to the IEC
addresses and the device terminals.

Examples:
12 GNDA
12 Terminal number
GNDA Terminal designation

30 %IX0.7 BL
30 Terminal number
%IX0.7 IEC address for a binary input
BL Hardware version of the input, here: Binary Low side

47 %QX0.3 BH/PH
47 Terminal number
%QX0.3 IEC address for a binary output
BH/PH Hardware version of the output, here: Binary High side or PWMHigh side

The different abbreviations have the following meaning:

A Analogue input
BH Binary input/output, high side
BL Binary input/output, low side
CYL Input period measurement
ENC Input encoder signals
FRQ Frequency input
H-bridge Output with H-bridge function
PWM Pulse-widthmodulated signal

PWMI PWM output with current measurement

IH Pulse/counter input, high side
IL Pulse/counter input, low side
R Read back channel for one output

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Allocation of the input/output channels:

Depending on the device configuration there is one input and/or one output on a device terminal
( catalogue, installation instructions or data sheet of the corresponding device).

NOTE
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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6.4 Operating modes of the

ExtendedSafetyController

Operating mode master/master ................................................................................................ 104

Operating mode master/slave ................................................................................................... 105
3822

The ExtendedController can be operated in two different ways:

 as master/master:
two separate applications in the two controller halves.
Both PLC modes are permissible as safety controller.
Safety-related communication only permissible externally via CANopen-Safety.
 chapter CANopen Safety in safety-related applications (→ page 231)
 as master/slave:
only one controller half (which half can be freely defined) with a complete application program.
The secondary PLC module is not permissible for safety signals.
The internal interface is only available to non safety-related data exchange.

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6.4.1 Operating mode master/master

3823

The use of the ExtendedSafetyControlleras a safety controller is only permitted in operating mode
master/master.

Graphics: Both controller halves used as master/master

In variant 1 two separate applications are loaded to the two controller halves. They operate
completely independently of and asynchronously to each other in a master/master operating mode
(not to be confused with CANopen master).
The inputs and outputs are addressed in both controller halves via the same system variables and
system functions.
If requested, the internal interface can be used to exchange non-safety-related data between the two
halves. For this purpose SSC_TRANSMIT (→ page 337) and SSC_RECEIVE (→ page 335) are
included in the application programs ( description in chapter Data access and data check
(→ page 351)).

NOTE
When installing the ecomatmobile CD "Software, Tools and Documentation", projects with templates
have been stored in the program directory of your PC:
…\ifm electronic\CoDeSys V…\Projects\Template_CDVxxyyzz
► 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.
 chapter Set up programming system via templates (→ page 65)

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6.4.2 Operating mode master/slave

3824

Not permissible for safety controller.

Graphics: Only one controller half used

Legend:
Synchronisation

Exchange of input/output variables and system flags

Exchange of messages of the application programs

In the operating mode master/slave only one controller half (it can be freely defined which one) is
loaded with a complete application program. The ExtendedController now behaves like one controller.
The two controller halves operate in the master/slave operating mode. The inputs and outputs are
processed synchronously. To do so, SSC_SET_MASTER must be integrated in the application
program. The FB assumes the function of initialising the slave.
Furthermore, a little dummy program is loaded into the slave by the master. To do so, this program
block from the slave library ifm_CR0020_DUMMY_Vxxyyzz.LIB must be integrated into the
application program.

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Here, too, the same system variables and system units are addressed. For differentiation, the names
of the variables and FBs of the second controller half are extended by an _E (for Extended). The data
exchange between the two halves of the controller is automatically carried out via the internal
interface.

NOTE
For the 2nd controller half (slave) only a part of the functions of the master controller is available.
This operating mode is NOT permissible for a safety controller.

NOTE
When installing the ecomatmobile CD "Software, Tools and Documentation", projects with templates
have been stored in the program directory of your PC:
…\ifm electronic\CoDeSys V…\Projects\Template_CDVxxyyzz
► 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.
 chapter Set up programming system via templates (→ page 65)

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Limitations and programming notes Limits of the device

7 Limitations and programming notes

Limits of the device.................................................................................................................... 107
Programming notes for CoDeSys projects................................................................................ 110
3055

Here we show you the limits of the device and help you with programming notes.

7.1 Limits of the device

7358

NOTE
Note the limits of the device!  data sheet

7.1.1 CPU frequency

8005

► It must also be taken into account which CPU is used in the device:
Controller family / article no. CPU frequency [MHz]
BasicController: CR040n 50
CabinetController: CR0301, CR0302 20
CabinetController: CR0303 40
ClassicController: CR0020, CR0505 40
ClassicController: CR0032 150
ExtendedController: CR0200 40
ExtendedController: CR0232 150
SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506 40
SmartController: CR25nn 20

Monitor family / article no. CPU frequency [MHz]

BasicDisplay: CR0451 50
PDM360: CR1050, CR1051, CR1060 50
PDM360compact: CR1052, CR1053, CR1055, CR1056 50
PDM360NG: CR108n 400
PDM360smart: CR1070, CR1071 20
The higher the CPU frequency, the higher the performance when complex units are used at the same
time.

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Limitations and programming notes Limits of the device

7.1.2 Above-average stress

1497

The following FBs, for example, utilise the system resources above average:
Function block Above average load
CYCLE, Use of several measuring channels with a high input frequency
PERIOD,
PERIOD_RATIO,
PHASE
OUTPUT_CURRENT_CONTROL, Simultaneous use of several current controllers
OCC_TASK
CAN interface High baud rate (> 250 kbits) with a high bus load
PWM, Many PWM channels at the same time. In particular the channels as from 4
PWM1000 are much more time critical
INC_ENCODER Many encoder channels at the same time
SSC interface High data traffic on the internal interface of the
ExtendedController
The FBs listed above as examples trigger system interrupts. This means: Each activation prolongs the
cycle time of the application program.
The following indications should be seen as reference values:

7.1.3 Limits of the SafetyController

1507

Current controller max. 8 If possible, do not use any other performance-affecting

(max. 2x 8) *) functions

CYCLE, 1 channel Input frequency < 10 kHz

PERIOD,
PERIOD_RATIO,
PHASE 4 channels Input frequency < 2 kHz

INC_ENCODER max. 4 If possible, do not use any other performance-affecting

(max. 2x 4) *) functions!

SSC interface *) Optimisation of the data volume

*) only ExtendedSafetyControllers: CR7200, CR7201

NOTE
► Set the baud rate of the CAN interfaces to max. 250 kBaud!
Otherwise data can get lost in the 24-hour operation. This means:
> serious errors and
> controller goes to the stop mode.

ATTENTION
Risk that the controller works too slowly! Cycle time must not become too long!
► When the application program is designed 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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Limitations and programming notes Limits of the device

7.1.4 Watchdog behaviour

1490

For all ecomatmobile controllers the program runtime is monitored by a watchdog. If the maximum
watchdog time is exceeded, the controller carries out a reset and starts again (SafetyController:
controller remains in the reset; LED goes out).
Depending on the hardware the individual controllers have a different time behaviour:
Controller Watchdog [ms]
BasicController: CR040n 100
BasicDisplay: CR0451 100
CabinetController: CR030n 100...200
ClassicController: CR0020, CR0032, CR0505 100
ExtendedController: CR0200, CR0232 100
PCB controller: CS0015 100...200
SafetyController: CR7nnn 100
SmartController: CR25nn 100...200
PDM360: CR1050, CR1051, CR1060 no watchdog
PDM360compact: CR1052, CR1053, CR1055, CR1056 no watchdog
PDM360NG: CR108n no watchdog
PDM360smart: CR1070, CR1071 100...200

7.1.5 Available memory (CR7nnn)

4403

Physical Physically existing FLASH memory (non-volatile, slow memory) 2 Mbytes

memory
Physically existing RAM (volatile, fast memory) 512 Kbytes
Physically existing EEPROM (non-volatile, slow memory) ---
Physically existing FRAM (non-volatile, fast memory) 32 Kbytes
Use of the Memory reserved for the code of the IEC application 704 Kbytes
FLASH
Memory for data other than the IEC application that can be written by the user such as 1 Mbytes
memory
files, bitmaps, fonts
Memory for data other than the IEC application that can be processed by the user by 64 Kbytes
means of FBs such as FLASHREAD, FLASHWRITE
RAM Memory for the data in the RAM reserved for the IEC application 180 Kbytes
Remanent Memory for the data declared as VAR_RETAIN in the IEC application 1 Kbyte
memory
Memory for the flags agreed as RETAIN in the IEC application 256 bytes
Remanent memory freely available to the user. Access is made via FRAMREAD, 16 Kbytes
FRAMWRITE.
FRAM freely available to the user. Access is made via the address operator. ---

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Limitations and programming notes Programming notes for CoDeSys projects

7.2 Programming notes for CoDeSys projects

FB, FUN, PRG in CoDeSys ...................................................................................................... 110

Note the cycle time!................................................................................................................... 110
Creating application program .................................................................................................... 111
Save .......................................................................................................................................... 112
Using ifm downloader................................................................................................................ 112
Certification and distribution of the safety-related software ...................................................... 112
Changing the safety-relevant software after certification .......................................................... 113
7426

Here you receive tips how to program the device.

► See the notes in the CoDeSys programming manual
 ifm CD "Software, tools and documentation".

7.2.1 FB, FUN, PRG in CoDeSys

8473

In CoDeSys we differentiate between the following unit types:

FB = function block
 A FB may have several inputs and several outputs.
 A FB may be called several times within a project.
 For every call you must declare an instance.
FCT = function
 A function may have several inputs but only one output.
 The output is of the same data type as the function itself.
PRG = program
 A PRG may have several inputs and several outputs.
 A PRG may be called only once within a project.

NOTE
According to IEC: function blocks must NOT be called within a function.
Otherwise: During the executing the application program will crash.

7.2.2 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 controller 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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Limitations and programming notes Programming notes for CoDeSys projects

7.2.3 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] > [Write file in the controller].
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.
At least for safety-related applications the software and its checksum have to be identical for the series
production of the machine.
Programmieren in CoDeSys
Programming in CoDeSys

[Projekt] > [Alles übersetzen]

[Project] > [Compile all]

nein fehlerfrei?
no no errors?
Nur wenn Sicherheits-Software:
Only if safety software:
ja
yes

[Online] > [Einloggen] Quellcode + Dokumentation

[Online] > [Login] Source code + documentation

[Online] > [Bootprojekt erzeugen] Prüfen und Zertifizieren

[Online] > [Create boot project] Verify and certify

[Online] > [Datei in Steuerung schreiben]

[Online] > [Write file to PLC]

ecomatmobil
TEST
Gerät / device

Im Speicher ergänzt mit CRC

In the memory added with CRC

Applikation testen
R360
R360/ /PDM360
PDM360smart
smart
Test application R360
R360///PDM360
Serie PDM360smart
Production run
smart
ecomatmobil Controller, PDM360smart

nein Test in Ordnung?

no Test okay?
ja ...
yes

Downloader: Projekt auslesen Downloader: Projekt in SPS schreiben

Downloader: Read project Downloader: Write project to PLC

Datei.H86 (mit CRC)

File.H86 (with CRC)

Graphics: Creation and distribution of the (certified) software

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Limitations and programming notes Programming notes for CoDeSys projects

7.2.4 Save
7430

Applies only to the following devices:

- Controller CR0032, CR0232
- PDM360: CR1050, CR1051, CR1060
- PDM360compact: CR1052, CR1053, CR1055, CR1056
- PDM360NG: CR108n

NOTE
Only files in the flash memory (or EEPROM) are protected against power failure.

Always save the related boot project together with your CoDeSys project in the device.
► Menu [Online] > [Create boot project] (this must be carried out again after every change!).
> After a reboot, the device starts with the boot project last saved.

7.2.5 Using ifm downloader

8008

The ifm downloader 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 downloader. Advantage: A programming system with CoDeSys licence is not required.
Safety-related application software MUST be copied to the controllers using the ifm downloader so as
not to falsify the checksum by which the software has been identified.

NOTE
The ifm downloader cannot be used for the following devices:
- BasicController: CR040n
- BasicDisplay: CR0451
- PDM360: CR1050, CR1051, CR1060,
- PDM360compact: CR1052, CR1053, CR1055, CR1056,
- PDM360NG: CR108n

7.2.6 Certification and distribution of the safety-related software

8009

Only safety-related application software must be certified before it is copied to the series machine and
used.
 Saving the approved software
After completion of program development and approval of the entire system by the responsible
certification body (e.g. TÜV, BiA) the latest version of the application program loaded in the
controller using the ifm downloader has to be read from the controller and saved on a data carrier
using the name name_of_the_project_file.H86. Only this process ensures that the
application software and its checksums are stored.
 Download of the approved 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 downloader.
 An error in the data of this file is automatically recognised by the integrated checksum when
loaded again using the ifm downloader.

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Limitations and programming notes Programming notes for CoDeSys projects

7.2.7 Changing the safety-relevant software after certification

8010

Changes to the application software using the CoDeSys programming system automatically create a
new application file which may only be copied to the safety-related devices after a new certification. To
do so, follow again the process described above!
Under the following conditions the new certification may not be necessary:
 a new risk assessment was made for the change,
 NO safety-related elements were changed, added or removed,
 the change was correctly documented.

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Error messages Slight errors

8 Error messages
Slight errors ............................................................................................................................... 114
Serious errors............................................................................................................................ 115
CAN error .................................................................................................................................. 116
Fatal errors ................................................................................................................................ 116
Response to the system error ................................................................................................... 117
2259

If errors are detected while the system is monitored, the PLC reacts. The PLC reaction depends on
how serious the error is.
We distinguish:
 Slight errors
 Serious errors
 CAN errors
 Fatal errors
The error flags are not automatically reset by the operating system. This must be done in the
application program after analysis and rectification of the errors.
In case of a fault it must be decided depending on the application whether the outputs may be
switched on again by switching on again the relay by means of a reset of the ERROR bit.
It is also possible to set the ERROR bit via the application program in case of "freely defined errors".
 also chapter System flags (→ page 374)

8.1 Slight errors

2260

Slight errors are only signalled to the application program. It is up to the application programmer to
react to these errors. As minimum reaction the error flag should be reset.
Error message Type Description
ERROR_BREAK_Qx BYTE Error wire break
ERROR_Ix BYTE Peripheral error on the input group x
ERROR_SHORT_Qx BYTE Error short circuit
Ix or QX stands for the input/output group x (word 0...x, depending on the device).
If an input is configured as IN_SAFETY or an output is configured as OUT_SAFETY this error lead to
setting a serious error  chapter Serious errors (→ page 115).

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Error messages Serious errors

8.2 Serious errors

2261

In case of serious errors the ERROR bit can be additionally set. At the same time this also has the
effect that the operation LED lights red and the monitoring relays are de-energised. As a result of this,
the outputs protected by the relays are also switched off (but not necessarily set to FALSE!).

NOTE
If the outputs are switched off by the relays, the signal states remain unchanged internally.
The application programmer must evaluate the ERROR bit and therefore logically switch off the
outputs.

Error message Type Description

ERROR ¹) BOOL Set ERROR bit / switch off the relay
ERROR_ANALOG BOOL Error in analogue conversion

ERROR_BREAK_Qx ¹) BYTE Wire break error on output group x

ERROR_CAN_SAFETY BOOL SCT, SRVT and data error

ERROR_IO BOOL Group error wire break, short circuit, cross fault
ERROR_Ix ²) BYTE Peripheral error on the input group x
ERROR_OUTPUTBLANKING BOOL Cross fault on one of the safety outputs

ERROR_POWER BOOL Error undervoltage / overvoltage

ERROR_SHORT_Qx ²) BYTE Short circuit error on output group x

ERROR_TEMPERATURE BOOL Error excess temperature (inside > 85 °C)

ERROR_VBBO BOOL Missing voltage on terminal VBBO
ERROR_VBBR BOOL Missing voltage on terminal VBBR
Ix/Qx stands for the input/output group (word 0...x, depending on the device).
¹) By setting the ERROR system flag the ERROR output (terminal 13) is set to FALSE. In the
"error-free state" the output ERROR = TRUE (negative logic).
²) This error message is only seen as a "serious error" if the respective input was configured as
IN_SAFETY or the respective output as OUT_SAFETY.
The application program continues running. Communication via the interfaces, e.g. for troubleshooting,
is therefore possible.

NOTE
If a serious error occurs, no further diagnosis (wire break, short circuit) of the inputs / outputs can be
carried out. Therefore all error bits, for example, must first be reset. A further error analysis must be
carried out by an error routine in the application program.

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Error messages CAN error

8.3 CAN error

2262

If the mechanism of the safe data transmission via the CAN bus is selected (CANopen safety), all
detected errors lead to an error message in the sender (producer) and receiver (consumer) of the
data.
The SafetyController is brought to the safe state (serious error). In addition the system flag
ERROR_CAN_SAFETY is set and all outputs (and the relay) are switched off. The LED lights red.
The application program continues running. Communication via the interfaces, e.g. for troubleshooting,
is therefore possible.
With or without CANopen safety the CAN errors can be monitored via the CAN system flags.
Error message Type Description
CANx_BUSOFF BOOL CAN interface x: Interface is not on the bus
CANx_ERRORCOUNTER_RX ¹) BYTE CAN interface x: Error counter reception
CANx_ERRORCOUNTER_TX ¹) BYTE CAN interface x: Error counter transmission
CANx_LASTERROR ¹) BYTE CAN interface x: Error number of the last CAN transmission:
0= no error
0  CAN specification  LEC
CANx_WARNING BOOL CAN interface x: Warning threshold reached (> 96)
CANx stands for the number of the CAN interface (CAN 1...x, depending on the device).
¹) Access to this flags requires detailed knowledge of the CAN controller and is normally not required.

8.4 Fatal errors

2263

If a "fatal error" occurs:

> The PLC is completely stopped,
> all outputs are switched off,
> processing of the software is stopped,
> no communication is possible any more,
> the LED lights red.
Error message Type Description
ERROR_ADDRESS BOOL Addressing error
ERROR_CO_CPU BOOL Error in the Co processor
ERROR_CPU BOOL CPU error
ERROR_DATA BOOL System data faulty
ERROR_INSTRUCTION_TIME BOOL Processing of instruction too long
ERROR_MEMORY BOOL Memory error
ERROR_RELAIS BOOL Error relay triggering
ERROR_TIME_BASE BOOL Error internal system time

NOTE
If the test input (pin 24) is active, a "fatal error" is treated like a "serious error". The outputs are switched
off and the LED lights red. However, communication for a further error diagnosis is possible because
the application program continues.

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Error messages Response to the system error

8.5 Response to the system error

1445

In principle, the programmer is responsible to react to the error flags (system flags) in the application
program.
The specific error bits and bytes should be processed in the application program. An error description
is provided via the error flag. These error bits/bytes can be further processed if necessary.
In principle, all error flags must be reset by the application program. Without explicit reset of the error
flags the flags remain set with the corresponding effect on the application program.
In case of serious errors the system flag bit ERROR can also be set. At the same time this also has
the effect that the operation LED (if available) lights red, the ERROR output is set to FALSE and the
monitoring relays (if available) are de-energised. So the outputs protected via these relays are
switched off.

8.5.1 Notes on devices with monitoring relay

1446

Available for the following devices:

- ClassicController: CR0020, CR0505
- ExtendedController: CR0200
- SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506
Using the logic function via the system flag RELAIS or RELAY_CLAMP_15 ( chapter Latching
(→ page 49)) all other outputs are also switched off.
Depending on the application it must now be decided whether by resetting the system flag bit ERROR
the relay – and so also the outputs – may be switched on again.
In addition it is also possible to set the system flag bit ERROR as "defined error" by the application
program.

NOTICE
Premature wear of the relay contacts possible.
► Only use this function for a general switch-off of the outputs in case of an "emergency".
► In normal operation switch off the relays only without load!
To do so, first switch off the outputs via the application program!

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Error messages Response to the system error

8.5.2 Example process for response to a system error

1447

The system determines an excessive temperature in the controller.

The operating system sets the error bit ERROR_TEMPERATURE.
The application program recognises this state by querying the corresponding bits.
> The application program switches off outputs.
If necessary, the error bit ERROR can be set additionally via the application program.
> Consequences:
- operation LED flashes red
- safety relay is de-energised
- supply voltage of all outputs is switched off
- level of the output ERROR*) is LOW
► Rectify the cause of the error.
> The operating system resets the error bit ERROR_TEMPERATURE.
► If set, the error bit ERROR must be deleted via the application program.
> The relay is energised again and the LED flashes green again.
*) Output not available for CR0301, CR0302, CS0015.

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Using CAN General about CAN

9 Using CAN
General about CAN ................................................................................................................... 119
Physical connection of CAN...................................................................................................... 121
Exchange of CAN data.............................................................................................................. 125
Description of the CAN standard program units ....................................................................... 129
CAN units acc. to SAE J1939 ................................................................................................... 154
ifm CANopen library .................................................................................................................. 170
CANopen Safety in safety-related applications......................................................................... 231
CAN errors and error handling .................................................................................................. 242
1163

9.1 General about CAN

Topology.................................................................................................................................... 119
CAN interfaces .......................................................................................................................... 120
System configuration................................................................................................................. 120
1164

The CAN bus (Controller Area Network) belongs to the fieldbuses.

It is an asynchronous serial bus system which was developed for the networking of control devices in
automotives by Bosch in 1983 and presented together with Intel in 1985 to reduce cable harnesses
(up to 2 km per vehicle) thus saving weight.

9.1.1 Topology
1244

The CAN network is set up in a line structure. A limited number of spurs is allowed. Moreover, a ring
type bus (infotainment area) and a star type bus (central locking) are possible. Compared to the line
type bus both variants have one disadvantage:
 In the ring type bus all control devices are connected in series so that the complete bus fails if one
control device fails.
 The star type bus is mostly controlled by a central processor as all information must flow through
this processor. Consequently no information can be transferred if the central processor fails. If an
individual control device fails, the bus continues to function.
The linear bus has the advantage that all control devices are in parallel of a central cable. Only if this
fails, the bus no longer functions.

NOTE
The line must be terminated at its two ends using a terminating resistor of 120  to prevent corruption
of the signal quality.
The devices of ifm electronic equipped with a CAN interface have no terminating resistors.

The disadvantage of spurs and star-type bus is that the wave resistance is difficult to determine. In the
worst case the bus no longer functions.
For a high-speed bus (> 125 kbits/s) 2 terminating resistors of 120  (between CAN_HIGH and
CAN_LOW) must additionally be used at the cable ends.

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Using CAN General about CAN

9.1.2 CAN interfaces

269

The controllers have several CAN interfaces depending on the hardware structure. In principle, all
interfaces can be used with the following functions independently of each other:
 CAN at level 2 (layer 2)
 CANopen (→ page 170) protocol to CiA 301/401 for master/slave operation (via CoDeSys)
 CAN Network variables (→ page 198) (via CoDeSys)
 Protocol SAE J1939 (→ page 154) (for engine management)
 Bus load detection
 Error frame counter
 Download interface
 100 % bus load without package loss
Which CAN interface of the device has which potential,  data sheet of the device.

Informative: more interesting CAN protocols:

 "Truck & Trailer Interface" to ISO 11992 (only available for SmartController CR2051)
 ISOBUS to ISO 11783 for agricultural machines
 NMEA 2000 for maritime applications
 CANopen truck gateway to CiA 413 (conversion between ISO 11992 and SAE J1939)

9.1.3 System configuration

1167

The controllers are delivered with the download identifier 127. The download system uses this
identifier (= ID) for the first communication with a non configured module via CAN. The download ID
can be set via the PLC browser of the programming system, the downloader or the application
program.
As the download mechanism works on the basis of the CANopen SDO service (even if the controller is
not operated in the CANopen mode) all controllers in the network must have a unique identifier. The
actual COB IDs are derived from the module numbers according to the "predefined connection set".
Only one non configured module is allowed to be connected to the network at a time. After assignment
of the new participant number 1...126, a download or debugging can be carried out and then another
device can be connected to the system.
The download ID is set irrespective of the CANopen identifier. Ensure that these IDs do not overlap
with the download IDs or the CANopen node numbers of the other controllers or network participants.
Controller program download CANopen
ID COB ID SDO Node ID COB ID SDO
1…127 TX: 58016 + download ID 1…127 TX: 58016 + node ID
RX: 60016 + download ID RX: 60016 + node ID

NOTE
The CAN download ID of the device must match the CAN download ID set in CoDeSys!
In the CAN network the CAN download IDs must be unique!

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Using CAN Physical connection of CAN

9.2 Physical connection of CAN

Network structure ...................................................................................................................... 121

CAN bus level............................................................................................................................ 122
CAN bus level according to ISO 11992-1 ................................................................................. 122
Bus cable length........................................................................................................................ 123
Wire cross-sections ................................................................................................................... 124
1177

The mechanisms of the data transmission and error handling described in the chapters Exchange of
CAN data (→ page 125) and CAN errors (→ page 242) are directly implemented in the CAN controller.
ISO 11898 describes the physical connection of the individual CAN participants in layer 1.

9.2.1 Network structure

1178

The ISO 11898 standard assumes a line structure of the CAN network.

Figure: CAN network line structure

NOTE
The line must be terminated at its two ends using a terminating resistor of 120  to prevent corruption
of the signal quality.
The devices of ifm electronic equipped with a CAN interface have no terminating resistors.

Spurs
Ideally no spur should lead to the bus participants (node 1 ... node n) because reflections occur
depending on the total cable length and the time-related processes on the bus. To avoid system
errors, spurs to a bus participant (e.g. I/O module) should not exceed a certain length. 2 m spurs
(referred to 125 kbits/s) are considered to be uncritical. The sum of all spurs in the whole system
should not exceed 30 m. In special cases the cable lengths of the line and spurs must be calculated
exactly.

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Using CAN Physical connection of CAN

9.2.2 CAN bus level

1179

The CAN bus is in the inactive (recessive) state if the output transistor pairs are switched off in all bus
participants. If at least one transistor pair is switched on, a bit is transferred to the bus. This activates
the bus (dominant). A current flows through the terminating resistors and generates a difference
voltage between the two bus cables. The recessive and dominant states are converted into voltages in
the bus nodes and detected by the receiver circuits.
U

5V

CAN_H
3,5 V

2,5 V

1,5 V
CAN_L

0V
rezessiv dominant rezessiv t
recessive dominant recessive
Figure: CAN bus level

This differential transmission with common return considerably improves the transmission security.
Noise voltages which interfere with the system externally or shifts of the ground potential influence
both signal cables with the same interference. These influences are therefore not considered when the
difference is formed in the receiver.

9.2.3 CAN bus level according to ISO 11992-1

1182

Available for the following devices: only SmartController: CR2501 on the 2nd CAN interface.
The physical layer of the ISO 11992-1 is different from ISO 11898 in its higher voltage level. The
networks are implemented as point-to-point connection. The terminating networks have already been
integrated.
U

~ 16 V
VCANL

~8V VCANH
rezessiv dominant rezessiv
recessive dominant recessive

Figure: voltage level to ISO 11992-1 (here: 12 V system)

122
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9.2.4 Bus cable length

1180

The length of the bus cable depends on:

 type of the bus cable (cable, connector),
 cable resistance,
 required transmission rate (baud rate),
 length of the spurs.
To simplify matters, the following dependence between bus length and baud rate can be assumed:
Baudrate
Baud rate
[kBit/s]
1000

500

200

100

50

20

10
Bus-Länge
5 Bus length
0 10 50 1000 10000 [m]

Figure: bus cable length

Baud rate [kBit/s] Bus length [m] Bit length nominal [µs]
1 000 30 1
800 50 1.25
500 100 2
250 250 4
125 500 8
62.5 1 000 20
20 2 500 50
10 5 000 100
Table: Dependencies bus length / baud rate / bit time

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9.2.5 Wire cross-sections

1181

For the layout of the CAN network the wire cross-section of the bus cable used must also be taken into
account. The following table describes the dependence of the wire cross-section referred to the cable
length and the number of the connected nodes.
Wire cross-section at Wire cross-section at 64 Wire cross-section at 100
Cable length [m] 2 2 2
32 nodes [mm ] nodes [mm ] nodes [mm ]
< 100 0.25 0.25 0.25
< 250 0.34 0.50 0.50
< 500 0.75 0.75 1.00
Depending on the EMC requirements the bus cables can be laid out as follows:
 in parallel,
 as twisted pair
 and/or shielded.

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9.3 Exchange of CAN data

Hints .......................................................................................................................................... 126

Data reception ........................................................................................................................... 128
Data transmission...................................................................................................................... 128
1168

CAN data is exchanged via the CAN protocol of the link layer (level 2) of the seven-layer ISO/OSI
reference model specified in the international standard ISO 11898.
Every bus participant can transmit messages (multimaster capability). The exchange of data functions
similarly to radio. Data is transferred on the bus without transmitter or address. The data is only
marked by the identifier. It is the task of every participant to receive the transmitted data and to check
by means of the identifier whether the data is relevant for this participant. This procedure is carried out
automatically by the CAN controller together with the operating system.
For the normal exchange of CAN data the programmer only has to make the data objects with their
identifiers known to the system when designing the software. This is done via the following FBs:
 CANx_RECEIVE (→ page 145) (receive CAN data) and
 CANx_TRANSMIT (→ page 143) (transmit CAN data).
Using these FBs the following units are combined into a data object:
 RAM address of the useful data,
 data type,
 selected identifier (ID).
These data objects participate in the exchange of data via the CAN bus. The transmit and receive
objects can be defined from all valid IEC data types (e.g. BOOL, WORD, INT, ARRAY).
The CAN message consists of a CAN identifier (CAN-ID (→ page 126)) and maximum 8 data bytes.
The ID does not represent the transmit or receive module but identifies the message. To transmit data
it is necessary that a transmit object is declared in the transmit module and a receive object in at least
one other module. Both declarations must be assigned to the same identifier.

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9.3.1 Hints
8394

CAN-ID
1166

Depending of the CAN-ID the following CAN identifiers are free available for the data transfer:
CAN-ID base CAN-ID extended
11 bits 29 bits
2 047 CAN identifiers 536 870 912 CAN identifiers
Motor management (SAE J1939),
Standard applications
Truck & Trailer interface (ISO 11992)

NOTE
In some devices the 29 bits CAN-ID is not available for all CAN interfaces,  data sheet.

Example 11 bits CAN-ID (base):

S CAN-ID base R I
O T D
F Bit 28 ... Bit 18 R E
0 0 0 0 0 1 1 1 1 1 1 1 0 0
0 7 F

Example 29 bits CAN-ID (extended):

S CAN-ID base S I CAN-ID extended R
O R D T
F Bit 28 ... Bit 18 R E Bit 17 ... Bit 0 R
0 0 0 0 0 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 1 F C 0 0 0 0

Legend:
SOF = Start of frame
Edge of recessive to dominant
RTR = Remote transmission request
dominant: This message sends data
recessive: This message requests data
IDE = Identifier extension flag
dominant: After this control bits follows
recessive: After this the second part of the 29 bits identifier follows
SRR = Substitute remote request
recessive: Extended CAN-ID: Replaces the RTR bit at this position

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Summary CAN / CANopen

3956

 The COB ID of the network variables must differ from the CANopen Device ID in the controller
configuration and from the IDs of the FBs CANx_TRANSMIT and CANx_RECEIVE!
 If more than 8 bytes of network variables are put into one COB ID, CANopen automatically
expands the data packet to several successive COB IDs. This can lead to conflicts with manually
defined COB IDs!
 Network variables cannot transport any string variables.
 Network variables can be transported...
- if a variable becomes TRUE (Event),
- in case of data changes in the network variable or
- cyclically when the timer has elapsed.
 The interval time is the period between transmissions if cyclical transmission has been selected.
The minimum distance is the waiting time between two transmissions, if the variable changes too
often.
 To reduce the bus load, split the messages via network variables or CANx_TRANSMIT to several
plc cycles using several events.
 Each call of CANx_TRANSMIT or CANx_RECEIVE generates a message packet of 8 bytes.
 In the controller configuration the values for [Com Cycle Period] and [Sync. Window Length]
should be identical. These values must be higher than the plc cycle time.
 If [Com Cycle Period] is selected for a slave, the slave searches for a Sync object of the master
during exactly this period. This is why the value for [Com Cycle Period] must be higher than the
[Master Synch Time].
 We recommend to select "optional startup" for slaves and "automatic startup" for the network. This
reduces unnecessary bus load and allows a briefly lost slave to integrate into the network again.
 Since we have no inhibit timer, we recommend to set analogue inputs to "synchronous
transmission" to avoid bus overload.
 Binary inputs, especially the irregularly switching ones, should best be set to "asynchronous
transmission" using an event timer.
 To be considered during the monitoring of the slave status:
- after the start of the slaves it takes a while until the slaves are operational.
- When the system is switched off, slaves can indicate an incorrect status change due to early
voltage loss.

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9.3.2 Data reception

1169

In principle the received data objects are automatically stored in a buffer (i.e. without influence of the
user).
Each identifier has such a buffer (queue). Depending on the application software this buffer is emptied
according to the FiFo principle (First In, First Out) via CANx_RECEIVE (→ page 145).

9.3.3 Data transmission

1170

By calling CANx_TRANSMIT (→ page 143) the application program transfers exactly one CAN
message to the CAN controller. As feedback you are informed whether the message was successfully
transferred to the CAN controller. Which then automatically carries out the actual transfer of the data
on the CAN bus.
The transmit order is rejected if the controller is not ready because it is in the process of transferring a
data object. The transmit order must then be repeated by the application program. This information is
indicated by a bit.
If several CAN messages are ready for transmission, the message with the lowest ID is transmitted
first. Therefore, the programmer must assign the CAN ID (→ page 126) very carefully.

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9.4 Description of the CAN standard program units

CAN1_BAUDRATE (FB) ........................................................................................................... 130

CAN1_DOWNLOADID (FB)...................................................................................................... 132
CAN1_EXT (FB)........................................................................................................................ 134
CAN1_EXT_TRANSMIT (FB) ................................................................................................... 136
CAN1_EXT_RECEIVE (FB)...................................................................................................... 138
CAN1_EXT_ERRORHANDLER (FB) ....................................................................................... 140
CAN2 (FB)................................................................................................................................. 141
CANx_TRANSMIT (FB) ............................................................................................................ 143
CANx_RECEIVE (FB) ............................................................................................................... 145
CANx_RECEIVE_RANGE (FB) ................................................................................................ 147
CANx_EXT_RECEIVE_ALL (FB).............................................................................................. 150
CANx_ERRORHANDLER (FB)................................................................................................. 152
1186

The CAN FBs are described for use in the application program.

NOTE
To use the full capacity of CAN it is absolutely necessary for the programmer to define an exact bus
concept before starting to work:
 How many data objects are needed with what identifiers?
 How is the ecomatmobile device to react to possible CAN errors?
 How often must data be transmitted? CANx_TRANSMIT (→ page 143) and CANx_RECEIVE
(→ page 145) must be called accordingly.
► Check whether the transmit orders were successfully assigned to CANx_TRANSMIT (output
RESULT) or ensure that the received data is read from the data buffer of the queue using
CANx_RECEIVE and processed in the rest of the program immediately.

To be able to set up a communication connection, the same transmission rate (baud rate) must first be
set for all participants of the CAN network. For the controller this is done using CAN1_BAUDRATE
(→ page 130) (for the 1st CAN interface) or via CAN2 (→ page 141) (for the 2nd CAN interface).
Irrespective of whether the devices support one or several CAN interfaces the FBs related to the
interface are specified by a number in the CAN FB (e.g. CAN1_TRANSMIT or CAN2_RECEIVE). To
simplify matters the designation (e.g. CANx_TRANSMIT) is used for all variants in the documentation.

NOTE
When installing the ecomatmobile CD "Software, Tools and Documentation", projects with templates
have been stored in the program directory of your PC:
…\ifm electronic\CoDeSys V…\Projects\Template_CDVxxyyzz
► 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.
 chapter Set up programming system via templates (→ page 65)

In this example data objects are exchanged with other CAN participants via the identifiers 1 and 2. To
do so, a receive identifier must exist for the transmit identifier (or vice versa) in the other participant.

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9.4.1 CAN1_BAUDRATE (FB)

651

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0505
 ExtendedController: CR0200
 PCB controller: CS0015
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506
 SmartController: CR25nn

Symbol in CoDeSys:

CAN1_BAUDRATE
ENABLE
BAUDRATE

Description
654

CAN1_BAUDRATE sets the transmission rate for the bus participant.

► To do so, the corresponding value in kbits/s is entered at the input BAUDRATE.
> After executing the FB the new value is stored in the device and will even be available after a
power failure.

ATTENTION
Please note for CR250n, CR0301, CR0302 and CS0015:
The EEPROM memory module may be destroyed by the permanent use of this unit!
► Only carry out the unit once during initialisation in the first program cycle!
► Afterwards block the unit again with ENABLE = FALSE!

NOTE
The new baud rate will become effective on RESET (voltage OFF/ON or soft reset).
ExtendedController: In the slave module, the new baud rate will become effective after voltage
OFF/ON.

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Parameters of the inputs

655

Parameter Data type Description

ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active
BAUDRATE WORD Baud rate [kbits/s]
permissible values: 50, 100, 125, 250, 500, 1000
preset value = 125 kbits/s

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9.4.2 CAN1_DOWNLOADID (FB)

645

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0505
 ExtendedController: CR0200
 PCB controller: CS0015
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506
 SmartController: CR25nn

Symbol in CoDeSys:

CAN1_DOWNLOADID
ENABLE
ID

Description
648

CAN1_DOWNLOADID sets the download identifier for the first CAN interface.
Using the FB the communication identifier for the program download and for debugging can be set.
The new value is entered when the input ENABLE is set to TRUE. The new download ID will become
effective after voltage OFF/ON or after a soft reset.

ATTENTION
Please note for CR250n, CR0301, CR0302 and CS0015:
The EEPROM memory module may be destroyed by the permanent use of this unit!
► Only carry out the unit once during initialisation in the first program cycle!
► Afterwards block the unit again with ENABLE = FALSE!

NOTE
Make sure that a different download ID is entered for each device in the same network!
If the device is operated in the CANopen network, the download ID must not coincide with any module
ID (node number) of the other participants, either!
ExtendedController: In the slave module the download ID becomes effective after voltage OFF/ON.

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Parameters of the inputs

649

Parameter Data type Description

ENABLE BOOL TRUE (or only 1 cycle):
ID is set
FALSE: unit is not executed
ID BYTE download identifier
permissible values: 1…127

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9.4.3 CAN1_EXT (FB)

4192

Contained in the library:

ifm_CAN1_EXT_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0505
 ExtendedController: CR0200
 PCB controller: CS0015
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506
 SmartController: CR25nn
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

CAN1_EXT
ENABLE
START
EXTENDED_MODE
BAUDRATE

Description
4333

CAN1_EXT initialises the first CAN interface for the extended identifier (29 bits).
The FB has to be retrieved if the first CAN interface e.g. with the function libraries for SAE J1939
(→ page 154) is to be used.
A change of the baud rate will become effective after voltage OFF/ON. The baud rates of CAN 1 and
CAN 2 can be set differently.
The input START is only set for one cycle during reboot or restart of the interface.

NOTE
The FB must be executed before CAN1_EXT_... .

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Parameters of the inputs

4334

Parameter Data type Description

ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active
START BOOL TRUE (in the 1st cycle):
interface is initialised
FALSE: initialisation cycle completed
EXTENDED_MODE BOOL TRUE: identifier of the 1st CAN interface operates with 29 bits
FALSE: identifier of the 1st CAN interface operates with 11 bits
BAUDRATE WORD baud rate [kbits/s]
permissible values = 50, 100, 125, 250, 500, 1000
preset value = 125 kbits/s

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9.4.4 CAN1_EXT_TRANSMIT (FB)

4307

Contained in the library:

ifm_CAN1_EXT_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0505
 ExtendedController: CR0200
 PCB controller: CS0015
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506
 SmartController: CR25nn
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

CAN1_EXT_TRANSMIT
ID RESULT
DLC
DATA
ENABLE

Description
4337

CAN1_EXT_TRANSMIT transfers a CAN data object (message) to the CAN controller for
transmission.
The FB is called for each data object in the program cycle; this is done several times in case of long
program cycles. The programmer must ensure by evaluating the output RESULT that his transmit
order was accepted. To put it simply, at 125 kbits/s one transmit order can be executed per 1 ms.
The execution of the FB can be temporarily blocked via the input ENABLE = FALSE. This can, for
example, prevent a bus overload.
Several data objects can be transmitted virtually at the same time if a flag is assigned to each data
object and controls the execution of the FB via the ENABLE input.

NOTE
If this unit is to be used, the 1st CAN interface must first be initialised for the extended ID with
CAN1_EXT (→ page 134).

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Parameters of the inputs

4380

Parameter Data type Description

ID DWORD number of the data object identifier
permissible values: 11-bit ID = 0...2 047,
29-bit ID = 0...536 870 911
DLC BYTE number of bytes to be transmitted from the array DATA
permissible values = 0...8
DATA ARRAY[0...7] OF BYTE the array contains max. 8 data bytes
ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active

Parameters of the outputs

614

Parameter Data type Description

RESULT BOOL TRUE (only 1 cycle):
the unit has accepted the transmit order

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9.4.5 CAN1_EXT_RECEIVE (FB)

4302

Contained in the library:

ifm_CAN1_EXT_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0505
 ExtendedController: CR0200
 PCB controller: CS0015
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506
 SmartController: CR25nn
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

CAN1_EXT_RECEIVE
CONFIG DATA
CLEAR DLC
ID RTR
AVAILABLE
OVERFLOW

Description
4336

CAN1_EXT_RECEIVE configures a data receive object and reads the receive buffer of the data
object.
The FB must be called once for each data object during initialisation to inform the CAN controller
about the identifiers of the data objects.
In the further program cycle CAN1_EXT_RECEIVE is called for reading the corresponding receive
buffer, this is done several times in case of long program cycles The programmer must ensure by
evaluating the byte AVAILABLE that newly received data objects are retrieved from the buffer and
further processed.
Each call of the FB decrements the byte AVAILABLE by 1. If the value of AVAILABLE is 0, there is no
data in the buffer.
By evaluating the output OVERFLOW, an overflow of the data buffer can be detected. If
OVERFLOW = TRUE at least 1 data object has been lost.

NOTE
If this unit is to be used, the 1st CAN interface must first be initialised for the extended ID with
CAN1_EXT (→ page 134).

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Parameters of the inputs

2172

Parameter Data type Description

CONFIG BOOL TRUE (only for 1 cycle):
configure data object
FALSE: this function is not executed
CLEAR BOOL TRUE: deletes the data buffer (queue)
FALSE: this function is not executed
ID WORD number of the data object identifier
permissible values normal frame = 0...2 047 (211)
permissible values extended frame = 0...536 870 912 (229)

Parameters of the outputs

632

Parameter Data type Description

DATA ARRAY[0...7] OF BYTES the array contains a maximum of 8 data bytes
DLC BYTE number of bytes transmitted in the array DATA
possible values = 0...8
RTR BOOL not supported
AVAILABLE BYTE number of received messages
OVERFLOW BOOL TRUE: overflow of the data buffer  loss of data!
FALSE: buffer not yet full

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9.4.6 CAN1_EXT_ERRORHANDLER (FB)

4195

Contained in the library:

ifm_CAN1_EXT_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0505
 ExtendedController: CR0200
 PCB controller: CS0015
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506
 SmartController: CR25nn
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

CAN1_EXT_ERRORHANDLER
BUSOFF_RECOVER

Description
4335

CAN1_EXT_ERRORHANDLER monitors the first CAN interface and evaluates the CAN errors. If a
certain number of transmission errors occurs, the CAN participant becomes error passive. If the error
frequency decreases, the participant becomes error active again (= normal condition).
If a participant already is error passive and still transmission errors occur, it is disconnected from the
bus (= bus off) and the error bit CANx_BUSOFF is set. Returning to the bus is only possible if the "bus
off" condition has been removed (signal BUSOFF_RECOVER).
Afterwards, the error bit CANx_BUSOFF must be reset in the application program.

NOTE
If the automatic bus recover function is to be used (default setting) CAN1_EXT_ERRORHANDLER
must not be integrated and instanced in the program!

Parameters of the inputs

2177

Parameter Data type Description

BUSOFF_RECOVER BOOL TRUE (only for 1 cycle):
> reboot of the CAN interface x
> remedy "bus off" status
FALSE: this function is not executed

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9.4.7 CAN2 (FB)

639

(can only be used for devices with a 2nd CAN interface)

Contained in the library:
ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 ClassicController: CR0020, CR0505
 ExtendedController: CR0200
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506
 SmartController: CR25nn

Symbol in CoDeSys:

CAN2
ENABLE
START
EXTENDED_MODE
BAUDRATE

Description
642

CAN2 initialises the 2nd CAN interface.

The FB must be called if the 2nd CAN interface is to be used.
A change of the baud rate will become effective after voltage OFF/ON. The baud rates of CAN 1 and
CAN 2 can be set differently.
The input START is only set for one cycle during reboot or restart of the interface.
For the 2nd CAN interface the libraries for SAE J1939 (→ page 154) and ISO 11992, among others,
are available. The FBs to ISO 11992 are only available in the CR2501 on the 2nd CAN interface.

NOTE
The FB must be executed before CAN2... .

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Parameters of the inputs

643

Parameter Data type Description

ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active
START BOOL TRUE (in the 1st cycle):
interface is initialised
FALSE: initialisation cycle completed
EXTENDED_MODE BOOL TRUE: identifier of the 2nd CAN interface operates with 29 bits
FALSE: identifier of the 2nd CAN interface operates with 11 bits
BAUDRATE WORD Baud rate [kbits/s]
permissible values: 50, 100,125, 250, 500, 800, 1000
preset value = 125 kbits/s

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9.4.8 CANx_TRANSMIT (FB)

609

x = number 1...n of the CAN interface (depending on the device,  data sheet)
Contained in the library:
ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
POU not for safety signals!
(For safety signals  CAN_SAFETY_TRANSMIT (→ page 237))
 SmartController: CR25nn

Symbol in CoDeSys:

CANx_TRANSMIT
ID RESULT
DLC
DATA
ENABLE

Description
612

CANx_TRANSMIT transmits a CAN data object (message) to the CAN controller for transmission.
The FB is called for each data object in the program cycle, also repeatedly in case of long program
cycles. The programmer must ensure by evaluating the FB output RESULT that his transmit order was
accepted. Simplified it can be said that at 125 kbits/s one transmit order can be executed per ms.
The execution of the FB can be temporarily blocked (ENABLE = FALSE) via the input ENABLE. So,
for example a bus overload can be prevented.
Several data objects can be transmitted virtually at the same time if a flag is assigned to each data
object and controls the execution of the FB via the ENABLE input.

NOTE
If CAN2_TRANSMIT is to be used, the second CAN interface must be initialised first using CAN2
(→ page 141).

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Parameters of the inputs

613

Parameter Data type Description

ID WORD number of the data object identifier
permissible values = 0...2 047
DLC BYTE number of bytes to be transmitted from the array DATA
permissible values = 0...8
DATA ARRAY[0...7] OF BYTES the array contains a maximum of 8 data bytes
ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active

Parameters of the outputs

614

Parameter Data type Description

RESULT BOOL TRUE (only 1 cycle):
the unit has accepted the transmit order

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9.4.9 CANx_RECEIVE (FB)

627

x = number 1...n of the CAN interface (depending on the device,  data sheet)
Contained in the library:
ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
POU not for safety signals!
(For safety signals  CAN_SAFETY_RECEIVE (→ page 239))
 SmartController: CR25nn

Symbol in CoDeSys:

CANx_RECEIVE
CONFIG DATA
CLEAR DLC
ID RTR
AVAILABLE
OVERFLOW

Description
630

CANx_RECEIVE configures a data receive object and reads the receive buffer of the data object.
The FB must be called once for each data object during initialisation, in order to inform the CAN
controller about the identifiers of the data objects.
In the further program cycle CANx_RECEIVE is called for reading the corresponding receive buffer,
also repeatedly in case of long program cycles. The programmer must ensure by evaluating the byte
AVAILABLE that newly received data objects are retrieved from the buffer and further processed.
Each call of the FB decrements the byte AVAILABLE by 1. If the value of AVAILABLE is 0, there is
no data in the buffer.
By evaluating the output OVERFLOW, an overflow of the data buffer can be detected. If
OVERFLOW = TRUE at least 1 data object has been lost.

NOTE
If CAN2_RECEIVE is to be used, the second CAN interface must be initialised first using CAN2
(→ page 141).

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Parameters of the inputs

631

Parameter Data type Description

CONFIG BOOL TRUE (only 1 cycle):
Configure data object
FALSE: unit is not executed
CLEAR BOOL TRUE: deletes the data buffer (queue)
FALSE: this function is not executed
ID WORD number of the data object identifier
permissible values = 0...2 047

Parameters of the outputs

632

Parameter Data type Description

DATA ARRAY[0...7] OF BYTES the array contains a maximum of 8 data bytes
DLC BYTE number of bytes transmitted in the array DATA
possible values = 0...8
RTR BOOL not supported
AVAILABLE BYTE number of received messages
OVERFLOW BOOL TRUE: overflow of the data buffer  loss of data!
FALSE: buffer not yet full

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9.4.10 CANx_RECEIVE_RANGE (FB)

4179

x = number 1...n of the CAN interface (depending on the device,  data sheet)
Contained in the library:
from ifm_CRnnnn_V05yyzz.LIB onwards
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0505
 ExtendedController: CR0200
 PCB controller: CS0015
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506
POU not for safety signals!
(For safety signals  CAN_SAFETY_RECEIVE (→ page 239))
 SmartController: CR25nn
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

CANx_RECEIVE_RANGE
CONFIG ID
CLEAR DATA
FIRST_ID DLC
LAST_ID AVAILABLE
OVERFLOW

Description
2295

CANx_RECEIVE_RANGE configures a sequence of data receive objects and reads the receive buffer
of the data objects.
For the first CAN interface max. 2048 IDs per bit are possible.
For the second CAN interface max. 256 IDs per 11 OR 29 bits are possible.
The second CAN interface requires a long initialisation time. To ensure that the watchdog does not
react, the process should be distributed to several cycles in the case of bigger ranges.
 Example (→ page 149).
The FB must be called once for each sequence of data objects during initialisation to inform the CAN
controller about the identifiers of the data objects.
The FB must NOT be mixed with CANx_RECEIVE (→ page 145) or CANx_RECEIVE_RANGE for the
same IDs at the same CAN interfaces.
In the further program cycle CANx_RECEIVE_RANGE is called for reading the corresponding receive
buffer, also repeatedly in case of long program cycles. The programmer has to ensure by evaluating
the byte AVAILABLE that newly received data objects are retrieved from buffer SOFORT and are
further processed as the data are only available for one cycle.
Each call of the FB decrements the byte AVAILABLE by 1. If the value of AVAILABLE is 0, there is no
data in the buffer.
By evaluating the output OVERFLOW, an overflow of the data buffer can be detected. If
OVERFLOW = TRUE, at least 1 data object has been lost.
Receive buffer: max. 16 software buffers per identifier.

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Parameters of the inputs

2290

Parameter Data type Description

CONFIG BOOL TRUE (only for 1 cycle):
configure data object
FALSE: this function is not executed
CLEAR BOOL TRUE: deletes the data buffer (queue)
FALSE: this function is not executed
FIRST_ID CAN1: WORD number of the first data object identifier of the sequence
CAN2: DWORD permissible values normal frame = 0...2 047 (211)
permissible values extended frame = 0...536 870 912 (229)
LAST_ID CAN1: WORD number of the last data object identifier of the sequence
CAN2: DWORD permissible values normal frame = 0...2 047 (211)
permissible values extended frame = 0...536 870 912 (229)
LAST_ID has to be bigger than FIRST_ID.

Parameters of the outputs

4381

Parameter Data type Description

ID CAN1: WORD ID of the transmitted data object
CAN2: DWORD
DATA ARRAY[0...7] OF BYTE the array contains max. 8 data bytes
DLC BYTE number of bytes transmitted in the array DATA
possible values = 0...8
AVAILABLE BYTE number of messages in the buffer
OVERFLOW BOOL TRUE: overflow of the data buffer  loss of data!
FALSE: buffer not yet full

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Example: Initialisation of CANx_RECEIVE_RANGE in 4 cycles

2294

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9.4.11 CANx_EXT_RECEIVE_ALL (FB)

4183

x = number 1...n of the CAN interface (depending on the device,  data sheet)
Contained in the library:
For CAN interface 1: ifm_CAN1_EXT_Vxxyyzz.LIB
For CAN interface 2...n: ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0505
 ExtendedController: CR0200
 PCB controller: CS0015
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506
POU not for safety signals!
(For safety signals  CAN_SAFETY_RECEIVE (→ page 239))
 SmartController: CR25nn
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

CANx_EXT_RECEIVE_ALL
CONFIG ID
CLEAR DATA
DLC
AVAILABLE
OVERFLOW

Description
4326

CANx_EXT_RECEIVE_ALL configures all data receive objects and reads the receive buffer of the
data objects.
The FB must be called once during initialisation to inform the CAN controller about the identifiers of the
data objects.
In the further program cycle CANx_EXT_RECEIVE_ALL is called for reading the corresponding
receive buffer, also repeatedly in case of long program cycles. The programmer must ensure by
evaluating the byte AVAILABLE that newly received data objects are retrieved from the buffer and
further processed.
Each call of the FB decrements the byte AVAILABLE by 1. If the value of AVAILABLE is 0, there is no
data in the buffer.
By evaluating the output OVERFLOW, an overflow of the data buffer can be detected. If
OVERFLOW = TRUE at least 1 data object has been lost.
Receive buffer: max. 16 software buffers per identifier.

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Parameters of the inputs

4329

Parameter Data type Description

CONFIG BOOL TRUE (only for 1 cycle):
configure data object
FALSE: unit is not executed
CLEAR BOOL TRUE: deletes the data buffer (queue)
FALSE: this function is not executed

Parameters of the outputs

2292

Parameter Data type Description

ID DWORD ID of the transmitted data object
DATA ARRAY[0...7] OF BYTE the array contains max. 8 data bytes
DLC BYTE number of bytes transmitted in the array DATA
possible values = 0...8
AVAILABLE BYTE number of messages in the buffer
OVERFLOW BOOL TRUE: overflow of the data buffer  loss of data!
FALSE: buffer not yet full

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9.4.12 CANx_ERRORHANDLER (FB)

633

x = number 1...n of the CAN interface (depending on the device,  data sheet)
Contained in the library:
ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0505
 ExtendedController: CR0200
 PCB controller: CS0015
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506
 SmartController: CR25nn

Symbol in CoDeSys:

CAN1_ERRORHANDLER
BUSOFF_RECOVER
CAN_RESTART

CAN2_ERRORHANDLER
BUSOFF_RECOVER

Description
636

Error routine for monitoring the CAN interfaces

CANx_ERRORHANDLER monitors the CAN interfaces and evaluates the CAN errors. If a certain
number of transmission errors occurs, the CAN participant becomes error passive. If the error
frequency decreases, the participant becomes error active again (= normal condition).
If a participant already is error passive and still transmission errors occur, it is disconnected from the
bus (= bus off) and the error bit CANx_BUSOFF is set. Returning to the bus is only possible if the "bus
off" condition has been removed (signal BUSOFF_RECOVER).
The input CAN_RESTART is used for rectifying other CAN errors. The CAN interface is reinitialised.
Afterwards, the error bit must be reset in the application program.
The procedures for the restart of the interfaces are different:
 For CAN interface 1 or devices with only one CAN interface:
set the input CAN_RESTART = TRUE (only 1 cycle)
 For CAN interface 2:
set the input START = TRUE (only 1 cycle) in CAN2 (→ page 141)

NOTE
In principle, CAN2 (→ page 141) must be executed to initialise the second CAN interface, before FBs
can be used for it.
If the automatic bus recover function is to be used (default setting) CANx_ERRORHANDLER must not
be integrated and instanced in the program!

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Parameters of the inputs

637

Parameter Data type Description

BUSOFF_RECOVER BOOL TRUE (only 1 cycle):
remedy 'bus off' status
FALSE: this function is not executed
CAN_RESTART BOOL TRUE (only 1 cycle):
completely reinitialise CAN interface 1
FALSE: this function is not executed

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9.5 CAN units acc. to SAE J1939

CAN for the drive engineering................................................................................................... 154

Units for SAE J1939 .................................................................................................................. 158
7482

The network protocol SAE J1939 describes the communication on a CAN bus in utility vehicles for
submitting diagnosis data (e.g. motor speed, temperature) and control information.

9.5.1 CAN for the drive engineering

Identifier acc. to SAE J1939...................................................................................................... 155

Example: detailed message documentation ............................................................................. 156
Example: short message documentation.................................................................................. 157
7678

With the standard SAE J1939 the CiA bietet offers to the user a CAN bus protocol for the drive
engineering. For this protocol the CAN controller of the 2nd interface is switched to the "extended
mode". This means that the CAN messages are transferred with a 29-bit identifier. Due to the longer
identifier numerous messages can be directly assigned to the identifier.
For writing the protocol this advantage was used and certain messages were combined in ID groups.
The ID assignment is specified in the standards SAE J1939 and ISO 11992. The protocol of
ISO 11992 is based on the protocol of SAE J1939.
Standard Application area
SAE J1939 Drive management
ISO 11992 "Truck & Trailer Interface"
The 29-bit identifier consists of two parts:
- an 11-bit ID and
- an 18-bit ID.
As for the software protocol the two standards do not differ because ISO 11992 is based on
SAE J1939. Concerning the hardware interface, however, there is one difference: higher voltage level
for ISO 11992.

NOTE
To use the functions to SAE J1939 the protocol description of the aggregate manufacturer (e.g. for
motors, gears) is definitely needed. For the messages implemented in the aggregate control device this
description must be used because not every manufacturer implements all messages or implementation
is not useful for all aggregates.

The following information and tools should be available to develop programs for functions to
SAE J1939:
 List of the data to be used by the aggregates
 Overview list of the aggregate manufacturer with all relevant data
 CAN monitor with 29-bit support
 If required, the standard SAE J1939

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Identifier acc. to SAE J1939

7675

For the data exchange with SAE J1939 the 29 bit identifiers are determinant. This identifier is pictured
schematically as follows:
A SO Identifier 11 bits SR ID Identifier 18 bits RT
F R E R
B SO Priority R D PDU format (PF) SR ID still PF PDU specific (PS) Source address RT
F P 6+2 bits R E destination address R
group extern or proprietary
3 2 1 8 7 6 5 4 3 2 1 8 7 6 5 4 3 2 1 8 7 6 5 4 3 2 1
C 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33

D 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Legend:
A = CAN extended message format
B = J1939 message format
C = J1939 message bit position
D = CAN 29 bit ID position
SOF = Start of frame
SRR = Substitute remote request
IDE = Identifier extension flag
RTR = Remote transmission request
PDU = Protocol Data Unit
PGN = Parameter Group Number = PDU format (PF) + PDU source (PS)
( CAN-ID (→ page 126))
To do so, the 3 essentially communication methods with SAE J1939 are to be respected:
 destination specific communication with PDU1 (PDU format 0...239)
 broadcast communication with PDU2 (PDU format 240...255)
 proprietary communication with PDU1 or PDU2

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Example: detailed message documentation

7679

ETC1: Electronic Transmission Controller #1 (3.3.5) 0CF0020316

Transmission repetition rate RPT 10 ms
Data length LEN 8 Bytes
PDU format PF 240
PDU specific PS 2
Default priority PRIO 3
Data Page PG 0
Source Address SA 3
Parameter group number PGN 00F00216
Identifier ID 0CF0020316
Data Field SRC The meaning of the data bytes 1...8 is not further described. It
can be seen from the manufacturer's documentation.
As in the example of the manufacturer all relevant data has already been prepared, it can be directly
transferred to the FBs.
Meaning:
Designation in the manufacturer's documentation Unit input library function Example value
Transmission repetition rate RPT T#10ms
Data length LEN 8
PDU format PF 240
PDU specific PS 2
Default priority PRIO 3
Data page PG 0
Source address / destination address SA / DA 3
Data field SRC / DST array address
Depending on the required function the corresponding values are set. For the fields SA / DA or SRC /
DST the meaning (but not the value) changes according to the receive or transmit function.
The individual data bytes must be read from the array and processed according to their meaning.

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Example: short message documentation

7680

But even if the aggregate manufacturer only provides a short documentation, the function parameters
can be derived from the identifier. In addition to the ID, the "transmission repetition rate" and the
meaning of the data fields are also always needed.
If the protocol messages are not manufacturer-specific, the standard SAE J1939 or ISO 11992 can
also serve as information source.
Structure of the identifier 0CF0020316:
PRIO, reserved, PG PF + PS SA / DA
0 C F 0 0 2 0 3
As these values are hexadecimal numbers of which individual bits are sometimes needed, the
numbers must be further broken down:
SA / DA Source / Destination Address Source / Destination Address (decimal)
(hexadecimal)
0 3 00 03 0 3

PF PDU format (PF) (hexadecimal) PDU format (PF) (decimal)

F 0 0F 00 16 0

PS PDU specific (PS) (hexadecimal) PDU specific (PS) (decimal)

0 2 00 02 0 2

PRIO, reserved, PG PRIO, reserved, PG (binary)

0 C 0000 1100
Out of the 8 bits (0C16) only the 5 least significant bits are needed:
Not necessary Priority res. PG
x x x 02 12 12 02 02
0310 010 010

Further typical combinations for "PRIO, reserve., PG"

1816:
Not necessary priority res. PG
x x x 12 12 02 02 02
610 010 010

1C16:
Not necessary priority res. PG
x x x 12 12 12 02 02
710 010 010

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9.5.2 Units for SAE J1939

J1939_x (FB)............................................................................................................................. 159

J1939_x_RECEIVE (FB)........................................................................................................... 160
J1939_x_TRANSMIT (FB) ........................................................................................................ 162
J1939_x_RESPONSE (FB)....................................................................................................... 164
J1939_x_SPECIFIC_REQUEST (FB)....................................................................................... 166
J1939_x_GLOBAL_REQUEST (FB)......................................................................................... 168
8566

Here you find funktion blocks of the CAN function for SAE J1939.

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J1939_x (FB)
4311

x = number 1...n of the CAN interface (depending on the device,  data sheet)
Contained in the library:
ifm_J1939_x_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR0303
 ClassicController: CR0020, CR0505
 ExtendedController: CR0200
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506
 SmartController: CR2500
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

J1939_x
ENABLE
START
MY_ADRESS

Description
435

J1939_x serves as protocol handler for the communication profile SAE J1939.
To handle the communication, the protocol handler must be called in each program cycle. To do so,
the input ENABLE is set to TRUE.
The protocol handler is started if the input START is set to TRUE for one cycle.
Using MY_ADDRESS, a device address is assigned to the controller. It must differ from the addresses
of the other J1939 bus participants. It can then be read by other bus participants.

NOTE
J1939 communication via the 1st CAN interface: J1939 communication via the 2nd CAN interface:
► First initialise the interface via CAN1_EXT ► Initialise the interface first with CAN2
(→ page 134)! (→ page 141)!

Parameters of the inputs

469

Parameter Data type Description

ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active
START BOOL TRUE (only for 1 cycle):
protocol handler started
FALSE: during further processing of the program
MY_ADRESS BYTE device address of the controller

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J1939_x_RECEIVE (FB)
4317

x = number 1...n of the CAN interface (depending on the device,  data sheet)
Contained in the library:
ifm_J1939_x_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR0303
 ClassicController: CR0020, CR0505
 ExtendedController: CR0200
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506
 SmartController: CR2500
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

J1939_x_RECEIVE
ENABLE RESULT
CONFIG DEVICE
PG LEN
PF
PS
DST
RPT
LIFE

Description
2288

J1939_x_RECEIVE serves for receiving one individual message or a block of messages.

To do so, the FB must be initialised for one cycle via the input CONFIG. During initialisation, the
parameters PG, PF, PS, RPT, LIFE and the memory address of the data array DST are assigned.
► The address must be determined by means of the operator ADR and assigned to the FB.
► The receipt of data must be evaluated via the RESULT byte. If RESULT = 1 the data can be read
from the memory address assigned via DST and can be further processed.
> When a new message is received, the data in the memory address DST is overwritten.
> The number of received message bytes is indicated via the output LEN.
> If RESULT = 3, no valid messages have been received in the indicated time window (LIFE * RPT).

NOTE
This block must also be used if the messages are requested using J1939_..._REQUEST.

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Parameters of the inputs

457

Parameter Data type Description

ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active
CONFIG BOOL TRUE (only for 1 cycle):
for the configuration of the data object
FALSE: during further processing of the program
PG BYTE page address (normally = 0)
PF BYTE PDU format byte
PS BYTE PDU specific byte
DST DWORD target address of the array in which the received data is stored
RPT TIME monitoring time
Within this time window the messages must be received repeatedly.
Otherwise, an error will be signalled.
If no monitoring is requested, RPT must be set to T#0s.
LIFE BYTE number of permissible faulty monitoring calls

Parameters of the outputs

458

Parameter Data type Description

RESULT BYTE 0 = not active
1 = data has been received
3 = signalling of errors:
nothing has been received during the time window (LIFE*RPT)
DEVICE BYTE device address of the sender
LEN WORD number of bytes received

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J1939_x_TRANSMIT (FB)
4324

x = number 1...n of the CAN interface (depending on the device,  data sheet)
Contained in the library:
ifm_J1939_x_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR0303
 ClassicController: CR0020, CR0505
 ExtendedController: CR0200
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506
 SmartController: CR2500
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

J1939_x_TRANSMIT
ENABLE RESULT
PRIO
PG
PF
PS
SRC
LEN
RPT

Description
2298

J1939_x_TRANSMIT is responsible for transmitting individual messages or blocks of messages. To do

so, the parameters PG, PF, PS, RPT and the address of the data array SRC are assigned to the FB.
► The address must be determined by means of the operator ADR and assigned to the FB.
► In addition, the number of data bytes to be transmitted and the priority (typically 3, 6 or 7) must be
assigned.
Given that the transmission of data is processed via several control cycles, the process must be
evaluated via the RESULT byte. All data has been transmitted if RESULT = 1.

Info
If more than 8 bytes are to be sent, a "multi package transfer" is carried out.

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Parameters of the inputs

439

Parameter Data type Description

ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active
PRIO BYTE message priority (0...7)
PG BYTE page address (normally = 0)
PF BYTE PDU format byte
PS BYTE PDU specific byte
SRC DWORD memory address of the data array whose content is to be transmitted
LEN WORD number of bytes to be transmitted
RPT TIME repeat time during which the data messages are transmitted cyclically

Parameters of the outputs

440

Parameter Data type Description

RESULT BYTE 0 = not active
1 = data transmission completed
2 = unit active (data transmission)
3 = error, data cannot be sent

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J1939_x_RESPONSE (FB)
4320

x = number 1...n of the CAN interface (depending on the device,  data sheet)
Contained in the library:
ifm_J1939_x_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR0303
 ClassicController: CR0020, CR0505
 ExtendedController: CR0200
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506
 SmartController: CR2500
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

J1939_x_RESPONSE
ENABLE RESULT
CONFIG
PG
PF
PS
SRC
LEN

Description
2299

J1939_x_RESPONSE handles the automatic response to a request message.

This FB is responsible for the automatic sending of messages to "Global Requests" and "Specific
Requests". To do so, the FB must be initialised for one cycle via the input CONFIG.
The parameters PG, PF, PS, RPT and the address of the data array SRC are assigned to the FB.
► The address must be determined by means of the operator ADR and assigned to the FB.
► In addition, the number of data bytes to be transmitted is assigned.

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Parameters of the inputs

451

Parameter Data type Description

ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active
CONFIG BOOL TRUE (only for 1 cycle):
for the configuration of the data object
FALSE: during further processing of the program
PG BYTE page address (normally = 0)
PF BYTE PDU format byte
PS BYTE PDU specific byte
SRC DWORD memory address of the data array whose content is to be transmitted
LEN WORD number of bytes to be transmitted

Parameters of the outputs

440

Parameter Data type Description

RESULT BYTE 0 = not active
1 = data transmission completed
2 = unit active (data transmission)
3 = error, data cannot be sent

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J1939_x_SPECIFIC_REQUEST (FB)
4322

x = number 1...n of the CAN interface (depending on the device,  data sheet)
Contained in the library:
ifm_J1939_x_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR0303
 ClassicController: CR0020, CR0505
 ExtendedController: CR0200
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506
 SmartController: CR2500
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

J1939_x_SPECIFIC_REQUEST
ENABLE RESULT
PRIO LEN
DA
PG
PF
PS
DST

Description
2300

J1939_x_SPECIFIC_REQUEST is responsible for the automatic requesting of individual messages

from a specific J1939 network participant. To do so, the logical device address DA, the parameters
PG, PF, PS and the address of the array DST in which the received data is stored are assigned to the
FB.
► The address must be determined by means of the operator ADR and assigned to the FB.
► In addition, the priority (typically 3, 6 or 7) must be assigned.
► Given that the request of data can be handled via several control cycles, this process must be
evaluated via the RESULT byte. All data has been received if RESULT = 1.
> The output LEN indicates how many data bytes have been received.

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Parameters of the inputs

445

Parameter Data type Description

ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active
PRIO BYTE priority (0...7)
DA BYTE logical address (target address) of the called device
PG BYTE page address (normally = 0)
PF BYTE PDU format byte
PS BYTE PDU specific byte
DST DWORD target address of the array in which the received data is stored

Parameters of the outputs

446

Parameter Data type Description

RESULT BYTE 0 = not active
1 = data transmission completed
2 = unit active (data transmission)
3 = error, data cannot be sent
LEN WORD number of data bytes received

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J1939_x_GLOBAL_REQUEST (FB)
4315

x = number 1...n of the CAN interface (depending on the device,  data sheet)
Contained in the library:
ifm_J1939_x_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR0303
 ClassicController: CR0020, CR0505
 ExtendedController: CR0200
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506
 SmartController: CR2500
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

J1939_x_GLOBAL_REQUEST
ENABLE RESULT
PRIO SA
PG LEN
PF
PS
DST

Description
2301

J1939_x_GLOBAL_REQUEST is responsible for the automatic requesting of individual messages

from all (global) active J1939 network participants. To do so, the logical device address DA, the
parameters PG, PF, PS and the address of the array DST in which the received data is stored are
assigned to the FB.
► The address must be determined by means of the operator ADR and assigned to the FB.
► In addition, the priority (typically 3, 6 or 7) must be assigned.
► Given that the request of data can be handled via several control cycles, this process must be
evaluated via the RESULT byte. All data has been received if RESULT = 1.
> The output LEN indicates how many data bytes have been received.

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Parameters of the inputs

463

Parameter Data type Description

ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active
PRIO BYTE priority (0...7)
PG BYTE page address (normally = 0)
PF BYTE PDU format byte
PS BYTE PDU specific byte
DST DWORD target address of the array in which the received data is stored

Parameters of the outputs

464

Parameter Data type Description

RESULT BYTE 0 = not active
1 = data transmission completed
2 = unit active (data transmission)
3 = error, data cannot be sent
SA BYTE logical device address (sender address) of the called device
LEN WORD number of data bytes received

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9.6 ifm CANopen library

Technical about CANopen ........................................................................................................ 171

Units for CANopen .................................................................................................................... 204
1856

NOTE
The following devices support CANopen only for the 1st CAN interface:
- Controller CR0020, CR200, CR0301, CR0302, CR0303, CR0505, CR2500, CR2501, CR2502,
CR7020, CR7021, CR7200, CR7201, CR7505, CR7506
- PDM360smart: CR1070, CR1071
If the CAN master has already been added, the device can no longer be used as a CAN device via
CoDeSys.
Implementation of a separate protocol on interface 2 or using the protocol to SAE J1939 or ISO11992 is
possible at any time.
The following devices can be used on all CAN interfaces with all protocols:
- BasicController: CR0403
- Controller CR0032, CR0232
- PDM360: CR1050, CR1051, CR1060
- PDM360compact: CR1052, CR1053, CR1055, CR1056
- PDM360NG: CR108n
The following devices support not CANopen:
- BasicController: CR0401, CR0402

CANopen network configuration, status and error handling

For all programmable devices the CANopen interface of CoDeSys is used. Whereas the network
configuration and parameter setting of the connected devices are directly carried out via the
programming software, the error messages can only be reached via nested variable structures in the
CANopen stack. The documentation below shows you the structure and use of the network
configuration and describes the units of the ifm CANopen device libraries.
The chapters CANopen support by CoDeSys (→ page 171), CANopen master (→ page 173), CAN
device (→ page 190) and CAN network variables (→ page 198) describe the internal units of the
CoDeSys CANopen stacks and their use. They also give information of how to use the network
configurator.
The chapters concerning the libraries ifm_CRnnnn_CANopenMaster_Vxxyyzz.lib and
ifm_CRnnnn_CANopenSlave_Vxxyyzz.lib describe all units for error handling and polling the
device status when used as master or slave (CAN device).

NOTE
Irrespective of the device used the structure of the function interfaces of all libraries is the same. The
slight differences (e.g. CANOPEN_LED_STATUS) are directly described in the corresponding FBs.
It is absolutely necessary to use only the corresponding device-specific library. The context can be
seen from the integrated article number of the device, e.g.:
CR0020:  ifm_CR0020_CANopenMaster_V040003.lib
 chapter Setup the target (→ page 62)
When other libraries are used the device can no longer function correctly.

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9.6.1 Technical about CANopen

CANopen support by CoDeSys................................................................................................. 171

CANopen master....................................................................................................................... 173
CAN device ............................................................................................................................... 190
CAN network variables.............................................................................................................. 198
7773

CANopen support by CoDeSys

1857

General information about CANopen with CoDeSys

2075

CoDeSys is one of the leading systems for programming control systems to the international standard
IEC 61131. To make CoDeSys more interesting for users many important functions were integrated in
the programming system, among them a configurator for CANopen. This CANopen configurator
enables configuration of CANopen networks (with some restrictions) under CoDeSys.
CANopen is implemented as a CoDeSys library in IEC 61131-3. The library is based on simple basic
CAN functions called CAN driver.
Implementation of the CANopen functions as CoDeSys library enables simple scaling of the target
system. The CANopen function only uses target system resources if the function is really used. To use
target system resources carefully CoDeSys automatically generates a data basis for the CANopen
master function which exactly corresponds to the configuration.
From the CoDeSys programming system version 2.3.6.0 onwards an ecomat mobile controller can be
used as CANopen master and slave (CAN device).

NOTE:
For all ecomat mobile controllers and the PDM360smart you must use CANopen libraries with the
following addition:
 For CR0032 target version up to V01, all other devices up to V04.00.05: "OptTable"
 For CR0032 target version from V02 onwards, all other devices from V05 onwards: "OptTableEx"
If a new project is created, these libraries are in general automatically loaded. If you add the libraries
via the library manager, you must ensure a correct selection.
The CANopen libraries without this addition are used for all other programmable devices (e.g.
PDM360compact).

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CANopen terms and implementation

1858

According to the CANopen specification there are no masters and slaves in a CAN network. Instead of
this there is an NMT master (NMT = network management), a configuration master, etc. according to
CANopen. It is always assumed that all participants of a CAN network have equal rights.
Implementation assumes that a CAN network serves as periphery of a CoDeSys programmable
controller. As a result of this an ecomatmobile controller or a PDM360 display is called CAN master in
the CAN configurator of CoDeSys. This master is an NMT master and configuration master. Normally
the master ensures that the network is put into operation. The master takes the initiative to start the
individual nodes (= network nodes) known via the configuration. These nodes are called slaves.
To bring the master closer to the status of a CANopen node an object directory was introduced for the
master. The master can also act as an SDO server (SDO = Service Data Object) and not only as SDO
client in the configuration phase of the slaves.

'Addresses' in CANopen
3952

In CANopen there are different types of addresses (IDs):

 COB ID
The CAN Object Identifier addresses the message (= the CAN object) in the list of devices.
Identical messages have the same COB ID. The COB ID entries in the object directory contain the
CAN identifier (CAN ID) among others.
 CAN ID
The CAN Identifier identifies CAN messages in the complete network. The CAN ID is part of the
COB ID in the object directory.
 Node ID
The Node Identifier identifies the CANopen devices in the complete network. The Node ID is part
of some predefined CAN IDs (lower 7 bits).

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CANopen master

Differentiation from other CANopen libraries ............................................................................ 173

Create a CANopen project ........................................................................................................ 174
Add and configure CANopen slaves ......................................................................................... 177
Master at runtime ...................................................................................................................... 180
Start the network ....................................................................................................................... 182
Network states........................................................................................................................... 183
1859

Differentiation from other CANopen libraries

1990

The CANopen library implemented by 3S (Smart Software Solutions) differentiates from the systems
on the market in various points. It was not developed to make other libraries of renowned
manufacturers unnecessary but was deliberately optimised for use with the CoDeSys programming
and runtime system.
The libraries are based on the specifications of CiA DS301, V402.
For users the advantages of the CoDeSys CANopen library are as follows:
 Implementation is independent of the target system and can therefore be directly used on every
controller programmable with CoDeSys.
 The complete system contains the CANopen configurator and integration in the development
system.
 The CANopen functionality is reloadable. This means that the CANopen FBs can be loaded and
updated without changing the operating system.
 The resources of the target system are used carefully. Memory is allocated depending on the used
configuration, not for a maximum configuration.
 Automatic updating of the inputs and outputs without additional measures.
The following functions defined in CANopen are at present supported by the ifm CANopen library:
 Transmitting PDOs: master transmits to slaves (slave = node, device)
Transmitting event-controlled (i.e. in case of a change), time-controlled (RepeatTimer) or as
synchronous PDOs, i.e. always when a SYNC was transmitted by the master. An external SYNC
source can also be used to initiate transmission of synchronous PDOs.
 Receiving PDOs: master receives from slave
Depending on the slave: event-controlled, request-controlled, acyclic and cyclic.
 PDO mapping
Assignment between a local object directory and PDOs from/to the CAN device (if supported by
the slave).
 Transmitting and receiving SDOs (unsegmented, i.e. 4 bytes per entry in the object directory)
Automatic configuration of all slaves via SDOs at the system start.
Application-controlled transmission and reception of SDOs to/from configured slaves.
 Synchronisation
Automatic transmission of SYNC messages by the CANopen master.
 Nodeguarding
Automatic transmission of guarding messages and lifetime monitoring for every slave configured
accordingly.
We recommend: It is better to work with the heartbeat function for current devices since then the
bus load is lower.
 Heartbeat
Automatic transmission and monitoring of heartbeat messages.

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 Emergency
Reception of emergency messages from the configured slaves and message storage.
 Set Node-ID and baud rate in the slaves
By calling a simple function, node ID and baud rate of a slave can be set at runtime of the
application.
The following functions defined in CANopen are at present not supported by the CANopen 3S (Smart
Software Solutions) library:
 Dynamic identifier assignment,
 Dynamic SDO connections,
 SDO transfer block by block, segmented SDO transfer (the functionality can be implemented via
CANx_SDO_READ (→ page 227) and CANx_SDO_WRITE (→ page 229) in the corresponding
ifm device library).
 All options of the CANopen protocol which are not mentioned above.

Create a CANopen project

1860

Below the creation of a new project with a CANopen master is completely described step by step. It is
assumed that you have already installed CoDeSys on your processor and the Target and EDS files
have also been correctly installed or copied.
► A more detailed description for setting and using the dialogue [controller and CANopen
configuration] is given in the CoDeSys manual under [Resources] > [PLC Configuration] or in the
Online help.
> After creation of a new project ( chapter Setup the target (→ page 62)) the CANopen master
must first be added to the controller configuration via [Insert] > [Append subelement]. For
controllers with 2 or more CAN interfaces interface 1 is automatically configured for the master.
> The following libraries and software modules are automatically integrated:
 The Standard.LIB which provides the standard functions for the controller defined in IEC
61131.
 The 3S_CanOpenManager.LIB which provides the CANopen basic functionalities
(possibly 3S_CanOpenManagerOptTable.LIB for the C167 controller)
 One or several of the libraries 3S_CANopenNetVar.LIB, 3S_CANopenDevice.LIB and
3S_CANopenMaster.LIB (possibly 3S_...OptTable.LIB for the C167 controller)
depending on the requested functionality
 The system libraries SysLibSem.LIB and SysLibCallback.LIB
 To use the prepared network diagnostic, status and EMCY functions, the library
ifm_CRnnnn_CANopenMaster_Vxxyyzz.LIB must be manually added to the library
manager. Without this library the network information must be directly read from the nested
structures of the CoDeSys CANopen libraries.
> The following libraries and software modules must still be integrated:
 The device library for the corresponding hardware, e.g. ifm_CR0020_Vxxyyzz.LIB. This
library provides all device-specific functions.
 EDS files for all slaves to be operated on the network. The EDS files are provided for all
CANopen slaves by ifm electronic.  chapter Set up programming system via templates
(→ page 65)
For the EDS files of other manufacturers' nodes contact the corresponding
manufacturer.

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Tab [CAN parameters]

1967

The most important parameters for the master can be set in this dialogue window. If necessary, the
contents of the master EDS file can be viewed via the button [EDS...]. This button is only indicated if
the EDS file (e.g. CR0020MasterODEntry.EDS) is in the directory ...\CoDeSys
V2.3\Library\PLCConf.
During the compilation of the application program the object directory of the master is automatically
generated from this EDS file.

Baud rate
Select the baud rate for the master. It must correspond to the transmission speed of the other network
participants.
Communication Cycle Period/Sync. Window Length
After expiry of the [Communication Cycle Period] a SYNC message is transmitted by the master.
The [Sync. Window Length] indicates the time during which synchronous PDOs are transmitted by the
other network participants and must be received by the master.
As in most applications no special requirements are made for the SYNC object, the same time can be
set for [Communication Cycle Period] and [Sync. Window Length]. Please ensure the time is entered
in [µs] (the value 50 000 corresponds to 50 ms).
SYNC-Objekt Synchrones Objektfenster SYNC-Objekt SYNC-Objekt
SYNC object Synchronous object window SYNC object SYNC object

Zeit
Time

Synchrone PDOs Asynchrone PDOs

Synchronous PDOs Asynchronous PDOs

Communication Cycle Period Sync. Window Lenght

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Sync. COB ID
In this field the identifier for the SYNC message can be set. It is always transmitted after the
communication cycle period has elapsed. The default value is 128 and should normally not be
changed. To activate transmission of the SYNC message, the checkbox [activate] must be set.

NOTE
The SYNC message is always generated at the start of a program cycle. The inputs are then read, the
program is processed, the outputs are written to and then all synchronous PDOs are transmitted.
Please note that the SYNC time becomes longer if the set SNYC time is shorter than the program cycle
time.
Example: communication cycle period = 10 ms and program cycle time = 30 ms.
The SYNC message is only transmitted after 30 ms.

Node ID
Enter the node number (not the download ID!) of the master in this field. The node number may only
occur once in the network, otherwise the communication is disturbed.
Automatic startup
After successful configuration the network and the connected nodes are set to the state [operational]
and then started.
If the checkbox is not activated, the network must be started manually.
Heartbeat
If the other participants in the network support heartbeat, the option [support DSP301, V4.01...] can be
selected. If necessary, the master can generate its own heartbeat signal after the set time has
elapsed.

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Add and configure CANopen slaves

Tab [CAN parameters] .............................................................................................................. 178

Tab [Receive PDO-Mapping] and [Send PDO-Mapping].......................................................... 179
Tab [Service Data Objects] ....................................................................................................... 179
1861

Next you can add the CAN slaves. To do so, you must call again the dialogue in the controller
configuration [Insert] > [Append subelement]. A list of the CANopen device descriptions (EDS files)
stored in the directory PLC_CONF is available. By selecting the corresponding device it is directly
added to the tree of the controller configuration.

NOTE
If a slave is added via the configuration dialogue in CoDeSys, source code is dynamically integrated in
the application program for every node. At the same time every additionally inserted slave extends the
cycle time of the application program. This means: In a network with many slaves the master can
process no further time-critical tasks (e.g. FB OCC_TASK).
A network with 27 slaves has a basic cycle time of 30 ms.
Please note that the maximum time for a PLC cycle of approx. 50 ms should not be exceeded
(watchdog time: 100 ms).

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Tab [CAN parameters]

1968

Node ID
The node ID is used to clearly identify the CAN module and corresponds to the number on the module
set between 1 and 127. The ID is entered decimally and is automatically increased by 1 if a new
module is added.
Write DCF
If [Write DCF] is activated, a DCF file is created after adding an EDS file to the set directory for
compilation files. The name of the DCF file consists of the name of the EDS file and appended node
ID.
Create all SDO's
If this option is activated, SDOs are generated for all communication objects. (Default values are not
written again!)
Node reset
The slave is reset ("load") as soon as the configuration is loaded to the controller.
Optional device
If the option [optional device] is activated, the master tries only once to read from this node. In case of
a missing response, the node is ignored and the master goes to the normal operating state.
If the slave is connected to the network and detected at a later point in time, it is automatically started.
To do so, you must have selected the option [Automatic startup] in the CAN parameters of the master.
No initialization
If this option is activated, the master immediately takes the node into operation without transmitting
configuration SDOs. (Nevertheless, the SDO data is generated and stored in the controller.)
Nodeguarding / heartbeat settings
Depending on the device [nodeguarding] and [life time factor] or [heartbeat] must be set.
We recommend: It is better to work with the heartbeat function for current devices since then the bus
load is lower.
Emergency telegram
This option is normally selected. The EMCY messages are transferred with the specified identifier.
Communication cycle
In special applications a monitoring time for the SYNC messages generated by the master can be set
here. Please note that this time must be longer than the SYNC time of the master. The optimum value
must be determined experimentally, if necessary.
In most cases nodeguarding and heartbeat are sufficient for node monitoring.

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Tab [Receive PDO-Mapping] and [Send PDO-Mapping]

1969

With the tabs [Receive PDO-Mapping] and [Send PDO-Mapping] in the configuration dialogue of a
CAN module the module mapping (assignment between local object directory and PDOs from/to the
CAN device) described in the EDS file can be changed (if supported by the CAN module).
All [mappable] objects of the EDS file are available on the left and can be added to or removed from
the PDOs (Process Data Objects) on the right. The [StandardDataTypes] can be added to generate
spaces in the PDO.
Insert
With the button [Insert] you can generate more PDOs and insert the corresponding objects. The inputs
and outputs are assigned to the IEC addresses via the inserted PDOs. In the controller configuration
the settings made can be seen after closing the dialogue. The individual objects can be given symbolic
names.
Properties
The PDO properties defined in the standard can be edited in a dialogue via properties.
COB-ID Every PDO message requires a clear COB ID (communication object identifier). If an option is not
supported by the module or the value must not be changed, the field is grey and cannot be edited.
Inhibit Time The inhibit time (100 µs) is the minimum time between two messages of this PDO so that the messages
which are transferred when the value is changed are not transmitted too often. The unit is 100 µs.
Transmission Type For transmission type you receive a selection of possible transmission modes for this module:
acyclic – synchronous
After a change the PDO is transferred with the next SYNC.
cyclic – synchronous
The PDO is transferred synchronously. [Number of SYNCs] indicates the number of the synchronisation
messages between two transmissions of this PDO.
asynchronous – device profile specific
The PDO is transmitted on event, i.e. when the value is changed. The device profile defines which data
can be transferred in this way.
asynchronous – manufacturer specific
The PDO is transmitted on event, i.e. when the value is changed. The device manufacturer defines which
data is transferred in this way.
(a)synchronous – RTR only
These services are not implemented.
Number of SYNCs
Depending on the transmission type this field can be edited to enter the number of synchronisation
messages (definition in the CAN parameter dialogue of [Com. Cycle Period], [Sync Window Length],
[Sync. COB ID]) after which the PDO is to be transmitted again.
Event-Time
Depending on the transmission type the period in milliseconds [ms] required between two transmissions
of the PDO is indicated in this field.

Tab [Service Data Objects]

1970

Index, name, value, type and default

Here all objects of the EDS or DCF file are listed which are in the range from index 200016 to 9FFF16
and defined as writable. Index, name, value, type and default are indicated for every object. The value
can be changed. Select the value and press the [space bar]. After the change you can confirm the
value with the button [Enter] or reject it with [ESC].
For the initialisation of the CAN bus the set values are transferred as SDOs (Service Data Object) to
the CAN module thus having direct influence on the object directory of the CAN slave. Normally they
are written again at every start of the application program – irrespective of whether they are
permanently stored in the CAN device.

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Master at runtime

Reset of all configured slaves on the bus at the system start................................................... 180
Polling of the slave device type................................................................................................. 180
Configuration of all correctly detected devices ......................................................................... 180
Automatic configuration of slaves ............................................................................................. 180
Start of all correctly configured slaves ...................................................................................... 181
Cyclical transmission of the SYNC message............................................................................ 181
Nodeguarding with lifetime monitoring ...................................................................................... 181
Heartbeat from the master to the slaves................................................................................... 181
Reception of emergency messages.......................................................................................... 181
8569

Here you find information about the functionality of the CANopen master libraries at runtime.
The CANopen master library provides the CoDeSys application with implicit services which are
sufficient for most applications. These services are integrated for users in a transparent manner and
are available in the application without additional calls. The following description assumes that the
library ifm_CRnnnn_CANopenMaster_Vxxyyzz.LIB was manually added to the library manager to
use the network diagnostic, status and EMCY functions.
Services of the CANopen master library:

Reset of all configured slaves on the bus at the system start

8570

To reset the slaves, the NMT command "Reset Remote Node" is used as standard explicitly for every
slave separately. (NMT stands for Network Management according to CANopen. The individual
commands are described in the CAN document DSP301.) In order to avoid overload of slaves having
less powerful CAN controllers it is useful to reset the slaves using the command "All Remote Nodes".
The service is performed for all configured slaves using CANx_MASTER_STATUS (→ page 210) with
GLOBAL_START=TRUE. If the slaves are to be reset individually, this input must be set to FALSE.

Polling of the slave device type

8571
8021

Polling of the slave device type using SDO (polling for object 100016) and comparison with the
configured slave ID:
Indication of an error status for the slaves from which a wrong device type was received. The request
is repeated after 0.5 s if ...
- no device type was received
- AND the slave was not identified as optional in the configuration
- AND the timeout has not elapsed.

Configuration of all correctly detected devices

8572
8022

Every SDO is monitored for a response and repeated if the slave does not respond within the
monitoring time.

Automatic configuration of slaves

8573
8023

Automatic configuration of slaves using SDOs while the bus is in operation:

Prerequisite: The slave logged in the master via a bootup message.

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Start of all correctly configured slaves

8574

Start of all correctly configured slaves after the end of the configuration of the corresponding slave:
To start the slaves the NMT command "Start remote node" is normally used. As for the "reset" this
command can be replaced by "Start All Remote Nodes".
The service can be called via CANx_Master_STATUS with GLOBAL_START=TRUE.

Cyclical transmission of the SYNC message

8575
8025

This value can only be set during the configuration.

Nodeguarding with lifetime monitoring

8576

Setting of nodeguarding with lifetime monitoring for every slave possible:

The error status can be monitored for max. 8 slaves via CANx_MASTER_STATUS with
ERROR_CONTROL=TRUE.
We recommend: It is better to work with the heartbeat function for current devices since then the bus
load is lower.

Heartbeat from the master to the slaves

8577

The error status can be monitored for max. 8 slaves via CANx_MASTER_STATUS with
ERROR_CONTROL=TRUE.

Reception of emergency messages

8578

Reception of emergency messages for every slave, the emergency messages received last are stored
separately for every slave:
The error messages can be read via CANx_MASTER_STATUS with
EMERGENCY_OBJECT_SLAVES=TRUE.
In addition this FB provides the EMCY message generated last on the output GET_EMERGENCY.

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Start the network

1863

Here you find information about how to start the CANopen network.
After downloading the project to the controller or a reset of the application the master starts up the
CAN network again. This always happens in the same order of actions:
 All slaves are reset unless they are marked as "No initialization" in the configurator. They are reset
individually using the NMT command "Reset Node" (8116) with the node ID of the slave. If the flag
GLOBAL_START was set via CANx_MASTER_STATUS (→ page 210), the command is used
once with the node ID 0 to start up the network.
 All slaves are configured. To do so, the object 100016 of the slave is polled.
 If the slave responds within the monitoring time of 0.5 s, the next configuration SDO is
transmitted.
 If a slave is marked as "optional" and does not respond to the polling for object 100016 within
the monitoring time, it is marked as not available and no further SDOs are transmitted to it.
 If a slave responds to the polling for object 100016 with a type other than the configured one (in
the lower 16 bits), it is configured but marked as a wrong type.
 All SDOs are repeated as long as a response of the slave was seen within the monitoring time.
Here the application can monitor start-up of the individual slaves and possibly react by setting the
flag SET_TIMEOUT_STATE in the NODE_STATE_SLAVE array of CANx_MASTER_STATUS.
 If the master configured a heartbeat time unequal to 0, the heartbeat is generated immediately
after the start of the master controller.
 After all slaves have received their configuration SDOs, guarding starts for slaves with configured
nodeguarding.
 If the master was configured to [Automatic startup], all slaves are now started individually by the
master. To do so, the NMT command "Start Remote Node" (116) is used. If the flag
GLOBAL_START was set via CANx_Master_STATUS, the command is used with the node ID 0
and so all slaves are started with "Start all Nodes".
 All configured TX-PDOs are transmitted at least once (for the slaves RX-PDOs).
 If [Automatic startup] is deactivated, the slaves must be started separately via the flag
START_NODE in the NODE_STATE_SLAVE array or via the input GLOBAL_START of
CANx_MASTER_STATUS.

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Network states

Boot up of the CANopen master ............................................................................................... 183

Boot up of the CANopen slaves ................................................................................................ 184
Start-up of the network without [Automatic startup] .................................................................. 186
The object directory of the CANopen master............................................................................ 188
1864

Here you read how to interpret the states of the CANopen network and how to react.
For the start-up (→ page 182) of the CANopen network and during operation the individual functions
of the library pass different states.

NOTE
In the monitor mode (online mode) of CoDeSys the states of the CAN network can be seen in the
global variable list "CANOpen implicit variables". This requires exact knowledge of CANopen and the
structure of the CoDeSys CANopen libraries.
To facilitate access CANx_MASTER_STATUS (→ page 210) from the library
ifm_CRnnnn_CANopenMaster_Vxxyyzz.LIB is available.

Boot up of the CANopen master

1971

During boot-up of the CAN network the master passes different states which can be read via the
output NODE_STATE of CANx_MASTER_STATUS (→ page 210).
State Description
0, 1, 2 These states are automatically passed by the master and in the first cycles after a PLC start.
3 State 3 of the master is maintained for some time. In state 3 the master configures its slaves. To do so, all SDOs
generated by the configurator are transmitted to the slaves one after the other.
5 After transmission of all SDOs to the slaves the master goes to state 5 and remains in this state. State 5 is the
normal operating state for the master.
Whenever a slave does not respond to an SDO request (upload or download), the request is repeated.
The master leaves state 3, as described above, but not before all SDOs have been transmitted
successfully. So it can be detected whether a slave is missing or whether the master has not correctly
received all SDOs. It is of no importance for the master whether a slave responds with an
acknowledgement or an abort. It is only important for the master whether he received a response at
all.
An exception is a slave marked as "optional". Optional slaves are asked for their 1000h object only
once. If they do not respond within 0.5 s, the slave is first ignored by the master and the master goes
to state 5 without further reaction of this slave.

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Boot up of the CANopen slaves

1972

You can read the states of a slave via the array NODE_STATE_SLAVE of CANx_MASTER_STATUS
(→ page 210). During boot up of the CAN network the slave passes the states -1, 1 and 2
automatically. The states have to be interpreted as follows:
State Description
-1 The slave is reset by the NMT message "Reset Node" and automatically goes to state 1.
1 After max. 2 s or immediately on reception of its boot up message the slave goes to state 2.
2 After a delay of 0.5 s the slave automatically goes to state 3. This period corresponds to the experience that
many CANopen devices are not immediately ready to receive their configuration SDOs after transmission of their
boot up message.
3 The slave is configured in state 3. The slave remains in state 3 as long as it has received all SDOs generated by
the configurator. It is not important whether during the slave configuration the response to SDO transfers is abort
(error) or whether the response to all SDO transfers is no error. Only the response as such received by the slave
is important – not its contents.
If in the configurator the option "Reset node" has been activated, a new reset of the node is carried out after
transmitting the object 101116 sub-index 1 which then contains the value "load". The slave is then polled again
with the upload of the object 100016.
Slaves with a problem during the configuration phase remain in state 3 or directly go to an error state (state > 5)
after the configuration phase.
After passing the configuration phase, the slave can go to the following states:
State Description
4 A node always goes to state 4 except for the following cases: it is an "optional" slave and it was detected as non
available on the bus (polling for object 100016) or the slave is present but reacted to the polling for object 100016
with a type in the lower 16 bits other than expected by the configurator.
5 State 5 is the normal operating state of the slave.
If the master was configured to "Automatic startup", the slave starts in state 4 (i.e. a "start node" NMT message
is generated) and the slave goes automatically to state 5.
If the flag GLOBAL_START of CANx_MASTER_STATUS was set by the application, the master waits until all
slaves are in state 4. All slaves are then started with the NMT command "Start All Nodes".
97 A node goes to state 97 if it is optional (optional device in the CAN configuration) and has not reacted to the
SDO polling for object 100016.
If the slave is connected to the network and detected at a later point in time, it is automatically started. To do so,
you must have selected the option "Automatic startup" in the CAN parameters of the master.
98 A node goes to state 98 if the device type (object 100016) does not correspond to the configured type.
If the slave is in state 4 or higher, nodeguard messages are transmitted to the slave if nodeguarding
was configured.

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Nodeguarding / heartbeat error

1973

State Description
99 In case of a nodeguarding timeout the variable NODE_STATE in the array NODE_STATE_SLAVE of
CANx_MASTER_STATUS (→ page 210) is set to 99.
As soon as the node reacts again to nodeguard requests and the option [Automatic startup] is activated, it is
automatically started by the master. Depending on the status contained in the response to the nodeguard
requests, the node is newly configured or only started.
To start the slave manually it is sufficient to use the method "NodeStart".
The same applies to heartbeat errors.
The current CANopen state of a node can be called via the structure element LAST_STATE from the
array NODE_STATE_SLAVE of CANx_MASTER_STATUS.
State Description
0 The node is in the boot up state.
4 The node is in the PREPARED state.
5 The node is in the OPERATIONAL state.
127 The node is in the PRE-OPERATIONAL state.

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9.6.2 Start-up of the network without [Automatic startup]

Sometimes it is necessary that the application determines the instant to start the CANopen slaves. To
do so, the option [Automatic startup] of the CAN master must be deactivated in the configuration. It is
then up to the application to start the slaves.
To start a slave via the application, the structure element START_NODE in the array
NODE_STATE_SLAVES must be set.
The array is assigned to CANx_MASTER_STATUS via the ADR operator.

Start-up of the network without [Automatic startup]

Starting the network with GLOBAL_START ............................................................................. 186

Starting the network with START_ALL_NODES....................................................................... 186
Initialisation of the network with RESET_ALL_NODES ............................................................ 187
Access to the status of the CANopen master ........................................................................... 187
8583

Sometimes it is necessary that the application determines the instant to start the CANopen slaves.

Starting the network with GLOBAL_START

1974

In a CAN network with many participants (in most cases more than 8) it often happens that NMT
messages in quick succession are not detected by all (mostly slow) IO nodes (e.g. CompactModules
CR2013). The reason for this is that these nodes must listen to all messages with the ID 0. NMT
messages transmitted at too short intervals overload the receive buffer of such nodes.
A help for this is to reduce the number of NMT messages in quick succession.
► To do so, set the input GLOBAL_START of CANx_Master_STATUS (→ page 210) to TRUE (with
[Automatic startup]).
> The CANopen master library uses the command "Start All Nodes" instead of starting all nodes
individually using the command "Start Node".
> GLOBAL_START is executed only once when the network is initialised.
> If this input is set, the controller also starts nodes with status 98 (see above). However, the PDOs
for these nodes remain deactivated.

Starting the network with START_ALL_NODES

1975

If the network is not automatically started with GLOBAL_START of CANx_Master_STATUS

(→ page 210), it can be started at any time, i.e. every node one after the other. If this is not requested,
the option is as follows:
► Set the input START_ALL_NODES of CANx_Master_STATUS to TRUE.
START_ALL_NODES is typically set by the application program at runtime.
> If this input is set, nodes with status 98 (see above) are started. However, the PDOs for these
nodes remain deactivated.

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Initialisation of the network with RESET_ALL_NODES

1976

The same reasons which apply to the command START_ALL_NODES also apply to the NMT
command RESET_ALL_NODES (instead of RESET_NODES for every individual node).
► To do so, the input RESET_ALL_NODES of CANx_MASTER_STATUS (→ page 210) must be set
to TRUE.
> This resets all nodes once at the same time.

Access to the status of the CANopen master

1977

You should poll the status of the master so that the application code is not processed before the IO
network is ready. The following code fragment example shows one option:

Variable declaration
VAR
FB_MasterStatus := CR0020_MASTER_STATUS;
:
END_VAR

program code
If FB_MasterStatus.NODE_STATE = 5 THEN
<application code>
END_IF

By setting the flag TIME_OUT_STATE in the array NODE_STATE_SLAVE of CANx_Master_STATUS

(→ page 210) the application can react and, for example, jump the non configurable node.

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The object directory of the CANopen master

1978

In some cases it is helpful if the CAN master has its own object directory. This enables, for example,
the exchange of data of the application with other CAN nodes.
The object directory of the master is generated using an EDS file named
CRnnnnMasterODEntry.EDS during compilation and is given default values. This EDS file is stored
in the directory CoDeSys Vn\Library\PLCconf. The content of the EDS file can be viewed via the
button [EDS...] in the configuration window [CAN parameters].
Even if the object directory is not available, the master can be used without restrictions.
The object directory is accessed by the application via an array with the following structure:

Structure element Description

dwIdxSubIdxF Structure of the component 16#iiiissff:
iiii – index (2 bytes, bits 16...31), Idx
ss – sub-index (1 byte, bits 8...15), SubIdx
ff – flags (1 byte, bits 0...7), F
Meaning of the flag bits:
bit 0: write
bit 1: content is a pointer to an address
bit 2: mappable
bit 3: swap
bit 4: signed value
bit 5: floating point
bit 6: contains more sub-indices
dwContent contains the contents of the entry
wLen length of the data
byAttrib initially intended as access authorisation
can be freely used by the application of the master
byAccess in the past access authorisation
can be freely used by the application of the master

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On the platform CoDeSys has no editor for this object directory.

The EDS file only determines the objects used to create the object directory. The entries are always
generated with length 4 and the flags (least significant byte of the component of an object directory
entry dwIdxSubIdxF) are always given the value 1. This means both bytes have the value 4116.
If an object directory is available in the master, the master can act as SDO server in the network.
Whenever a client accesses an entry of the object directory by writing, this is indicated to the
application via the flag OD_CHANGED in CANx_MASTER_STATUS (→ page 210). After evaluation
this flag must be reset.
The application can use the object directory by directly writing to or reading the entries or by pointing
the entries to IEC variables. This means: when reading/writing to another node these IEC variables
are directly accessed.
If index and sub-index of the object directory are known, an entry can be addressed as follows:
I := GetODMEntryValue(16#iiiiss00, pCanOpenMaster[0].wODMFirstIdx,
pCanOpenMaster[0].wODMFirstIdx + pCanOpenMaster[0]. wODMCount;
For "iii" the index must be used and for "ss" the sub-index (as hex values).
The number of the array entry is available in I. You can now directly access the components of the
entry.
It is sufficient to enter address, length and flags so that this entry can be directly transferred to an IEC
variable:
ODMEntries[I].dwContent := ADR(<variable name>);
ODMEntries[I].wLen := sizeof(<variable name>);
ODMEntries[I]. dwIdxSubIdxF := ODMEntries[I]. dwIdxSubIdxF OR
OD_ENTRYFLG_WRITE OR OD_ENTRYFLG_ISPOINTER;
It is sufficient to change the content of "dwContent" to change only the content of the entry.

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CAN device

Functionality of the CAN device library ..................................................................................... 190

CAN device configuration.......................................................................................................... 191
Access to the CAN device at runtime........................................................................................ 197
1865

CAN device is another name for a CANopen slave or CANopen node.

A CoDeSys programmable controller can also be a CANopen slave in a CAN network.

Functionality of the CAN device library

1979

The CAN device library in combination with the CANopen configurator provides the user with the
following options:
 In CoDeSys configuration of the properties for nodeguarding/heartbeat, emergency, node ID and
baud rate at which the device is to operate.
 Together with the parameter manager in CoDeSys, a default PDO mapping can be created which
can be changed by the master at runtime. The PDO mapping is changed by the master during the
configuration phase. By means of mapping IEC variables of the application can be mapped to
PDOs. This means IEC variables are assigned to the PDOs to be able to easily evaluate them in
the application program.
 The CAN device library provides an object directory. The size of this object directory is defined
while compiling CoDeSys. This directory contains all objects which describe the CAN device and
in addition the objects defined by the parameter manager. In the parameter manager only the list
types parameters and variables can be used for the CAN device.
 The library manages the access to the object directory, i.e. it acts as SDO server on the bus.
 The library monitors nodeguarding or the heartbeat consumer time (always only of one producer)
and sets corresponding error flags for the application.
 An EDS file can be generated which describes the configured properties of the CAN device so that
the device can be integrated and configured as a slave under a CAN master.
The CAN device library explicitly does not provide the following functionalities described in CANopen
(all options of the CANopen protocol which are not indicated here or in the above section are not
implemented either):
 Dynamic SDO and PDO identifiers
 SDO block transfer
 Automatic generation of emergency messages. Emergency messages must always be generated
by the application using CANx_SLAVE_EMCY_HANDLER (→ page 218) and
CANx_SLAVE_SEND_EMERGENCY (→ page 220). To do so, the library
ifm_CRnnnn_CANopenSlave_Vxxyyzz.LIB provides these FBs.
 Dynamic changes of the PDO properties are currently only accepted on arrival of a StartNode
NMT message, not with the mechanisms defined in CANopen.

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CAN device configuration

Tab [Base settings].................................................................................................................... 191

Tab [CAN settings] .................................................................................................................... 193
Tab [Default PDO mapping] ...................................................................................................... 194
Changing the standard mapping by the master configuration .................................................. 196
1980

To use the controller as CANopen slave (device) the CANopen slave must first be added via [Insert] >
[Append subelement]. For controllers with 2 or more CAN interfaces the CAN interface 1 is
automatically configured as a slave. All required libraries are automatically added to the library
manager.

Tab [Base settings]

1981

Bus identifier
is currently not used.
Name of updatetask
Name of the task where the CAN device is called.
Generate EDS file
If an EDS file is to be generated from the settings to be able to add the CAN device to any master
configuration, the option [Generate EDS file] must be activated and the name of a file must be
indicated. As an option a template file can be indicated whose entries are added to the EDS file of the
CAN device. In case of overlapping the template definitions are not overwritten.

Example of an object directory

1991

The following entries could for example be in the object directory:

[FileInfo]
FileName=D:\CoDeSys\lib2\plcconf\MyTest.eds
FileVersion=1
FileRevision=1
Description=EDS for CoDeSys-Project:
D:\CoDeSys\CANopenTestprojekte\TestHeartbeatODsettings_Device.pro
CreationTime=13:59
CreationDate=09-07-2005
CreatedBy=CoDeSys
ModificationTime=13:59
ModificationDate=09-07-2005

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ModifiedBy=CoDeSys
[DeviceInfo]
VendorName=3S Smart Software Solutions GmbH
ProductName=TestHeartbeatODsettings_Device
ProductNumber=0x33535F44
ProductVersion=1
ProductRevision=1
OrderCode=xxxx.yyyy.zzzz
LMT_ManufacturerName=3S GmbH
LMT_ProductName=3S_Dev
BaudRate_10=1
BaudRate_20=1
BaudRate_50=1
BaudRate_100=1
BaudRate_125=1
BaudRate_250=1
BaudRate_500=1
BaudRate_800=1
BaudRate_1000=1
SimpleBootUpMaster=1
SimpleBootUpSlave=0
ExtendedBootUpMaster=1
ExtendedBootUpSlave=0
...
[1018sub0]
ParameterName=Number of entries
ObjectType=0x7
DataType=0x5
AccessType=ro
DefaultValue=2
PDOMapping=0
[1018sub1]
ParameterName=VendorID
ObjectType=0x7
DataType=0x7
AccessType=ro
DefaultValue=0x0
PDOMapping=0
[1018sub2]
ParameterName=Product Code
ObjectType=0x7
DataType=0x7
AccessType=ro
DefaultValue=0x0
PDOMapping=0

For the meaning of the individual objects please see the CANopen specification DS301.
In addition to the prescribed entries, the EDS file contains the definitions for SYNC, guarding,
emergency and heartbeat. If these objects are not used, the values are set to 0 (preset). But as the
objects are present in the object directory of the slave at runtime, they are written to in the EDS file.
The same goes for the entries for the communication and mapping parameters. All 8 possible
sub-indices of the mapping objects 16xx16 or 1Axx16 are present, but possibly not considered in the
sub-index 0.
NOTE: Bit mapping is not supported by the library!

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Tab [CAN settings]

1982

Here you can set the node ID and the baud rate.
Device type
(this is the default value of the object 100016 entered in the EDS) has 19116 as default value (standard
IO device) and can be freely changed.
The index of the CAN controller results from the position of the CAN device in the controller
configuration.
The nodeguarding parameters, the heartbeat parameters and the emergency COB ID can also be
defined in this tab. The CAN device can only be configured for the monitoring of a heartbeat.
We recommend: It is better to work with the heartbeat function for current devices since then the bus
load is lower.

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Tab [Default PDO mapping]

1983

In this tab the assignment between local object directory (OD editor) and PDOs transmitted/received
by the CAN device can be defined. Such an assignment is called "mapping".
In the object directory entries used (variable OD) the connection to variables of the application is made
between object index/sub-index. You only have to ensure that the sub-index 0 of an index containing
more than one sub-index contains the information concerning the number of the sub-indices.

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Example list of variables

The data for the variable PLC_PRG.a is to be received on the first receive PDO (COB ID = 512 + node
ID) of the CAN device.

Info
[Variables] and [parameters] can be selected as list type.
For the exchange of data (e.g. via PDOs or other entries in the object directory) a variable list is
created.
The parameter list should be used if you do not want to link object directory entries to application
variables. For the parameter list only the index 100616 / SubIdx 0 is currently predefined. In this entry
the value for the "Com. Cycle Period" can be entered by the master. This signals the absence of the
SYNC message.

So you have to create a variable list in the object directory (parameter manager) and link an
index/sub-index to the variable PLC_PRG.a.
► To do so, add a line to the variable list (a click on the right mouse button opens the context menu)
and enter a variable name (any name) as well as the index and sub-index.
► The only allowed access right for a receive PDO is [write only].
► Enter "PLC_PRG.a" in the column [variable] or press [F2] and select the variable.

NOTE
Data to be read by the CAN master (e.g. inputs, system variables) must have the access right [read
only].
Data to be written by the CAN master (e.g. outputs in the slave) must have the access right [write only].
SDO parameters to be written and at the same time to be read from and written to the slave application
by the CAN master must have the access right [read-write].

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To be able to open the parameter manager the parameter manager must be activated in the target
settings under [Network functionality]. The areas for index/sub-index already contain sensible values
and should not be changed.

In the default PDO mapping of the CAN device the index/sub-index entry is then assigned to a receive
PDO as mapping entry. The PDO properties can be defined via the dialogue known from Add and
configure CANopen slaves (→ page 177).
Only objects from the parameter manager with the attributes [read only] or [write only] are marked in
the possibly generated EDS file as mappable (= can be assigned) and occur in the list of the
mappable objects. All other objects are not marked as mappable in the EDS file.

NOTE
If more than 8 data bytes are mapped to a PDO, the next free identifiers are then automatically used
until all data bytes can be transferred.
To obtain a clear structure of the identifiers used you should add the correct number of the receive and
transmit PDOs and assign them the variable bytes from the list.

Changing the standard mapping by the master configuration

1984

You can change the default PDO mapping (in the CAN device configuration) within certain limits by the
master.
The rule applies that the CAN device cannot recreate entries in the object directory which are not yet
available in the standard mapping (default PDO mapping in the CAN device configuration). For a PDO,
for example, which contains a mapped object in the default PDO mapping no second object can be
mapped in the master configuration.
So the mapping changed by the master configuration can at most contain the PDOs available in the
standard mapping. Within these PDOs there are 8 mapping entries (sub-indices).
Possible errors which may occur are not displayed, i.e. the supernumerary PDO definitions /
supernumerary mapping entries are processed as if not present.
In the master the PDOs must always be created starting from 140016 (receive PDO communication
parameter) or 180016 (transmit PDO communication parameter) and follow each other without
interruption.

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Access to the CAN device at runtime

1985

Setting of the node numbers and the baud rate of a CAN device
1986

For the CAN device the node number and the baud rate can be set at runtime of the application
program.
► For setting the node number CANx_SLAVE_NODEID (→ page 217) of the library
ifm_CRnnnn_CANopenSlave_Vxxyyzz.lib is used.
► For setting the baud rate CAN1_BAUDRATE (→ page 130) or CAN1_EXT (→ page 134) or CANx
of the corresponding device library is used for the controllers and the PDM360smart. For PDM360
or PDM360compact CANx_SLAVE_BAUDRATE is available via the library
ifm_CRnnnn_CANopenSlave_Vxxyyzz.lib.

Access to the OD entries by the application program

1987

As standard, there are entries in the object directory which are mapped to variables (parameter
manager).
However, there are also automatically generated entries of the CAN device which cannot be mapped
to the contents of a variable via the parameter manager. Via CANx_SLAVE_STATUS (→ page 223)
these entries are available in the library ifm_CRnnnn_CANopenSlave_Vxxyyzz.LIB.

Change the PDO properties at runtime

1988

If the properties of a PDO are to be changed at runtime, this is done by another node via SDO write
access as described by CANopen.
As an alternative, it is possible to directly write a new property, e.g. the "event time" of a send PDO
and then transmit a command "StartNode-NMT" to the node although it has already been started. As a
result of this the device reinterprets the values in the object directory.

Transmit emergency messages via the application program

1989

To transmit an emergency message via the application program CANx_SLAVE_EMCY_HANDLER

(→ page 218) and CANx_SLAVE_SEND_EMERGENCY (→ page 220) can be used. The library
ifm_CRnnnn_CANopenSlave_Vxxyyzz.LIB provides these functions.

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CAN network variables

General information................................................................................................................... 198

Configuration of CAN network variables ................................................................................... 199
Particularities for network variables .......................................................................................... 203
1868

General information
2076

Network variables
Network variables are one option to exchange data between two or several controllers. For users the
mechanism should be easy to use. At present network variables are implemented on the basis of CAN
and UDP. The variable values are automatically exchanged on the basis of broadcast messages. In
UDP they are implemented as broadcast messages, in CAN as PDOs. These services are not
confirmed by the protocol, i.e. 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).
Object directory
The object directory is another option to exchange variables. This is a 1 to 1 connection using a
confirmed protocol. The user can check whether the message arrived at the receiver. The exchange is
not carried out automatically but via the call of FBs from the application program.
 chapter The object directory of the CANopen master (→ page 188)

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Configuration of CAN network variables

Settings in the target settings.................................................................................................... 199

Settings in the global variable lists ............................................................................................ 200
1869

To use the network variables with CoDeSys you need the libraries 3s_CanDrv.lib,
3S_CANopenManager.lib and 3S_CANopenNetVar.lib. You also need the library
SysLibCallback.lib.
CoDeSys automatically generates the required initialisation code and the call of the network blocks at
the start and end of the cycle.

Settings in the target settings

1994

► Select the dialogue box [Target settings].

► Select the tab [Network functionality].
► Activate the check box [Support network variables].
► Enter the name of the requested network, here CAN, in [Names of supported network interfaces].
► To use network variables you must also add a CAN master or CAN slave (device) to the controller
configuration.
► Please note the particularities when using network variables for the corresponding device types.
 Chapter Particularities for network variables (→ page 203)

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Settings in the global variable lists

1995

► Create a new global variable list. In this list the variables to be exchanged with other controllers
are defined.
► Open the dialogue with the menu point [Object Properties].
> The window [Properties] appears:

If you want to define the network properties:

► Click the button [Add network].
If you have configured several network connections, you can also configure here several
connections per variable list.
> The window [Properties] extends as follows:

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Meaning of the options:

Network type
As network type you can enter one of the network names indicated in the target settings.
If you click on the button [Settings] next to it, you can select the CAN interface:
1. CAN interface: value = 0
2. CAN interface: value = 1
etc.
Pack variables
If this option is activated with [v], the variables are combined, if possible, in one transmisson unit. For
CAN the size of a transmission unit is 8 bytes. If it is not possible to include all variables of the list in
one transmission unit, several transmission units are formed for this list.
If the option is not activated, every variable has its own transmission unit.
If [Transmit on change] is configured, it is checked separately for every transmission unit whether it
has been changed and must be transmitted.
List identifier (COB-ID)
The basic identifier is used as a unique identification to exchange variable lists of different projects.
Variable lists with identical basic identifier are exchanged. Ensure that the definitions of the variable
lists with the same basic identifier match in the different projects.

NOTE
In CAN networks the basic identifier is directly used as COB-ID of the CAN messages. It is not checked
whether the identifier is also used in the remaining CAN configuration.
To ensure a correct exchange of data between two controllers the global variable lists in the two
projects must match. To ensure this you can use the feature [Link to file]. A project can export the
variable list file before compilation, the other projects should import this file before compilation.
In addition to simple data types a variable list can also contain structures and arrays. The elements of
these combined data types are transmitted separately.
Strings must not be transmitted via network variables as otherwise a runtime error will occur and the
watchdog will be activated.
If a variable list is larger than a PDO of the corresponding network, the data is split up to several PDOs.
Therefore it cannot be ensured that all data of the variable list is received in one cycle. Parts of the
variable list can be received in different cycles. This is also possible for variables with structure and
array types.

Transmit checksum
This option is not supported.
Acknowledgement
This option is not supported.

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Read
The variable values of one (or several) controllers are read.
Write
The variables of this list are transmitted to other controllers.

NOTE
You should only select one of these options for every variable list, i.e. either only read or only write.
If you want to read or write several variables of a project, please use several variable lists (one for
reading, one for writing).
In a network the same variable list should only be exchanged between two participants.

Cyclic transmission
Only valid if [write] is activated. The values are transmitted in the specified [interval] irrespective of
whether they have changed.
Transmit on change
The variable values are only transmitted if one of the values has been changed. With [Minimum gap]
(value > 0) a minimum time between the message packages can be defined.
Transmit on event
If this option is selected, the CAN message is only transmitted if the indicated binary [variable] is set to
TRUE. This variable cannot be selected from the list of the defined variables via the input help.

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Particularities for network variables

1992

Device Description
ClassicController: CR0020, Network variables are only supported on interface 1 (enter the value 0).
CR0505 CAN master
ExtendedController: CR0200 Transmit and receive lists are processed directly.
SafetyController: CR7020, You only have to make the settings described above.
CR7021, CR7200, CR7201, CAN device
CR7505, CR7506 Transmit lists are processed directly.
For receive lists you must also map the identifier area in the object directory to receive PDOs. It
is sufficient to create only two receive PDOs and to assign the first object the first identifier and
the second object the last identifier.
If the network variables are only transferred to one identifier, you only have to create one
receive PDO with this identifier.
Important!
Please note that the identifier of the network variables and of the receive PDOs must be
entered as decimal value.
ClassicController: CR0032 Network variables are supported on all CAN interfaces.
(All other informations as above)
ExtendedController: CR0232
BasicController: CR040n Network variables are supported on all CAN interfaces.
(All other informations as above)
BasicDisplay: CR0451 Network variables are supported only on CAN interface 1 (enter value = 0).
(All other informations as above)
PDM360smart: CR1070, Only one interface is available (enter value = 0).
CR1071 CAN master
Transmit and receive lists are processed directly.
You only have to make the settings described above.
CAN device
Transmit lists are processed directly.
For receive lists you must additionally map the identifier area in the object directory to receive
PDOs. It is sufficient to create only two receive PDOs and to assign the first object the first
identifier and the second object the last identifier.
If the network variables are only transferred to one identifier, you only have to create one
receive PDO with this identifier.
Important!
Please note that the identifier of the network variables and of the receive PDOs must be
entered as decimal value.
PDM360: CR1050, CR1051, Network variables are supported on interface 1 (value = 0) and 2 (value = 1).
CR1060
CAN master
PDM360compact: CR1052, Transmit and receive lists are processed directly.
CR1053, CR1055, CR1056 You only have to make the settings described above.
CAN device
Transmit and receive lists are processed directly.
You only have to make the settings described above.
Important!
If [support network variables] is selected in the PDM360 or PDM360compact, you must at least
create one variable in the global variable list and call it once in the application program.
Otherwise the following error message is generated when compiling the program:
Error 4601: Network variables 'CAN': No cyclic or freewheeling task for network variable
exchange found.
PDM360NG: CR108n ???

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9.6.3 Units for CANopen

Library for the CANopen master ............................................................................................... 204

Library for the CANopen slave .................................................................................................. 216
Further ifm libraries for CANopen ............................................................................................. 226
8587

Library for the CANopen master

CANx_MASTER_EMCY_HANDLER (FB) ................................................................................ 205

CANx_MASTER_SEND_EMERGENCY (FB) .......................................................................... 207
CANx_MASTER_STATUS (FB)................................................................................................ 210
1870

The library ifm_CRnnnn_CANopenMaster_Vxxyyzz.LIB provides a number of FBs for the

CANopen master which will be explained below.

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CANx_MASTER_EMCY_HANDLER (FB)
2006

x = number 1...n of the CAN interface (depending on the device,  data sheet)
Contained in the library:
ifm_CRnnnn_CANopenMaster_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
 SmartController: CR25nn
 PDM360: CR1050, CR1051, CR1060
 PDM360compact: CR1052, CR1053, CR1055, CR1056
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

CANx_MASTER_EMCY_HANDLER
CLEAR_ERROR_FIELD ERROR_REGISTER
ERROR_FIELD

Description
2009

CANx_MASTER_EMCY_HANDLER monitors the device-specific error status of the master. The FB

must be called in the following cases:
 the error status is to be transmitted to the network and
 the error messages of the application are to be stored in the object directory.

NOTE
If application-specific error messages are to be stored in the object directory,
CANx_MASTER_EMCY_HANDLER must be called after (repeatedly) calling
CANx_MASTER_SEND_EMERGENCY (→ page 207).

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Parameters of the inputs

2010

Parameter Data type Description

CLEAR_ERROR_FIELD BOOL TRUE: deletes the contents of the array ERROR_FIELD
FALSE: this function is not executed

Parameters of the outputs

2011

Parameter Data type Description

ERROR_REGISTER BYTE shows the content of the object directory index 100116 (Error Register)
ERROR_FIELD ARRAY [0...5] OF WORD the array [0...5] shows the contents of the object directory index 100316
(Error Field)
- ERROR_FIELD[0]: number of stored errors
- ERROR_FIELD[1...5]: stored errors, the most recent error is in
index [1]

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CANx_MASTER_SEND_EMERGENCY (FB)
2012

x = number 1...n of the CAN interface (depending on the device,  data sheet)
Contained in the library:
ifm_CRnnnn_CANopenMaster_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
 SmartController: CR25nn
 PDM360: CR1050, CR1051, CR1060
 PDM360compact: CR1052, CR1053, CR1055, CR1056
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

CANx_MASTER_SEND_EMERGENCY
ENABLE
ERROR
ERROR_CODE
ERROR_REGISTER
MANUFACTURER_ERROR_FIELD

Description
2015

CANx_MASTER_SEND_EMERGENCY transmits application-specific error states. The FB is called if

the error status is to be transmitted to other devices in the network.

NOTE
If application-specific error messages are to be stored in the object directory,
CANx_MASTER_EMCY_HANDLER (→ page 205) must be called after (repeatedly) calling
CANx_MASTER_SEND_EMERGENCY.

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Parameters of the inputs

2016

Parameter Data type Description

ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active
ERROR BOOL FALSE  TRUE (edge):
transmits the given error code
TRUE  FALSE (edge)
AND the fault is no longer indicated:
the message that there is no error is sent after a delay of approx. 1 s
ERROR_CODE WORD The error code provides detailed information about the detected fault.
The values should be entered according to the CANopen specification.
chapter Overview CANopen error codes (→ page 247)
ERROR_REGISTER BYTE This object reflects the general error state of the CANopen network
participant. The values should be entered according to the CANopen
specification.
MANUFACTURER_ERROR_FIELD ARRAY [0...4] OF BYTE Here, up to 5 bytes of application-specific error information can be
entered. The format can be freely selected.

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Example: CANx_MASTER_SEND_EMERGENCY
2018

In this example 3 error messages will be generated subsequently:

1. ApplError1, Code = FF0016 in the error register 8116
2. ApplError2, Code = FF0116 in the error register 8116
3. ApplError3, Code = FF0216 in the error register 8116
CAN1_MASTER_EMCY_HANDLER sends the error messages to the error register "Object 100116" in
the error array "Object 100316".

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CANx_MASTER_STATUS (FB)
2021

x = number 1...n of the CAN interface (depending on the device,  data sheet)
Contained in the library:
ifm_CRnnnn_CANopenMaster_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0505
 ExtendedController: CR0200
 PCB controller: CS0015
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506
 SmartController: CR25nn
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

CANx_MASTER_STATUS
CANOPEN_LED_STATUS NODE_ID
GLOBAL_START BAUDRATE
CLEAR_RX_OVERFLOW_FLAG NODE_STATE
CLEAR_RX_BUFFER SYNC
CLEAR_TX_OVERFLOW_FLAG RX_OVERFLOW
CLEAR_TX_BUFFER TX_OVERFLOW
CLEAR_OD_CHANGED_FLAG OD_CHANGED
CLEAR_ERROR_CONTROL ERROR_CONTROL
RESET_ALL_NODES GET_EMERGENCY
START_ALL_NODES
NODE_STATE_SLAVE
EMERGENCY_OBJECT_SLAVES

Description
2024

Status indication of the device used with CANopen.

CANx_MASTER_STATUS shows the status of the device used as CANopen master. Furthermore, the
status of the network and of the connected slaves can be monitored.
The FB simplifies the use of the CoDeSys CANopen master libraries. We urgently recommend to carry
out the evaluation of the network status and of the error messages via this FB.

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Parameters of the inputs

2025

Parameter Data type Description

CANOPEN_LED_STATUS BOOL (input not available for PDM devices)
TRUE: the status LED of the controller is switched to the mode
"CANopen":
flashing frequency 0.5 Hz = pre-operational
flashing frequency 2.0 Hz = operational
The other diagnostic LED signals are not changed by this operating
mode.
GLOBAL_START BOOL TRUE: all connected network participants (slaves) are started
simultaneously during network initialisation.
FALSE: the connected network participants are started one after
the other.
further information  chapter Starting the network with
GLOBAL_START (→ page 186)
CLEAR_RX_OVERFLOW_FLAG BOOL FALSE  TRUE (edge):
delete error flag "receive buffer overflow"
FALSE: this function is not executed
CLEAR_RX_BUFFER BOOL FALSE  TRUE (edge):
delete data in the receive buffer
FALSE: this function is not executed
CLEAR_TX_OVERFLOW_FLAG BOOL FALSE  TRUE (edge):
delete error flag "transmit buffer overflow"
FALSE: this function is not executed
CLEAR_TX_BUFFER BOOL FALSE  TRUE (edge):
delete data in the transmit buffer
FALSE: this function is not executed
CLEAR_OD_CHANGED_FLAG BOOL FALSE  TRUE (edge):
delete flag "data in the object directory changed"
FALSE: this function is not executed
CLEAR_ERROR_CONTROL BOOL FALSE  TRUE (edge):
delete the guard error list (ERROR_CONTROL)
FALSE: this function is not executed
RESET_ALL_NODES BOOL FALSE  TRUE (edge):
reset all nodes
FALSE: this function is not executed
START_ALL_NODES BOOL TRUE: All connected network participants (slaves) are started
simultaneously at runtime of the application program.
FALSE: The connected network participants must be started one
after the other
further information  chapter Starting the network with
START_ALL_NODES (→ page 186)

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Parameter Data type Description

NODE_STATE_SLAVE ARRAY To determine the status of a single network node the global array
[0...MAX_NODEINDEX] "NodeStateList" can be used. The array then contains the following
STRUCT NODE_STATE elements:
NodeStateList[n].NODE_ID:
node number of the slave
NodeStateList[n].NODE_STATE:
current status from the master's point of view
NodeStateList[n].LAST_STATE:
the CANopen status of the node
NodeStateList[n].RESET_NODE:
TRUE: reset slave
NodeStateList[n].START_NODE:
TRUE: start slave
NodeStateList[n].PREOP_NODE:
TRUE: set slave to pre-operation mode
NodeStateList[n].SET_TIMEOUT_STATE:
TRUE: set timeout for cancelling the configuration
NodeStateList[n].SET_NODE_STATE:
TRUE: set new node status
example code  chapter Example: CANx_MASTER_STATUS
(→ page 214)
further information  chapter Master at runtime (→ page 180)
EMERGENCY_OBJECT_SLAVES ARRAY To obtain a list of the most recent occurred error messages of all
[0...MAX_NODEINDEX] network nodes the global array "NodeEmergencyList" can be used.
STRUCT The array then contains the following elements:
EMERGENCY_MESSAGE NodeEmergencyList[n].NODE_ID:
node number of the slave
NodeEmergencyList[n].ERROR_CODE:
error code
NodeEmergencyList[n].ERROR_REGISTER:
error register
NodeEmergencyList[n].MANUFACTURER_ERROR_FIEL
D[0..4]:
manufacturer-specific error field
further information  chapter Access to the structures at runtime of
the application (→ page 215)

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Parameters of the outputs

2029

Parameter Data type Description

NODE_ID BYTE node ID of the master
BAUDRATE WORD baud rate of the master
NODE_STATE INT current status of the master
SYNC BOOL SYNC signal of the master
This is set in the tab [CAN parameters] (→ page 175) of the master
depending on the set time [Com. Cycle Period].
RX_OVERFLOW BOOL error flag "receive buffer overflow"
TX_OVERFLOW BOOL error flag "transmit buffer overflow"
OD_CHANGED BOOL flag "object directory master was changed"
ERROR_CONTROL ARRAY [0...7] OF BYTE The array contains a list (max. 8) of the missing network nodes (guard
or heartbeat error).
further information  chapter Access to the structures at runtime (See
"Access to the structures at runtime of the application" → page 215)
GET_EMERGENCY STRUCT at the output the data for the structure EMERGENCY_MESSAGE are
EMERGENY_MESSAGE available
the most recent error message of a network node is always displayed
To obtain a list of all occurred errors, the array
"EMERGENCY_OBJECT_SLAVES" must be evaluated.

Parameters of internal structures

2030

Below are the structures of the arrays used in this FB.

Parameter Data type Description
CANx_EMERGENY_MESSAGE STRUCT NODE_ID: BYTE
ERROR_CODE: WORD
ERROR_REGISTER: BYTE
MANUFACTURER_ERROR_FIELD: ARRAY[0..4] OF
BYTE
The structure is defined by the global variables of the
library ifm_CRnnnn_CANopenMaster_Vxxyyzz.LIB.
CANx_NODE_STATE STRUCT NODE_ID: BYTE
NODE_STATE: BYTE
LAST_STATE: BYTE
RESET_NODE: BOOL
START_NODE: BOOL
PREOP_NODE: BOOL
SET_TIMEOUT_STATE: BOOL
SET_NODE_STATE: BOOL
The structure is defined by the global variables of the
library ifm_CRnnnn_CANopenMaster_Vxxyyzz.LIB.

Detailed description of the functionalities of the CANopen master and the mechanisms  chapter
CANopen master (→ page 173).
Using the controller CR0020 as an example the following code fragments show the use of
CANx_MASTER_STATUS (→ page 210).

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Example: CANx_MASTER_STATUS
2031

Slave information
2033

To be able to access the information of the individual CANopen nodes, an array for the corresponding
structure must be generated. The structures are contained in the library. You can see them under
"Data types" in the library manager.
The number of the array elements is determined by the global variable MAX_NODEINDEX which is
automatically generated by the CANopen stack. It contains the number of the slaves minus 1 indicated
in the network configurator.

NOTE
The numbers of the array elements do not correspond to the node ID. The identifier can be read from
the corresponding structure under NODE_ID.

Structure node status

2034

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Structure Emergency_Message
2035

Access to the structures at runtime of the application

2036

At runtime you can access the corresponding array element via the global variables of the library and
therefore read the status or EMCY messages or reset the node.

If ResetSingleNodeArray[0].RESET_NODE is set to TRUE for a short time in the example given

above, the first node is reset in the configuration tree.
Further information concerning the possible error codes  chapter CAN errors and error handling
(→ page 242).

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Library for the CANopen slave

CANx_SLAVE_NODEID (FB) ................................................................................................... 217

CANx_SLAVE_EMCY_HANDLER (FB).................................................................................... 218
CANx_SLAVE_SEND_EMERGENCY (FB).............................................................................. 220
CANx_SLAVE_STATUS (FB) ................................................................................................... 223
1874

The library ifm_CRnnnn_CANopenSlave_Vxxyyzz.LIB provides a number of FBs for the

CANopen slave (= CANopen device = CANopen node) which will be explained below.

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CANx_SLAVE_NODEID (FB)
2044

x = number 1...n of the CAN interface (depending on the device,  data sheet)
Contained in the library:
ifm_CRnnnn_CANopenSlave_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
 SmartController: CR25nn
 PDM360: CR1050, CR1051, CR1060
 PDM360compact: CR1052, CR1053, CR1055, CR1056
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

CANx_SLAVE_NODEID
ENABLE
NODEID

Description
2049

CANx_SLAVE_NODEID enables the setting of the node ID of a CAN device (slave) at runtime of the
application program.
Normally, the FB is called once during initialisation of the controller, in the first cycle. Afterwards, the
input ENABLE is set to FALSE again.

Parameters of the inputs

2047

Parameter Data type Description

ENABLE BOOL FALSE  TRUE (edge):
set node ID
FALSE: unit is not executed
NODEID BYTE value of the new node number

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CANx_SLAVE_EMCY_HANDLER (FB)
2050

x = number 1...n of the CAN interface (depending on the device,  data sheet)
Contained in the library:
ifm_CRnnnn_CANopenSlave_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
 SmartController: CR25nn
 PDM360: CR1050, CR1051, CR1060
 PDM360compact: CR1052, CR1053, CR1055, CR1056
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

CANx_SLAVE_EMCY_HANDLER
CLEAR_ERROR_FIELD ERROR_REGISTER
ERROR_FIELD

Description
2053

CANx_SLAVE_EMCY_HANDLER monitors the device-specific error status (device operated as

slave).
The FB must be called in the following cases:
 the error status is to be transmitted to the CAN network and
 the error messages of the application are to be stored in the object directory.

NOTE
If application-specific error messages are to be stored in the object directory,
CANx_SLAVE_EMCY_HANDLER must be called after (repeatedly) calling
CANx_SLAVE_SEND_EMERGENCY (→ page 220).

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Parameters of the inputs

2054

Parameter Data type Description

CLEAR_ERROR_FIELD BOOL FALSE  TRUE (edge):
delete ERROR FIELD
FALSE: unit is not executed

Parameters of the outputs

2055

Parameter Data type Description

ERROR_REGISTER BYTE shows the contents of the object directory index 100116 (Error Register).
ERROR_FIELD ARRAY [0...5] OF WORD the array [0...5] shows the contents of the object directory index 100316
(Error Field):
- ERROR_FIELD[0]: Number of stored errors
- ERROR_FIELD[1...5]: stored errors, the most recent error is in
index [1]

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CANx_SLAVE_SEND_EMERGENCY (FB)
2056

x = number 1...n of the CAN interface (depending on the device,  data sheet)
Contained in the library:
ifm_CRnnnn_CANopenSlave_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
 SmartController: CR25nn
 PDM360: CR1050, CR1051, CR1060
 PDM360compact: CR1052, CR1053, CR1055, CR1056
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

CANx_SLAVE_SEND_EMERGENCY
ENABLE
ERROR
ERROR_CODE
ERROR_REGISTER
MANUFACTURER_ERROR_FIELD

Description
2059

Using CANx_SLAVE_SEND_EMERGENCY application-specific error states are transmitted. These

are error messages which are to be sent in addition to the device-internal error messages (e.g. short
circuit on the output).
The FB is called if the error status is to be transmitted to other devices in the network.

NOTE
If application-specific error messages are to be stored in the object directory,
CANx_SLAVE_EMCY_HANDLER (→ page 218) must be called after (repeatedly) calling
CANx_SLAVE_SEND_EMERGENCY.

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Parameters of the inputs

2060

Parameter Data type Description

ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active
ERROR BOOL FALSE  TRUE (edge):
transmits the given error code
TRUE  FALSE (edge)
AND the fault is no longer indicated:
the message that there is no error is sent after a delay of approx. 1 s
ERROR_CODE WORD The error code provides detailed information about the detected fault.
The values should be entered according to the CANopen specification.
 chapter Overview of the CANopen error codes (→ page 247)
ERROR_REGISTER BYTE This object reflects the general error state of the CANopen network
participant. The values should be entered according to the CANopen
specification.
MANUFACTURER_ERROR_FIELD ARRAY [0...4] OF BYTE Here, up to 5 bytes of application-specific error information can be
entered. The format can be freely selected.

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Example: CANx_SLAVE_SEND_EMERGENCY
2062

In this example 3 error messages will be generated subsequently:

1. ApplError1, Code = FF0016 in the error register 8116
2. ApplError2, Code = FF0116 in the error register 8116
3. ApplError3, Code = FF0216 in the error register 8116
CAN1_SLAVE_EMCY_HANDLER sends the error messages to the error register "Object 100116" in
the error array "Object 100316".

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CANx_SLAVE_STATUS (FB)
2063

x = number 1...n of the CAN interface (depending on the device,  data sheet)
Contained in the library:
ifm_CRnnnn_CANopenSlave_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0505
 ExtendedController: CR0200
 PCB controller: CS0015
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506
 SmartController: CR25nn

Symbol in CoDeSys:

CANx_SLAVE_STATUS
CANOPEN_LED_STATUS NODE_ID
CLEAR_RX_OVERFLOW_FLAG BAUDRATE
CLEAR_RX_BUFFER NODE_STATE
CLEAR_TX_OVERFLOW_FLAG SYNC
CLEAR_TX_BUFFER SYNC_ERROR
CLEAR_RESET_FLAGS GUARD_HEARTBEAT_ERROR
CLEAR_OD_CHANGED_FLAG RX_OVERFLOW
TX_OVERFLOW
RESET_NODE
RESET_COM
OD_CHANGED
OD_CHANGED_INDEX

Description
2066

CANx_SLAVE_STATUS shows the status of the device used as CANopen slave. The FB simplifies
the use of the CoDeSys CAN device libraries. We urgently recommend to carry out the evaluation of
the network status via this FB.

Info
For a detailed description of the FBs of the CANopen slave and the mechanisms:
 chapter CANopen device (→ page 190).

At runtime you can then access the individual outputs of the block to obtain a status overview.

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Example:

Parameters of the inputs

2067

Parameter Data type Description

GLOBAL_START BOOL TRUE: all connected network participants (slaves) are started
simultaneously during network initialisation
FALSE: the connected network participants (slaves) are started
one after the other
further information
 chapter Starting the network with GLOBAL_START (→ page 186)
CLEAR_RX_OVERFLOW_FLAG BOOL FALSE TRUE (edge):
delete error flag "receive buffer overflow"
FALSE: this function is not executed
CLEAR_RX_BUFFER BOOL FALSE TRUE (edge):
delete data in the receive buffer
FALSE: this function is not executed
CLEAR_TX_OVERFLOW_FLAG BOOL FALSE TRUE (edge):
delete error flag "transmit buffer overflow"
FALSE: this function is not executed
CLEAR_TX_BUFFER BOOL FALSE TRUE (edge):
delete data in the transmit buffer
FALSE: this function is not executed
CLEAR_RESET_FLAG BOOL FALSE TRUE (edge):
delete the flags "nodes reset" and "communications
interface reset"
FALSE: this function is not executed
CLEAR_OD_CHANGED_FLAG BOOL FALSE TRUE (edge):
delete the flags "data in the object directory changed" and
"index position"
FALSE: this function is not executed

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Parameters of the outputs

2068

Parameter Data type Description

NODE_ID BYTE ode ID of the slave
BAUDRATE WORD baud rate of the slave
NODE_STATE BYTE current status of the slave
SYNC BOOL received SYNC signal of the master
SYNC_ERROR BOOL no SYNC signal of the master received OR:
the set SYNC time (ComCyclePeriod in the master) was exceeded
GUARD_HEARTBEAT_ERROR BOOL no guard or heartbeat signal of the master received
OR: the set times were exceeded
RX_OVERFLOW BOOL error flag "receive buffer overflow"
TX_OVERFLOW BOOL error flag "transmit buffer overflow"
RESET_NODE BOOL the CAN stack of the slave was reset by the master
This flag can be evaluated by the application and, if necessary, be
used for further reactions.
RESET_COM BOOL the communication interface of the CAN stack was reset by the master
This flag can be evaluated by the application and, if necessary, be
used for further reactions.
OD_CHANGED BOOL flag "object directory master was changed"
OD_CHANGED_INDEX INT the output shows the changed index of the object directory

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Further ifm libraries for CANopen

CANx_SDO_READ (FB) ........................................................................................................... 227

CANx_SDO_WRITE (FB) ......................................................................................................... 229
2071

Here we present further ifm FBs which are sensible additions for CANopen.

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CANx_SDO_READ (FB)
621

x = number 1...n of the CAN interface (depending on the device,  data sheet)
Contained in the library:

Available for the following devices: ifm_CRnnnn_Vxxyyzz.LIB ifm_CANx_SDO_Vxxyyzz.LIB

CabinetController: CR030n X --
ClassicController: CR0020, CR0032, CR0505 X --
ExtendedController: CR0200, CR0232 X --
PCB controller: CS0015 X --
SafetyController: CR7nnn X --
SmartController: CR25nn X --
PDM360: CR1050, CR1051, CR1060 -- X
PDM360compact: CR1052, CR1053, CR1055, -- X
CR1056
PDM360smart: CR1070, CR1071 X --

Symbol in CoDeSys:

CANx_SDO_READ
ENABLE RESULT
NODE LEN
IDX
SUBIDX
DATA

Description
624

CANx_SDO_READ reads the SDO (→ page 179) with the indicated indexes from the node.
By means of these, the entries in the object directory can be read. So it is possible to selectively read
the node parameters.
all ecomatmobile controllers PDM360: CR1050, CR1051, CR1060
PCB controller: CS0015 PDM360compact: CR1052, CR1053, CR1055,
PDM360smart: CR1070, CR1071 CR1056
From the device library From the device library
ifm_CRnnnn_Vxxyyzz.LIB ifm_CANx_SDO_Vxxyyzz.LIB
Prerequisite: Node must be in the mode Prerequisite: The node must be in the mode
"Pre-Operational" or "Operational". "CANopen master" or "CAN device".
For controllers, only CAN1_SDO_READ is
available.

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Example:

Parameters of the inputs

625

Parameter Data type Description

ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active
NODE BYTE number of the node

IDX WORD index in object directory

SUBIDX BYTE sub-index referred to the index in the object directory
DATA DWORD address of the receive data array
permissible length = 0...255
transmission with ADR operator

Parameters of the outputs

626

Parameter Data type Description

RESULT BYTE 0 = unit inactive
1 = execution of the unit completed
2 = unit active
3 = unit has not been executed
LEN WORD length of the entry in "number of bytes"
The value for LEN must correspond to the length of the receive array.
Otherwise, problems with SDO communication will occur.

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CANx_SDO_WRITE (FB)
615

x = number 1...n of the CAN interface (depending on the device,  data sheet)
Contained in the library:

Available for the following devices: ifm_CRnnnn_Vxxyyzz.LIB ifm_CANx_SDO_Vxxyyzz.LIB

CabinetController: CR030n X --
ClassicController: CR0020, CR0032, CR0505 X --
ExtendedController: CR0200, CR0232 X --
PCB controller: CS0015 X --
SafetyController: CR7nnn X --
SmartController: CR25nn X --
PDM360: CR1050, CR1051, CR1060 -- X
PDM360compact: CR1052, CR1053, CR1055, -- X
CR1056
PDM360smart: CR1070, CR1071 X --

Symbol in CoDeSys:

CANx_SDO_WRITE
ENABLE RESULT
NODE
IDX
SUBIDX
LEN
DATA

Description
618

CANx_SDO_WRITE writes the SDO (→ page 179) with the specified indexes to the node.
Using this FB, the entries can be written to the object directory. So it is possible to selectively set the
node parameters.
all ecomatmobile controllers PDM360: CR1050, CR1051, CR1060
PCB controller: CS0015 PDM360compact: CR1052, CR1053, CR1055,
PDM360smart: CR1070, CR1071 CR1056
From the device library From the device library
ifm_CRnnnn_Vxxyyzz.LIB ifm_CANx_SDO_Vxxyyzz.LIB
Prerequisite: the node must be in the state Prerequisite: The node must be in the mode
"Pre-Operational" or "Operational" and in the mode "CANopen master" or "CAN device".
"CANopen master".
For controllers, there only is CAN1_SDO_WRITE
available.

NOTE
The value for LEN must correspond to the length of the transmit array. Otherwise, problems with SDO
communication will occur.

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Example:

Parameters of the inputs

619

Parameter Data type Description

ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active
NODE BYTE number of the node
IDX WORD index in object directory
SUBIDX BYTE sub-index referred to the index in the object directory.
LEN WORD length of the entry in "number of bytes"
The value for LEN must correspond to the length of the transmit array.
Otherwise, problems with SDO communication will occur.
DATA DWORD address of the transmit data array
permissible length = 0...255
transmission with ADR operator

Parameters of the outputs

620

Parameter Data type Description

RESULT BYTE 0 = unit inactive
1 = execution of the unit stopped
2 = unit active
3 = unit has not been executed

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9.7 CANopen Safety in safety-related applications

General notes and explanations on CANopen Safety .............................................................. 231

CANopen for safety-related communication ............................................................................. 232
Functions for CANopen Safety.................................................................................................. 236
3846

9.7.1 General notes and explanations on CANopen Safety

3848

A working group of the user organisation "CAN in Automation" (CiA) elaborated an extension of the
CANopen communication profile (CiA DS 304). This allows the following simultaneous communication
options on the same bus cable:
 "normal" communication between CAN bus participants (e.g. I/O modules and a controller),
 exchange safe data between safety CAN bus participants.
Prerequisite for this simultaneous communication option: the bus participants that generate or read
this safety-related data must meet the following conditions:
 the bus participants support the respective CAN mechanisms and
 the hardware structure of the bus participants is according to the respective performance level PLr
( chapter Notes on safety-related applications (→ page 11).
As for the design of a safety controller and the implemented application software the correctness of
the data has to be ensured on a "safe bus system" as well. If an error occurs during communication,
there has to be a reaction within a sufficiently short period of time and the machine has to be passed
into a safe state.
At the same time the implemented safety functions must not affect the "normal" communication of the
not safety-related bus participants.

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9.7.2 CANopen for safety-related communication

Safety-related data objects SRDOs .......................................................................................... 233

Safeguard cycle time SCT ........................................................................................................ 233
Safety-related object validation time SRVT .............................................................................. 233
Global failsafe command GFC .................................................................................................. 234
Processing of the SRDO in the SafetyController ...................................................................... 234
Predefined identifiers for CANopen-Safety ............................................................................... 235
3851

The entire "safe" communication CANopen Safety is based on the standard CAN mechanisms and is
integrated in the CANopen communication profiles. This allows to exchange the following data
simultaneously on one bus cable:
- "normal" data between non-safe participants,
- "normal" data between non-safe and safe participants,
- safe data between safe participants.

Figure: Parallel communication of normal and safe CAN bus participants

The services, protocol mechanisms and units described below complete the application and
communication profile CANopen. These CAN mechanisms only guarantee the safe exchange of data
between safety-related bus participants.

NOTE
The programmer has the sole responsibility for safe data processing in the application software.

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Safety-related data objects SRDOs

3853

Safe data is exchanged via SRDOs (Safety-Related Data Objects). An SRDO always consists of two
CAN messages with different identifiers:
 message 1 contains the original user data,
 message 2 contains the same data which are inverted bit by bit.
The data is read and compared via the operating system. In case of a correct transmission of the data
the application then has the original data for further processing.
The following is monitored:
 data falsified during transmission,
 cyclic update (SCT) of the SRDOs and
 the correct distance (SRVT) between the redundant message 2 and the original message.
Due to the identifier structure of CANopen the number of SRDOs which can be sent in a network of
safety-related participants (producers) is limited to 64 (usually 32 receive and 32 transmit identifiers).
The number of participants receiving this data (consumers) is only limited by the network structure and
the general CANopen mechanisms.

Safeguard cycle time SCT

3854

In CANopen safety the Safeguard Cycle Time (SCT) monitors the correct function of the periodic
transmission (data refresh) of the SRDOs. The data must have been repeated within the set time to be
valid. Otherwise the receiving controller signals a fault and passes into the safe state (= outputs
switched off).
SRDO SRDO SRDO SCT abgelaufen
SCT expired
refresh time refresh time refresh time

SCT t

SCT
SCT
Figure: SCT monitors data refresh

Safety-related object validation time SRVT

3856

The SRVT (Safety-Related Object Validation Time) ensures with CANopen safety that the time
between the SRDO-message pairs is adhered to.
Only if the redundant, inverted message has been transmitted after the original message within the
SRVT set are the transmitted data valid. Otherwise the receiving controller signals a fault and will pass
into the safe state (= outputs switched off).
SRDO SRDO SRDO SRDO

SRVT abgelaufen
SRVT SRVT SRVT SRVT SRVT expired

Figure: SRVT monitors the delay between the SRDO messages

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Global failsafe command GFC

3858

The Global failsafe command (GFC) can be sent to increase the respose time of the complete
CANopen system. The message is event-oriented and non-safe. This means that the message is only
sent once by the producer. The GFC is the same for all network participants (same identifier) and
contains no data. GFC can for example be used to transmit an early warning to all safety-related
participants in the network.

NOTE
Since the GFC is transmitted without safety, it must not be considered for the calculation of the first
fault occurrence time.

Processing of the SRDO in the SafetyController

3859

For a safe processing of the SRDO data in the SafetyController this data has to be read via 2 CAN
interfaces. The differences in the hardware and software interface guarantee that the transmitted data
can be transferred correctly to the following application process and can be processed further.
In a CAN bus system where safety-related data is also to be transmitted, the bus cable is connected to
the two CAN interfaces. Using CAN_SAFETY_TRANSMIT (→ page 237) and
CAN_SAFETY_RECEIVE (→ page 239) the data is read via both interfaces and tested according to
the "CANopen framework for safety-relevant communication" DS 304 and transferred to the
application software.
Additional protocols (e.g. CAN Layer 2 or CANopen via CAN interface 1) are transferred to CANopen
Safety and processed in "parallel".

NOTE
In connection with CANopen-Safety the CAN interface 1 must be used for CAN Layer 2!
A protocol using the 29-bit identifier (e.g. the protocol SAE J 1939 for CAN interface 2) canNOT be
used in connection with CANopen-Safety.

Figure: CANopen Safety participants need 2 CAN interfaces for safe data transmission

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Since the SafetyController is a freely programmable device and due to the internal design of the
different CANopen interfaces implemented, no object directory (OD) was implemented for the
exchange of the CANopen Safety parameters.
All settings, network commands and the data transfer are processed via CAN_SAFETY_TRANSMIT
(→ page 237) and CAN_SAFETY_RECEIVE (→ page 239).
This means that an external configuration tool or a CANopen master canNOT set the parameters via
SDO.

Predefined identifiers for CANopen-Safety

3861

Usually predefined identifiers are used in CANopen systems. For CANopen Safety an identifier range
was also fixed. It is also integrated into the pre-defined connection set of CANopen.

NOTE
It is urgently recommended only to use the identifiers of the predefined connection set since otherwise
the overview of the system is lost.
The application programmer must in any case see for himself if the CAN messages are without any
conflict.

As described above, an SRDO always consists of a message pair. Message 1 contains the regular
data and an identifier with an uneven value. Message 2 contains the inverted data and an identifier
with an even value. This structure is absolutely necessary and must be adhered to.
The pre-defined connection set assumes that any safety-related participant transmits a transmit and a
receive message.
The SafetyController supports up to 8 TX-SRDOs and 8 RX-SRDOs from the following identifier range:
Object CAN identifier
Normal data inverted data
dec. hex. dec. hex.
TX-SRDO SafetyController 1 257 101 258 102
RX-SRDO SafetyController 2 259 103 260 104
261 105 262 106
... ... ... ...
319 13F 320 140
RX-SRDO SafetyController 1 321 141 322 142
TX-SRDO SafetyController 2 323 143 324 144
325 145 326 146
... ... ... ...
383 17F 384 180

Example:
As transmit SRDO the identifier combination 25710 and 25810 can for example be used as well as the
identifier combination 32110 and 32210 as receive SRDO.
In a second SafetyController the identifier combination 25710 and 25810 must be used as receive SRDO
and the identifier combination 32110 and 32210 as transmit SRDO.

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9.7.3 Functions for CANopen Safety

CAN_SAFETY_TRANSMIT (FB) .............................................................................................. 237

CAN_SAFETY_RECEIVE (FB)................................................................................................. 239
3914

For safety functions of the SafetyController we provide the following certified CAN FBs:
 CAN_SAFETY_TRANSMIT (→ page 237)
 CAN_SAFETY_RECEIVE (→ page 239)

NOTE
CAN SAFETY FBs need 2 11-bit operated CAN interfaces at the same time.
When CAN SAFETY FBs are used the 2nd CAN interface can therefore not be used for SAE J1939
FBs (29 bits).

 also further safety functions (→ page 33)

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CAN_SAFETY_TRANSMIT (FB)
3871

Contained in the library:

ifm_CR7nnn_Vxxyyzz.LIB
Available for the following devices:
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506

Symbol in CoDeSys:

CAN_SAFETY_TRANSMIT
NUMBER CFG_ERROR
CONFIG
ID1
ID2
REFRESHTIME
OPERATIONAL
DLC
DATA
EVENTMODE
GFC

Description
3909

CAN_SAFETY_TRANSMIT transmits a safe CAN message (SRDO-TX).

The FB initialises, configures, and transmits an SRDO. The FB has to be used in the following
sequence:
► The configuration set with NUMBER, ID1, ID2 and REFRESHTIME is submitted to the FB with
CONFIG = TRUE.
► Start communication with OPERATIONAL = TRUE.
> The configuration is fixed and secured by a checksum.
Max. 8 Transmit-SRDOs can be initialised in an application program.
> Each millisecond 1 Transmit-SRDO and 1 Receive-SRDO are processed. This means: If only
1 SRDO is defined in the program, it can be transmitted every ms. In the case of 8 SRDOs each
object is processed only every 8 ms.
Depending on the bus load (further CAN messages independent of CANopen-Safety) an SRVT of
16...24 ms has to be set in the case of 8 Transmit-SRDOs. If the bus load is very high the time
between the normal and the inverted data telegrams increases, resulting in an even longer SRVT.

Recommend settings in the case of a very high bus load due to CANopen and 8 SRDOs:
REFRESHTIME = 100 ms
SCT = 150 ms
SRVT = 40 ms

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Transmission of analogue data via an SRDO:

If analogue values are transmitted with an SRDO, input EVENTMODE should be set to FALSE.
Otherwise there might be an extreme load on the CAN bus.

NOTE
CAN SAFETY FBs need 2 11-bit operated CAN interfaces at the same time.
When CAN SAFETY FBs are used the 2nd CAN interface can therefore not be used for SAE J1939
FBs (29 bits).

Parameters of the inputs

3916

Parameter Data type Description

NUMBER BYTE number of the SRDO
value range = 0...7
CONFIG BOOL TRUE: configuration is written
if OPERATIONAL = FALSE simultaneously
FALSE: configuration remains unchanged
ID1 WORD SRDO-ID1 for the original data
ID2 WORD SRDO-ID2 for the inverted data
REFRESHTIME TIME time by which the SRDO is sent at the latest
The REFRESHTIME has to be shorter than the SCT stated for the
receive CAN_SAFETY_RECEIVE.
OPERATIONAL BOOL TRUE: the SRDO is transmitted cyclically and safe
the FB CANNOT be reconfigured
FALSE: the SRDO is not transmitted
the FB can be configured
DLC BYTE number of bytes to be transmitted from the array DATA
Value range 0...8
DATA ARRAY[0...7] OF BYTE the matrix contains the data to be transmitted
EVENTMODE BOOL TRUE: The data is transmitted in an event-driven manner, i.e. a
modification to the data array causes an immediate transmission.
If no modification is made, the data will be transmitted after the
REFRESHTIME has elapsed, at the latest.
FALSE: The data is transmitted cyclically with the time
REFRESHTIME.
GFC BOOL Edge FALSE  TRUE:
FB transmits the "Global failsafe command" once

Parameters of the outputs

3917

Parameter Data type Description

CFG_ERROR BYTE result of the configuration:
0 = no error
1 = faulty identifier pair
2 = invalid SRDO number
3 = configuration attempt in operational mode

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CAN_SAFETY_RECEIVE (FB)
3873

Contained in the library:

ifm_CR7nnn_Vxxyyzz.LIB
Available for the following devices:
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506

Symbol in CoDeSys:

CAN_SAFETY_RECEIVE
NUMBER CFG_ERROR
CONFIG DATA
ID1 DLC
ID2 VALID
SCT ERROR
SRVT GFC
OPERATIONAL

Description
3910

CAN_SAFETY_RECEIVE receives a safe CAN message (SRDO-TX).

The FB initialises, configures, and receives an SRDO. The FB has to be used in the following
sequence:
► The configuration set with NUMBER, ID1, ID2, SCT, and SRVT is submitted to the FB with
CONFIG = TRUE.
► Start communication with OPERATIONAL = TRUE.
> The configuration is fixed and secured by a checksum.
> Received data is stored in the array and output VALID is set to TRUE for one cycle. The data has
to be read and evaluated safely in the application software.
> If the data is received in a faulty state or outside the defined time limits the controller passes into
the safe state (all outputs off).
Max. 8 Receive-SRDOs can be initialised in an application program.
Each millisecond 1 Transmit-SRDO and 1 Receive-SRDO can be processed. This means: If only
1 SRDO is defined in the program, it can be transmitted every ms. In the case of 8 SRDOs each object
is processed only every 8 ms.
Depending on the bus load (further CAN messages independent of CANopen-Safety) an SRVT of
16...24 ms has to be set in the case of 8 Transmit-SRDOs. If the bus load is very high the time
between the normal and the inverted data telegrams increases, resulting in an even longer SRVT.

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Recommend settings in the case of a very high bus load due to CANopen and 8 SRDOs:
REFRESHTIME = 100 ms
SCT = 150 ms
SRVT = 40 ms

NOTE
Before the unit is activated (OPERATIONAL = TRUE), valid CANopen safety data (correct identifier,
correct order, etc.) must be transmitted on the bus.
Otherwise the fault monitoring of the FB will be activated, the ERROR output set and the controller will
pass into the safe state. Then, a safe CAN communication is no longer possible.

NOTE
CAN SAFETY FBs need 2 11-bit operated CAN interfaces at the same time.
When CAN SAFETY FBs are used the 2nd CAN interface can therefore not be used for SAE J1939
FBs (29 bits).

Parameters of the inputs

3918

Parameter Data type Description

NUMBER BYTE number of the SRDO.
value range 0...7
CONFIG BOOL TRUE: configuration is written
if OPERATIONAL = FALSE simultaneously.
FALSE: configuration remains unchanged.
ID1 WORD SRDO-ID1 for the original data.
ID2 WORD SRDO-ID2 for the inverted data.
SCT TIME Max. time during which the SRDO shall be received cyclically. The
SCT value has to be longer than the REFRESHTIME for
CAN_SAFETY_TRANSMIT (→ page 237).
If SCT is exceeded the output ERROR is set to TRUE and the
controller passes in the "safe state".
SRVT TIME Max. time during which the 2nd message with the inverted data has to
be received.
If SRVT is exceeded the output ERROR is set to TRUE and the
controller passes in the "safe state".
OPERATIONAL BOOL TRUE: the SRDO can be received safely
the FB monitors the data for correctness as well as the
SCT and the SRVT
the FB CANNOT be reconfigured
FALSE: the SRDO is not received
the FB can be configured

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Parameters of the outputs

3919

Parameter Data type Description

CFG_ERROR BYTE result of the configuration:
0 = no error
1 = faulty identifier pair
2 = invalid SRDO number
3 = configuration attempt in operational mode
DATA ARRAY[0...7] OF BYTE the matrix contains the data to be transmitted
DLC BYTE length of CAN message = number of transmitted bytes
the data bytes can be read from the array
VALID BOOL TRUE (for one cycle):
new valid data has been received
FALSE: running operation
ERROR BOOL Group error:
> Faulty data transmission, SCT or SRVT were
exceeded.
> At the same time, error flag ERROR_CAN_SAFETY
is set.
> The controller passes into the safe state.
> The outputs switch off.
GFC BOOL TRUE (for one cycle):
FB receives the "Global failsafe command"

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Using CAN CAN errors and error handling

9.8 CAN errors and error handling

CAN errors ................................................................................................................................ 242

Structure of an EMCY message................................................................................................ 245
Overview CANopen error codes ............................................................................................... 247
1171

The error mechanisms described are automatically processed by the CAN controller integrated in the
controller. This cannot be influenced by the user. (Depending on the application) the user should react
to signalled errors in the application software.
Goal of the CAN error mechanisms:
 Ensuring uniform data objects in the complete CAN network
 Permanent functionality of the network even in case of a faulty CAN participant
 Differentiation between temporary and permanent disturbance of a CAN participant
 Localisation and self-deactivation of a faulty participant in 2 steps:
- error passive
- disconnection from the bus (bus off)
This gives a temporarily disturbed participant a "rest".
To give the interested user an overview of the behaviour of the CAN controller in case of an error,
error handling is easily described below. After error detection the information is automatically prepared
and made available to the programmer as CAN error bits in the application software.

9.8.1 CAN errors

Error message........................................................................................................................... 242

Error counter ............................................................................................................................. 243
Participant, error active ............................................................................................................. 243
Participant, error passive .......................................................................................................... 243
Participant, bus off..................................................................................................................... 244
8589

Error message
1172

If a bus participant detects an error condition, it immediately transmits an error flag. The transmission
is then aborted or the correct messages already received by other participants are rejected. This
ensures that correct and uniform data is available to all participants. Since the error flag is directly
transmitted the sender can immediately start to repeat the disturbed message as opposed to other
fieldbus systems (they wait until a defined acknowledgement time has elapsed). This is one of the
most important features of CAN.
One of the basic problems of serial data transmission is that a permanently disturbed or faulty bus
participant can block the complete system. Error handling for CAN would increase such a risk. To
exclude this, a mechanism is required which detects the fault of a participant and disconnects this
participant from the bus, if necessary.

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Error counter
1173

A transmit and receive error counter are integrated in the CAN controller. They are counted up
(incremented) for every faulty transmit or receive operation. If a transmission was correct, these
counters are counted down (decremented).
However, the error counters are more incremented in case of an error than decremented in case of
success. Over a defined period this can lead to a considerable increase of the counts even if the
number of the undisturbed messages is greater than the number of the disturbed messages. Longer
undisturbed periods slowly reduce the counts. So the counts indicate the relative frequency of
disturbed messages.
If the participant itself is the first to detect errors (= self-inflicted errors), the error is more severely
"punished" for this participant than for other bus participants. To do so, the counter is incremented by
a higher amount.
If the count of a participant exceeds a defined value, it can be assumed that this participant is faulty.
To prevent this participant from disturbing bus communication by active error messages (error active),
it is switched to "error passive".
CAN Restart error active
error CAN Neustart
active  participant, error active (→ page 243)
error passive
 participant, error passive (→ page 243)
REC > 127 REC < 128
or TEC > 127 and TEC < 128 bus off
 participant, bus off (→ page 244)
error CAN restart
passive TEC > 255
bus off  participant, bus off (→ page 244)

REC = Receive error counter / Zähler Empfangsfehler

TEC = Transmit error counter / Zähler Sendefehler
Figure: mechanism of the error counter

Participant, error active

1174

An error active participant participates in the bus communication without restriction and is allowed to
signal detected errors by transmitting the active error flag. As already described the transmitted
message is destroyed.

Participant, error passive

1175

An error passive participant can also communicate without restriction. However, it is only allowed to
identify a detected error by a passive error flag, which does not interfere with the bus communication.
An error passive participant becomes error active again if it is below a defined count value.
To inform the user about incrementing of the error counter, the system variable CANx_WARNING is
set if the value of the error counter is > 96. In this state the participant is still error active.

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Participant, bus off

1176

If the error count value continues to be incremented, the participant is disconnected from the bus (bus
off) after exceeding a maximum count value.
To indicate this state the flag CANx_BUSOFF is set in the application program.

NOTE
The error CANx_BUSOFF is automatically handled and reset by the operating system. If the error is to
be handled or evaluated more precisely via the application program, CANx_ERRORHANDLER
(→ page 152) must be used. The error CANx_BUSOFF must then be reset explicitly by the application
program.

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9.8.2 Structure of an EMCY message

A distinction is made between the following errors: .................................................................. 245

Structure of an error message .................................................................................................. 245
Identifier..................................................................................................................................... 245
EMCY error code....................................................................................................................... 246
Object 0x1003 (error field) ........................................................................................................ 246
Signalling of device errors......................................................................................................... 246
8591

Under CANopen error states are indicated via a simple standardised mechanism. For a CANopen
device every occurrence of an error is indicated via a special message which details the error.
If an error or its cause disappears after a certain time, this event is also indicated via the EMCY
message. The errors occurred last are stored in the object directory (object 100316) and can be read
via an SDO access ( CANx_SDO_READ (→ page 227)). In addition, the current error situation is
reflected in the error register (object 100116).

A distinction is made between the following errors:

8046

Communication error
 The CAN controller signals CAN errors.
(The frequent occurrence is an indication of physical problems. These errors can considerably
affect the transmission behaviour and thus the data rate of a network.)
 Life guarding or heartbeat error
Application error
 Short circuit or wire break
 Temperature too high

Structure of an error message

8047

The structure of an error message (EMCY message) is as follows:

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
EMCY error code as entered object 100116 manufacturer-specific information
in the object 100316

Identifier
8048

The identifier for the error message consists of the sum of the following elements:
EMCY default identifier 128 (8016)
+
node ID

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EMCY error code

8049

It gives detailed information which error occurred. A list of possible error codes has already been
defined in the communication profile. Error codes which only apply to a certain device class are
defined in the corresponding device profile of this device class.

Object 0x1003 (error field)

8050

The object 100316 represents the error memory of a device. The sub-indices contain the errors
occurred last which triggered an error message.
If a new error occurs, its EMCY error code is always stored in the sub-index 116. All other older errors
are moved back one position in the error memory, i.e. the sub-index is incremented by 1. If all
supported sub-indices are used, the oldest error is deleted. The sub-index 016 is increased to the
number of the stored errors. After all errors have been rectified the value "0" is written to the error field
of the sub-index 116.
To delete the error memory the value "0" can be written to the sub-index 016. Other values must not be
entered.

Signalling of device errors

1880

As described, EMCY messages are transmitted if errors occur in a device. In contrast to

programmable devices error messages are automatically transmitted by decentralised input/output
modules (e.g. CompactModules CR2033).
Corresponding error codes  corresponding device manual.
Programmable devices only generate an EMCY message automatically (e.g. short circuit on an
output) if CANx_MASTER_EMCY_HANDLER (→ page 205) or CANx_SLAVE_EMCY_HANDLER
(→ page 218) is integrated in the application program.
Overview of the automatically transmitted EMCY error codes for all ifm devices programmable with
CoDeSys  chapter Overview of the CANopen error codes (→ page 247).
If in addition application-specific errors are to be transmitted by the application program,
CANx_MASTER_SEND_EMERGENCY (→ page 207) or CANx_SLAVE_SEND_EMERGENCY
(→ page 220) are used.

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9.8.3 Overview CANopen error codes

8545

Error Code (hex) Meaning

00xx Reset or no error
10xx Generic error
20xx Current
21xx Current, device input side
22xx Current inside the device
23xx Current, device output side
30xx Voltage
31xx Mains voltage
32xx Voltage inside the device
33xx Output voltage
40xx Temperature
41xx Ambient temperature
42xx Device temperature
50xx Device hardware
60xx Device software
61xx Internal software
62xx User software
63xx Data set
70xx Additional modules
80xx Monitoring
81xx Communication
8110 CAN overrun-objects lost
8120 CAN in error passiv mode
8130 Life guard error or heartbeat error
8140 Recovered from bus off
8150 Transmit COB-ID collision
82xx Protocol error
8210 PDO not procedded due to length error
8220 PDO length exceeded
90xx External error
F0xx Additional functions
FFxx Device specific

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Object 0x1001 (error register)

8547

This object reflects the general error state of a CANopen device. The device is to be considered as
error free if the object 100116 signals no error any more.
Bit Meaning
0 Generic Error
1 Current
2 Voltage
3 Temperature
4 Communication Error
5 Device Profile specific
6 Reserved – always 0
7 manufacturer specific

Manufacturer specific information

8548

A device manufacturer can indicate additional error information. The format can be freely selected.
Example:
In a device two errors occur and are signalled via the bus:
- Short circuit of the outputs:
Error code 230016,
the value 0316 (0000 00112) is entered in the object 100116
(generic error and current error)
- CAN overrun:
Error code 811016,
the value 1316 (0001 00112) is entered in the object 100116
(generic error, current error and communication error)
>> CAN overrun processed:
Error code 000016,
the value 0316 (0000 00112) is entered in the object 100116
(generic error, current error, communication error reset)
It can be seen only from this information that the communication error is no longer present.

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Overview CANopen EMCY codes (C16)

2669

All indications (hex) for the 1st CAN interface

EMCY code object Object Manufacturer-specific information
100316 100116
Byte 0 1 2 3 4 5 6 7 Description
00 21 03 I0 I1 I2 I3 I4 Diagnosis inputs
01 21 03 I0_E I1_E I2_E I3_E I4_E Diagnosis inputs *)
00 23 03 Q1Q2 Q3 Q4 Outputs interruption
01 23 03 Q1Q2_E Q3_E Q4_E Outputs interruption *)
02 23 03 Q1Q2 Q3 Q4 Outputs short circuit
03 23 03 Q1Q2_E Q3_E Q4_E Outputs short circuit *)
00 31 05 Terminal voltage VBBo/VBBs
01 31 05 Terminal voltage VBBo/VBBs *)
00 33 05 Output voltage VBBr
01 33 05 Output voltage VBBr *)
00 42 09 Excess temperature
01 42 09 Excess temperature *)
00 61 11 Memory error
01 61 11 Memory error *)
00 80 11 CAN1 monitoring SYNC error (only slave)
00 81 11 CAN1 warning threshold (> 96)
10 81 11 CAN1 receive buffer overrun
11 81 11 CAN1 transmit buffer overrun
30 81 11 CAN1 guard/heartbeat error (only slave)
*) ExtendedController

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10 In-/output functions
Processing analogue input values ............................................................................................ 250
Adapting analogue values......................................................................................................... 255
Counter functions for frequency and period measurement....................................................... 258
PWM functions .......................................................................................................................... 272
Controller functions ................................................................................................................... 313
1590

In this chapter you will find FBs which allow you to read and process the signals of the in- and outputs.

10.1 Processing analogue input values

INPUT_ANALOG (FB)............................................................................................................... 251

INPUT_VOLTAGE (FB) ............................................................................................................ 253
INPUT_CURRENT (FB)............................................................................................................ 254
1602

In this chapter we show you FBs which allow you to read and process the values of analogue voltages
or currents at the device input.

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10.1.1 INPUT_ANALOG (FB)

519

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0505
 ExtendedController: CR0200
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506
(For safety signals use SAFE_ANALOG_OK (→ page 34) in addition!)
 SmartController: CR25nn

Symbol in CoDeSys:

INPUT_ANALOG
ENABLE OUT
MODE
CHANNEL

Description
522

INPUT_ANALOG enables current and voltage measurements at the analogue channels.

The FB provides the current analogue value at the selected analogue channel. The measurement and
the output value result from the operating mode specified via MODE (digital input, 0...20 mA, 0...10 V,
0...30 V).
MODE Input operating mode Output OUT Unit
IN_DIGITAL_H digital input 0/1 ---
IN_CURRENT current input 0...20 000 µA
IN_VOLTAGE10 voltage input 0...10 000 mV
IN_VOLTAGE30 voltage input 0...30 000 mV
IN_VOLTAGE32 voltage input 0...32 000 mV
IN_RATIO voltage input ratiometric 0...1 000 ‰
For parameter setting of the operating mode, the indicated global system variables should be used.
The analogue values are provided as standardised values.

NOTE
When using this FB you must set the system variable RELAIS.
Otherwise the internal reference voltages are missed for the current measurement.

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Parameters of the inputs

523

Parameter Data type Description

ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active
MODE BYTE IN_DIGITAL_H digital input
IN_CURRENT current input 0...20 000 μA
IN_VOLTAGE10 voltage input 0...10 000 mV
IN_VOLTAGE30 voltage input 0...30 000 mV
IN_VOLTAGE32 voltage input 0...32 000 mV
IN_RATIO ratiometric analogue input
INPUT_CHANNEL BYTE input channel

Parameters of the outputs

524

Parameter Data type Description

OUT WORD output value

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10.1.2 INPUT_VOLTAGE (FB)

507

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0505
 ExtendedController: CR0200
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506
 SmartController: CR25nn
NOTE: For the extended side of the ExtendedControllers the FB name ends with "_E".

Symbol in CoDeSys:

INPUT_VOLTAGE
ENABLE ACTUAL_VOLTAGE
MODE_10V_32V
INPUT_CHANNEL

Description
510

INPUT_VOLTAGE processes analogue voltages measured on the analogue channels.

> The FB returns the current input voltage in [mV] on the selected analogue channel. The
measurement refers to the voltage range defined via MODE_10V_32V (10 000 mV or 32 000 mV).

Info
INPUT_VOLTAGE is a compatibility FB for older programs. In new programs, the more powerful
INPUT_ANALOG (→ page 251) should be used.

Parameters of the inputs

511

Parameter Data type Description

ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active
MODE_10V_32V BOOL TRUE: voltage range 0...32 V
FALSE: voltage range 0...10 V

INPUT_CHANNEL BYTE input channel

Parameters of the outputs

512

Parameter Data type Description

ACTUAL_VOLTAGE WORD output voltage in [mV]

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10.1.3 INPUT_CURRENT (FB)

513

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0505
 ExtendedController: CR0200
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506
 SmartController: CR25nn
NOTE: For the extended side of the ExtendedControllers the FB name ends with "_E".

Symbol in CoDeSys:

INPUT_CURRENT
ENABLE ACTUAL_CURRENT
INPUT_CHANNEL

Description
516

INPUT_CURRENT returns the actual input current in [µA] at the analogue current inputs.

Info
INPUT_CURRENT is a compatibility FB for older programs. In new programs, the more powerful
INPUT_ANALOG (→ page 251) should be used.

Parameters of the inputs

517

Parameter Data type Description

ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active
INPUT_CHANNEL BYTE analogue current inputs 4...7

Parameters of the outputs

518

Parameter Data type Description

ACTUAL_CURRENT WORD input current in [µA]

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10.2 Adapting analogue values

NORM (FB) ............................................................................................................................... 256

1603

If the values of analogue inputs or the results of analogue functions must be adapted, the following
FBs will help you.

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10.2.1 NORM (FB)

401

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
 SmartController: CR25nn

Symbol in CoDeSys:

NORM
X Y
XH
XL
YH
YL

Description
404

NORM normalises a value within defined limits to a value with new limits.
The FB normalises a value of type WORD within the limits of XH and XL to an output value within the
limits of YH and YL. This FB is for example used for generating PWM values from analogue input
values.

NOTE
The value for X must be in the defined input range between XL and XH (there is no internal plausibility
check of the value).
Due to rounding errors the normalised value can deviate by 1.
If the limits (XH/XL or YH/YL) are defined in an inverted manner, normalisation is also done in an
inverted manner.

Parameters of the inputs

405

Parameter Data type Description

X WORD current input value
XH WORD upper limit of input value range
XL WORD lower limit of input value range
YH WORD upper limit of output value range
YL WORD lower limit of output value range

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Parameters of the outputs

406

Parameter Data type Description

Y WORD normalised value

Example 1
407

lower limit value input 0 XL

upper limit value input 100 XH
lower limit value output 0 YL
upper limit value output 2000 YH
then the FB converts the input signal for example as follows:
from X = 50 0 100 75
to Y = 1000 0 2000 1500

Example 2
408

lower limit value input 2000 XL

upper limit value input 0 XH
lower limit value output 0 YL
upper limit value output 100 YH
then the FB converts the input signal for example as follows:
from X = 1000 0 2000 1500
to Y = 50 100 0 25

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10.3 Counter functions for frequency and period

measurement

Applications ............................................................................................................................... 258

Use as digital inputs .................................................................................................................. 258
1591

Depending on the controller up to 16 fast inputs are supported which can process input frequencies of
up to 30 kHz. Further to the pure frequency measurement at the inputs FRQ, the inputs ENC can be
also used to evaluate incremental encoders (counter function) with a maximum frequency of 10 kHz.
The inputs CYL are used for period measurement of slow signals.
Input Frequency [kHz] Description
FRQ 0 / ENC 0 30 / 10 frequency measurement / encoder 1, channel A
FRQ 1 / ENC 0 30 / 10 frequency measurement / encoder 1, channel B
FRQ 2 / ENC 1 30 / 10 frequency measurement / encoder 2, channel A
FRQ 3 / ENC 1 30 / 10 frequency measurement / encoder 2, channel B
CYL 0 / ENC 2 10 period measurement / encoder 3, channel A
CYL 1 / ENC 2 10 period measurement / encoder 3, channel B
CYL 2 / ENC 3 10 period measurement / encoder 4, channel A
CYL 3 / ENC 3 10 period measurement / encoder 4, channel B
The following functions are available for easy evaluation:

10.3.1 Applications
1592

It must be taken into account that the different measuring methods can cause errors in the frequency
detection.
FREQUENCY (→ page 259) is suitable for frequencies between 100 Hz and 30 kHz; the error
decreases at high frequencies.
PERIOD (→ page 261) carries out a period measurement. It is thus suitable for frequencies lower than
1000 Hz. In principle it can also measure higher frequencies, but this has a significant impact on the
cycle time. This must be taken into account when setting up the application software.

10.3.2 Use as digital inputs

FREQUENCY (FB).................................................................................................................... 259

PERIOD (FB)............................................................................................................................. 261
PERIOD_RATIO (FB)................................................................................................................ 263
PHASE (FB) .............................................................................................................................. 265
INC_ENCODER (FB) ................................................................................................................ 267
FAST_COUNT (FB) .................................................................................................................. 270
1593

If the fast inputs (FRQx / CYLx) are used as "normal" digital inputs, the increased sensitivity to
interfering pulses must be taken into account (e.g. contact bouncing for mechanical contacts). The
standard digital input has an input frequency of 50 Hz. If necessary, the input signal must be
debounced by means of the software.

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FREQUENCY (FB)
537

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
(For safety signals use SAFE_FREQUENCY_OK (→ page 36) together with PERIOD
(→ page 261)!)
 SmartController: CR25nn
 PDM360smart: CR1071

Symbol in CoDeSys:

FREQUENCY
INIT F
CHANNEL
TIMEBASE

Description
540

FREQUENCY measures the signal frequency at the indicated channel. Maximum input frequency
 data sheet.
This FB measures the frequency of the signal at the selected CHANNEL. To do so, the positive edge
is evaluated. Depending on the TIMEBASE, frequency measurements can be carried out in a wide
value range. High frequencies require a short time base, low frequencies a correspondingly longer
time base. The frequency is provided directly in [Hz].

NOTE
For FREQUENCY only the inputs FRQ0...FRQ3 can be used.

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Parameters of the inputs

541

Parameter Data type Description

INIT BOOL TRUE (for only 1 cycle):
unit is initialised
FALSE: during further processing of the program
CHANNEL BYTE number of the fast input channel
(0...x, value depends on the device,  data sheet)
TIMEBASE TIME time base

NOTE
The FB may provide wrong values before initialisation.
► Only evaluate the output if the FB has been initialised.

Parameters of the outputs

542

Parameter Data type Description

F REAL frequency in [Hz]

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PERIOD (FB)
370

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
(For safety signals use SAFE_FREQUENCY_OK (→ page 36) together with FREQUENCY
(→ page 259) in addition!)
 SmartController: CR25nn
 PDM360smart: CR1071

Symbol in CoDeSys:

PERIOD
INIT C
CHANNEL F
PERIODS ET

Description
373

PERIOD measures the frequency and the cycle period (cycle time) in [µs] at the indicated channel.
Maximum input frequency  data sheet.
This FB measures the frequency and the cycle time of the signal at the selected CHANNEL. To
calculate, all positive edges are evaluated and the average value is determined by means of the
number of indicated PERIODS.
In case of low frequencies there will be inaccuracies when using FREQUENCY. To avoid this,
PERIOD can be used. The cycle time is directly indicated in [µs].
The maximum measuring range is approx. 71 min.

NOTE
For PERIOD only the inputs CYL0...CYL3 can be used.
Frequencies < 0.5 Hz are no longer clearly indicated!

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Parameters of the inputs

374

Parameter Data type Description

INIT BOOL TRUE (for only 1 cycle):
unit is initialised
FALSE: during further processing of the program
CHANNEL BYTE number of the fast input channel
(0...x, value depends on the device,  data sheet)
PERIODS BYTE number of periods to be compared

NOTE
The FB may provide wrong values before initialisation. Do not evaluate the output before the FB has
been initialised.
We urgently recommend to initialise all required instances of this FB at the same time. Otherwise,
wrong values may be provided.

Parameters of the outputs

375

Parameter Data type Description

C DWORD cycle time of the detected periods in [s]
F REAL frequency of the detected periods in [Hz]
ET TIME time elapsed since the beginning of the period measurement (can be
used for very slow signals)

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PERIOD_RATIO (FB)
364

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
 SmartController: CR25nn
 PDM360smart: CR1071
NOTE: For the extended side of the ExtendedControllers the FB name ends with "_E".

Symbol in CoDeSys:

PERIOD_RATIO
INIT C
CHANNEL F
PERIODS ET
RATIO1000

Description
367

PERIOD_RATIO measures the frequency and the cycle period (cycle time) in [µs] during the indicated
periods at the indicated channel. In addition, the mark-to-space ratio is indicated in per mill. Maximum
input frequency  data sheet.
This FB measures the frequency and the cycle time of the signal at the selected CHANNEL. To
calculate, all positive edges are evaluated and the average value is determined by means of the
number of indicated PERIODS. In addition, the mark-to-space ratio is indicated in [‰].
For example: In case of a signal ratio of 25 ms high level and 75 ms low level the value RATIO1000 is
provided as 250 ‰.
In case of low frequencies there will be inaccuracies when using FREQUENCY. To avoid this,
PERIOD_RATIO can be used. The cycle time is directly indicated in [µs].
The maximum measuring range is approx. 71 min.

NOTE
For PERIOD_RATIO only the inputs CYL0...CYL3 can be used.
The output RATIO1000 provides the value 0 for a mark-to-space ratio of 100 % (input signal
permanently at supply voltage).
Frequencies < 0.05 Hz are no longer clearly indicated!

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Parameters of the inputs

368

Parameter Data type Description

INIT BOOL TRUE (for only 1 cycle):
unit is initialised
FALSE: during further processing of the program
CHANNEL BYTE number of the fast input channel
(0...x, value depends on the device,  data sheet)
PERIODS BYTE number of periods to be compared

NOTE
The FB may provide wrong values before initialisation. Do not evaluate the output before the FB has
been initialised.
We urgently recommend to initialise all required instances of this FB at the same time. Otherwise,
wrong values may be provided.

Parameters of the outputs

369

Parameter Data type Description

C DWORD cycle time of the detected periods in [s]
F REAL frequency of the detected periods in [Hz]
ET TIME time elapsed since the beginning of the last change in state of the
input signal (can be used for very slow signals)
RATIO1000 WORD mark-to-space ratio in [‰]

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PHASE (FB)
358

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
 SmartController: CR25nn
 PDM360smart: CR1071
NOTE: For the extended side of the ExtendedControllers the FB name ends with "_E".

Symbol in CoDeSys:

PHASE
INIT C
CHANNEL P
ET

Description
361

PHASE reads a pair of channels with fast inputs and compares the phase position of the signals.
Maximum input frequency  data sheet.
This FB compares a pair of channels with fast inputs so that the phase position of two signals towards
each other can be evaluated. An evaluation of the cycle period is possible even in the range of
seconds.

NOTE
For frequencies lower than 15 Hz a cycle period or phase shift of 0 is indicated.

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Parameters of the inputs

362

Parameter Data type Description

INIT BOOL TRUE (for only 1 cycle):
unit is initialised
FALSE: during further processing of the program
CHANNEL BYTE number of the input channel pair (0...1):
0 = channel pair 0 = inputs 0 + 1
1 = channel pair 1 = inputs 2 + 3

NOTE
The FB may provide wrong values before initialisation. Do not evaluate the output before the FB has
been initialised.
We urgently recommend to program an own instance of this FB for each channel to be evaluated.
Otherwise, wrong values may be provided.

Parameters of the outputs

363

Parameter Data type Description

C DWORD cycle period in [s]
P INT angle of the phase shift (0...360 °)
ET TIME time elapsed since the beginning of the period measurement (can be
used for very slow signals)

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INC_ENCODER (FB)
4187

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0505
 ExtendedController: CR0200
 PCB controller: CS0015
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506
 SmartController: CR25nn
NOTE: For the extended side of the ExtendedControllers the FB name ends with "_E".

Symbol in CoDeSys:

INC_ENCODER
INIT COUNTER
CHANNEL UP
PRESET_VALUE DOWN
PRESET
RESOLUTION

Description
4330
2602

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. The following table
shows the permissible limit frequencies and the max. number of incremental encoders that can be
connected:
Device Limit frequency max. number of encoders
BasicController: CR040n -???- kHz 2
CabinetController: CR030n 10 kHz 2
ClassicController: CR0020, CR0505 10 kHz 4
ClassicController: CR0032 30 kHz 8
ExtendedController: CR0200 10 kHz 8
ExtendedController: CR0232 30 kHz 16
PCB controller: CS0015 0,5 kHz 2
SafetyController: CR7020, CR7021, CR7505, 10 kHz 4
CR7506
SafetyController: CR7032 30 kHz 8
ExtendedSafetyController: CR7200, CR7201 10 kHz 8
ExtendedSafetyController: CR7232 30 kHz 16
SmartController: CR25nn 10 kHz 2
PDM360smart: CR1071 1 kHz 2

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NOTE
Depending on the further load on the unit the limit frequency might fall when "many" encoders are
evaluated.
If the load is too high the cycle time can get unacceptably long ( Limitations and programming notes
(→ page 107)).

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 COUNTER. The outputs UP and DOWN indicate
the current counting direction of the counter. The outputs are TRUE if the counter has counted in the
corresponding direction in the preceding program cycle. If the counter stops, the direction output in the
following program cycle is also reset.
On input RESOLUTION the resolution of the encoder can be evaluated in multiples:
1 = normal resolution (identical with the resolution of the encoder),
2 = double evaluation of the resolution,
4 = 4-fold evaluation of the resolution.
All other values on this input mean normal resolution.
1 3 1 3 1 3 1 RESOLUTION = 1
A In the case of normal resolution only the falling
2 4 2 4 2 4 2
edge of the B-signal is evaluated.
B
v v v
+1 +1 +1
1 1 1 1 1 1 1
RESOLUTION = 2
A
2 2 2 2 2 2 2 In the case of double resolution the falling and the
B rising edges of the B-signal are evaluated.

v v v v v v v
+1 +1 +1 +1 +1 +1 +1
1 1 1 1 1 1 1
A RESOLUTION = 4
1 1 1 1 1 1 1 In the case of 4-fold resolution the falling and the
B rising edges of the A-signal and the B-signal are
evaluated.
v v v v v v v
+1 +1 +1 +1 +1 +1 +1
v v v v v v v
+1 +1 +1 +1 +1 +1 +1

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Parameters of the inputs

4332
529

Parameter Data type Description

INIT BOOL TRUE (for only 1 cycle):
unit is initialised
FALSE: during further processing of the program
CHANNEL BYTE number of the input channel pair (0...3):
0 = channel pair 0 = inputs 0 + 1
1 = channel pair 1 = inputs 2 + 3
2 = channel pair 2 = inputs 4 + 5
3 = channel pair 3 = inputs 6 + 7
PRESET_VALUE DINT preset value of the counter
PRESET BOOL TRUE (only 1 cycle):
preset value is adopted
FALSE: counter active
RESOLUTION BYTE factor of the encoder resolution (1, 2, 4):
1 = normal resolution
2 = double resolution
4 = 4-fold resolution
all other values count as "1"

Parameters of the outputs

530

Parameter Data type Description

COUNTER DINT current counter value
UP BOOL TRUE: counter counts upwards
FALSE: counter stands still
DOWN BOOL TRUE: counter counts downwards
FALSE: counter stands still

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FAST_COUNT (FB)
567

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
 SmartController: CR25nn
 PDM360smart: CR1071
NOTE: For the extended side of the ExtendedControllers the FB name ends with "_E".

Symbol in CoDeSys:

FAST_COUNT
ENABLE CV
INIT
CHANNEL
MODE_UP_DOWN
LOAD
PV

Description
570

FAST_COUNT operates as counter block for fast input pulses.

This FB detects fast pulses at the FRQ input channels 0...3. With the FRQ input channel 0
FAST_COUNT operates like the block CTU. Maximum input frequency  data sheet.

NOTE
For the ecomatmobile controllers channel 0 can only be used as up counter. The channels 1...3 can
be used as up and down counters.

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Parameters of the inputs

571

Parameter Data type Description

ENABLE BOOL TRUE: unit is executed
starting from the start value
FALSE: unit is not executed
INIT BOOL TRUE (for only 1 cycle):
unit is initialised
FALSE: during further processing of the program
CHANNEL BYTE number of the fast input channel
(0...x, value depends on the device,  data sheet)
MODE_UP_DOWN BOOL TRUE: counter counts downwards.
FALSE: counter counts upwards
LOAD BOOL TRUE: start value PV being loaded
FALSE: start value "0" being loaded
PV WORD start value (preset value)

NOTE
After setting the parameter ENABLE the counter counts as from the indicated start value.
The counter does NOT continue from the value which was valid at the last deactivation of ENABLE.

Parameters of the outputs

572

Parameter Data type Description

CV WORD output value of the counter

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10.4 PWM functions

Availability of PWM.................................................................................................................... 272

PWM signal processing............................................................................................................. 273
Current control with PWM ......................................................................................................... 285
Hydraulic control in PWMi ......................................................................................................... 292
2303

In this chapter you will find out more about the pulse width modulation in the ifm device.

10.4.1 Availability of PWM

8472

PWM is available in the following devices:

Number of available PWM of which PWM frequency
outputs current-controlled (PWMi) [Hz]
BasicController: CR0401, CR0402 8 0 20...250
BasicController: CR0403 12 2 20...250
CabinetController: CR0301 4 0 25...250
CabinetController: CR0302, CR0303 8 0 25...250
ClassicController: CR0020 12 8 25...250
ClassicController: CR0505 8 8 25...250
ClassicController: CR0032 16 16 2...2000
ExtendedController: CR0200 24 16 25...250
ExtendedController: CR0232 32 32 2...2000
PCB controller: CS0015 8 0 25...250
SafetyController: CR7020, CR7021 12 8 25...250
SafetyController: CR7505, CR0506 8 8 25...250
ExtendedSafetyController: CR7200, 24 16 25...250
CR7201
SmartController: CR25nn 4 4 25...250
PDM360smart: CR1071 4 0 25...250

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10.4.2 PWM signal processing

PWM functions and their parameters........................................................................................ 274

1526

The abbreviation PWM stands for pulse width modulation. It is mainly used to trigger proportional
valves (PWM valves) for mobile and robust controller applications. Also, with an additional component
(accessory) for a PWM output the pulse-width modulated output signal can be converted into an
analogue output voltage.

UB

15% Ein 85% Aus

ON OFF

UB

70% Ein 30% Aus

ON OFF
Figure: PWM principle

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 then varied. Depending on the mark-to-space ratio, the
connected load determines the corresponding RMS current.
The PWM function of the ecomatmobile controller is a hardware function provided by the processor.
To use the integrated PWM outputs of the controller, they must be initialised in the application program
and parameterised corresponding to the requested output signal.

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PWM functions and their parameters

PWM / PWM1000...................................................................................................................... 274

PWM frequency......................................................................................................................... 274
PWM channels 0...3 .................................................................................................................. 275
Calculation of the RELOAD value ............................................................................................. 275
Calculation examples RELOAD value....................................................................................... 276
PWM channels 4...7 / 8...11 ...................................................................................................... 277
PWM dither................................................................................................................................ 278
Ramp function ........................................................................................................................... 278
PWM (FB).................................................................................................................................. 279
PWM100 (FB)............................................................................................................................ 281
PWM1000 (FB).......................................................................................................................... 283
1527

PWM / PWM1000
1528

Depending on the application and the requested resolution, PWM or PWM1000 can be selected for
the application programming. High accuracy and thus resolution is required when using the control
functions. This is why the more technical PWM FB is used in this case.
If the implementation is to be kept simple and if there are no high requirements on the accuracy,
PWM1000 (→ page 283) can be used. For this FB the PWM frequency can be directly entered in [Hz]
and the mark-to-space ratio in steps of 1 ‰.

PWM frequency
1529

Depending on the valve type, a corresponding PWM frequency is required. For the PWM function the
PWM frequency is transmitted via the reload value (PWM (→ page 279)) or directly as a numerical
value in [Hz] (PWM1000 (→ page 283)). Depending on the controller, the PWM outputs differ in their
operating principle but the effect is the same.
The PWM frequency is implemented by means of an internally running counter, derived from the CPU
pulse. This counter is started with the initialisation of the PWM. Depending on the PWM output group
(0...3 and / or 4...7 or 4...11), it counts from FFFF16 backwards or from 000016 forwards. If a transmitted
comparison value (VALUE) is reached, the output is set. In case of an overflow of the counter (change
of the counter reading from 000016 to FFFF16 or from FFFF16 to 000016), the output is reset and the
operation restarts.
If this internal counter shall not operate between 000016 and FFFF16, another preset value (RELOAD)
can be transmitted for the internal counter. In doing so, the PWM frequency increases. The
comparison value must be within the now specified range.

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PWM channels 0...3

1530

These 4 PWM channels allow the most flexibility for the parameter setting. The PWM channels 0...3
are available in all ecomatmobile controller versions; depending on the type they feature a current
control or not.
For each channel an own PWM frequency (RELOAD value) can be set. There is a free choice
between PWM (→ page 279) and PWM1000 (→ page 283).

Calculation of the RELOAD value

1531

Wert / Value

0000 FFFF

100% 0%

Reload
Figure: RELOAD value for the PWM channels 0...3

The RELOAD value of the internal PWM counter is calculated on the basis of the parameter DIV64
and the CPU frequency as follows:
ClassicController SmartController
ExtendedController CabinetController (CR0301/CR0302)
SafetyController PCB controller
CabinetController (CR0303)
DIV64 = 0 RELOAD = 20 MHz / fPWM RELOAD = 10 MHz / fPWM
DIV64 = 1 RELOAD = 312.5 kHz / fPWM RELOAD = 156.25 kHz / fPWM
Depending on whether a high or a low PWM frequency is required, the input DIV64 must be set to
FALSE (0) or TRUE (1). In case of frequencies below 305 Hz respectively 152 Hz (according to the
controller), DIV64 must be set to "1" to ensure that the RELOAD value is not greater than FFFF16.

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Calculation examples RELOAD value

1532

ClassicController SmartController
ExtendedController CabinetController (CR0301/CR0302)
SafetyController PCB controller
CabinetController (CR0303)
The PWM frequency shall be 400 Hz. The PWM frequency shall be 200 Hz.

20 MHz 10 MHz
_________ = 50 00010 = C35016 = RELOAD _________ = 50 00010 = C35016 = RELOAD
400 Hz 200 Hz
Thus the permissible range of the PWM value is the range Thus the permissible range of the PWM value is the range
from 000016 to C35016. from 000016 to C35016.
The comparison value at which the output switches must The comparison value at which the output switches must
then be between 000016 and C35016. then be between 000016 und C35016.

This results in the following mark-to-space ratios:

Mark-to-space ratio Switch-on time Value for mark-to-space ratio

Minimum 0% C35016
Maximum 100 % 000016
Between minimum and maximum triggering 50 000 intermediate values (PWM values) are possible.

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PWM channels 4...7 / 8...11

1533

These 4/8 PWM channels can only be set to one common PWM frequency. For programming, PWM
and PWM1000 must not be mixed.
Wert / Value

0000 FFFF

100% 0%

Reload
Figure: RELOAD value for PWM channels 4...7 / 8...11

The RELOAD value of the internal PWM counter is calculated (for all ecomatmobile controllers) on
the basis of the parameters DIV64 and the CPU frequency as follows:
DIV64 = 0 RELOAD = 10 00016 – ( 2.5 MHz / fPWM )
DIV64 = 1 RELOAD = 10 00016 – ( 312.5 kHz / fPWM )
Depending on whether a high or a low PWM frequency is required, the input DIV64 must be set to
FALSE (0) or TRUE (1). In case of PWM frequencies below 39 Hz, DIV64 must be set to "1" to ensure
that the RELOAD value is not smaller than 000016.

Example:
The PWM frequency shall be 200 Hz.

2.5 MHz
_________ = 12 50010 = 30D416
200 Hz
RELOAD value = 10 00016 – 30D416 = CF2C16.
Thus the permissible range of the PWM value is the range from CF2C16 to FFFF16.
The comparison value at which the output switches must then be between CF2C16 and FFFF16.

NOTE
The PWM frequency is the same for all PWM outputs (4...7 or 4...11).
PWM and PWM1000 must not be mixed.

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This results in the following mark-to-space ratios:

Mark-to-space ratio Switch-on time Value for mark-to-space ratio
Minimum 0% FFFF16
Maximum 100 % CF2C16
Between minimum and maximum triggering 12 500 intermediate values (PWM values) are possible.

NOTE
for ClassicController and ExtendedController applies:
If the PWM outputs 4...7 are used (regardless of whether current-controlled or via one of the PWM FBs)
the same frequency and the corresponding reload value have to be set for the outputs 8...11. This
means that the same FBs have to be used for these outputs.

PWM dither
1534

For certain hydraulic valve types a so-called dither frequency must additionally be superimposed on
the PWM frequency. If valves were triggered over a longer period by a constant PWM value, they
could block due to the high system temperatures.
To prevent this, the PWM value is increased or reduced on the basis of the dither frequency by a
defined value (DITHER_VALUE). As a consequence a vibration with the dither frequency and the
amplitude DITHER_VALUE is superimposed on the constant PWM value. The dither frequency is
indicated as the ratio (divider, DITHER_DIVIDER * 2) of the PWM frequency.

Ramp function
1535

In order to prevent abrupt changes from one PWM value to the next, e.g. from 15 % ON to 70 % ON
( figure in PWM signal processing (→ page 273)), it is possible to delay the increase by using PT1.
The ramp function used for PWM is based on the CoDeSys library UTIL.LIB. This allows a smooth
start e.g. for hydraulic systems.

NOTE
When installing the ecomatmobile CD "Software, Tools and Documentation", projects with examples
have been stored in the program directory of your PC:
…\ifm electronic\CoDeSys V…\Projects\DEMO_PLC_CDV… (for controllers) or
…\ifm electronic\CoDeSys V…\Projects\DEMO_PDM_CDV… (for PDMs).
There you also find projects with examples regarding this subject. It is strongly recommended to follow
the shown procedure.
 chapter ifm demo programs (→ page 75)

NOTE
The PWM function of the controller is a hardware function provided by the processor. The PWM
function remains set until a hardware reset (switching on and off the supply voltage) has been carried
out at the controller.

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PWM (FB)
320

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0505
 ExtendedController: CR0200
 PCB controller: CS0015
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506
 SmartController: CR25nn
NOTE: For the extended side of the ExtendedControllers the FB name ends with "_E".

Symbol in CoDeSys:

PWM
INIT
RELOAD
DIV64
CHANNEL
VALUE
CHANGE
DITHER_VALUE
DITHER_DIVIDER

Description
323

PWM is used for initialisation and parameter setting of the PWM outputs.
PWM has a more technical background. Due to their structure, PWM values can be very finely graded.
So, this FB is suitable for use in controllers.
PWM is called once for each channel during initialisation of the application program. When doing so,
input INIT must be set to TRUE. During initialisation, the parameter RELOAD is also assigned.

NOTE
The value RELOAD must be identical for the channels 4...7 (for the ClassicController or
ExtendedController: 4...11).
For these channels, PWM and PWM1000 (→ page 283) must not be mixed.
The PWM frequency (and so the RELOAD value) is internally limited to 5 kHz.

Depending on whether a high or a low PWM frequency is required, the input DIV64 must be set to
FALSE (0) or TRUE (1).
During cyclical processing of the program INIT is set to FALSE. The FB is called and the new PWM
value is assigned. The value is adopted if the input CHANGE = TRUE.

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A current measurement for the initialised PWM channel can be implemented:

 via OUTPUT_CURRENT (→ page 291) *)
 or for example using the ifm unit EC2049 (series element for current measurement).
*) Available for the following devices:
- ClassicController: CR0020, CR0032, CR0505
- ExtendedController: CR0200, CR0232
- SafetyController: CR7nnn
- SmartController: CR25nn
PWM_Dither is called once for each channel during initialisation of the application program. When
doing so, input INIT must be set to TRUE. During initialisation, the DIVIDER for the determination of
the dither frequency and the VALUE are assigned.

Info
The parameters DITHER_FREQUENCY and DITHER_VALUE can be individually set for each channel.

Parameters of the inputs

324

Parameter Data type Description

INIT BOOL TRUE (for only 1 cycle):
unit is initialised
FALSE: during further processing of the program
RELOAD WORD Value for the determination of the PWM frequency
( chapter Calculation of the RELOAD value (→ page 275))
DIV64 BOOL CPU cycle / 64
CHANNEL BYTE current PWM channel / output
VALUE WORD current PWM value
CHANGE BOOL TRUE: new PWM value is adopted
FALSE: the changed PWM value has no influence on the output
DITHER_VALUE WORD amplitude of the dither value ( chapter PWM dither (→ page 278))
DITHER_DIVIDER WORD dither frequency = PWM frequency / DIVIDER * 2

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PWM100 (FB)
332

IMPORTANT: New ecomatmobile controllers only support PWM1000 (→ page 283).

Contained in the library:
ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0505
 ExtendedController: CR0200
 PCB controller: CS0015
 SafetyController: CR7020, CR7200, CR7505
 SmartController: CR25nn
NOTE: For the extended side of the ExtendedControllers the FB name ends with "_E".

Symbol in CoDeSys:

PWM100
INIT
FREQUENCY
CHANNEL
VALUE
CHANGE
DITHER_VALUE
DITHER_FREQUENCY

Description
335

PWM100 handles the initialisation and parameter setting of the PWM outputs.
The FB enables a simple application of the PWM FB in the ecomatmobile controller. The PWM
frequency can be directly indicated in [Hz] and the mark-to-space ratio in steps of 1 %. This FB is not
suited for use in controllers, due to the relatively coarse grading.
The FB is called once for each channel in the initialisation of the application program. For this, the
input INIT must be set to TRUE. During initialisation, the parameter FREQUENCY is also assigned.

NOTE
The value FREQUENCY must be identical for the channels 4...7 (for the ClassicController or
ExtendedController: 4...11).
For these channels, PWM (→ page 279) and PWM100 must not be mixed.
The PWM frequency is limited to 5 kHz internally.

During cyclical processing of the program INIT is set to FALSE. The FB is called and the new PWM
value is assigned. The value is adopted if the input CHANGE = TRUE.

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A current measurement for the initialised PWM channel can be implemented:

 via OUTPUT_CURRENT (→ page 291) *)
 or for example using the ifm unit EC2049 (series element for current measurement).
*) Available for the following devices:
- ClassicController: CR0020, CR0032, CR0505
- ExtendedController: CR0200, CR0232
- SafetyController: CR7nnn
- SmartController: CR25nn
DITHER is called once for each channel during initialisation of the application program. When doing
so, input INIT must be set to TRUE. During initialisation, the value FREQUENCY for determining the
dither frequency and the dither value (VALUE) are transmitted.

Info
The parameters DITHER_FREQUENCY and DITHER_VALUE can be individually set for each channel.

Parameters of the inputs

336

Parameter Data type Description

INIT BOOL TRUE (for only 1 cycle):
unit is initialised
FALSE: during further processing of the program
FREQUENCY WORD PWM frequency in [Hz]
CHANNEL BYTE current PWM channel / output
VALUE BYTE current PWM value
CHANGE BOOL TRUE: new PWM value is adopted
FALSE: the changed PWM value has no influence on the output
DITHER_VALUE BYTE amplitude of the dither value in [%]
DITHER_FREQUENCY WORD dither frequency in [Hz]

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PWM1000 (FB)
326

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
 SmartController: CR25nn
NOTE: For the extended side of the ExtendedControllers the FB name ends with "_E".

Symbol in CoDeSys:

PWM1000
INIT
FREQUENCY
CHANNEL
VALUE
CHANGE
DITHER_VALUE
DITHER_FREQUENCY

Description
329

PWM1000 handles the initialisation and parameter setting of the PWM outputs.
The FB enables a simple use of the PWM FB in the ecomatmobile device. The PWM frequency can
be directly indicated in [Hz] and the mark-to-space ratio in steps of 1 ‰.
The FB is called once for each channel during initialisation of the application program. When doing so,
input INIT must be set to TRUE. During initialisation, the parameter FREQUENCY is also assigned.

NOTE
The value FREQUENCY must be identical for the channels 4...7 (for the ClassicController or
ExtendedController: 4...11).
For these channels, PWM (See "PWM (FB)" → page 279) and PWM1000 must not be mixed.
The PWM frequency is limited to 5 kHz internally.

During cyclical processing of the program INIT is set to FALSE. The FB is called and the new PWM
value is assigned. The value is adopted if the input CHANGE = TRUE.

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A current measurement for the initialised PWM channel can be implemented:

 via OUTPUT_CURRENT (→ page 291) *)
 or for example using the ifm module EC2049 (series element for current measurement).
*) Available for the following devices:
- ClassicController: CR0020, CR0032, CR0505
- ExtendedController: CR0200, CR0232
- SafetyController: CR7nnn
- SmartController: CR25nn
DITHER is called once for each channel during initialisation of the application program. When doing
so, input INIT must be set to TRUE. During initialisation, the value FREQUENCY for determining the
dither frequency and the dither value (VALUE) are transmitted.

Info
The parameters DITHER_FREQUENCY and DITHER_VALUE can be individually set for each channel.

Parameters of the inputs

330

Parameter Data type Description

INIT BOOL TRUE (for only 1 cycle):
unit is initialised
FALSE: during further processing of the program
FREQUENCY WORD PWM frequency in [Hz]
CHANNEL BYTE current PWM channel / output
VALUE WORD current PWM value
CHANGE BOOL TRUE: new PWM value is adopted
FALSE: the changed PWM value has no influence on the output
DITHER_VALUE WORD amplitude of the dither value in [%]
DITHER_FREQUENCY WORD dither frequency in [Hz]

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10.4.3 Current control with PWM

Overload protection ................................................................................................................... 285

Current measurement with PWM channels .............................................................................. 286
OUTPUT_CURRENT_CONTROL (FB) .................................................................................... 287
OCC_TASK (FB) ....................................................................................................................... 289
OUTPUT_CURRENT (FB)........................................................................................................ 291
1550

This device of the ecomatmobile controller family can measure the actually flowing current on certain
outputs and use the signal for further processing. For this purpose ifm electronic provides the user
with some functions.

Overload protection
8525

In principle, the current-controlled outputs are protected against short circuit.

NOTICE
In the event of overload, in which the currents are limited by cable lengths and cross sections to for
example between 8 A and 20 A, the measuring resistors (shunts) are thermally overloaded.
► The operating mode OUT_OVERLOAD_PROTECTION should always be selected for these
outputs in the application program.
> With currents > 4.1 A the respective output is switched off automatically.
> If the output is no longer overloaded, the output is automatically switched on again.
OUT_OVERLOAD_PROTECTION is not active in the PWM mode (without current control)!

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Current measurement with PWM channels

1551

Current measurement of the coil current can be carried out via the current measurement channels
integrated in the ecomatmobile controller. This allows for example that the current can be re-adjusted
if the coil heats up. Thus the hydraulic conditions in the system remain the same.

NOTICE
Overload protection with ClassicController and ExtendedController:
In principle, the current-controlled outputs are protected against short circuit. In the event of overload, in
which the currents are limited by cable lengths and cross sections to for example between 8 A and
20 A, the measuring resistors (shunts) are thermally overloaded.
► Since the maximum permissible current cannot always be preset, the operating mode
OUT_OVERLOAD_PROTECTION should always be selected for the outputs in the application
program. With currents > 4.1 A the respective output is switched off automatically.
> If the output is no longer overloaded, the output is automatically switched on again.
OUT_OVERLOAD_PROTECTION is not active in the PWM mode (without current control)!

NOTE
The following applies to ClassicController and ExtendedController:
The current-control OCC_TASK (→ page 289) and OUTPUT_CURRENT_CONTROL (→ page 287)
are based on PWM (→ page 279). If the current control functions are used, only the FB PWM may be
used for channels 8...11. The RELOAD value corresponding to the frequency must be calculated.

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OUTPUT_CURRENT_CONTROL (FB)
376

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 ClassicController: CR0020, CR0505
 ExtendedController: CR0200
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506
 SmartController: CR25nn
NOTE: For the extended side of the ExtendedControllers the FB name ends with "_E".

Symbol in CoDeSys:

OUTPUT_CURRENT_CONTROL
ENABLE PWM_RATIO
INIT
OUTPUT_CHANNEL
ACTUAL_CURRENT
DESIRED_CURRENT
PWM_FREQUENCY
DITHER_FREQUENCY
DITHER_VALUE
MODE
MANUAL

Description
379

OUTPUT_CURRENT_CONTROL operates as current controller for the PWM outputs.

The controller is designed as an adaptive controller so that it is self-optimising. If this self-optimising
performance is not desired, a value > 0 can be transmitted via the input MANUAL; the self-optimising
performance is then deactivated. The numerical value represents a compensation value, which has an
influence on the integral and differential components of the controller. To determine the best settings
of the controller in the MANUAL mode, the value 50 is suitable. Depending on the requested controller
characteristics the value can then be incremented step-by-step (controller becomes more sensitive /
faster) or decremented (controller becomes less sensitive / slower).
If the input MANUAL is set to 0, the controller is always self-optimising. The performance of the
controlled system is permanently monitored and the updated compensation values are automatically
and permanently stored in each cycle. Changes in the controlled system are immediately recognised
and corrected.

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NOTE
To obtain a stable output value OUTPUT_CURRENT_CONTROL should be called cyclically at regular
intervals.
If a precise cycle time (5 ms) is required: use OCC_TASK (→ page 289).
OUTPUT_CURRENT_CONTROL is based on PWM (→ page 279).
If OUTPUT_CURRENT_CONTROL is used for the outputs 4...7, only the PWM FB may be used there
if the PWM outputs 8...11 are used simultaneously.

Parameters of the inputs

380

Parameter Data type Description

ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active
INIT BOOL TRUE (for only 1 cycle):
unit is initialised
FALSE: during further processing of the program
OUTPUT_CHANNEL BYTE PWM output channel (0...x: values depend on the device)
ACTUAL_CURRENT WORD actual current of the PWM output in [mA]; OUTPUT_CURRENT
(→ page 291) must be called. The output value of
OUTPUT_CURRENT is supplied to the input of ACTUAL CURRENT.
DESIRED_CURRENT WORD desired current value in [mA]
PWM_FREQUENCY WORD permissible PWM frequency for the load connected to the output
DITHER_FREQUENCY WORD dither frequency in [Hz]
DITHER_VALUE BYTE amplitude of the dither value in [%]
MODE BYTE controller characteristics:
0 = very slow increase, no overshoot
1 = slow increase, no overshoot
2 = minimum overshoot
3 = moderate overshoot permissible
MANUAL BYTE If value > 0, the self-optimising performance of the controller is
overwritten (typ. value: 50).

Parameters of the outputs

381

Parameter Data type Description

PWM_RATIO BYTE for monitoring purposes: display PWM pulse ratio 0...100%

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OCC_TASK (FB)
388

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices (NOT for SafetyController):
 ClassicController: CR0020, CR0505
 ExtendedController: CR0200
 SmartController: CR25nn
NOTE: For the extended side of the ExtendedControllers the FB name ends with "_E".

Symbol in CoDeSys:

OCC_TASK
ENABLE PWM_RATIO
INIT
OUTPUT_CHANNEL
DESIRED_CURRENT
PWM_FREQUENCY
DITHER_FREQUENCY
DITHER_VALUE
MODE
MANUAL

Description
391

OCC_TASK operates as current controller for the PWM outputs.

The controller is designed as an adaptive controller so that it is self-optimising. If the self-optimising
performance is not desired, a value > 0 can be transmitted via the input MANUAL (the self-optimising
performance is deactivated). The numerical value represents a compensation value, which has an
influence on the integral and differential components of the controller. To determine the best settings
of the controller in the MANUAL mode, the value 50 is suitable. Depending on the requested controller
characteristics the value can then be incremented step-by-step (controller becomes more sensitive /
faster) or decremented (controller becomes less sensitive / slower).
If the input MANUAL is set to 0, the controller is always self-optimising. The performance of the
controlled system is permanently monitored and the updated compensation values are automatically
and permanently stored in each cycle. Changes in the controlled system are immediately recognised
and corrected.

NOTE
OCC_TASK operates with a fixed cycle time of 5 ms. No actual values need to be entered because
these are detected internally by the FB.
OCC_TASK is based on PWM (→ page 279).
If OUTPUT_CURRENT_CONTROL (→ page 287) is used for the outputs 4...7, only the PWM FB may
be used there if the PWM outputs 8...11 are used simultaneously.

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Parameters of the inputs

392

Parameter Data type Description

ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active
INIT BOOL TRUE (for only 1 cycle):
unit is initialised
FALSE: during further processing of the program
OUTPUT_CHANNEL BYTE PWM output channel (0...x: values depend on the device)
DESIRED_CURRENT WORD desired current value in [mA]
PWM_FREQUENCY WORD permissible PWM frequency for the load connected to the output
DITHER_FREQUENCY WORD dither frequency in [Hz]
DITHER_VALUE BYTE amplitude of the dither value in [%]
MODE BYTE controller characteristics:
0 = very slow increase, no overshoot
1 = slow increase, no overshoot
2 = minimum overshoot
3 = moderate overshoot permissible
MANUAL BYTE If value > 0, the self-optimising performance of the controller is
overwritten (typ. value: 50).

Parameters of the outputs

393

Parameter Data type Description

PWM_RATIO BYTE for monitoring purposes: display PWM pulse ratio 0...100 %

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OUTPUT_CURRENT (FB)
382

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 SafetyController: CR7nnn
 SmartController: CR25nn
NOTE: For the extended side of the ExtendedControllers the FB name ends with "_E".

Symbol in CoDeSys:

OUTPUT_CURRENT
ENABLE ACTUAL_CURRENT
OUTPUT_CHANNEL
DITHER_RELATED

Description
385

OUTPUT_CURRENT handles the current measurement in conjunction with an active PWM channel.
The FB provides the current output current if the outputs are used as PWM outputs. The current
measurement is carried out in the device, i.e. no external measuring resistors are required.

Parameters of the inputs

386

Parameter Data type Description

ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active
OUTPUT_CHANNEL BYTE PWM output channel (0...x: values depend on the device)
DITHER_RELATED BOOL averages out the current of...
TRUE: one dither period
FALSE: one PWM period

Parameters of the outputs

387

Parameter Data type Description

ACTUAL_CURRENT WORD output current in [mA]

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10.4.4 Hydraulic control in PWMi

The purpose of this library? – An introduction .......................................................................... 292

What does a PWM output do? .................................................................................................. 293
What is the dither? .................................................................................................................... 294
Functions of the library ifm_hydraulic_16bitOS05 .................................................................... 297
1559

ifm electronic offers the user special functions to control hydraulic systems as a special field of
current regulation with PWM.

The purpose of this library? – An introduction

1560

Thanks to the FBs of this library you can fulfil the following tasks:

Standardise the output signals of a joystick

1561

It is not always intended that the whole movement area of the joy stick influences the movement of the
machine.
Often the area around the neutral
position of the joy stick is to be spared
because the joy stick does not reliably
supply 0 V in this neutral position.
Here in this figure the area between
XL- and XL+ is to be spared.

The FBs of this library enable you to

adapt the characteristic curve of your
joy stick according to your
requirements – on request even freely
configurable:

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Control hydraulic valves with current-controlled outputs

1562

As a rule hydraulic valves do not have a completely linear characteristic:

Typical characteristic curve of a
hydraulic valve:
The oil flow starts at approx. 20 % of
the coil current. The initial oil flow is
not linear.
This has to be taken into account for
the calculation of the preset values for
the coil current. The FBs of this library
support you here.

What does a PWM output do?

1563

PWM stands for "pulse width modulation" which means the following principle:
In general, digital outputs provide a fixed output voltage as soon as they are switched on. The value of
the output voltage cannot be changed here. The PWM outputs, however, split the voltage into a quick
sequence of many square-wave pulse trains. The pulse duration [switched on] / pulse duration
[switched off] ratio determines the effective value of the requested output voltage. This is referred to as
the switch-on time in [%].

Info
In the following sketches the current profiles are shown as a stylised straight line. In reality the current
flows to an e-function.

Figure: The profile of the PWM voltage U and the coil current I at 10 % switch-on time:
The effective coil current Ieff is also 10 %

Figure: The profile of the PWM voltage U and the coil current I at 50 % switch-on time:
The effective coil current Ieff is also 50 %

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Figure: The profile of the PWM voltage U and the coil current I at 100 % switch-on time:
The effective coil current Ieff is also 100 %

What is the dither?

1564

If a proportional hydraulic valve is controlled, its piston does not move right away and at first not
proportional to the coil current. Due to this "slip stick effect" – a kind of "break-away torque" – the valve
needs a slightly higher current at first to generate the power it needs to move the piston from its off
position. The same also happens for each other change in the position of the valve piston. This effect
is reflected in a jerking movement, especially at very low manipulating speeds.
Technology solves this problem by having the valve piston move slightly back and forth (dither). The
piston is continuously vibrating and cannot "stick". Also a small change in position is now performed
without any delay, a "running start" so to speak.
Advantage: The hydraulic cylinder controlled in that way can be moved more sensitively.
Disadvantage: The valve becomes measurably hotter with dither than without because the valve coil is
now working continuously.
That means that the "golden means" has to be found.

When is a dither useful?

1565

When the PWM output provides a pulse frequency that is small enough (standard value: up to 250 Hz)
so that the valve piston continuously moves at a minimum stroke, an additional dither is not required
( next figure):

Figure: Balanced PWM signal; no dither required.

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At a higher PWM frequency (standard value 250 Hz up to 1 kHz) the remaining movement of the valve
piston is so short or so slow that this effectively results in a standstill so that the valve piston can again
get stuck in its current position (and will do so!) ( next figures):

Figure: A high frequency of the PWM signal results in an almost direct current in the coil. The valve piston does not move
enough any longer. With each signal change the valve piston has to overcome the break-away torque again.

Figure: Too low frequencies of the PWM signal only allow rare, jerking movements of the valve piston. Each pulse moves the
valve piston again from its off position; every time the valve piston has to overcome the break-away torque again.

NOTE
With a switch-on time below 10 % and above 90 % the dither does not have any measurable effect any
longer. In such cases it makes sense and it is necessary to superimpose the PWM signal with a dither
signal.

Dither frequency and amplitude

1566

The mark/space ratio (the switch-on time) of the PWM output signal is switched with the dither
frequency. The dither amplitude determines the difference of the switch-on times in the two dither
half-waves.

NOTE
The dither frequency must be an integer part of the PWM frequency. Otherwise the hydraulic system
would not work evenly but it would oscillate.

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Example Dither
1567

The dither frequency is 1/8 of the PWM frequency.

The dither amplitude is 10 %.
With the switch-on time of 50 % in the figure, the actual switch-on time for 4 pulses is 60 % and for the
next 4 pulses it is 40 % which means an average of 50 % switch-on time. The resulting effective coil
current will be 50 % of the maximum coil current.

The result is that the valve piston always oscillates around its off position to be ready to take a new
position with the next signal change without having to overcome the break-away torque before.

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Functions of the library ifm_hydraulic_16bitOS05

CONTROL_OCC (FB)............................................................................................................... 298

JOYSTICK_0 (FB)..................................................................................................................... 301
JOYSTICK_1 (FB)..................................................................................................................... 304
JOYSTICK_2 (FB)..................................................................................................................... 308
NORM_HYDRAULIC (FB) ........................................................................................................ 310
6248

The library ifm_hydraulic_16bitOS05_Vxxyyzz.Lib contains the following FBs:

 CONTROL_OCC (→ page 298) *)
This FB uses OUTPUT_CURRENT_CONTROL (→ page 287) and OUTPUT_CURRENT
(→ page 291) from the library ifm_CRnnnn_Vxxyyzz.LIB.
 JOYSTICK_0 (→ page 301)
 JOYSTICK_1 (→ page 304)
 JOYSTICK_2 (→ page 308)
 NORM_HYDRAULIC (→ page 310)
* OCC stands for Output Current Control.

The following FBs are needed from the library UTIL.Lib (in the CoDeSys package):
 RAMP_INT
 CHARCURVE
These FBs are automatically activated by the FBs of ifm_hydraulic_16bitOS05_Vxxyyzz.Lib
and configured.

The following packages are needed from the library ifm_CRnnnn_Vxxyyzz.LIB:

 OUTPUT_CURRENT (→ page 291)
 OUTPUT_CURRENT_CONTROL (→ page 287)
 OCC_TASK (→ page 289)
These FBs ( chapter PWM signal processing (→ page 273)) are automatically activated and
configured by the FBs of ifm _hydraulic_16bitOS05_Vxxyyzz.Lib.

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CONTROL_OCC (FB)
6245

Contained in the library:

ifm_HYDRAULIC_16bitOS05_Vxxyyzz.Lib
Available for the following devices:
 ClassicController: CR0020, CR0505
 ExtendedController: CR0200
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506
 SmartController: CR25nn
NOTE: For the extended side of the ExtendedControllers the FB name ends with "_E".

Symbol in CoDeSys:

CONTROL_OCC
ENABLE DESIRED_CURRENT
INIT ACTUAL_CURRENT
R_RAMP BREAK
F_RAMP SHORT
TIMEBASE
X
XH
XL
MAX_CURRENT
MIN_CURRENT
TOLERANCE
CHANNEL
PWM_FREQUENCY
DITHER_FREQUENCY
DITHER_VALUE
MODE
MANUAL

Description
600

CONTROL_OCC scales the input value X to a specified current range.

Each instance of the FB is called once in each PLC cycle. The FB uses
OUTPUT_CURRENT_CONTROL (→ page 287) and OUTPUT_CURRENT (→ page 291) from the
library ifm_CRnnnn_Vxxyyzz.LIB. The controller is designed as an adaptive controller so that it is
self-optimising.
If this self-optimising performance is not desired, a value > 0 can be transferred via the input
MANUAL: the self-optimising performance is deactivated.
The numerical value in MANUAL represents a compensation value, which has an influence on the
integral and differential components of the controller. To determine the best settings of the controller in
the MANUAL mode, the value 50 is suitable.
Increase the value MANUAL:  controller becomes more sensitive / faster
Decrease the value MANUAL:  controller becomes less sensitive / slower

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If the input MANUAL is set to "0", the controller is always self-optimising. The performance of the
controlled system is permanently monitored and the updated compensation values are automatically
and permanently stored in each cycle. Changes in the controlled system are immediately recognised
and corrected.

Info
Input X of CONTROL_OCC should be supplied by the output of the JOYSTICK FBs.

Parameters of the inputs

6247

Parameter Data type Description

ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active
INIT BOOL TRUE (for only 1 cycle):
unit is initialised
FALSE: during further processing of the program
R_RAMP INT rising edge of the ramp
in [increments/PLC cycle] or [increments/TIMEBASE].
0 = without ramp
F_RAMP INT falling edge of the ramp
in [increments/PLC cycle] or [increments/TIMEBASE].
0 = without ramp
TIMEBASE TIME reference for rising / falling edge of the ramp:
t#0s = rising / falling edge in [increments/PLC cycle]
else = rising / falling edge in [increments/TIMEBASE]
X WORD input value in [increments]
standardised by NORM_HYDRAULIC
XH WORD max. input value in [increments]
XL WORD min. input value in [increments]
MAX_CURRENT WORD max. valve current in [mA]
MIN_CURRENT WORD min. valve current in [mA]
TOLERANCE BYTE tolerance for min. valve current in [increments].
when the tolerance is exceeded, jump to MIN_CURRENT is effected
CHANNEL BYTE 0...x = PWM output channel (values depend on the device)
PWM_FREQUENCY WORD PWM frequency for the connected valve in [Hz]
DITHER_FREQUENCY WORD dither frequency in [Hz]
DITHER_VALUE BYTE amplitude of the dither value in [%] of MAX_CURRENT
MODE BYTE controller characteristics:
0 = very slow increase, no overshoot
1 = slow increase, no overshoot
2 = minimum overshoot
3 = moderate overshoot permissible
MANUAL BYTE value = 0: the controller operates in a self-optimising way
value > 0: the self-optimising performance of the controller is
overwritten (typical: 50)

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Parameters of the outputs

602

Parameter Data type Description

DESIRED_CURRENT WORD desired current value in [mA] for OCC
(for monitoring purposes)
ACTUAL_CURRENT WORD actual current on the PWM output in [mA]
(for monitoring purposes)
BREAK BOOL error: wire to the valve interrupted
SHORT BOOL error: short-circuit in the wire to the valve

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JOYSTICK_0 (FB)
6250

Contained in the library:

ifm_hydraulic_16bitOS05_Vxxyyzz.Lib ifm_hydraulic_32bit_Vxxyyzz.Lib
Available for the following devices: Available for the following devices:
 ClassicController: CR0020, CR0505  ClassicController: CR0032
 ExtendedController: CR0200  ExtendedController: CR0232
 SafetyController: CR7020, CR7021, CR7200,
CR7201, CR7505, CR7506
 SmartController: CR25nn

Symbol in CoDeSys:

JOYSTICK_0
X OUT1
XH_POS OUT2
XL_POS OUT3
XH_NEG WRONG_MODE
XL_NEG ERR1
MODE ERR2

Description
432

JOYSTICK_0 scales signals from a joystick to clearly defined characteristic curves, standardised
to 0...1000.
For this FB the characteristic curve values are specified ( figures):
 Rising edge of the ramp = 5 increments/PLC cycle
 Falling edge of the ramp = no edge

The parameters XL_POS (XL+),

XH_POS (XH+), XL_NEG (XL-) and
XH_NEG (XH-) are used to evaluate
the joystick movements only in the
requested area.
The values for the positive and
negative area may be different.
The values for XL_NEG and XH_NEG
are negative here.

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Mode 0:
characteristic curve linear for the
range XL to XH

Mode 1:
Characteristic curve linear with dead
band
Values fixed to:
Dead band:
0…10% of 1000 increments

Mode 2:
2-step linear characteristic curve with
dead band
Values fixed to:
Dead band:
0…10% of 1000 increments
Step:
X = 50 % of 1000 increments
Y = 20 % of 1000 increments

Characteristic curve mode 3:

Curve rising (line is fixed)

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Parameters of the inputs

433

Parameter Data type Description

X INT preset value input in [increments]

XH_POS INT max. preset value positive direction in [increments]

(negative values also permissible)
XL_POS INT min. preset value positive direction in [increments]
(negative values also permissible)
XH_NEG INT max. preset value negative direction in [increments]
(negative values also permissible)
XL_NEG INT min. preset value negative direction in [increments]
(negative values also permissible)
MODE BYTE mode selection characteristic curve:
0 = linear
(0|0 – 1000|1000)
1 = linear with dead band
(0|0 – 100|0 – 1000|1000)
2 = 2-step linear with dead band
(0|0 – 100|0 – 500|200 – 1000|1000)
3 = curve rising

Parameters of the outputs

6252

Parameter Data type Description

OUT1 WORD standardised output value
pairs of values 0 to 10 [increments]
e.g. for valve left
OUT2 WORD standardised output value
pairs of values 0 to 10 [increments]
e.g. for valve right
OUT3 INT standardised output value
pairs of values 0 to 10 [increments]
e.g. for valve on output module
(e.g. CR2011 or CR2031)
WRONG_MODE BOOL error: invalid mode
ERR1 BYTE error code for rising edge:
0 = no error
1 = error in array: wrong sequence
2 = initial value IN not contained in value range of array
4 = invalid number N for array
ERR2 BYTE error code for falling edge:
0 = no error
1 = error in array: wrong sequence
2 = initial value IN not contained in value range of array
4 = invalid number N for array

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JOYSTICK_1 (FB)
6255

Contained in the library:

ifm_hydraulic_16bitOS05_Vxxyyzz.Lib ifm_hydraulic_32bit_Vxxyyzz.Lib
Available for the following devices: Available for the following devices:
 ClassicController: CR0020, CR0505  ClassicController: CR0032
 ExtendedController: CR0200  ExtendedController: CR0232
 SafetyController: CR7020, CR7021, CR7200,
CR7201, CR7505, CR7506
 SmartController: CR25nn

Symbol in CoDeSys:

JOYSTICK_1
X OUT1
XH_POS OUT2
XL_POS OUT3
XH_NEG WRONG_MODE
XL_NEG ERR1
R_RAMP ERR2
F_RAMP
TIMEBASE
MODE
DEAD_BAND
CHANGE_POINT_X
CHANGE_POINT_Y

Description
425

JOYSTICK_1 scales signals from a joystick to configurable characteristic curves, standardised to

0...1000.
For this FB the characteristic curve values can be configured ( figures):
Mode 0:
Linear characteristic curve
100 % = 1000 increments

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Mode 1:
Characteristic curve linear with dead
band
Value for the dead band (DB) can be
set in % of 1000 increments
100 % = 1000 increments
DB = Dead_Band

Mode 2:
2-step linear characteristic curve with
dead band
Values can be configured to:
Dead band:
0…DB in % of 1000 increments
Step:
X = CPX in % of 1000 increments
Y= CPY in % of 1000 increments
100 % = 1000 increments
DB = Dead_Band
CPX = Change_Point_X
CPY = Change_Point_Y
Characteristic curve mode 3:
Curve rising (line is fixed)

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Parameters of the inputs

6256

Parameter Data type Description

X INT preset value input in [increments]
XH_POS INT max. preset value positive direction in [increments]
(negative values also permissible)
XL_POS INT min. preset value positive direction in [increments]
(negative values also permissible)
XH_NEG INT max. preset value negative direction in [increments]
(negative values also permissible)
XL_NEG INT min. preset value negative direction in [increments]
(negative values also permissible)
R_RAMP INT rising edge of the ramp in [increments/PLC cycle] or
[increments/TIMEBASE]
0 = without ramp
F_RAMP INT falling edge of the ramp in [increments/PLC cycle] or
[increments/TIMEBASE]
0 = without ramp
TIMEBASE TIME reference for rising / falling edge of the ramp:
t#0s = rising / falling edge in [increments/PLC cycle]
else = rising / falling edge in [increments/TIMEBASE]
MODE BYTE mode selection characteristic curve:
0 = linear
(0|0 – 1000|1000)
1 = linear with dead band (DB)
(0|0 – DB…|0 – 1000|1000)
2 = 2-step linear with dead band (DB)
(0|0 – DB|0 – CPX|CPY – 1000|1000)
3 = curve rising
DEAD_BAND BYTE adjustable dead band (DB) in [% of 1000 increments]
CHANGE_POINT_X BYTE for mode 2: ramp step, value for X in [% of 1000 increments]
CHANGE_POINT_Y BYTE for mode 2: ramp step, value for Y in [% of 1000 increments]

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Parameters of the outputs

6252

Parameter Data type Description

OUT1 WORD standardised output value
pairs of values 0 to 10 [increments]
e.g. for valve left
OUT2 WORD standardised output value
pairs of values 0 to 10 [increments]
e.g. for valve right
OUT3 INT standardised output value
pairs of values 0 to 10 [increments]
e.g. for valve on output module
(e.g. CR2011 or CR2031)
WRONG_MODE BOOL error: invalid mode
ERR1 BYTE error code for rising edge:
0 = no error
1 = error in array: wrong sequence
2 = initial value IN not contained in value range of array
4 = invalid number N for array
ERR2 BYTE error code for falling edge:
0 = no error
1 = error in array: wrong sequence
2 = initial value IN not contained in value range of array
4 = invalid number N for array

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JOYSTICK_2 (FB)
6258

Contained in the library:

ifm_hydraulic_16bitOS05_Vxxyyzz.Lib ifm_hydraulic_32bit_Vxxyyzz.Lib

Available for the following devices: Available for the following devices:
 ClassicController: CR0020, CR0505  ClassicController: CR0032
 ExtendedController: CR0200  ExtendedController: CR0232
 SafetyController: CR7020, CR7021, CR7200,
CR7201, CR7505, CR7506
 SmartController: CR25nn

Symbol in CoDeSys:

JOYSTICK_2
X OUT1
XH_POS OUT2
XL_POS OUT3
XH_NEG ERR1
XL_NEG ERR1
R_RAMP
F_RAMP
TIMEBASE
VARIABLE_GAIN
N_POINT

Description
418

JOYSTICK_2 scales the signals from a joystick to a configurable characteristic curve. Free selection of
the standardisation.
For this FB, the characteristic curve is freely configurable ( figure):
Characteristic curve freely
configurable

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Parameters of the inputs

6261

Parameter Data type Description

X INT preset value input in [increments]
XH_POS INT max. preset value positive direction in [increments]
(negative values also permissible)
XL_POS INT min. preset value positive direction in [increments]
(negative values also permissible)
XH_NEG INT max. preset value negative direction in [increments]
(negative values also permissible)
XL_NEG INT min. preset value negative direction in [increments]
(negative values also permissible)
R_RAMP INT rising edge of the ramp in [increments/PLC cycle] or
[increments/TIMEBASE]
0 = without ramp
F_RAMP INT falling edge of the ramp in [increments/PLC cycle] or
[increments/TIMEBASE]
0 = without ramp
TIMEBASE TIME reference for rising and falling edge of the ramp:
t#0s = rising / falling edge in [increments/PLC cycle]
else = rising / falling edge in [increments/TIMEBASE]
VARIABLE_GAIN ARRAY [0..10] OF POINT pairs of values describing the curve
the first pairs of values indicated in N_POINT are used. N = 2…11
example: 9 pairs of values declared as variable VALUES:
VALUES: ARRAY[0..10] OF POINT := (X:=0,Y:=0),(X:=200,Y:=0),
(X:=300,Y:=50), (X:=400,Y:=100), (X:=700,Y:=500), (X:=1000,Y:=900),
(X:=1100,Y:=950), (X:=1200,Y:=1000), (X:=1400,Y:=1050);
There may be blanks between the values.
N_POINT BYTE number of points (pairs of values in VARIABLE_GAIN) by which the
curve characteristic is defined. N = 2…11

Parameters of the outputs

420

Parameter Data type Description

OUT1 WORD standardised output value
pairs of values 0 to 10 [increments]
e.g. for valve left
OUT2 WORD standardised output value
pairs of values 0 to 10 [increments]
e.g. for valve right
OUT3 INT standardised output value
pairs of values 0 to 10 [increments]
e.g. for valve on output module
(e.g. CR2011 or CR2031)
ERR1 BYTE error code for rising edge:
0 = no error
1 = error in array: wrong sequence
2 = initial value IN not contained in value range of array
4 = invalid number N for array
ERR2 BYTE error code for falling edge:
0 = no error
1 = error in array: wrong sequence
2 = initial value IN not contained in value range of array
4 = invalid number N for array

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NORM_HYDRAULIC (FB)
394

Contained in the library:

ifm_hydraulic_16bitOS04_Vxxyyzz.Lib ifm_hydraulic_32bit_Vxxyyzz.Lib
ifm_hydraulic_16bitOS05_Vxxyyzz.Lib
Available for the following devices: Available for the following devices:
 ClassicController: CR0020, CR0505  ClassicController: CR0032
 ExtendedController: CR0200  ExtendedController: CR0232
 SafetyController: CR7020, CR7021, CR7200,
CR7201, CR7505, CR7506
 SmartController: CR25nn

Symbol in CoDeSys:

NORM_HYDRAULIC
X Y
XH X_OUT_OF_RANGE
XL
YH
YL

Description
397

NORM_HYDRAULIC standardises input values with fixed limits to values with new limits.
Please note: This FB corresponds to the 3S FB NORM_DINT from the CoDeSys library UTIL.Lib.
The FB standardises a value of type DINT within the limits of XH and XL to an output value within the
limits of YH and YL.
Due to rounding errors deviations from the standardised value of 1 may occur. If the limits (XH/XL or
YH/YL) are indicated in inversed form, standardisation is also inverted.
If X outside the limits XL…XH, the error message X_OUT_OF_RANGE = TRUE.

Typical characteristic curve of a

hydraulic valve:
The oil flow will not start before 20% of
the coil current has been reached.
At first the oil flow is not linear.

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Characteristics of the FB

Parameters of the inputs

398

Parameter Data type Description

X DINT desired value input
XH DINT max. input value [increments]
XL DINT min. input value [increments]
YH DINT max. output value [increments], e.g.:
valve current [mA] / flow [l/min]
YL DINT min. output value [increments], e.g.:
valve current [mA] / flow [l/min]

Parameters of the outputs

399

Parameter Data type Description

Y DINT standardised output value
X_OUT_OF_RANGE BOOL error: X is beyond the limits XH and XL

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Example: NORM_HYDRAULIC
400

Parameter Case 1 Case 2 Case 3

Upper limit value input XH 100 100 2000
Lower limit value input XL 0 0 0
Upper limit value output YH 2000 0 100
Lower limit value output YL 0 2000 0
Non standardised value X 20 20 20
Standardised value Y 400 1600 1
Case 1:
Input with relatively coarse resolution.
Output with high resolution.
1 X increment results in 20 Y increments.
Case 2:
Input with relatively coarse resolution.
Output with high resolution.
1 X increment results in 20 Y increments.
Output signal is inverted as compared to the input signal.
Case 3:
Input with high resolution.
Output with relatively coarse resolution.
20 X increments result in 1 Y increment.

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10.5 Controller functions

General...................................................................................................................................... 313
Setting rule for a controller ........................................................................................................ 315
Functions for controllers............................................................................................................ 316
1622

10.5.1 General
1623

Controlling is a process during which the unit to be controlled (control variable x) is continuously
detected and compared with the reference variable w. Depending on the result of this comparison, the
control variable is influenced for adaptation to the reference variable.
Störgröße d
Disturbance variable d
Führungsgröße w
Reference variable w Regelgröße x
Controlled variable x
Regeleinrichtung Regelstrecke
Controller Controlled system
Stellgröße y
Manipulated variable y

Regelkreis / Control circuit

Figure: Principle of controlling

The selection of a suitable control device and its optimum setting require exact indication of the
steady-state behaviour and the dynamic behaviour of the controlled system. In most cases these
characteristic values can only be determined by experiments and can hardly be influenced.
Three types of controlled systems can be distinguished:

Self-regulating process
1624

For a self-regulating process the control variable x goes towards a new final value after a certain
manipulated variable (steady state). The decisive factor for these controlled systems is the
amplification (steady-state transfer factor KS). The smaller the amplification, the better the system can
be controlled. These controlled systems are referred to as P systems (P = proportional).

Figure: P controller = self-regulating process

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Controlled system without inherent regulation

1625

Controlled systems with an amplifying factor towards infinity are referred to as controlled systems
without inherent regulation. This is usually due to an integrating performance. The consequence is that
the control variable increases constantly after the manipulated variable has been changed or by the
influence of an interfering factor. Due to this behaviour it never reaches a final value. These controlled
systems are referred to as I systems (I = integral).

Figure: I controller = controlled system without inherent regulation

Controlled system with delay

1626

Most controlled systems correspond to series systems of P systems (systems with compensation) and
one or several T1 systems (systems with inertia). A controlled system of the 1st order is for example
made up of the series connection of a throttle point and a subsequent memory.

Figure: PT system = controlled system with delay

For controlled systems with dead time the control variable does not react to a change of the control
variable before the dead time Tt has elapsed. The dead time Tt or the sum of Tt + Tu relates to the
controllability of the system. The controllability of a system is the better, the greater the ratio Tg/Tu.
The controllers which are integrated in the library are a summary of the preceding basic functions. It
depends on the respective controlled system which functions are used and how they are combined.

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10.5.2 Setting rule for a controller

1627

For controlled systems, whose time constants are unknown the setting procedure to Ziegler and
Nickols in a closed control loop is of advantage.

Setting control
1628

At the beginning the controlling system is operated as a purely P-controlling system. In this respect the
derivative time TV is set to 0 and the reset time TN to a very high value (ideally to ) for a slow system.
For a fast controlled system a small TN should be selected.
Afterwards the gain KP is increased until the control deviation and the adjustment deviation perform
steady oscillation at a constant amplitude at KP = KPcritical. Then the stability limit has been reached.
Then the time period Tcritical of the steady oscillation has to be determined.
Add a differential component only if necessary.
TV should be approx. 2...10 times smaller than TN
KP should be equal to KD.
Idealised setting of the controlled system:
Control unit KP = KD TN TV
P 2.0 * KPcritical –– ––
PI 2.2 * KPcritical 0.83 * Tcritical ––
PID 1.7 * KPcritical 0.50 * Tcritical 0.125 * Tcritical

NOTE
For this setting process it has to be noted that the controlled system is not harmed by the oscillation
generated. For sensitive controlled systems KP must only be increased to a value at which no
oscillation occurs.

Damping of overshoot
1629

To dampen overshoot PT1 (→ page 319) (low pass) can be used. In this respect the preset value XS
is damped by the PT1 link before it is supplied to the controller function.
The setting variable T1 should be approx. 4...5 times greater than TN (of the PID or GLR controller).

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10.5.3 Functions for controllers

DELAY (FB)............................................................................................................................... 317

PT1 (FB).................................................................................................................................... 319
PID1 (FB) .................................................................................................................................. 320
PID2 (FB) .................................................................................................................................. 322
GLR (FB) ................................................................................................................................... 325
1634

The section below describes in detail the units that are provided for set-up by software controllers in
the ecomatmobile device. The units can also be used as basis for the development of your own
control functions.

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DELAY (FB)
585

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
 SmartController: CR25nn

Symbol in CoDeSys:

DELAY
X Y
T

Description
588

DELAY delays the output of the input value by the time T (dead-time element).
y

Tt 1

t=0 t
Figure: Time characteristics of DELAY

NOTE
To ensure that the FB works correctly, it must be called in each cycle.

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Parameters of the inputs

589

Parameter Data type Description

X WORD input value
T TIME time delay (dead time)

Parameters of the outputs

590

Parameter Data type Description

Y WORD input value, delayed by the time T

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PT1 (FB)
338

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
 SmartController: CR25nn

Symbol in CoDeSys:

PT1
X Y
T1

Description
341

PT1 handles a controlled system with a first-order time delay.

This FB is a proportional controlled system with a time delay. It is for example used for generating
ramps when using the PWM FBs.
The output variable Y of the low-pass filter has the following time characteristics (unit step):
y
Tt

t=0 t
Figure: Time characteristics of PT1

Parameters of the inputs

342

Parameter Data type Description

X INT input value
T1 TIME delay time (time constant)

Parameters of the outputs

343

Parameter Data type Description

Y INT output variable

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PID1 (FB)
351

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
 SmartController: CR25nn

Symbol in CoDeSys:

PID1
X Y
XS
XMAX
KP
KI
KD

Description
354

PID1 handles a PID controller.

The change of the manipulated variable of a PID controller has a proportional, integral and differential
component. The manipulated variable changes first by an amount which depends on the rate of
change of the input value (D component). After the end of the derivative action time the manipulated
variable returns to the value corresponding to the proportional range and changes in accordance with
the reset time.

NOTE
The manipulated variable Y is already standardised to the PWM FB (RELOAD value = 65,535). Note
the reverse logic:
65,535 = minimum value
0 = maximum value.
Note that the input values KI and KD depend on the cycle time. To obtain stable, repeatable control
characteristics, the FB should be called in a time-controlled manner.

If X > XS, the manipulated variable is increased.

If X < XS, the manipulated variable is reduced.

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The manipulated variable Y has the following time characteristics:

y
KD

KI * Xd

KP * Xd

~TV TN t

Figure: Typical step response of a PID controller

Parameters of the inputs

355

Parameter Data type Description

X WORD actual value

XS WORD desired value

XMAX WORD maximum value of the target value
KP BYTE constant of the proportional component
KI BYTE integral value
KD BYTE proportional component of the differential component

Parameters of the outputs

356

Parameter Data type Description

Y WORD manipulated variable

Recommended settings
357

KP = 50
KI = 30
KD = 5
With the values indicated above the controller operates very quickly and in a stable way. The controller
does not fluctuate with this setting.
► To optimise the controller, the values can be gradually changed afterwards.

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PID2 (FB)
9167

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0505
 ExtendedController: CR0200
 PCB controller: CS0015
 SafetyController: CR7nnn
 SmartController: CR25nn

Symbol in CoDeSys:

PID2
X Y
XS
XMAX
KP
TN
KD
TV
SO

Description
347

PID2 handles a PID controller with self optimisation.

The change of the manipulated variable of a PID controller has a proportional, integral and differential
component. The manipulated variable changes first by an amount which depends on the rate of
change of the input value (D component). After the end of the derivative action time TV the
manipulated variable returns to the value corresponding to the proportional component and changes in
accordance with the reset time TN.
The values entered at the inputs KP and KD are internally divided by 10. So, a finer grading can be
obtained (e.g.: KP = 17, which corresponds to 1.7).

NOTE
The manipulated variable Y is already standardised to the PWM FB (RELOAD value = 65,535). Note
the reverse logic:
65,535 = minimum value
0 = maximum value.
Note that the input value KD depends on the cycle time. To obtain stable, repeatable control
characteristics, the FB should be called in a time-controlled manner.

If X > XS, the manipulated variable is increased.

If X < XS, the manipulated variable is reduced.

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A reference variable is internally added to the manipulated variable.

Y = Y + 65,536 – (XS / XMAX * 65,536).
The manipulated variable Y has the following time characteristics.
y
KD

KP * Xd

KP * Xd

~TV TN t

Figure: Typical step response of a PID controller

Parameters of the inputs

348

Parameter Data type Description

X WORD actual value
XS WORD desired value
XMAX WORD maximum value of the desired value
KP BYTE constant of the proportional component (/10)
TN TIME reset time (integral component)
KD BYTE proportional component of the differential component (/10)
TV TIME derivative action time (differential component)
SO BOOL self optimisation

Parameters of the outputs

349

Parameter Data type Description

Y WORD manipulated variable

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Recommended setting
9127
350

► Select TN according to the time characteristics of the system:

fast system = small TN
slow system = large TN
► Slowly increment KP gradually, up to a value at which still definitely no fluctuation will occur.
► Readjust TN if necessary.
► Add differential component only if necessary:
Select a TV value approx. 2...10 times smaller than TN.
Select a KD value more or less similar to KP.
Note that the maximum control deviation is + 127. For good control characteristics this range should
not be exceeded, but it should be exploited to the best possible extent.

Function input SO (self-optimisation) clearly improves the control performance. A precondition for
achieving the desired characteristics:
 The controller is operated with I component (TN > 50 ms)
 Parameters KP and especially TN are already well adjusted to the actual controlled system.
 The control range (X – XS) of ± 127 is utilised (if necessary, increase the control range by
multiplying X, XS and XMAX).
► When you have finished setting the parameters, you can set SO = TRUE.
> This will significantly improve the control performance, especially reducing overshoot.

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GLR (FB)
531

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0505
 ExtendedController: CR0200
 PCB controller: CS0015
 SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506
 SmartController: CR25nn

Symbol in CoDeSys:

GLR
X1 Y1
X2 Y2
XS
XMAX
KP
TN
KD
TV

Description
534

GLR handles a synchro controller.

The synchro controller is a controller with PID characteristics.
The values entered at the inputs KP and KD are internally divided by 10. So, a finer grading can be
obtained (e.g.: KP = 17, which corresponds to 1.7).
The manipulated variable referred to the greater actual value is increased accordingly.
The manipulated variable referred to the smaller actual value corresponds to the reference variable.
Reference variable = 65 536 – (XS / XMAX * 65 536).

NOTE
The manipulated variables Y1 and Y2 are already standardised to the PWM FB
(RELOAD value = 65 535). Note the reverse logic:
65 535 = minimum value
0 = maximum value.
Note that the input value KD depends on the cycle time. To obtain stable, repeatable control
characteristics, the FB should be called in a time-controlled manner.

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Parameters of the inputs

535

Parameter Data type Description

X1 WORD actual value channel 1
X2 WORD actual value channel 2
XS WORD desired value = reference variable
XMAX WORD maximum value of the desired value
KP BYTE constant of the proportional component (/10)
TN TIME reset time (integral component)
KD BYTE proportional component of the differential component (/10)
TV TIME derivative action time (differential component)

Parameters of the outputs

536

Parameter Data type Description

Y1 WORD manipulated variable channel 1
Y2 WORD manipulated variable channel 2

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Communication via interfaces Use of the serial interface

11 Communication via interfaces

Use of the serial interface ......................................................................................................... 327
Communication via the internal SSC interface ......................................................................... 334
8602

Here we show you functions to use for communication via interfaces.

11.1 Use of the serial interface

SERIAL_SETUP (FB) ............................................................................................................... 328

SERIAL_TX (FB) ....................................................................................................................... 330
SERIAL_RX (FB)....................................................................................................................... 331
SERIAL_PENDING (FB) ........................................................................................................... 333
1600

NOTE
In principle, the serial interface is not available for the user because it is used for program download
and debugging.
The interface can be freely used if the user sets the system flag bit SERIAL_MODE to TRUE. Then
however, program download and debugging are only possible via the CAN interface.
For CRnn32: Debugging of the application software is then only possible via all 4 CAN interfaces or via
USB.

The serial interface can be used in the application program by means of the following FBs.

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11.1.1 SERIAL_SETUP (FB)

302

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
 SmartController: CR25nn
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

SERIAL_SETUP
ENABLE
BAUDRATE
DATABITS
PARITY
STOPBITS

Description
305

SERIAL_SETUP initialises the serial RS232 interface.

SERIAL_SETUP sets the serial interface to the indicated parameters. Using the input ENABLE, the FB
is activated for one cycle.
The SERIAL FBs form the basis for the creation of an application-specific protocol for the serial
interface.

NOTE
In principle, the serial interface is not available for the user, because it is used for program download
and debugging.
The interface can be freely used if the user sets the system flag bit SERIAL_MODE to TRUE. Then
however, program download and debugging are only possible via the CAN interface.
For CRnn32: Debugging of the application software is then only possible via all 4 CAN interfaces or
via USB.

ATTENTION
The driver module of the serial interface can be damaged!
Disconnecting the serial interface while live can cause undefined states which damage the driver
module.
► Do not disconnect the serial interface while live.

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Parameters of the inputs

306

Parameter Data type Description

ENABLE BOOL TRUE (only 1 cycle):
interface is initialised
FALSE: during further processing of the program
BAUDRATE BYTE baud rate
(permissible values = 9 600, 19 200, 28 800, (57 600))
preset value  data sheet
DATABITS BYTE data bits
(permissible values: 7 or 8)
preset value = 8
PARITY BYTE parity
(permissible values: 0=none, 1=even, 2=uneven)
preset value = 0
STOPBITS BYTE stop bits
(permissible values: 1 or 2)
preset value = 1

329
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Communication via interfaces Use of the serial interface

11.1.2 SERIAL_TX (FB)

296

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
 SmartController: CR25nn
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

SERIAL_TX
ENABLE
DATA

Description
299

SERIAL_TX transmits one data byte via the serial RS232 interface.
Using the input ENABLE the transmission can be enabled or blocked.
The SERIAL FBs form the basis for the creation of an application-specific protocol for the serial
interface.

NOTE
In principle, the serial interface is not available for the user, because it is used for program download
and debugging.
The interface can be freely used if the user sets the system flag bit SERIAL_MODE to TRUE. Then
however, program download and debugging are only possible via the CAN interface.
For CRnn32: Debugging of the application software is then only possible via all 4 CAN interfaces or
via USB.

Parameters of the inputs

300

Parameter Data type Description

ENABLE BOOL TRUE: transmission enabled
FALSE: transmission blocked
DATA BYTE byte to be transmitted

330
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Communication via interfaces Use of the serial interface

11.1.3 SERIAL_RX (FB)

308

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
 SmartController: CR25nn
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

SERIAL_RX
CLEAR RX
AVAILABLE
OVERFLOW

Description
311

SERIAL_RX reads a received data byte from the serial receive buffer at each call.
Then, the value of AVAILABLE is decremented by 1.
If more than 1000 data bytes are received, the buffer overflows and data is lost. This is indicated by
the bit OVERFLOW.
The SERIAL FBs form the basis for the creation of an application-specific protocol for the serial
interface.

NOTE
In principle, the serial interface is not available for the user, because it is used for program download
and debugging.
The interface can be freely used if the user sets the system flag bit SERIAL_MODE to TRUE. Then
however, program download and debugging are only possible via the CAN interface.
For CRnn32: Debugging of the application software is then only possible via all 4 CAN interfaces or
via USB.

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Communication via interfaces Use of the serial interface

Parameters of the inputs

312

Parameter Data type Description

CLEAR BOOL TRUE: receive buffer is deleted
FALSE: this function is not executed

Parameters of the outputs

313

Parameter Data type Description

RX BYTE byte data received from the receive buffer
AVAILABLE WORD number of data bytes received
0 = no valid data available
OVERFLOW BOOL TRUE: overflow of the data buffer, loss of data!

Example:
3 bytes are received:
1st call of SERIAL_RX
1 valid value at output RX
 AVAILABLE = 3
2nd call of SERIAL_RX
1 valid value at output RX
 AVAILABLE = 2
3rd call of SERIAL_RX
1 valid value at output RX
 AVAILABLE = 1
4th call of SERIAL_RX
invalid value at the output RX
 AVAILABLE = 0
If AVAILABLE = 0, the FB can be skipped during processing of the program.

332
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11.1.4 SERIAL_PENDING (FB)

314

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
 SmartController: CR25nn
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

SERIAL_PENDING
NUMBER

Description
317

SERIAL_PENDING determines the number of data bytes stored in the serial receive buffer.
In contrast to SERIAL_RX (→ page 331) the contents of the buffer remain unchanged after calling this
FB.
The SERIAL FBs form the basis for the creation of an application-specific protocol for the serial
interface.

NOTE
In principle, the serial interface is not available for the user, because it is used for program download
and debugging.
The interface can be freely used if the user sets the system flag bit SERIAL_MODE to TRUE. Then
however, program download and debugging are only possible via the CAN interface.
For CRnn32: Debugging of the application software is then only possible via all 4 CAN interfaces or
via USB.

Parameters of the outputs

319

Parameter Data type Description

NUMBER WORD number of data bytes received

333
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Communication via interfaces Communication via the internal SSC interface

11.2 Communication via the internal SSC interface

SSC_RECEIVE (FB) ................................................................................................................. 335

SSC_TRANSMIT (FB)............................................................................................................... 337
1618

Available for the following devices:

 ExtendedController: CR0200
 ExtendedSafetyController: CR7200, CR7201
ExtendedControllers and ExtendedSafetyControllers are equipped with an internal SSC interface to
enable a communication between the two controller halves. The following FBs serve as support.

334
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Communication via interfaces Communication via the internal SSC interface

11.2.1 SSC_RECEIVE (FB)

254

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 ExtendedController: CR0200
 SafetyController: CR7200, CR7201 (POU not for safety signals!)

Symbol in CoDeSys:

SSC_RECEIVE
ENABLE RX
VALID
OVERFLOW

Description
257

SSC_RECEIVE handles the receipt of data via the internal SSC interface.
This FB is an internal communication function for the ExtendedController. At each call, it reads the
transmitted data bytes (max. 16 messages with 20 bytes per control cycle) from the receive buffer. To
do so, the input ENABLE must be set to TRUE. If new, valid data has been transmitted, the output
VALID is set to TRUE for one cycle.

NOTE
The application programmer must immediately read the received data from the data array and ensure
immediate further processing, because the data will be overwritten in the next cycle.
Only as many data messages as can be received by the other controller half may be transmitted via the
SSC_TRANSMIT (→ page 337). Otherwise there is the risk of losing data for example due to different
cycle times.
An overflow of SSC_RECEIVE may occur if the receiver is the interface slave and if the interface
master is running faster (error bit: OVERFLOW).

335
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Communication via interfaces Communication via the internal SSC interface

Parameters of the inputs

258

Parameter Data type Description

ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active

Parameters of the outputs

259

Parameter Data type Description

RX ARRAY[0...19] OF BYTE data array [0..19]
VALID BOOL TRUE (only 1 cycle): new data has been transmitted
OVERFLOW BOOL TRUE: message received could not be entered in the
receive buffer
FALSE: transfer successfull

336
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Communication via interfaces Communication via the internal SSC interface

11.2.2 SSC_TRANSMIT (FB)

242

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 ExtendedController: CR0200
 SafetyController: CR7200, CR7201 (POU not for safety signals!)

Symbol in CoDeSys:

SSC_TRANSMIT
ENABLE RESULT
TX

Description
245

SSC_TRANSMIT handles the transmission of data via the internal SSC interface.
The FB is an internal communication function for the ExtendedController. At each call it transmits the
data contained in the data array TX. A maximum of 16 messages with 20 bytes each can be
transmitted in one control cycle. For transmission, the input ENABLE must be set to TRUE.

NOTE
The application programmer must immediately read the received data from the data array and ensure
immediate further processing, because the data will be overwritten in the next cycle.
Only as many data messages as can be received by the other controller half may be sent via
SSC_TRANSMIT (→ page 337). Otherwise there is the risk of losing data for example due to different
cycle times.
An overflow of SSC_TRANSMIT may occur if the transmitter is the interface slave and if the interface
master is running slower (information bit: RESULT = FALSE).

Parameters of the inputs

246

Parameter Data type Description

ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active
TX ARRAY[0...19] OF BYTE data array [0...19]

Parameters of the outputs

247

Parameter Data type Description

RESULT BOOL TRUE: message was successfully transferred to the
transmission buffer
FAULT: transfer faulty

337
 ifm System Manual ecomatmobile SafetyController (CR7021, CR7201, CR7506) V06
Managing the data Software reset

12 Managing the data

Software reset ........................................................................................................................... 338
Reading / writing the system time ............................................................................................. 340
Saving, reading and converting data in the memory................................................................. 343
Data access and data check ..................................................................................................... 351
8606

Here we show you functions how to read or manage data in the device.

12.1 Software reset

SOFTRESET (FB)..................................................................................................................... 339

1594

Using this FB the control can be restarted via an order in the application program.

338
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Managing the data Software reset

12.1.1 SOFTRESET (FB)

260

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
 SmartController: CR25nn
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

SOFTRESET
ENABLE

Description
263

SOFTRESET leads to a complete reboot of the controller.

The FB can for example be used in conjunction with CANopen if a node reset is to be carried out. The
behaviour of the controller after a SOFTRESET corresponds to that after switching the supply voltage
off and on.

NOTE
In case of active communication, the long reset period must be taken into account because otherwise
guarding errors will be signalled.

Parameters of the inputs

264

Parameter Data type Description

ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active

339
 ifm System Manual ecomatmobile SafetyController (CR7021, CR7201, CR7506) V06
Managing the data Reading / writing the system time

12.2 Reading / writing the system time

TIMER_READ (FB) ................................................................................................................... 341

TIMER_READ_US (FB) ............................................................................................................ 342
1601

The following FBs offered by ifm electronic allow you to read the continually running system time of
the controller and to evaluate it in the application program, or to change the system time as needed.

340
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Managing the data Reading / writing the system time

12.2.1 TIMER_READ (FB)

236

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
 SmartController: CR25nn
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

TIMER_READ
T

Description
239

TIMER_READ reads the current system time.

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

NOTE
The system timer goes up to FFFF FFFF16 at the maximum (corresponds to about 49.7 days) and then
starts again from 0.

Parameters of the outputs

241

Parameter Data type Description

T TIME current system time (resolution [ms])

341
 ifm System Manual ecomatmobile SafetyController (CR7021, CR7201, CR7506) V06
Managing the data Reading / writing the system time

12.2.2 TIMER_READ_US (FB)

657

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
 SmartController: CR25nn
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

TIMER_READ_US
TIME_US

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 = 71 582.8 min = 1 193 h = 49.7 d

Parameters of the outputs

662

Parameter Data type Description

TIME_US DWORD current system time (resolution [s])

342
 ifm System Manual ecomatmobile SafetyController (CR7021, CR7201, CR7506) V06
Managing the data Saving, reading and converting data in the memory

12.3 Saving, reading and converting data in the

memory

Automatic data backup.............................................................................................................. 343

Manual data storage ................................................................................................................. 344
1595

12.3.1 Automatic data backup

1596

The ecomatmobil devices allow to save data (BOOL, BYTE, WORD, DWORD) non-volatilely (=
saved in case of voltage failure) in the memory. If the supply voltage drops, the backup operation is
automatically started. Therefore it is necessary that the data is filed as RETAIN variables.
The advantage of the automatic backup is that also in case of a sudden voltage drop or an interruption
of the supply voltage, the storage operation is triggered and thus the current values of the data are
saved (e.g. counter values).
If the supply voltage returns, the saved data is read from the memory via the operating system and
written back in the flag area.

343
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Managing the data Saving, reading and converting data in the memory

12.3.2 Manual data storage

MEMCPY (FB)........................................................................................................................... 345

FLASHWRITE (FB) ................................................................................................................... 346
FLASHREAD (FB)..................................................................................................................... 348
FRAMWRITE (FB)..................................................................................................................... 349
FRAMREAD (FB) ...................................................................................................................... 350
1597

Besides the possibility to store the data automatically, user data can be stored manually, via FB calls,
in integrated memories from where they can also be read.
Depending on the device the following memories are available:
 EEPROM memory
Available for the following devices:
- CabinetController: CR0301, CR0302
- PCB controller: CS0015
- SmartController: CR25nn
Slow writing and reading.
Limited writing and reading frequency.
Any memory area can be selected.
Storing data with E2WRITE.
Reading data with E2READ.
 FRAM memory
Available for the following devices:
- CabinetController: CR0303
- ClassicController: CR0020, CR0032, CR0505
- ExtendedController: CR0200, CR0232
- SafetyController: CR7nnn
- PDM360smart: CR1070, CR1071
Fast writing and reading.
Unlimited writing and reading frequency.
Any memory area can be selected.
Storing data with FRAMWRITE.
Reading data with FRAMREAD.
 Flash memory
For all devices.
Fast writing and reading.
Limited writing and reading frequency.
Really useful only for storing large data quantities.
Before anew writing, the memory contents must be deleted.
Storing data with FLASHWRITE.
Reading data with FLASHREAD.

Info
By means of the storage partitioning ( data sheet or operating instructions) the programmer can find
out which memory area is available.

344
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Managing the data Saving, reading and converting data in the memory

MEMCPY (FB)
409

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
 SmartController: CR25nn
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

MEMCPY
DST
SRC
LEN

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. 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 file.
► The address must be determined by means of the operator ADR and assigned to the FB.

Parameters of the inputs

413

Parameter Data type Description

DST DWORD address of the target variables
SRC DWORD address of the source variables
LEN WORD number of data bytes

345
 ifm System Manual ecomatmobile SafetyController (CR7021, CR7201, CR7506) V06
Managing the data Saving, reading and converting data in the memory

FLASHWRITE (FB)
555

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
 SmartController: CR25nn
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

FLASHWRITE
ENABLE
DST
LEN
SRC

Description
558

WARNING
Danger due to uncontrollable process operations!
The status of the inputs/outputs is "frozen" during execution of FLASHWRITE.
► Do not execute this FB when the machine is running!

FLASHWRITE enables writing of different data types directly into the flash memory.
The FB writes the contents of the address SRC into the flash memory. In doing so, as many bytes as
indicated under LEN are transmitted.
► The address must be determined by means of the operator ADR and assigned to the FB.
An erasing operation must be carried out before the memory is written again. This is done by writing
any content to the address "0".

Info
Using this FB, large data volumes are to be stored during set-up, to which there is only read access in
the process.

346
 ifm System Manual ecomatmobile SafetyController (CR7021, CR7201, CR7506) V06
Managing the data Saving, reading and converting data in the memory

Parameters of the inputs

559

Parameter Data type Description

ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active
DST INT relative start address in the memory
memory access only word-by-word;
permissible values: 0, 2, 4, 6, 8, ...
LEN INT number of data bytes (max. 65 536 bytes)
SRC DWORD address of the source variables

347
 ifm System Manual ecomatmobile SafetyController (CR7021, CR7201, CR7506) V06
Managing the data Saving, reading and converting data in the memory

FLASHREAD (FB)
561

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
 SmartController: CR25nn
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

FLASHREAD
ENABLE
SRC
LEN
DST

Description
564

FLASHREAD 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 must be determined by means of the operator ADR and assigned to the FB.

Parameters of the inputs

565

Parameter Data type Description

ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active
SRC INT relative start address in the memory
LEN INT number of data bytes (max. 65 536 bytes)
DST DWORD address of the target variables

348
 ifm System Manual ecomatmobile SafetyController (CR7021, CR7201, CR7506) V06
Managing the data Saving, reading and converting data in the memory

FRAMWRITE (FB)
543

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR0303
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 SafetyController: CR7nnn
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

FRAMWRITE
ENABLE
DST
LEN
SRC

Description
546

FRAMWRITE enables the quick writing of different data types directly into the FRAM memory.
The FB writes the contents of the address SRC to the non-volatile FRAM memory. In doing so, as
many bytes as indicated under LEN are transmitted.
► The address must be determined by means of the operator ADR and assigned to the FB.
The FRAM memory can be written in several partial segments which are independent of each other.
Monitoring of the memory segments must be carried out in the application program.

Parameters of the inputs

547

Parameter Data type Description

ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active
DST INT relative start address in the memory (0...3FFF16)
LEN INT number of data bytes
CR0303, CR1070, CR1071: max. 128 bytes
all other controllers: max. 16 384 bytes
SRC DINT address of the source variables

349
 ifm System Manual ecomatmobile SafetyController (CR7021, CR7201, CR7506) V06
Managing the data Saving, reading and converting data in the memory

FRAMREAD (FB)
549

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR0303
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 SafetyController: CR7nnn
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

FRAMREAD
ENABLE
SRC
LEN
DST

Description
552

FRAMREAD enables quick reading of different data types directly from the FRAM memory.
The FB reads the contents as from the address of SRC from the FRAM memory. In doing so, as many
bytes as indicated under LEN are transmitted.
► The address must be determined by means of the operator ADR and assigned to the FB.
The FRAM memory can be read in several independent partial segments. Monitoring of the memory
segments must be carried out in the application program.

Parameters of the inputs

553

Parameter Data type Description

ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active
SRC INT relative start address in the memory (0...3FFF16)
LEN INT number of data bytes
CR0303, CR1070, CR1071: max. 128 bytes
all other controllers: max. 16 384 bytes
DST DINT address of the target variables

350
 ifm System Manual ecomatmobile SafetyController (CR7021, CR7201, CR7506) V06
Managing the data Data access and data check

12.4 Data access and data check

SET_DEBUG (FB) ..................................................................... 352

SET_IDENTITY (FB) ................................................................ 353
GET_IDENTITY (FB)................................................................ 355
SET_PASSWORD (FB) .............................................................357
CHECK_DATA (FB) .................................................................359
1598

The FBs described in this chapter control the data access and enable a data check.

351
 ifm System Manual ecomatmobile SafetyController (CR7021, CR7201, CR7506) V06
Managing the data Data access and data check

12.4.1 SET_DEBUG (FB)

290

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
 SmartController: CR25nn

Symbol in CoDeSys:

SET_DEBUG
ENABLE
DEBUG

Description
293

SET_DEBUG handles the DEBUG mode without active test input

( chapter TEST mode (→ page 60)).
If the input DEBUG of the FB is set to TRUE, the programming system or the downloader, for
example, can communicate with the device and execute system commands (e.g. for service functions
via the GSM modem CANremote).

NOTE
In this operating mode a software download is not possible because the test input is not connected to
supply voltage.

Parameters of the inputs

294

Parameter Data type Description

ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active
DEBUG BOOL TRUE: debugging via the interfaces possible
FALSE: debugging via the interfaces not possible

352
 ifm System Manual ecomatmobile SafetyController (CR7021, CR7201, CR7506) V06
Managing the data Data access and data check

12.4.2 SET_IDENTITY (FB)

284

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
 SmartController: CR25nn
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

SET_IDENTITY
ID

Description
287

SET_IDENTITY sets an application-specific program identification.

Using this FB, a program identification can be created by the application program. This identification
(i.e. the software version) can be read via the software tool DOWNLOADER.EXE in order to identify
the loaded program.

353
 ifm System Manual ecomatmobile SafetyController (CR7021, CR7201, CR7506) V06
Managing the data Data access and data check

The following figure shows the correlations of the different identifications as indicated by the different
software tools. (Example: ClassicController CR0020):

Boot loader Operating system Application/Machine

Identity Identity
BOOTLD_H 020923 CR0020
V2.0.0 041004 SET_IDENTITY
Extended identity  
CR0020 00.00.01 Hardware version Nozzle in front
CR0020 00.00.01

Software version
Nozzle in front

 

Downloader reads: Downloader reads:

BOOTLD_H 020923 CR0020

CR0020 00.00.01 V2.0.0 041004
ifm electronic gmbh
Nozzle in front

CANopen tool reads:

Hardware version
OBV 1009
CR0020 00.00.01

Parameters of the inputs

288

Parameter Data type Description

ID STRING(80) any string with a maximum length of 80 characters

354
 ifm System Manual ecomatmobile SafetyController (CR7021, CR7201, CR7506) V06
Managing the data Data access and data check

12.4.3 GET_IDENTITY (FB)

2212

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
 SmartController: CR25nn
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

GET_IDENTITY
ENABLE DEVICENAME
FIRMWARE
RELEASE
APPLICATION

Description
2344

GET_IDENTITY reads the application-specific program identification stored in the controller.

With this FB the stored program identification can be read by the application program. The following
information is available:
 Hardware name and version
e.g.: "CR0032 00.00.01"
 Name of the runtime system
e.g.: "CR0032"
 Version and build of the runtime system
e.g.: "V00.00.01 071128"
 Name of the application
e.g.: "Crane1704"
The name of the application can be changed with SET_IDENTITY (→ page 353).

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Parameters of the inputs

2609

Parameter Data type Description

ENABLE BOOL TRUE: unit is executed
FALSE: unit is not executed
> FB in- and outputs are not active

Parameters of the outputs

2610

Parameter Data type Description

DEVICENAME STRING(31) hardware name and version as string of max. 31 characters
e.g.: "CR0032 00.00.01"
FIRMWARE STRING(31) name of the runtime system as string of max. 31 characters
e.g.: "CR0032"
RELEASE STRING(31) version and build of the runtime system as string of max. 31 characters
e.g.: "V00.00.01 071128"
APPLICATION STRING(79) name of the application as string of max. 79 characters
e.g.: "Crane1704"

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12.4.4 SET_PASSWORD (FB)

266

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
 SmartController: CR25nn
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

SET_PASSWORD
ENABLE
PASSWORD

Description
269

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

ATTENTION
Please note for CR250n, CR0301, CR0302 and CS0015:
The EEPROM memory module may be destroyed by the permanent use of this unit!
► Only carry out the unit once during initialisation in the first program cycle!
► Afterwards block the unit again with ENABLE = FALSE!

NOTE
The password is reset when loading a new application program.

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Parameters of the inputs

270

Parameter Data type Description

ENABLE BOOL TRUE (only 1 cycle):
ID set
FALSE: unit is not executed
PASSWORD STRING password (maximum string length 16)

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12.4.5 CHECK_DATA (FB)

603

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SafetyController: CR7nnn
 SmartController: CR25nn
 PDM360smart: CR1070, CR1071

Symbol in CoDeSys:

CHECK_DATA
STARTADR RESULT
LENGTH CHECKSUM
UPDATE

Description
606

CHECK_DATA stores the data in the application data memory via a CRC code.
The FB serves for monitoring a range of the data memory (possible WORD addresses as from
%MW0) for unintended changes to data in safety-critical applications. To do so, the FB determines a
CRC checksum of the indicated data range.
► The address must be determined by means of the operator ADR and assigned to the FB.
► In addition, the number of data bytes LENGTH (length as from the STARTDR) must be indicated.
If the input UPDATE = FALSE and data in the memory are changed inadvertently, RESULT = FALSE.
The result can then be used for further actions (e.g. deactivation of the outputs).
Data changes in the memory (e.g. by the application program or ecomatmobile device) are only
permitted if the output UPDATE is set to TRUE. The value of the checksum is then recalculated. The
output RESULT is permanently TRUE again.

NOTE
This FB is a safety function. However, the controller does not automatically become a safety controller
by using this FB. Only a tested and approved controller with a special operating system can be used as
safety controller.

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Parameters of the inputs

607

Parameter Data type Description

STARTADR DINT start address of the monitored data memory
(WORD address as from %MW0)
LENGTH WORD length of the monitored data memory in [byte]
UPDATE BOOL TRUE: changes to data permissible
FALSE: changes to data not permitted

Parameters of the outputs

608

Parameter Data type Description

RESULT BOOL TRUE: CRC checksum ok
FALSE: CRC checksum faulty
(data modified)
CHECKSUM WORD result of the CRC checksum evaluation

Example: CHECK_DATA
4168

In the following example the program determines the checksum and stores it in the RAM via pointer pt:

NOTE: The method shown here is not suited for the flash memory.

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13 Optimising the PLC cycle

Processing interrupts................................................................................................................. 361
8609

Here we show you functions to optimise the PLC cycle.

13.1 Processing interrupts

SET_INTERRUPT_XMS (FB)................................................................................................... 362

SET_INTERRUPT_I (FB).......................................................................................................... 365
1599

The PLC cyclically processes the stored application program in its full length. The cycle time can vary
due to program branchings which depend e.g. on external events (= conditional jumps). This can have
negative effects on certain functions.
By means of systematic interrupts of the cyclic program it is possible to call time-critical processes
independently of the cycle in fixed time periods or in case of certain events.
Since interrupt functions are principally not permitted for SafetyControllers, they are thus not available.

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13.1.1 SET_INTERRUPT_XMS (FB)

272

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0032, CR0505
 ExtendedController: CR0200, CR0232
 PCB controller: CS0015
 SmartController: CR25nn
 PDM360smart: CR1071

Symbol in CoDeSys:

SET_INTERRUPT_XMS
ENABLE
REPEATTIME
READ_INPUTS
WRITE_OUTPUTS
ANALOG_INPUTS

Description
275

SET_INTERRUPT_XMS handles the execution of a program part at an interval of x ms.

In the conventional PLC the cycle time is decisive for real-time monitoring. So, the PLC is at a
disadvantage as compared to customer-specific controllers. Even a "real-time operating system" does
not change this fact when the whole application program runs in one single block which cannot be
changed.
A possible solution would be to keep the cycle time as short as possible. This often leads to splitting
the application up to several control cycles. This, however, makes programming complex and difficult.
Another possibility is to call a certain program part at fixed intervals (every x ms) independently of the
control cycle.
The time-critical part of the application is integrated by the user in a block of the type PROGRAM
(PRG). This block is declared as the interrupt routine by calling SET_INTERRUPT_XMS once (during
initialisation). As a consequence, this program block is always processed after the REPEATTIME has
elapsed (every x ms). If inputs and outputs are used in this program part, they are also read and
written in the defined cycle. Reading and writing can be stopped via the FB inputs READ_INPUTS,
WRITE_OUTPUTS and ANALOG_INPUTS.
So, in the program block all time-critical events can be processed by linking inputs or global variables
and writing outputs. So, timers can be monitored more precisely than in a "normal cycle".

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NOTE
To avoid that the program block called by interrupt is additionally called cyclically, it should be skipped
in the cycle (with the exception of the initialisation call).
Several timer interrupt blocks can be active. The time requirement of the interrupt functions must be
calculated so that all called functions can be executed. This in particular applies to calculations, floating
point arithmetic or controller functions.
Please note: In case of a high CAN bus activity the set REPEATTIME may fluctuate.

NOTE
The uniqueness of the inputs and outputs in the cycle is affected by the interrupt routine. Therefore only
part of the inputs and outputs is serviced. If initialised in the interrupt program, the following inputs and
outputs will be read or written.
Inputs, digital:
%IX0.0...%IX0.7 (CRnn32)
%IX0.12...%IX0.15, %IX1.4...%IX1.8 (all other ClassicController, ExtendedController, SafetyController)
%IX0.0, %IX0.8 (SmartController)
IN08...IN11 (CabinetController)
IN0...IN3 (PCB controller)
Inputs, analogue:
%IX0.0...%IX0.7 (CRnn32)
All channels (selection bit-coded) (all other controller)
Outputs, digital:
%QX0.0...%QX0.7 (ClassicController, ExtendedController, SafetyController)
%QX0.0, %QX0.8 (SmartController)
OUT00...OUT03 (CabinetController)
OUT0...OUT7 (PCB controller)
Global variants, too, are no longer unique if they are accessed simultaneously in the cycle and by the
interrupt routine. This problem applies in particular to larger data types (e.g. DINT).
All other inputs and outputs are processed once in the cycle, as usual.

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Parameters of the inputs

276

Parameter Data type Description

ENABLE BOOL TRUE (only 1 cycle):
changes to data allowed
FALSE: changes to data not allowed
(during processing of the program)
REPEATTIME TIME Time window during which the interrupt is triggered.
READ_INPUTS BOOL TRUE: inputs integrated into the routine are read
(if necessary, set inputs to IN_FAST).
FALSE: this function is not executed
WRITE_OUTPUTS BOOL TRUE: outputs integrated into the routine are written to.
FALSE: this function is not executed
ANALOG_INPUTS BYTE TRUE: analogue inputs integrated into the routine are read and
the raw value of the voltage is transferred to the system flags
ANALOG_IRQxx
FALSE: this function is not executed

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13.1.2 SET_INTERRUPT_I (FB)

278

Contained in the library:

ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
 CabinetController: CR030n
 ClassicController: CR0020, CR0505
 ExtendedController: CR0200
 PCB controller: CS0015
 SmartController: CR25nn
 PDM360smart: CR1071

Symbol in CoDeSys:

SET_INTERRUPT_I
ENABLE
CHANNEL
MODE
READ_INPUTS
WRITE_OUTPUTS
ANALOG_INPUTS
(only for devices with analogue channels)

SET_INTERRUPT_I
ENABLE
CHANNEL
MODE
READ_INPUTS
WRITE_OUTPUTS
(for devices without analogue channels)

Description
281

SET_INTERRUPT_I handles the execution of a program part by an interrupt request via an input
channel.
In the conventional PLC the cycle time is decisive for real-time monitoring. So the PLC is at a
disadvantage as compared to customer-specific controllers. Even a "real-time operating system" does
not change this fact when the whole application program runs in one single block which cannot be
changed.
A possible solution would be to keep the cycle time as short as possible. This often leads to splitting
the application up to several control cycles. This, however, makes programming complex and difficult.
Another possibility is to call a certain program part only upon request by an input pulse independently
of the control cycle.
The time-critical part of the application is integrated by the user in a block of the type PROGRAM
(PRG). This block is declared as the interrupt routine by calling SET_INTERRUPT_I once (during
initialisation). As a consequence, this program block will always be executed if an edge is detected on
the input CHANNEL. If inputs and outputs are used in this program part, these are also read and
written in the interrupt routine, triggered by the input edge. Reading and writing can be stopped via the
FB inputs READ_INPUTS, WRITE_OUTPUTS and ANALOG_INPUTS.

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So in the program block all time-critical events can be processed by linking inputs or global variables
and writing outputs. So FBs can only be executed if actually called by an input signal.

NOTE
The program block should be skipped in the cycle (except for the initialisation call) so that it is not
cyclically called, too.
The input (CHANNEL) monitored for triggering the interrupt cannot be initialised and further processed
in the interrupt routine.
The inputs must be in the operating mode IN_FAST, otherwise the interrupts cannot be read.

NOTE
The uniqueness of the inputs and outputs in the cycle is affected by the interrupt routine. Therefore only
part of the inputs and outputs is serviced. If initialised in the interrupt program, the following inputs and
outputs will be read or written.
Inputs, digital:
%IX0.0...%IX0.7 (CRnn32)
%IX0.12...%IX0.15, %IX1.4...%IX1.8 (all other ClassicController, ExtendedController, SafetyController)
%IX0.0, %IX0.8 (SmartController)
IN08...IN11 (CabinetController)
IN0...IN3 (PCB controller)
Inputs, analogue:
%IX0.0...%IX0.7 (CRnn32)
All channels (selection bit-coded) (all other controller)
Outputs, digital:
%QX0.0...%QX0.7 (ClassicController, ExtendedController, SafetyController)
%QX0.0, %QX0.8 (SmartController)
OUT00...OUT03 (CabinetController)
OUT0...OUT7 (PCB controller)
Global variants, too, are no longer unique if they are accessed simultaneously in the cycle and by the
interrupt routine. This problem applies in particular to larger data types (e.g. DINT).
All other inputs and outputs are processed once in the cycle, as usual.

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Parameters of the inputs

282

Parameter Data type Description

ENABLE BOOL TRUE (only for 1 cycle):
changes to data permissible
FALSE: changes to data not permitted
(during processing of the program)
CHANNEL BYTE interrupt input
Classic/ExtendedController:
0 = %IX1.4
1 = %IX1.5
2 = %IX1.6
3 = %IX1.7
SmartController:
0 = %IX0.0
1 = %IX0.8
CabinetController:
0 = IN08 (etc.)
3 = IN11
CS0015:
0 = IN0 (etc.)
3 = IN3
MODE BYTE type of edge at the input CHANNEL which triggers the interrupt
1 = rising edge
2 = falling edge
3 = rising and falling edge
READ_INPUTS BOOL TRUE: inputs integrated into the routine are read
(if necessary, set inputs to IN_FAST)
FALSE: this function is not executed
WRITE_OUTPUTS BOOL TRUE: outputs integrated into the routine are written
FALSE: this function is not executed
ANALOG_INPUTS BYTE (only for devices with analogue channels)
selection of the inputs bit-coded:
010 = no input selected
110 = 1st analogue input selected (0000 00012)
210 = 2nd analogue input selected (0000 00102)
...
12810 = 8th analogue input selected (1000 00002)
A combination of the inputs is possible via an OR operation of the
values.
Example: Select 1st and 3rd analogue input:
(0000 00012) OR (0000 01002) = (0000 01012) = 510

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14 Annex
Address assignment and I/O operating modes......................................................................... 368
System flags.............................................................................................................................. 374
Overview of the files and libraries used .................................................................................... 376
Troubleshooting......................................................................................................................... 382
1664

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

14.1 Address assignment and I/O operating modes

Addresses / I/O variables .......................................................................................................... 368

Possible operating modes inputs / outputs ............................................................................... 370
Address assignment inputs / outputs ........................................................................................ 372
1656

 also data sheet

14.1.1 Addresses / I/O variables

3922

NOTE: If CR7505+CR7506: Only the ports 0…2 are available

Port IEC address ¹) I/O variable or Description
Configuration variable
0 %IB0 I0 Input byte 0 (%IX0.00...%IX0.07)
0 %QB4 I00_MODE Configuration byte for %IX0.00
0 %QB5 I01_MODE Configuration byte for %IX0.01
0 %QB6 I02_MODE Configuration byte for %IX0.02
0 %QB7 I03_MODE Configuration byte for %IX0.03
0 %QB8 I04_MODE Configuration byte for %IX0.04
0 %QB9 I05_MODE Configuration byte for %IX0.05
0 %QB10 I06_MODE Configuration byte for %IX0.06
0 %QB11 I07_MODE Configuration byte for %IX0.07
0 Flag byte*) ERROR_I0 Error byte inputs port 0 (%IX0.00...%IX0.07)

1 %IB1 I1 Input byte 1 (%IX0.08...%IX0.15)

1 %QB16 I14_MODE Configuration byte for %IX0.12
1 %QB17 I15_MODE Configuration byte for %IX0.13
1 %QB18 I16_MODE Configuration byte for %IX0.14
1 %QB19 I17_MODE Configuration byte for %IX0.15
1 Flag byte*) ERROR_I1 Error byte inputs port 1 (%IX0.08...%IX0.15)
1 %QB0 Q1Q2 Output byte 0 (%QX0.00...%QX0.07)
1 %QB40 Q10_MODE Configuration byte for %QX0.00
1 %QB41 Q11_MODE Configuration byte for %QX0.01
1 %QB42 Q12_MODE Configuration byte for %QX0.02
1 %QB43 Q13_MODE Configuration byte for %QX0.03
1 Flag byte*) ERROR_SHORT_Q1Q2 Error byte ports 1+2 short circuit (%QX0.00...%QX0.07)
1 Flag byte*) ERROR_BREAK_Q1Q2 Error byte ports 1+2 interruption (%QX0.00...%QX0.07)

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Port IEC address ¹) I/O variable or Description

Configuration variable
2 %IB2 I2 Input byte 2 (%IX1.00...%IX1.07)
2 %QB44 Q20_MODE Configuration byte for %QX0.04
2 %QB45 Q21_MODE Configuration byte for %QX0.05
2 %QB46 Q22_MODE Configuration byte for %QX0.06
2 %QB47 Q23_MODE Configuration byte for %QX0.07
2 %QB20 I24_MODE Configuration byte for %IX1.04
2 %QB21 I25_MODE Configuration byte for %IX1.05
2 %QB22 I26_MODE Configuration byte for %IX1.06
2 %QB23 I27_MODE Configuration byte for %IX1.07
2 Flag byte*) ERROR_I2 Error byte inputs port 2 (%IX1.00...%IX1.07)

3 %IB3 I3 Input byte 3 (%IX1.08...%IX1.15)

3 %QB24 I30_MODE Configuration byte for %IX1.08
3 %QB25 I31_MODE Configuration byte for %IX1.09
3 %QB26 I32_MODE Configuration byte for %IX1.10
3 %QB27 I33_MODE Configuration byte for %IX1.11
3 %QB28 I34_MODE Configuration byte for %IX1.12
3 %QB29 I35_MODE Configuration byte for %IX1.13
3 %QB30 I36_MODE Configuration byte for %IX1.14
3 %QB31 I37_MODE Configuration byte for %IX1.15
3 Flag byte*) ERROR_I3 Error byte inputs port 3 (%IX1.08...%IX1.15)
3 %QB1 Q3 Output byte 1 (%QX0.0...%QX0.7)
3 %QB48 Q30_MODE Configuration byte for %QX0.08
3 %QB59 Q31_MODE Configuration byte for %QX0.09
3 %QB50 Q32_MODE Configuration byte for %QX0.10
3 %QB51 Q33_MODE Configuration byte for %QX0.11
3 %QB52 Q34_MODE Configuration byte for %QX0.12
3 %QB53 Q35_MODE Configuration byte for %QX0.13
3 %QB54 Q36_MODE Configuration byte for %QX0.14
3 %QB55 Q37_MODE Configuration byte for %QX0.15
3 Flag byte*) ERROR_SHORT_Q3 Error byte port 3 short circuit (%QX0.08...%QX0.15)
3 Flag byte*) ERROR_BREAK_Q3 Error byte port 3 interruption (%QX0.08...%QX0.15)

4 %IB4 I4 Input byte 4 (%IX2.00...%IX2.07)

4 %QB32 I40_MODE Configuration byte for %IX2.00
4 %QB33 I41_MODE Configuration byte for %IX2.01
4 %QB34 I42_MODE Configuration byte for %IX2.02
4 %QB35 I43_MODE Configuration byte for %IX2.03
4 %QB36 I44_MODE Configuration byte for %IX2.04
4 %QB37 I45_MODE Configuration byte for %IX2.05
4 %QB38 I46_MODE Configuration byte for %IX2.06
4 %QB39 I47_MODE Configuration byte for %IX2.07
4 Flag byte*) ERROR_I4 Error byte inputs port 4 (%IX2.00...%IX2.07)
4 %QB2 Q4 Output byte 2 (%QX1.00...%QX1.07)
4 %QB56 Q40_MODE Configuration byte for %QX1.00
4 %QB57 Q41_MODE Configuration byte for %QX1.01
4 %QB58 Q42_MODE Configuration byte for %QX1.02
4 %QB59 Q43_MODE Configuration byte for %QX1.03
4 %QB60 Q44_MODE Configuration byte for %QX1.04

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Port IEC address ¹) I/O variable or Description

Configuration variable
4 %QB61 Q45_MODE Configuration byte for %QX1.05
4 %QB62 Q46_MODE Configuration byte for %QX1.06
4 %QB63 Q47_MODE Configuration byte for %QX1.07
4 Flag byte*) ERROR_SHORT_Q4 Error byte port 4 short circuit (%QX1.00...%QX1.07)
4 Flag byte*) ERROR_BREAK_Q4 Error byte port 4 interruption (%QX1.00...%QX1.07)
¹) IEC addresses of the configuration parameters.
*) IEC addresses can vary according to the control configuration.
For the ExtendedController when used in master/slave operation the following applies for the ports
5...9:
indicated IEC address of the configuration parameters = %IB or %QB plus 64,
indicated I/O or configuration variable = NAME_E.

14.1.2 Possible operating modes inputs / outputs

3924

NOTE
The input/output operating modes are set best via the ifm templates. For safety signals manual
configurations of the inputs and outputs are not allowed!
When the ecomatmobile CD "Software, Tools and Documentation" is installed, projects with templates
have been stored in the program directory of your PC:
…\ifm electronic\CoDeSys V…\Projects\Template_CDV…
► 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.
 chapter Set up programming system via templates (→ page 65)

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NOTE: If CR7505+CR7506: only the ports 0…2 are available

Inputs Operating mode Config. value Outputs Operating mode Config. value
I00…I07 IN_NOMODE 0
IN_DIGITAL_H (plus) 1 (default)
IN_CURRENT 4
IN VOLTAGE10 8
IN_VOLTAGE30 16 (default)
IN_RATIO 32
IN_SAFETY (DIAGNOSTIC) 64

I10…I13 IN_NOMODE 0 (default) Q10…Q13 OUT_NOMODE 0

IN_DIGITAL_H (plus) 1 OUT_DIGITAL_H 1 (default)
OUT_CURRENT 4
OUT_DIAGNOSTIC 64
OUT_OVERLOAD_ 128
PROTECTION

I14…I17 IN_NOMODE 0
IN_DIGITAL_H (plus) 1 (default)
IN_SAFETY (DIAGNOSTIC) 64
IN_FAST 128

Q20…Q23 OUT_NOMODE 0
OUT_DIGITAL_H 1 (default)
OUT_CURRENT 4
OUT_SAFETY 32
OUT_DIAGNOSTIC 64
OUT_OVERLOAD_ 128
PROTECTION

I24...I27 IN_NOMODE 0
IN_DIGITAL_H (plus) 1 (default)
IN_DIGITAL_L (minus) 2
IN_DIAGNOSTIC 64
IN_FAST 128

I30...I37 IN_NOMODE 0 Q30…Q37 OUT_NOMODE 0

IN_DIGITAL_H (plus) 1 (default) OUT_DIGITAL_H 1 (default)
IN_DIGITAL_L (minus) 2 OUT_DIAGNOSTIC 64
IN_DIAGNOSTIC 64

Q40, Q43, OUT_NOMODE 0

Q44, Q47
OUT_DIGITAL_H 1 (default)
OUT_SAFETY 32
OUT_DIAGNOSTIC 64

Q41, Q42, OUT_NOMODE 0

Q45, Q46
OUT_DIGITAL_H 1 (default)
OUT_DIGITAL_L 2
OUT_SAFETY 32
OUT_DIAGNOSTIC 64
Possible configuration combinations (where permissible) are created by adding the values.

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14.1.3 Address assignment inputs / outputs

3923

NOTE: If CR7505+CR7506: only the ports 0…2 are available

Port IEC address I/O variable Configuration Default Possible configuration
variable value
0 %IX0.00 I00 I00_MODE 17 L digital
%IW3 analogue U/I / safety
0 %IX0.01 I01 I01_MODE 17 L digital
%IW4 analogue U/I / safety
0 %IX0.02 I02 I02_MODE 17 L digital
%IW5 analogue U/I / safety
0 %IX0.03 I03 I03_MODE 17 L digital
%IW6 analogue U/I / safety
0 %IX0.04 I04 I04_MODE 17 L digital
%IW7 analogue U/I / safety
0 %IX0.05 I05 I05_MODE 17 L digital
%IW8 analogue U/I / safety
0 %IX0.06 I06 I06_MODE 17 L digital
%IW9 analogue U/I / safety
0 %IX0.07 I07 I07_MODE 17 L digital
%IW10 analogue U/I / safety

1 %IX0.08 I10 - - Off / L digital

%QX0.00 Q10 Q10_MODE 1 Off / H digital / PWM / PWMi
1 %IX0.09 I11 - - Off / L digital
%QX0.01 Q11 Q11_MODE 1 Off / H digital / PWM / PWMi
1 %IX0.10 I12 - - Off / L digital
%QX0.02 Q12 Q12_MODE 1 Off / H digital / PWM / PWMi
1 %IX0.11 I13 - - Off / L digital
%QX0.03 Q13 Q13_MODE 1 Off / H digital / PWM / PWMi
1 %IX0.12 I14 I14_MODE 1 L digital / FRQ0 / safety
1 %IX0.13 I15 I15_MODE 1 L digital / FRQ1 / safety
1 %IX0.14 I16 I16_MODE 1 L digital / FRQ2 / safety
1 %IX0.15 I17 I17_MODE 1 L digital / FRQ3 / safety

2 %QX0.04 Q20 Q20_MODE 1 Off / H digital / PWM / PWMi / safety

2 %QX0.05 Q21 Q21_MODE 1 Off / H digital / PWM / PWMi / safety
2 %QX0.06 Q22 Q22_MODE 1 Off / H digital / PWM / PWMi / safety
2 %QX0.07 Q23 Q23_MODE 1 Off / H digital / PWM / PWMi / safety
2 %IX1.04 I24 I24_MODE 1 L digital / H digital / CYL0 / safety
2 %IX1.05 I25 I25_MODE 1 L digital / H digital / CYL1 / safety
2 %IX1.06 I26 I26_MODE 1 L digital / H digital / CYL2 / safety
2 %IX1.07 I27 I27_MODE 1 L digital / H digital / CYL3 / safety

3 %IX1.08 I30 I30_MODE 0 Off / L digital / H digital

%QX0.08 Q30 Q30_MODE 1 Off / H digital
3 %IX1.09 I31 I31_MODE 0 Off / L digital / H digital
%QX0.09 Q31 Q31_MODE 1 Off / only H digital
3 %IX1.10 I32 I32_MODE 0 Off / L digital / H digital
%QX0.10 Q32 Q32_MODE 1 Off / only H digital
3 %IX1.11 I33 I33_MODE 0 Off / L digital / H digital
%QX0.11 Q33 Q33_MODE 1 Off / H digital
3 %IX1.12 I34 I34_MODE 0 Off / L digital / H digital
%QX0.12 Q34 Q34_MODE 1 Off / H digital
3 %IX1.13 I35 I35_MODE 0 Off / L digital / H digital
%QX0.13 Q35 Q35_MODE 1 Off / H digital

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Port IEC address I/O variable Configuration Default Possible configuration

variable value
3 %IX1.14 I36 I36_MODE 0 Off / L digital / H digital
%QX0.14 Q36 Q36_MODE 1 Off / H digital
3 %IX1.15 I37 I37_MODE 0 Off / L digital / H digital
%QX0.15 Q37 Q37_MODE 1 Off / H digital

4 %QX1.00 Q40 Q40_MODE 1 Off / H digital / PWM / safety

4 %QX1.01 Q41 Q41_MODE 1 Off / H digital / L digital / H link / safety
4 %QX1.02 Q42 Q42_MODE 1 Off / H digital / L digital / H link / safety
4 %QX1.03 Q43 Q43_MODE 1 Off / H digital / PWM / safety
4 %QX1.04 Q44 Q44_MODE 1 Off / H digital / PWM / safety
4 %QX1.05 Q45 Q45_MODE 1 Off / H digital / L digital / H link / safety
4 %QX1.06 Q46 Q46_MODE 1 Off / H digital / L digital / H link / safety
4 %QX1.07 Q47 Q47_MODE 1 Off / H digital / PWM / safety
For the ExtendedController when used in master/slave operation the following applies for ports 5...9:
indicated IEC address = %IX or %QX plus 32.00,
indicated IEC address of the configuration parameters = %IB or %QB plus 64,
indicated I/O or configuration variable = NAME_E.
PWM description  chapter PWM signal processing (→ page 273)
PWMI description  chapter Current control with PWM (→ page 285)
FRQ/CYL description  chapter Counter functions for frequency and period measurement
(→ page 258)
H link description  chapter "Motor control using the H link"

Info
The default value 17 of the configuration bytes I00_MODE to I07_MODE is composed as below
( chapter Possible operating modes inputs / outputs (→ page 370)):
IN_DIGITAL_H (1) AND IN_VOLTAGE30 (16) => 17.
The other values "IN_VOLTAGE10" etc. can only be set in the operating mode "Analogue Input".

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14.2 System flags

3920

( chapter Error messages (→ page 114))

System flags Type Description
CANx_BAUDRATE WORD CAN interface x: Baud rate set
CANx_BUSOFF BOOL CAN interface x: Error "CAN-Bus off"
CANx_ERRORCOUNTER_RX ¹) BYTE CAN interface x: Error counter receiver
CANx_ERRORCOUNTER_TX ¹) BYTE CAN interface x: Error counter transmitter
CANx_LASTERROR ¹) BYTE CAN interface x: Error number of the last CAN transmission:
0 = no error
0  CAN specification  LEC
CANx_WARNING BOOL CAN interface x: Warning level reached (> 96)
CLAMP_15 BOOL Monitoring terminal 15
DOWNLOADID WORD Currently set download identifier
ERROR ²) BOOL Set ERROR bit / switch off relay
ERROR_ADDRESS BOOL Addressing error
ERROR_ANALOG BOOL Error in analogue conversion
ERROR_BREAK_Qx BYTE Wire break error on the output group x
ERROR_CAN_SAFETY BOOL SCT, SRVT and data error
ERROR_CO_CPU BOOL Error in the co-processor
ERROR_CPU BOOL CPU error
ERROR_DATA BOOL System data faulty
ERROR_INSTRUCTION_TIME BOOL Error in processing time
ERROR_IO BOOL Group error wire break, short circuit, cross fault
ERROR_Ix BYTE Periphery fault on input group x
ERROR_MEMORY BOOL Memory error
ERROR_OUTPUTBLANKING BOOL Cross fault on one of the safety outputs
ERROR_POWER BOOL Undervoltage/overvoltage error on pin 23
ERROR_RELAIS BOOL Error relay control with failure of VBBO
ERROR_SHORT_Qx BYTE Short circuit error on the output group x
ERROR_TEMPERATUR BOOL Excessive-temperature error (>85°C)
ERROR_TIME_BASE BOOL Error internal system time
ERROR_VBBR BOOL Supply voltage error VBBR
LED WORD LED colour for "active" (= on)
LED_MODE WORD Flashing frequency from the data structure "LED_MODES"
LED_X WORD LED colour for "pause" (= out)
RELAIS BOOL Monitoring relay for VBBR
RELAY_CLAMP_15 BOOL Relay terminal 15 (pin 5)
SERIAL_MODE BOOL Switch on serial communication
SERIALBAUDRATE WORD Baud rate of the RS232 interface
SUPPLY_VOLTAGE WORD Supply voltage on VBBs in [mV]
TEST BOOL Release programming mode

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CANx designates the number of the CAN interface (CAN 1...x, depending on the device).
Ix or Qx designates the number of the input or output group (word 0...x, depending on the unit).
¹) Access to these flags requires detailed knowledge of the CAN controller and is normally not
required.
²) By setting the ERROR system flag the ERROR output (terminal 13) is set to FALSE. In the
"error-free state" the ERROR output is TRUE (negative logic).

NOTE
For programming you should use only symbol names since the corresponding flag addresses could
change when the controller configuration is extended.

NOTE
ExtendedController: Symbol names extended by an "_E" (e.g. ERRORPOWER_E) designate system
addresses in the slave module of the ExtendedControllers. They have the same functions as the
symbol names in the master module.

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Annex Overview of the files and libraries used

14.3 Overview of the files and libraries used

General overview ...................................................................................................................... 376

What are the individual files and libraries used for? ................................................................. 378
2711

(as on 02 June 2010)

Depending on the unit and the desired function, different libraries and files are used. Some are
automatically loaded, others must be inserted or loaded by the programmer.
Installation of the files and libraries in the device:
Factory setting: the device contains only the boot loader.
► Load the operating system (*.H86 or *.HEX)
► Create the project (*.PRO) in the PC: enter the target (*.TRG)
► Additionally depending on device and target:
Define the PLC configuration (*.CFG)
> CoDeSys integrates the files belonging to the target into the project:
*.TRG, *.CFG, *.CHM, *.INI, *.LIB
► If required, add further libraries to the project (*.LIB).
Certain libraries automatically integrate further libraries into the project.
Some FBs in ifm libraries (ifm_*.LIB) e.g. are based on FBs in CoDeSys libraries (3S_*.LIB).

14.3.1 General overview

2712

File name Description and memory location ³)

ifm_CRnnnn_Vxxyyzz.CFG ¹) PLC configuration
ifm_CRnnnn_Vxx.CFG ²) per device only 1 device-specific file
inlcudes: IEC and symbolic addresses of the inputs and outputs, the flag bytes as well as the
memory allocation
…\CoDeSys V*\Targets\ifm\ifm_CRnnnncfg\Vxxyyzz
CAA-*.CHM Online help
per device only 1 device-specific file
inlcudes: online help for this device
…\CoDeSys V*\Targets\ifm\Help\… (language)
ifm_CRnnnn_Vxxyyzz.H86 Operating system / runtime system
ifm_CRnnnn_Vxxyyzz.HEX (must be loaded into the controller / monitor when used for the first time)
per device only 1 device-specific file
…\CoDeSys V*\Targets\ifm\Library\ifm_CRnnnn
ifm_Browser_CRnnnn.INI CoDeSys browser commands
(CoDeSys needs the file for starting the project)
per device only 1 device-specific file
inlcudes: commands for the browser in CoDeSys
…\CoDeSys V*\Targets\ifm
ifm_Errors_CRnnnn.INI CoDeSys error file
(CoDeSys needs the file for starting the project)
per device only 1 device-specific file
inlcudes: device-specific error messages from CoDeSys
…\CoDeSys V*\Targets\ifm
ifm_CRnnnn_Vxx.TRG Target file
per device only 1 device-specific file
inlcudes: hardware description for CoDeSys, e.g.: memory, file locations
…\CoDeSys V*\Targets\ifm

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File name Description and memory location ³)

ifm_*_Vxxyyzz.LIB General libraries
per device several files are possible
…\CoDeSys V*\Targets\ifm\Library
ifm_CRnnnn_Vxxyyzz.LIB Device-specific library
per device only 1 device-specific file
inlcudes: POUs of this device
…\CoDeSys V*\Targets\ifm\Library\ifm_CRnnnn
ifm_CRnnnn_*_Vxxyyzz.LIB Device-specific libraries
per device several files are possible
 following tables
…\CoDeSys V*\Targets\ifm\Library\ifm_CRnnnn
Legend:
* any signs
CRnnnn article number of the controller / monitor
V* CoDeSys version
Vxx version number of the ifm software
yy release number of the ifm software
zz patch number of the ifm software
¹) valid for CRnn32 target version up to V01, all other devices up to V04
²) valid for CRnn32 target version from V02 onwards, CR040n target version from V01 onwards, all
other devices from V05 onwards
³) memory location of the files:
System drive (C: / D:) \ program folder\ ifm electronic

NOTE
The software versions suitable for the selected target must always be used:
 operating system (CRnnnn_Vxxyyzz.H86 / CRnnnn_Vxxyyzz.HEX)
 PLC configuration (CRnnnn_Vxx.CFG)
 device library (ifm_CRnnnn_Vxxyyzz.LIB)
 and the further files ( chapter Overview of the files and libraries used (→ page 376))
CRnnnn device article number
Vxx: 00...99 target version number
yy: 00...99 release number
zz: 00...99 patch number
The basic file name (e.g. "CR0032") and the software version number "xx" (e.g. "02") 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.

IMPORTANT: 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).

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14.3.2 What are the individual files and libraries used for?

Files for the operating system / runtime system ....................................................................... 378

Target file .................................................................................................................................. 378
PLC configuration file ................................................................................................................ 378
ifm device libraries..................................................................................................................... 379
ifm CANopen libraries master / slave........................................................................................ 379
CoDeSys CANopen libraries..................................................................................................... 379
Specific ifm libraries .................................................................................................................. 380
2713

The following overview shows which files/libraries can and may be used with which unit. It may be
possible that files/libraries which are not indicated in this list can only be used under certain conditions
or the functionality has not yet been tested.

Files for the operating system / runtime system

2714

File name Function Available for:

ifm_CRnnnn_Vxxyyzz.H86 operating system / runtime system all ecomatmobile controllers
ifm_CRnnnn_Vxxyyzz.HEX BasicDisplay: CR0451
PDM: CR10nn
ifm_Browser_CRnnnn.INI CoDeSys browser commands all ecomatmobile controllers
PDM: CR10nn
ifm_Errors_CRnnnn.INI CoDeSys error file all ecomatmobile controllers
PDM: CR10nn

Target file
2715

File name Function Available for:

ifm_CRnnnn_Vxx.TRG Target file all ecomatmobile controllers
BasicDisplay: CR0451
PDM: CR10nn

PLC configuration file

2716

File name Function Available for:

ifm_CRnnnn_Vxxyyzz.CFG PLC configuration all ecomatmobile controllers
BasicDisplay: CR0451
PDM: CR10nn

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ifm device libraries

2717

File name Function Available for:

ifm_CRnnnn_Vxxyyzz.LIB device-specific library all ecomatmobile controllers
BasicDisplay: CR0451
PDM: CR10nn
ifm_CR0200_MSTR_Vxxyyzz.LIB library without extended functions ExtendedController: CR0200
ifm_CR0200_SMALL_Vxxyyzz.LIB library without extended functions, reduced functions ExtendedController: CR0200

ifm CANopen libraries master / slave

2718

These libraries are based on the CoDeSys libraries (3S CANopen POUs) and make them available to
the user in a simple way.
File name Function Available for:
ifm_CRnnnn_CANopenMaster_Vxxyyzz.LIB CANopen master emergency and status handler all ecomatmobile controllers *)
PDM: CR10nn *)
ifm_CRnnnn_CANopenSlave_Vxxyyzz.LIB CANopen slave emergency and status handler all ecomatmobile controllers *)
PDM: CR10nn *)
ifm_CANx_SDO_Vxxyyzz.LIB CANopen SDO read and SDO write PDM360: CR1050, CR1051, CR1060
PDM360compact: CR1052, CR1053, CR1055,
CR1056
ifm_CANopen_small_Vxxyyzz.LIB CANopen POUs in the CAN stack BasicController: CR0403
BasicDisplay: CR0451
ifm_CANopen_large_Vxxyyzz.LIB CANopen POUs in the CAN stack PDM360NG: CR108n
*) but NOT for...
- BasicController: CR040n
- BasicDisplay: CR0451
- PDM360NG: CR108n

CoDeSys CANopen libraries

2719

For the following devices these libraries are NOT useable:

- BasicController: CR040n
- BasicDisplay: CR0451
- PDM360NG: CR108n
File name Function Available for:
3S_CanDrvOptTable.LIB ¹) CANopen driver all ecomatmobile controllers
3S_CanDrvOptTableEx.LIB ²)
PDM360smart: CR1070, CR1071
3S_CanDrv.LIB ³) PDM360: CR1050, CR1051, CR1060
PDM360compact: CR1052, CR1053, CR1055,
CR1056
3S_CANopenDeviceOptTable.LIB ¹) CANopen slave driver all ecomatmobile controllers
3S_CANopenDeviceOptTableEx.LIB ²) PDM360smart: CR1070, CR1071
3S_CANopenDevice.LIB ³) PDM360: CR1050, CR1051, CR1060
PDM360compact: CR1052, CR1053, CR1055,
CR1056
3S_CANopenManagerOptTable.LIB ¹) CANopen network manager all ecomatmobile controllers
3S_CANopenManagerOptTableEx.LIB ²)
PDM360smart: CR1070, CR1071

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File name Function Available for:

3S_CANopenManager.LIB ³) PDM360: CR1050, CR1051, CR1060
PDM360compact: CR1052, CR1053, CR1055,
CR1056
3S_CANopenMasterOptTable.LIB ¹) CANopen master all ecomatmobile controllers
3S_CANopenMasterOptTableEx.LIB ²)
PDM360smart: CR1070, CR1071
3S_CANopenMaster.LIB ³) PDM360: CR1050, CR1051, CR1060
PDM360compact: CR1052, CR1053, CR1055,
CR1056
3S_CANopenNetVarOptTable.LIB ¹) Driver for network variables all ecomatmobile controllers
3S_CANopenNetVarOptTableEx.LIB ²) PDM360smart: CR1070, CR1071
3S_CANopenNetVar.LIB ³) PDM360: CR1050, CR1051, CR1060
PDM360compact: CR1052, CR1053, CR1055,
CR1056
¹) valid for CRnn32 target version up to V01, all other devices up to V04
²) valid for CRnn32 target version from V02 onwards, all other devices from V05 onwards
³) For the followong devices: This library is without function used as placeholder:
- BasicController: CR040n
- BasicDisplay: CR0451

Specific ifm libraries

2720

File name Function Available for:

ifm_RawCAN_small_Vxxyyzz.LIB CANopen POUs in the CAN stack based on Layer 2 BasicController: CR0401, CR0402
ifm_RawCAN_large_Vxxyyzz.LIB CANopen POUs in the CAN stack based on Layer 2 BasicController: CR0403
BasicDisplay: CR0451
PDM360NG: CR108n
ifm_J1939_small_Vxxyyzz.LIB J1939 communication POUs in the CAN stack BasicController: CR0401, CR0402
ifm_J1939_large_Vxxyyzz.LIB J1939 communication POUs in the CAN stack BasicController: CR0403
BasicDisplay: CR0451
PDM360NG: CR108n
NetVarClib.LIB additional driver for network variables BasicController: CR040n
BasicDisplay: CR0451
PDM360NG: CR108n
ifm_J1939_Vxxyyzz.LIB J1939 communication POUs up to target V04:
CabinetController: CR0303
ClassicController: CR0020, CR0505
ExtendedController: CR0200
SafetyController: CR7020, CR7200, CR7505
SmartController: CR2500
ifm_J1939_x_Vxxyyzz.LIB J1939 communication POUs from target V05:
CabinetController: CR0303
ClassicController: CR0020, CR0505
ExtendedController: CR0200
SafetyController: CR7020, CR7021, CR7200,
CR7201, CR7505, CR7506
SmartController: CR2500
PDM360smart: CR1070, CR1071
ifm_CRnnnn_J1939_Vxxyyzz.LIB J1939 communication POUs ClassicController: CR0032
ExtendedController: CR0232

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File name Function Available for:

ifm_PDM_J1939_Vxxyyzz.LIB J1939 communication POUs PDM360: CR1050, CR1051, CR1060
PDM360compact: CR1052, CR1053, CR1055,
CR1056
ifm_CANx_LAYER2_Vxxyyzz.LIB CAN POUs on the basis of layer 2: PDM360: CR1050, CR1051, CR1060
CAN transmit, CAN receive
PDM360compact: CR1052, CR1053, CR1055,
CR1056
ifm_CAN1E_ Vxxyyzz.LIB changes the CAN bus from 11 bits to 29 bits up to target V04:
PDM360smart: CR1070, CR1071
ifm_CAN1_EXT_ Vxxyyzz.LIB changes the CAN bus from 11 bits to 29 bits from target V05:
CabinetController: CR030n
ClassicController: CR0020, CR0505
ExtendedController: CR0200
PCB controller: CS0015
SafetyController: CR7020, CR7021, CR7200,
CR7201, CR7505, CR7506
SmartController: CR25nn
PDM360smart: CR1070, CR1071
ifm_CAMERA_O2M_ Vxxyyzz.LIB camera POUs PDM360: CR1051
CR2013AnalogConverter.LIB analogue value conversion for I/O module CR2013 all ecomatmobile controllers
PDM: CR10nn
ifm_Hydraulic_16bitOS04_Vxxyyzz.LIB hydraulic POUs for R360 controllers up to target V04:
ClassicController: CR0020, CR0505
ExtendedController: CR0200
SafetyController: CR7020, CR7200, CR7505
SmartController: CR25nn
ifm_Hydraulic_16bitOS05_Vxxyyzz.LIB hydraulic POUs for R360 controllers from target V05:
ClassicController: CR0020, CR0505
ExtendedController: CR0200
SafetyController: CR7020, CR7021, CR7200,
CR7201, CR7505, CR7506
SmartController: CR25nn
ifm_Hydraulic_32bit_Vxxyyzz.LIB hydraulic POUs for R360 controllers ClassicController: CR0032
ExtendedController: CR0232
ifm_SafetyIO_Vxxyyzz.LIB safety POUs SafetyController: CR7nnn
ifm_PDM_Util_Vxxyyzz.LIB help POUs PDM PDM360: CR1050, CR1051, CR1060
PDM360compact: CR1052, CR1053, CR1055,
CR1056
ifm_PDMsmart_Util_Vxxyyzz.LIB help POUs PDM PDM360smart: CR1070, CR1071
ifm_PDM_Input_Vxxyyzz.LIB alternative input POUs PDM PDM: CR10nn
ifm_PDM_Init_Vxxyyzz.LIB initialisation POUs PDM360smart PDM360smart: CR1070, CR1071
ifm_PDM_File_Vxxyyzz.LIB file POUs PDM360 PDM360: CR1050, CR1051, CR1060
PDM360compact: CR1052, CR1053, CR1055,
CR1056
Instrumente_x.LIB predefined display instruments PDM: CR10nn
Symbols_x.LIB predefined symbols PDM360: CR1050, CR1051, CR1060
PDM360compact: CR1052, CR1053, CR1055,
CR1056
Segment_x.LIB predefined 7-segment displays PDM360: CR1050, CR1051, CR1060
PDM360compact: CR1052, CR1053, CR1055,
CR1056
Further libraries on request.

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14.4 Troubleshooting
6757

Error Cause Remedy

Safe inputs are non-safe without VBBR relay is not switched on. ► Always switch on the VBBR relay
monitoring. IMPORTANT: when using safe inputs.
The monitoring of the safe inputs is only
carried out if the VBBR relay is switched
on.

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Glossary of Terms

15 Glossary of C
Terms
CAN
A CAN = Controller Area Network
CAN is a priority controlled fieldbus system for
Address larger data volumes. It is available in different
variants, e.g. "CANopen" or "CAN in
This is the "name" of the bus participant. All Automation" (CiA).
participants need a unique address so that the
signals can be exchanged without problem.
CAN stack
Application software CAN stack = stack of tasks for CAN data
communication.
Software specific to the application,
implemented by the machine manufacturer,
generally containing logic sequences, limits
and expressions that control the appropriate
Category (CAT)
inputs, outputs, calculations and decisions Classification of the safety-related parts of a
Necessary to meet the specific (SRP/CS) control system in respect of their resistance to
requirements. faults and their subsequent behaviour in the
fault condition. This safety is achieved by the
 Programming language, safety-related
structural arrangement of the parts, fault
detection and/or by their reliability.
( EN 954).
Architecture
Specific configuration of hardware and
software elements in a system. CCF
Common Cause Failure
B Failures of different items, resulting from a
common event, where these failures are not
consequences of each other.
Baud
Baud, abbrev.: Bd = unit for the data
transmission speed. Do not confuse baud with CiA
"bits per second" (bps, bits/s). Baud indicates CiA = CAN in Automation e.V.
the number of changes of state (steps, cycles)
per second over a transmission length. But it is User and manufacturer organisation in
not defined how many bits per step are Germany / Erlangen. Definition and control
transmitted. The name baud can be traced body for CAN and CAN-based network
back to the French inventor J. M. Baudot protocols.
whose code was used for telex machines. Homepage  http://www.can-cia.org
1 MBd = 1024 x 1024 Bd = 1 048 576 Bd

CiA DS 304
Bus DS = Draft Standard
Serial data transmission of several participants CAN device profile CANopen safety for
on the same cable. safety-related communication.

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Glossary of Terms

CiA DS 401 COB-ID

DS = Draft Standard COB = Communication Object
CAN device profile for digital and analogue I/O ID = Identifier
modules Via the COB-ID the participants distinguish the
different messages to be exchanged.

CiA DS 402
DS = Draft Standard
CoDeSys
CAN device profile for drives CoDeSys® is a registered trademark of 3S –
Smart Software Solutions GmbH, Germany.
"CoDeSys for Automation Alliance" associates
CiA DS 403 companies of the automation industry whose
hardware devices are all programmed with the
DS = Draft Standard widely used IEC 61131-3 development tool
CAN device profile for HMI CoDeSys®.
Homepage  http://www.3s-software.com

CiA DS 404
DS = Draft Standard CRC
CAN device profile for measurement and CRC = Cyclic Redundancy Check
control technology CRC is a method of information technology to
determine a test value for data, to detect faults
during the transmission or duplication of data.
CiA DS 405 Prior to the transmission of a block of data, a
DS = Draft Standard CRC value is calculated. After the end of the
transaction the CRC value is calculated again
Specification for interface to programmable
at the target location. Then, these two test
controllers (IEC 61131-3)
values are compared.

CiA DS 406 Cycle time

DS = Draft Standard
This is the time for a cycle. The PLC program
CAN device profile for encoders performs one complete run.
Depending on event-controlled branchings in
the program this can take longer or shorter.
CiA DS 407
DS = Draft Standard
D
CAN application profile for local public
transport
DC
Direct Current
Clamp 15
In vehicles clamp 15 is the plus cable switched
by the ignition lock.

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Glossary of Terms

DC Diagnostic coverage
Diagnostic Coverage Diagnostic Coverage
Diagnostic coverage is the measure of the Diagnostic coverage is the measure of the
effectiveness of diagnostics as the ratio effectiveness of diagnostics as the ratio
between the failure rate of detected dangerous between the failure rate of detected dangerous
failures and the failure rate of total dangerous failures and the failure rate of total dangerous
failures: failures:
Formula: DC = failure rate detected dangerous failures / Formula: DC = failure rate detected dangerous failures /
total dangerous failures total dangerous failures
Designation Range Designation Range
none DC < 60 % none DC < 60 %
low 60 % < DC < 90 % low 60 % < DC < 90 %
medium 90 % < DC < 99 % medium 90 % < DC < 99 %
high 99 % < DC high 99 % < DC
Table: Diagnostic coverage DC Table: Diagnostic coverage DC

An accuracy of 5 % is assumed for the limit An accuracy of 5 % is assumed for the limit
values shown in the table. values shown in the table.
Diagnostic coverage can be determined for the Diagnostic coverage can be determined for the
whole safety-related system or for only parts of whole safety-related system or for only parts of
the safety-related system. the safety-related system.

Demand rate rd Dither

The demand rate rd is the frequency of Dither is a component of the PWM signals to
demands to a safety-related reaction of an control hydraulic valves. It has shown for
SRP/CS per time unit. electromagnetic drives of hydraulic valves that
it is much easier for controlling the valves if the
control signal (PWM pulse) is superimposed by
Diagnosis a certain frequency of the PWM frequency.
This dither frequency must be an integer part
During the diagnosis, the "state of health" of of the PWM frequency.
the device is checked. It is to be found out if  chapter What is the dither? (→ page 294)
and what faults are given in the device.
Depending on the device, the inputs and
outputs can also be monitored for their correct Diversity
function.
- wire break, In technology diversity is a strategy to increase
- short circuit, failure safety.
- value outside range. The systems are designed redundantly,
For diagnosis, configuration and log data can however different implementations are used
be used, created during the "normal" operation intentionally and not any individual systems of
of the device. the same design. It is assumed that systems of
the same performance, however of different
The correct start of the system components is implementation, are sensitive or insensitive to
monitored during the initialisation and start different interference and will therefore not fail
phase. Errors are recorded in the log file. simultaneously.
For further diagnosis, self-tests can also be The actual implementation may vary according
carried out. to the application and the requested safety:
 use of components of several
manufacturers,
 use of different protocols to control
devices,
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 use of totally different technologies, for The firmware establishes the connection
example an electrical and a pneumatic between the hardware of the device and the
controller, user software. This software is provided by the
manufacturer of the controller as a part of the
 use of different measuring methods
system and cannot be changed by the user.
(current, voltage),
 two channels with reverse value
progression: EMCY
channel A: 0...100 %
channel B: 100...0 % abbreviation for emergency

DRAM EMV
DRAM = Dynamic Random Access Memory EMC = Electro Magnetic Compatibility
Technology for an electronic memory module According to the EC directive (2004/108/EEC)
with random access (Random Access concerning electromagnetic compatibility (in
Memory, RAM). The memory element is a short EMC directive) requirements are made
capacitor which is either charged or for electrical and electronic apparatus,
discharged. It becomes accessible via a equipment, systems or components to operate
switching transistor and is either read or satisfactorily in the existing electromagnetic
overwritten with new contents. The memory environment. The devices must not interfere
contents are volatile: the stored information is with their environment and must not be
lost in case of lacking operating voltage or too adversely influenced by external
late restart. electromagnetic interference.

DTC Ethernet
DTC = Diagnostic Trouble Code = error code Ethernet is a widely used,
Faults and errors well be managed and manufacturer-independent technology which
reported via assigned numbers – the DTCs. enables data transmission in the network at a
speed of 10 or 100 million bits per second
(Mbps). Ethernet belongs to the family of
E so-called "optimum data transmission" on a
non exclusive transmission medium. The
concept was developed in 1972 and specified
ECU as IEEE 802.3 in 1985.
(1) Electronic Control Unit = control unit or
microcontroller
(2) Engine Control Unit = control device of a EUC
motor
EUC = "Equipment Under Control"
EUC is equipment, machinery, apparatus or
EDS-file plant used for manufacturing, process,
transportation, medical or other activities
EDS = Electronic Data Sheet, e.g. for: ( IEC 61508-4, section 3.2.3). Therefore, the
 File for the object directory in the master EUC is the set of all equipment, machinery,
apparatus or plant that gives rise to hazards
 CANopen device descriptions for which the safety-related system is required.
Via EDS devices and programs can exchange If any reasonably foreseeable action or
their specifications and consider them in a inaction leads to hazards with an intolerable
simplified way. risk arising from the EUC, then safety functions
are necessary to achieve or maintain a safe
state for the EUC. These safety functions are
Embedded software performed by one or more safety-related
System software, basic program in the device, systems.
virtually the operating system.

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(in the worst case 100 ms,  Watchdog

F (→ page 109)) and the possible delay and
response times due to switching elements
have to be considered.
Failure The resulting total time must be smaller than
Failure is the termination of the ability of an the fault tolerance time of the application.
item to perform a required function.
After a failure, the item has a fault. Failure is
an event, fault is a state. FiFo
The concept as defined does not apply to FiFo (First In, First Out) = operation of the
items consisting of software only. stack: the data package which was written into
a stack at first will be read at first too. For
every identifier there is such one buffer (as a
Failure, dangerous queue) available.
A dangerous failure has the potential to put the
SRP/SC in a hazardous or fail-to-function
state. Whether or not the potential is realized Firmware
can depend on the channel architecture of the System software, basic program in the device,
system; in redundant systems a dangerous virtually the operating system.
hardware failure is less likely to lead to the
The firmware establishes the connection
overall dangerous or fail-to-function state.
between the hardware of the device and the
user software. This software is provided by the
manufacturer of the controller as a part of the
Failure, systematic system and cannot be changed by the user.
A systematic failure is a failure related in a
deterministic way (not coincidental) to a certain
cause. The systematic failure can only be First fault occurrence time
eliminated by a modification of the design or of
Time until the first failure of a safety element.
the manufacturing process, operational
procedures, documentation or other relevant The operating system verifies the controller by
factors. means of the internal monitoring and test
routines within a period of max. 30 s.
Corrective maintenance without modification of
the system will usually not eliminate the failure This "test cycle time" must be smaller than the
cause. statistical first fault occurrence time for the
application.

Fault
Flash memory
A fault is the state of an item characterized by
the inability to perform the requested function, Flash ROM (or flash EPROM or flash memory)
excluding the inability during preventive combines the advantages of semiconductor
maintenance or other planned actions, or due memory and hard disks. Just like every other
to lack of external resources. semiconductor memory the flash memory does
not require moving parts. And the data is
A fault is often the result of a failure of the item
maintained after switch-off, similar to a hard
itself, but may exist without prior failure.
disk.
In ISO 13849-1 "fault" means "random fault".
The flash ROM evolved from the EEPROM
(Electrical Erasable and Programmable
Read-Only Memory). The storage function of
Fault tolerance time data in the flash ROM is identical to the
The max. time it may take between the EEPROM. Similar to a hard disk, the data are
occurrence of a fault and the establishment of however written and deleted blockwise in data
the safe state in the application without having blocks up to 64, 128, 256, 1024, ... bytes at the
to assume a danger for people. same time.
The max. cycle time of the application program

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Advantages of flash memories the correct functioning of the electric or

electronic safety-related system, safety-related
 The stored data are maintained even if systems of other technologies and external
there is no supply voltage. devices for risk reduction.
 Due to the absence of moving parts, flash
is noiseless and insensitive to shocks and
magnetic fields. H
 In comparison to hard disks, flash
memories have a very short access time. Harm
Read and write speed are virtually
constant across the entire memory area. Physical injury or damage to health.
 The memory size that can be obtained has
no upper limit, due to the simple and
space-saving arrangement of the storage Hazard
cells. Hazard is the potential source of harm.
Disadvantages of flash memories A distinction is made between the source of
 A storage cell can tolerate a limited the hazard, e.g.:
number of write and delete processes: - mechanical hazard,
- Multi-level cells: typ. 10 000 cycles - electrical hazard,
- Single level cells: typ. 100 000 cycles or the nature of the potential harm, e.g.:
- electric shock hazard,
 Given that a write process writes memory - cutting hazard,
blocks of between 16 and 128 Kbytes at - toxic hazard.
the same time, memory cells which require
no change are used as well. The hazard envisaged in this definition is either
permanently present during the intended use
of the machine, e.g.:
- motion of hazardous moving elements,
FMEA - electric arc during a welding phase,
FMEA = Failure Mode and Effects Analysis - unhealthy posture,
- noise emission,
Method of reliability engineering, to find
- high temperature,
potential weak points. Within the framework of
or the hazard may appear unexpectedly, e.g.:
quality or security management, the FMEA is
- explosion,
used preventively to prevent faults and
- crushing hazard as a consequence of an
increase the technical reliability.
unintended/unexpected start-up,
- ejection as a consequence of a breakage,
- fall as a consequence of
FRAM acceleration/deceleration.
FRAM, or also FeRAM, means Ferroelectric
Random Access Memory. The storage
operation and erasing operation is carried out Heartbeat
by a polarisation change in a ferroelectric
The participants regularly send short signals.
layer.
In this way the other participants can verify if a
Advantages of FRAM as compared to participant has failed. No master is necessary.
conventional read-only memories:
 compatible with common EEPROMs,
 no power supply for data preservation, HMI
 write time approx. 100 ns, HMI = Human Machine Interface
 1010 read and write cycles guaranteed.

Functional safety
Part of the overall safety referred to the EUC
and the EUC control system which depends on

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I ISO 11992
Standard: "Interchange of digital information on
ID electrical connections between towing and
ID = Identifier towed vehicles"
Name to differentiate the devices / participants Part 1: "Physical and data-link layers"
connected to a system or the message Part 2: "Application layer for brakes and
packets transmitted between the participants. running gear"
Part 3: "Application layer for equipment other
than brakes and running gear"
IEC user cycle Part 4: "Diagnostics"
IEC user cycle = PLC cycle in the CoDeSys
application program.
ISO 16845
Standard: "Road vehicles – Controller area
Instructions network (CAN) – Conformance test plan"
Superordinate word for one of the following
terms:
installation instructions, data sheet, user L
information, operating instructions, device
manual, installation information, online help,
system manual, programming manual, etc. LED
LED = Light Emitting Diode
Light emitting diode, also called luminescent
Intended use diode, an electronic element of high coloured
Use of a product in accordance with the luminosity at small volume with negligible
information provided in the instructions for use. power loss.

IP address Life, mean

IP = Internet Protocol Mean Time To Failure (MTTF) or: mean life.
The IP address is a number which is The MTTFd is the expectation of the mean time
necessary to clearly identify an internet to dangerous failure.
participant. For the sake of clarity the number Designation Range
is written in 4 decimal values, e.g. low 3 years < MTTFd < 10 years
127.215.205.156. medium 10 years < MTTFd < 30 years
high 30 years < MTTFd < 100 years
Table: Mean time of each channel to the dangerous failure
ISO 11898 MTTFd
Standard: "Road vehicles – Controller area
network"
Part 1: "Data link layer and physical signalling" Link
Part 2: "High-speed medium access unit"
A link is a cross-reference to another part in
Part 3: "Low-speed, fault-tolerant, medium the document or to an external document.
dependent interface"
Part 4: "Time-triggered communication"
Part 5: "High-speed medium access unit with LSB
low-power mode" Least Significant Bit/Byte

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M
MTBF
MAC-ID Mean Time Between Failures (MTBF)
Is the expected value of the operating time
MAC = Manufacturer‘s Address Code between two consecutive failures of items that
= manufacturer's serial number are maintained.
ID = Identifier NOTE: For items that are NOT maintained the
Every network card has a MAC address, a mean life MTTF is the expected value (mean
clearly defined worldwide unique numerical value) of the distribution of lives.
code, more or less a kind of serial number.
Such a MAC address is a sequence of
6 hexadecimal numbers, e.g. MTTF
"00-0C-6E-D0-02-3F".
Mean Time To Failure (MTTF) or: mean life.

Master
MTTFd
Handles the complete organisation on the bus.
The master decides on the bus access time Mean Time To Failure (MTTF) or: mean life.
and polls the slaves cyclically. The MTTFd is the expectation of the mean time
to dangerous failure.
Designation Range
Mission time TM low 3 years < MTTFd < 10 years

Mission time TM is the period of time covering medium 10 years < MTTFd < 30 years
the intended use of an SRP/CS. high 30 years < MTTFd < 100 years
Table: Mean time of each channel to the dangerous failure
MTTFd
Misuse
The use of a product in a way not intended by
the designer. Muting
The manufacturer of the product has to warn Muting is the temporary automatic suspension
against readily predictable misuse in his user of a safety function(s) by the SRP/CS.
information.
Example: The safety light curtain is bridged, if
the closing tools have reached a finger-proof
distance to each other. The operator can now
MMI approach the machine without any danger and
HMI = Human Machine Interface guide the workpiece.
 HMI (→ page 388)
N
Monitoring
Safety function which ensures that a protective NMT
measure is initiated: NMT = Network Management = (here: in the
 if the ability of a component or an element CAN bus)
to perform its function is diminished. The NMT master controls the operating states
 if the process conditions are changed in of the NMT slaves.
such a way that the resulting risk
increases.
Node
This means a participant in the network.
MSB
Most Significant Bit/Byte
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expansion cards of mobile computers.

Since the introduction of the cardbus standard
Node Guarding in 1995 PCMCIA cards have also been called
Network participant PC card.
Configurable cyclic monitoring of each slave
configured accordingly. The master verfies if
the slaves reply in time. The slaves verify if the PDM
master regularly sends requests. In this way PDM = Process and Dialogue Module
failed network participants can be quickly
identified and reported. Device for communication of the operator with
the machine / plant.

O
PDO
Obj / object PDO = Process Data Object
Term for data / messages which can be The time-critical process data is transferred by
exchanged in the CANopen network. 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
Object directory event-controlled (asynchronous) or
Contains all CANopen communication synchronised. Depending on the type of data
parameters of a device as well as to be transferred the correct selection of the
device-specific parameters and data. type of transmission can lead to considerable
relief for the CAN bus.
These services are not confirmed by the
OBV protocol, i.e. it is not checked whether the
message reaches the receiver. Exchange of
Contains all CANopen communication
network variables corresponds to a "1 to
parameters of a device as well as
n connection" (1 transmitter to n receivers).
device-specific parameters and data.

Operating system PDU

PDU = Protocol Data Unit
Basic program in the device, establishes the
connection between the hardware of the The PDU is an item of the CAN protocol
device and the user software. SAE J1939. PDU indicates a part of the
destination or source address.

Operational
Performance Level
Operating state of a CANopen participant. In
this mode SDOs, NMT commands and PDOs Performance Level
can be transferred. According to ISO 13849-1, a specification
(PL a...e) of safety-related parts of control
systems to perform a safety function under
P foreseeable conditions.
 Chapter Performance Level PL (→ page 14)
PC card
PCMCIA card PES
Programmable Electronic System
A programmable electronic system is a system
PCMCIA card ...
PCMCIA = Personal Computer Memory Card - for control, protection or monitoring,
International Association, a standard for - dependent for its operation on one or more

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programmable electronic devices, foreseeable conditions.

- including all elements of the system such as  Chapter Performance Level PL (→ page 14)
input and output devices.

PLC configuration
PGN Part of the CoDeSys user interface.
PGN = Parameter Group Number ► The programmer tells the programming
PGN = PDU format (PF) + PDU source (PS) system which hardware is to be
The parameter group number is an item of the programmed.
CAN protocol SAE J1939. PGN collects the > CoDeSys loads the corresponding
address parts PF and PS. libraries.
> Reading and writing the peripheral states
(inputs/outputs) is possible.
Pictogram
Pictograms are figurative symbols which
convey information by a simplified graphic PLr
representation.
Using the "required performance level" PLr the
 Chapter What do the symbols and formats risk reduction for each safety function
stand for? (→ page 7) according to ISO 13849 is achieved.
For each selected safety function to be carried
out by a SRP/CS, a PLr shall be determined
PID controller and documented. The determination of the PLr
P = proportional part is the result of the risk assessment and refers
The P controller exclusive consists of a to the amount of the risk reduction.
proportional part of the amplification Kp. The
output signal is proportional to the input signal.
Pre-Op
Pre-Op = Pre-operational mode
Operating status of a CANopen participant.
After application of the supply voltage each
I = integral part participant automatically passes into this state.
An I controller acts to the manipulating variable In the CANopen network only SDOs and NMT
by phasing integration of the control deviation commands can be transferred in this mode but
with emphasis on the reset time TN. no process data.

prepared
Operating status of a CANopen participant. In
D = differential part this mode only NMT commands are
The D controller doesn't react on the control transferred.
deviation but only on their speed of change.

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
PL reads the conditions of all inputs into the
Performance Level process image.
According to ISO 13849-1, a specification During the cycle the PLC cannot detect
(PL a...e) of safety-related parts of control changes to the inputs.
systems to perform a safety function under  During the cycle the outputs are only

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changed virtually (in the process image). - safeguarding measures (guards),

 At the end of the cycle the PLC writes the - complementary protective measures (user
virtual output states to the real outputs. information),
- personal protective equipment (helmet,
protective goggles).
Programming language,
safety-related PWM
Only the following programming languages PWM = pulse width modulation
shall be used for safety-related applications:
Via PWM a digital output (capability provided
 Limited variability language (LVL) that by the device) can provide an almost analogue
provides the capability of combining voltage by means of regular fast pulses. The
predefined, application-specific library PWM output signal is a pulsed signal between
functions. GND and supply voltage.
In CoDeSys these are LD (ladder diagram)
Within a defined period (PWM frequency) the
and FBD (function block diagram).
mark-to-space ratio is varied. Depending on
 Full variability language (FVL) provides the the mark-to-space ratio, the connected load
capability of implementing a wide variety of determines the corresponding RMS current.
functions.  chapter PWM signal processing
These include e.g. C, C++, Assembler. In (→ page 273)
CoDeSys it is ST (structured text).  chapter What does a PWM output do?
► Structured text is recommended (→ page 293)
exclusively in separate, certified functions,
usually in embedded software.
R
► In the "normal" application program only
LD and FBD should be used. The following
minimum requirements shall be met. Ratio
In general the following minimum requirements Measurements can also be performed
are made on the safety-related application ratiometrically. The input signal generates an
software (SRASW): output signal which is in a defined ratio to the
► Modular and clear structure of the input signal. This means that analogue input
program. Consequence: simple testability. signals can be evaluated without additional
► Functions are represented in a reference voltage. A fluctuation of the supply
comprehensible manner: voltage has no influence on this measured
- for the operator on the screen value.
(navigation)  Chapter Counter functions (→ page 258)
- readability of a subsequent print of the
document.
► Use symbolic variables (no IEC RAW-CAN
addresses). RAW-CAN means the pure CAN protocol
► Use meaningful variable names and which works without an additional
comments. communication protocol on the CAN bus (on
ISO/OSI layer 2). The CAN protocol is
► Use easy functions (no indirect international defined according to ISO 11898-1
addressing, no variable fields). and garantees in ISO 16845 the
► Defensive programming. interchangeability of CAN chips in addition.
► Easy extension or adaptation of the
program possible.
Redundant
Redundancy is the presence of more than the
Protective measure necessary means so that a function unit
Measure intended to achieve risk reduction, performs a requested function or that data can
e.g.: represent information.
- fault-excluding design, Several kinds of redundancy are distinguished:

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 Functional redundancy aims at designing

safety-related systems in multiple ways in Risk
parallel so that in the event of a failure of
one component the others ensure the task. Combination of the probability of occurrence of
harm and the severity of that harm.
 In addition it is tried to separate redundant
systems from each other with regard to
space. Thus the risk that they are affected
by a common interference is minimised. Risk analysis
 Finally, components from different Combination of ...
manufacturers are sometimes used to  the specification of the limits of the
avoid that a systematic fault causes all machine (intended use, time limits),
redundant systems to fail (diverse
redundancy).  hazard identification (intervention of
people, operating status of the machine,
The software of redundant systems should foreseeable misuse) and
differ in the following aspects:
 the risk estimation (degree of injury, extent
 specification (different teams), of damage, frequency and duration of the
 specification language, risk, probability of occurrence, possibility of
avoiding the hazard or limiting the harm).
 programming (different teams),
 programming language,
 compiler. Risk assessment
Overall process comprising risk analysis and
risk evaluation.
Remanent According to Machinery Directive 2006/42/EU
Remanent data is protected against data loss the following applies: "The manufacturer of
in case of power failure. machinery or his authorised representative
The operating system for example must ensure that a risk assessment is carried
automatically copies the remanent data to a out in order to determine the health and safety
flash memory as soon as the voltage supply requirements which apply to the machinery.
falls below a critical value. If the voltage supply The machinery must then be designed and
is available again, the operating system loads constructed taking into account the results of
the remanent data back to the RAM memory. the risk assessment." ( Annex 1, General
principles)
The data in the RAM memory of a controller,
however, is volatile and normally lost in case of
power failure.
Risk evaluation
Judgement, on the basis of the risk analysis, of
Reset, manual whether risk reduction objectives have been
4021
achieved.
The manual reset is an internal function within
the SRP/CS used to restore manually one or
more safety functions before re-starting a ro
machine. RO = read only for reading only
Unidirectional data transmission: Data can only
be read and not changed.
Residual risk
Risk remaining after protective measures have
been taken. The residual risk has to be clearly RTC
warned against in operating instructions and
RTC = Real Time Clock
on the machine.
Provides (batter-backed) the current date and
time. Frequent use for the storage of error
message protocols.

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rw Safety-standard types
RW = read/ write The safety standards in the field of machines
Bidirectional data transmission: Data can be are structured as below:
read and also changed. Type-A standards (basic safety standards)
giving basic concepts, principles for design,
and general aspects that can be applied to all
S machinery. Examples: basic terminology,
methodology (ISO 12100-1), technical
principles (ISO 12100-2), risk assessment
SAE J1939 (ISO 14121), ...
The network protocol SAE J1939 describes the Type-B standards (generic safety standards)
communication on a CAN bus in commercial dealing with one safety aspect or one type of
vehicles for transmission of diagnosis data safeguard that can be used across a wide
(e.g.motor speed, temperature) and control range of machinery.
information.
 CiA DS 402  Type-B1 standards on particular safety
aspects. Examples: safety distances
Standard: "Recommended Practice for a Serial (EN 294), hand/arm speeds (EN 999),
Control and Communications Vehicle Network" safety-related parts of control systems
Part 2: "Agricultural and Forestry Off-Road (ISO 13849), temperatures, noise, ...
Machinery Control and Communication  Type-B2 standards on safeguards.
Network" Examples: emergency stop circuits
Part 3: "On Board Diagnostics Implementation ((ISO 13850), two-hand controls,
Guide" interlocking devices or electro-sensitive
Part 5: "Marine Stern Drive and Inboard protective equipment (ISO 61496), ...
Spark-Ignition Engine On-Board Diagnostics Type-C standards (machine safety standards)
Implementation Guide" dealing with detailed safety requirements for a
Part 11: "Physical Layer – 250 kBits/s, particular machine or group of machines.
Shielded Twisted Pair"
Part 13: "Off-Board Diagnostic Connector"
SCT
Part 15: "Reduced Physical Layer, 250 kBits/s,
Un-Shielded Twisted Pair (UTP)" In CANopen safety the Safeguard Cycle Time
(SCT) monitors the correct function of the
Part 21: "Data Link Layer" periodic transmission (data refresh) of the
Part 31: "Network Layer" SRDOs. The data must have been repeated
Part 71: "Vehicle Application Layer" within the set time to be valid. Otherwise the
receiving controller signals a fault and passes
Part 73: "Application Layer – Diagnostics" into the safe state (= outputs switched off).
Part 81: "Network Management Protocol"

SD card
Safety function An SD memory card (short for Secure Digital
Function of the machine whose failure can Memory Card) is a digital storage medium that
result in an immediate increase of the risk(s). operates to the principle of flash storage.
The designer of such a machine therefore has
to:
- safely prevent a failure of the safety function, SDO
- reliably detect a failure of the safety function
in time, SDO = Service Data Object.
- bring the machine into a safe state in time in SDO is a specification for a
the event of a failure of the safety function. manufacturer-dependent data structure for
standardised data access. "Clients" ask for the
requested data from "servers". The SDOs
always consist of 8 bytes. Longer data

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packages are distributed to several messages. safety-related output signals. The combined
Examples: safety-related parts of a control system start at
the point where the safety-related input signals
 Automatic configuration of all slaves via are initiated (including, for example, the
SDOs at the system start, actuating cam and the roller of the position
 reading error messages from the object switch) and end at the output of the power
directory. control elements (including, for example, the
main contacts of a contactor).
Every SDO is monitored for a response and
repeated if the slave does not respond within
the monitoring time.
SRVT
The SRVT (Safety-Related Object Validation
Self-test Time) ensures with CANopen safety that the
time between the SRDO-message pairs is
Test program that actively tests components or
adhered to.
devices. The program is started by the user
and takes a certain time. The result is a test Only if the redundant, inverted message has
protocol (log file) which shows what was tested been transmitted after the original message
and if the result is positive or negative. within the SRVT set are the transmitted data
valid. Otherwise the receiving controller signals
a fault and will pass into the safe state
SIL (= outputs switched off).

According to IEC 62061 the safety-integrity

level SIL is a classification (SIL CL 1...4) of the State, safe
safety integrity of the safety functions. It is
used for the evaluation of The state of a machine is said to be safe when
electrical/electronic/programmable electronic there is no more hazard formed by it. This is
(E/E/EP) systems with regard to the reliability usually the case if all possible dangerous
of safety functions. The safety-related design movements are switched off and cannot start
principles that have to be adhered to so that again unexpectedly.
the risk of a malfunction can be minimised
result from the required level.
Symbols
Pictograms are figurative symbols which
Slave convey information by a simplified graphic
Passive participant on the bus, only replies on representation.
request of the master. Slaves have a clearly  Chapter What do the symbols and formats
defined and unique address in the bus. stand for? (→ page 7)

SRDO System variable

Safe data is exchanged via SRDOs Variable to which access can be made via IEC
(Safety-Related Data Objects). An SRDO address or symbol name from the PLC.
always consists of two CAN messages with
different identifiers:
 message 1 contains the original user data,
T
 message 2 contains the same data which
are inverted bit by bit. Target
The target indicates the target system where
the PLC program is to run. The target contains
SRP/CS the files (drivers and if available specific help
Safety-Related Part of a Control System files) required for programming and parameter
setting.
Part of a control system that responds to
safety-related input signals and generates

396
 ifm System Manual ecomatmobile SafetyController (CR7021, CR7201, CR7506) V06
Glossary of Terms

mean life MTTF is the expected value (mean

value) of the distribution of lives.
TCP
The Transmission Control Protocol is part of
the TCP/IP protocol family. Each TCP/IP data Use, intended
connection has a transmitter and a receiver.
This principle is a connection-oriented data Use of a product in accordance with the
transmission. In the TCP/IP protocol family the information provided in the instructions for use.
TCP as the connection-oriented protocol
assumes the task of data protection, data flow
control and takes measures in the event of
W
data loss.
(compare: UDP) Watchdog
In general the term watchdog is used for a
component of a system which watches the
Template function of other components. If a possible
A template can be filled with content. malfunction is detected, this is either signalled
Here: A structure of pre-configured software or suitable program branchings are activated.
elements as basis for an application program. The signal or branchings serve as a trigger for
other co-operating system components to
solve the problem.
Test rate rt
The test rate rt is the frequency of the wo
automatic tests to detect errors in an SRP/CS
in time. WO = write only
Unidirectional data transmission: Data can only
be changed and not read.
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. These services are not confirmed by
the protocol, i.e. it is not checked whether the
message is received. Exchange of network
variables corresponds to a "1 to n connection"
(1 transmitter to n receivers).

Uptime, mean
Mean Time Between Failures (MTBF)
Is the expected value of the operating time
between two consecutive failures of items that
are maintained.
NOTE: For items that are NOT maintained the

397
 ifm System Manual ecomatmobile SafetyController (CR7021, CR7201, CR7506) V06
Index

CAN................................................................... 383
16 Index
CAN bus level.................................................... 122
A distinction is made between the following errors:
........................................................................... 245 CAN bus level according to ISO 11992-1 ......... 122

About the ifm templates ................................. 66, 68 CAN device.........................................170, 190, 223

About this manual .................................................. 7 CAN device configuration ................................. 191

Above-average stress ......................................... 108 CAN error .......................................................... 116

Access to the CAN device at runtime ................ 197 CAN errors......................................................... 242

Access to the OD entries by the application CAN errors and error handling ...........121, 215, 242
program.............................................................. 197 CAN for the drive engineering........................... 154
Access to the status of the CANopen master ..... 187 CAN interfaces .................................................. 120
Access to the structures at runtime of the CAN network variables.......................120, 170, 198
application.......................................... 212, 213, 215
CAN stack.......................................................... 383
Achievable safety class ........................................ 45
CAN units acc. to SAE J1939.....120, 134, 141, 154
Activating the PLC configuration ........................ 63
CAN_SAFETY_RECEIVE (FB).............................
Adapting analogue values .................................. 255 ...................... 33, 145, 147, 150, 234, 235, 236, 239
Add and configure CANopen slaves.......... 177, 196 CAN_SAFETY_TRANSMIT (FB) .........................
Address .............................................................. 383 ..............................33, 143, 234, 235, 236, 237, 240

Address assignment and I/O operating modes ... 368 CAN1_BAUDRATE (FB)..................129, 130, 197

Address assignment inputs / outputs .................. 372 CAN1_DOWNLOADID (FB)........................... 132

Addresses / I/O variables ................................... 368 CAN1_EXT (FB)........................134, 136, 138, 197

'Addresses' in CANopen .................................... 172 CAN1_EXT_ERRORHANDLER (FB) ............ 140

After application of the supply voltage ................ 52 CAN1_EXT_RECEIVE (FB) ............................ 138

Analogue inputs ................................................... 88 CAN1_EXT_TRANSMIT (FB) ........................ 136

Annex........................................................... 61, 368 CAN2 (FB) .................129, 141, 143, 145, 152, 159

Application program ............................................ 56 CAN-ID ......................................125, 126, 128, 155

Application software .......................................... 383 CANopen for safety-related communication ..... 232

Applications ........................................... 36, 87, 258 CANopen master.................................170, 173, 213

Architecture........................................................ 383 CANopen Safety in safety-related applications .. 29,

33, 103, 231
Archiving of documentation ................................ 12
CANopen support by CoDeSys ..................170, 171
Automatic configuration of slaves ..................... 180
CANopen terms and implementation................. 172
Automatic data backup....................................... 343
CANx_ERRORHANDLER (FB) ...............152, 244
Availability of PWM.......................................... 272
CANx_EXT_RECEIVE_ALL (FB) .................. 150
Available memory (CR7nnn)............................. 109
CANx_MASTER_EMCY_HANDLER (FB)..... 69,
Baud ................................................................... 383 205, 207, 246
Boot up of the CANopen master........................ 183 CANx_MASTER_SEND_EMERGENCY (FB)
Boot up of the CANopen slaves......................... 184 ............................................................205, 207, 246

Bus ..................................................................... 383 CANx_MASTER_STATUS (FB) ...........................

..... 69, 180, 182, 183, 184, 185, 186, 187, 189, 210,
Bus cable length ................................................. 123 213
Calculation examples RELOAD value .............. 276 CANx_RECEIVE (FB).......125, 128, 129, 145, 147
Calculation of the RELOAD value ............ 275, 280 CANx_RECEIVE_RANGE (FB) ...................... 147
398
 ifm System Manual ecomatmobile SafetyController (CR7021, CR7201, CR7506) V06
Index

CANx_SDO_READ (FB).................. 174, 227, 245 Configure outputs ................................................ 92

CANx_SDO_WRITE (FB) ........................ 174, 229 Connect e-stop ..................................................... 82
CANx_SLAVE_EMCY_HANDLER (FB) ............. Connect terminal VBBO (5) to battery (not
......................................69, 190, 197, 218, 220, 246 switched).............................................................. 49
CANx_SLAVE_NODEID (FB)................. 197, 217 Connect terminal VBBS (23) to the ignition switch
............................................................................. 49
CANx_SLAVE_SEND_EMERGENCY (FB).........
............................................190, 197, 218, 220, 246 Control hydraulic valves with current-controlled
outputs................................................................ 293
CANx_SLAVE_STATUS (FB)........... 69, 197, 223
CONTROL_OCC (FB)...............................297, 298
CANx_TRANSMIT (FB) ...........125, 128, 129, 143
Controlled system with delay............................. 314
Categories to ISO 13849 ................................ 16, 19
Controlled system without inherent regulation .. 314
Category (CAT) ................................................. 383
Controller functions ........................................... 313
CCF.................................................................... 383
Counter functions for frequency and period
Certification and distribution of the safety-related
measurement .......................................258, 373, 393
software.............................................................. 112
CPU frequency................................................... 107
Change the PDO properties at runtime .............. 197
CRC ................................................................... 384
Changes of the manual (S16)............................... 8
Create a CANopen project ................................. 174
Changing the safety-relevant software after
certification ........................................................ 113 Creating application program........................28, 111
Changing the standard mapping by the master Current control with PWM .........................285, 373
configuration ...................................................... 196
Current measurement with PWM channels........ 286
CHECK_DATA (FB) .................................. 32, 359
Cycle time .......................................................... 384
CiA..................................................................... 383
Cyclical transmission of the SYNC message..... 181
CiA DS 304........................................................ 383
Damping of overshoot........................................ 315
CiA DS 401........................................................ 384
Data access and data check .........................104, 351
CiA DS 402........................................................ 384
Data reception .................................................... 128
CiA DS 403........................................................ 384
Data transmission............................................... 128
CiA DS 404........................................................ 384
DC...............................................................384, 385
CiA DS 405........................................................ 384
DEBUG mode...................................................... 60
CiA DS 406........................................................ 384
DELAY (FB) ..................................................... 317
CiA DS 407........................................................ 384
Demand rate rd................................................... 385
Clamp 15............................................................ 384
Demo program for controller ............................... 75
COB-ID.............................................................. 384
Demo programs for PDM and BasicDisplay ....... 76
CoDeSys ............................................................ 384
Description of the CAN standard program units......
CoDeSys CANopen libraries ............................. 379 ........................................................................... 129
Communication via interfaces............................ 327 Diagnosis ........................................................... 385
Communication via the internal SSC interface ........ Diagnostic coverage........................................... 385
........................................................................... 334
Differentiation from other CANopen libraries... 173
Configuration of all correctly detected devices.. 180
Digital and PWM outputs .................................... 92
Configuration of CAN network variables .......... 199
Digital inputs........................................................ 79
Configurations................................................ 15, 61
Digital outputs for safety functions...................... 93
Configure inputs................................................... 79
Digital safety inputs ............................................. 80

399
 ifm System Manual ecomatmobile SafetyController (CR7021, CR7201, CR7506) V06
Index

Dither ................................................................. 385 Fail-safe sensors and safety signal transmitters ... 30
Dither frequency and amplitude......................... 295 Failure ................................................................ 387
Diversity............................................................. 385 Failure, dangerous.............................................. 387
DRAM ............................................................... 386 Failure, systematic ............................................. 387
DTC ................................................................... 386 Fast inputs............................................................ 86
ECU ................................................................... 386 Fast safety inputs ................................................. 86
EDS-file ............................................................. 386 FAST_COUNT (FB) ....................................86, 270
Embedded software............................................ 386 Fatal error............................................................. 57
EMCY................................................................ 386 Fatal errors ......................................................... 116
EMCY error code............................................... 246 Fault ................................................................... 387
EMV................................................................... 386 Fault tolerance time ........................................... 387
Error counter ...................................................... 243 FB, FUN, PRG in CoDeSys............................... 110
Error message..................................................... 242 Feedback in case of externally supplied outputs......
............................................................................. 54
Error messages ........................................... 114, 374
FiFo.................................................................... 387
Ethernet.............................................................. 386
Files for the operating system / runtime system.......
EUC ................................................................... 386
........................................................................... 378
Example
Firmware............................................................ 387
CANx_MASTER_SEND_EMERGENCY ........
First fault occurrence time ................................. 387
................................................................ 209
Flash memory .................................................... 387
CANx_MASTER_STATUS ................ 212, 214
FLASHREAD (FB) ........................................... 348
CANx_SLAVE_SEND_EMERGENCY...... 222
FLASHWRITE (FB).......................................... 346
CHECK_DATA ........................................... 360
FMEA ................................................................ 388
detailed message documentation .................. 156
Folder structure in general ................................... 68
Initialisation of CANx_RECEIVE_RANGE
in 4 cycles ....................................... 147, 149 FRAM ................................................................ 388
NORM_HYDRAULIC ................................ 312 FRAMREAD (FB)............................................. 350
SAFE_ANALOG_OK.............................. 34, 35 FRAMWRITE (FB)........................................... 349
SAFE_FREQUENCY_OK................. 36, 37, 87 FREQUENCY (FB)..........36, 86, 87, 258, 259, 261
SAFE_INPUTS_OK .......................... 38, 40, 82 Function configuration of the inputs and outputs.....
..................................................................30, 78, 94
SAFETY_SWITCH.................................. 41, 43
Functional safety................................................ 388
short message documentation....................... 157
Functionality of the CAN device library............ 190
Example 1 .......................................................... 257
Functions and features ......................................... 44
Example 2 .......................................................... 257
Functions for CANopen Safety.......................... 236
Example Dither .................................................. 296
Functions for controllers .................................... 316
Example fail-safe sensor ...................................... 85
Functions of the library ifm_hydraulic_16bitOS05
Example of an object directory .......................... 191
........................................................................... 297
Example process for response to a system error ......
Further ifm libraries for CANopen .................... 226
........................................................................... 118
General............................................................... 313
Exchange of CAN data .............................. 121, 125
General about CAN ........................................... 119
ExtendedSafetyController CR7200/CR7201 ....... 29
General information ......................................11, 198
400
 ifm System Manual ecomatmobile SafetyController (CR7021, CR7201, CR7506) V06
Index

General information about CANopen with INPUT_VOLTAGE (FB) .............................76, 253

CoDeSys ............................................................ 171
Inputs for fail-safe inductive sensors ..............30, 83
General notes and explanations on CANopen
Instructions ........................................................ 389
Safety ................................................................. 231
Intended use ....................................................... 389
General overview ............................................... 376
IP address........................................................... 389
GET_IDENTITY (FB)....................................... 355
ISO 11898.......................................................... 389
Global failsafe command GFC........................... 234
ISO 11992.......................................................... 389
GLR (FB) ........................................................... 325
ISO 16845.......................................................... 389
Hardware structure................................... 45, 48, 49
J1939_x (FB) ..................................................... 159
Harm .................................................................. 388
J1939_x_GLOBAL_REQUEST (FB) ............... 168
Hazard................................................................ 388
J1939_x_RECEIVE (FB)................................... 160
Heartbeat ............................................................ 388
J1939_x_RESPONSE (FB) ............................... 164
Heartbeat from the master to the slaves ............. 181
J1939_x_SPECIFIC_REQUEST (FB) .............. 166
Hints................................................................... 126
J1939_x_TRANSMIT (FB) ............................... 162
Hints to wiring diagrams.................................... 101
JOYSTICK_0 (FB) .....................................297, 301
HMI............................................................ 388, 390
JOYSTICK_1 (FB) .....................................297, 304
How is this manual structured? .............................. 8
JOYSTICK_2 (FB) .....................................297, 308
Hydraulic control in PWMi................................ 292
Latching ........................................................49, 117
ID ....................................................................... 389
LED.................................................................... 389
Identifier............................................................. 245
Library for the CANopen master ....................... 204
Identifier acc. to SAE J1939 .............................. 155
Library for the CANopen slave.......................... 216
IEC user cycle .................................................... 389
Life, mean .......................................................... 389
If runtime system / application is running............ 52
Limitations and programming notes ...........107, 268
If the TEST pin is not active ................................ 53
Limits of the device ........................................... 107
ifm CANopen libraries master / slave ................ 379
Limits of the SafetyController ........................... 108
ifm CANopen library ................................. 120, 170
Link.................................................................... 389
ifm demo programs ...................................... 75, 278
Load the operating system ................................... 59
ifm device libraries............................................. 379
LSB .................................................................... 389
Important! .............................................................. 9
MAC-ID............................................................. 390
In-/output functions............................................ 250
Managing the data.............................................. 338
INC_ENCODER (FB) ....................................... 267
Manual data storage ........................................... 344
Information concerning the device....................... 44
Manufacturer specific information..................... 248
Information concerning the software ................... 46
Master ................................................................ 390
INIT state (Reset)................................................. 57
Master at runtime ........................................180, 212
Initialisation of the network with
RESET_ALL_NODES ...................................... 187 Maximum program cycle time............................. 56
Input group I0 (ANALOG0...7 or Measuring methods for fast inputs....................... 87
%IX0.0...%IX0.7) ................................................ 90
MEMCPY (FB).................................................. 345
Input group I1...I4 (%IX0.8...%IX2.7)................. 91
Mission time TM ............................................... 390
INPUT_ANALOG (FB) .........34, 90, 251, 253, 254
Misuse................................................................ 390
INPUT_CURRENT (FB)................................... 254
401
 ifm System Manual ecomatmobile SafetyController (CR7021, CR7201, CR7506) V06
Index

MMI ................................................................... 390 Operating system ..........................................56, 391

Monitoring ......................................................... 390 Operating system and software versions.............. 32
Monitoring and securing mechanisms.................. 52 Operational ........................................................ 391
Monitoring concept .............................................. 48 Optimising the PLC cycle.................................. 361
Monitoring of the supply voltage VBBs .............. 51 Output group Q1Q2 (%QX0.0...%QX0.7)........... 96
MSB ................................................................... 390 Output group Q3 (%QX0.8...%QX0.15).............. 98
MTBF................................................................. 390 Output group Q4 (%QX1.0...%QX1.7)................ 99
MTTF................................................................. 390 OUTPUT_CURRENT (FB).....................................
................ 95, 96, 280, 282, 284, 288, 291, 297, 298
MTTFd............................................................... 390
OUTPUT_CURRENT_CONTROL (FB)................
Muting................................................................ 390
............................................286, 287, 289, 297, 298
Network states.................................................... 183
Overload protection ........................................... 285
Network structure............................................... 121
Overview CANopen EMCY codes (C16).......... 249
NMT................................................................... 390
Overview CANopen error codes..............................
No operating system............................................. 58 ....................................................208, 221, 246, 247
Node................................................................... 390 Overview of the files and libraries used...................
............................................32, 46, 59, 62, 376, 377
Node Guarding................................................... 391
Parameters of internal structures........................ 213
Nodeguarding / heartbeat error .......................... 185
Participant, bus off......................................243, 244
Nodeguarding with lifetime monitoring............. 181
Participant, error active...................................... 243
NORM (FB) ................................................. 76, 256
Participant, error passive.................................... 243
NORM_HYDRAULIC (FB)...................... 297, 310
Particularities for network variables ...........199, 203
Note the cycle time! ........................................... 110
PC card............................................................... 391
Notes on devices with monitoring relay............. 117
PCMCIA card .................................................... 391
Notes on safety-related applications ............ 11, 231
PDM................................................................... 391
Obj / object......................................................... 391
PDO ................................................................... 391
Object 0x1001 (error register)............................ 248
PDU ................................................................... 391
Object 0x1003 (error field) ................................ 246
Performance Level............................................. 391
Object directory ................................................. 391
Performance level PL............................14, 391, 392
OBV ................................................................... 391
PERIOD (FB) ...................36, 86, 87, 258, 259, 261
OCC_TASK (FB) .......................286, 288, 289, 297
PERIOD_RATIO (FB) .................................86, 263
One-time mechanisms.......................................... 53
PES .................................................................... 391
Operating mode master/master .......................... 104
PGN ................................................................... 392
Operating mode master/slave............................. 105
PHASE (FB) .................................................86, 265
Operating modes .................................................. 60
Physical connection of CAN.............................. 121
Operating modes of the ExtendedSafetyController
............................................................... 29, 78, 103 Pictogram........................................................... 392
Operating principle .............................................. 83 PID controller .................................................... 392
Operating principle of the delayed switch-off...... 49 PID1 (FB) .......................................................... 320
Operating principle of the monitoring concept .... 50 PID2 (FB) .......................................................... 322
Operating states.................................................... 57 PL....................................................................... 392
Operating states and operating system ................. 57 Plausibility check via the process ........................ 82
402
 ifm System Manual ecomatmobile SafetyController (CR7021, CR7201, CR7506) V06
Index

PLC configuration........................................ 47, 392 Reset of all configured slaves on the bus at the
system start ........................................................ 180
PLC configuration file ....................................... 378
Reset, manual..................................................... 394
PLr ..................................................................... 392
Residual risk ...................................................... 394
Polling of the slave device type ......................... 180
Response to the system error ............................. 117
Possible operating modes inputs / outputs ...............
............................................................. 78, 370, 373 Risk .................................................................... 394
Predefined identifiers for CANopen-Safety ....... 235 Risk analysis ...................................................... 394
Pre-Op................................................................ 392 Risk assessment ......................................12, 13, 394
prepared ............................................................. 392 Risk assessment of a machine.............................. 11
Process image..................................................... 392 Risk evaluation .................................................. 394
Processing analogue input values....................... 250 Risk graph to ISO 13849...............18, 80, 86, 89, 93
Processing interrupts .......................................... 361 ro........................................................................ 394
Processing of the SRDO in the SafetyController ..... RTC.................................................................... 394
........................................................................... 234
Rules for documenting safety-related software.... 28
Programming language, safety-related............... 393
Rules for selecting the tools, libraries, languages ....
Programming notes for CoDeSys projects ......... 110 ............................................................................. 23
Programs and functions in the folders of the Rules for subsequent program modifications....... 28
templates .............................................................. 69
Rules for testing safety-related software.............. 27
Protective measure ............................................. 393
Rules on SRASW and non safety-related software
PT1 (FB) .................................................... 315, 319 in one component................................................. 25
PWM.................................................................. 393 Rules on the program structure ............................ 24
PWM (FB) ............................................................... Rules on the safety-related function blocks ......... 25
....................274, 275, 279, 281, 283, 286, 288, 289
Rules on the software implementation / coding ... 25
PWM / PWM1000 ............................................. 274
Rules on the specification of the SRASW ........... 23
PWM channels 0...3 ........................................... 275
Rules on the use of data types.............................. 27
PWM channels 4...7 / 8...11 ............................... 277
Rules on the use of variables ..........................25, 26
PWM dither................................................ 278, 280
Rules on the verification of safety-related software
PWM frequency ................................................. 274 ............................................................................. 28
PWM functions .................................................. 272 RUN state............................................................. 58
PWM functions and their parameters................. 274 rw ....................................................................... 395
PWM signal processing ......273, 278, 297, 373, 393 SAE J1939 ......................................................... 395
PWM100 (FB) ............................................. 76, 281 Safe state.............................................................. 29
PWM1000 (FB) ..................274, 275, 279, 281, 283 SAFE_ANALOG_OK (FB)........33, 34, 35, 89, 251
Ramp function.................................................... 278 SAFE_FREQUENCY_OK (FB)..............................
......................................33, 36, 37, 86, 87, 259, 261
Ratio................................................................... 393
SAFE_INPUTS_OK (FB) ..................33, 38, 80, 82
RAW-CAN ........................................................ 393
Safeguard cycle time SCT ................................. 233
Reading / writing the system time...................... 340
Safety aspects....................................................... 87
Reception of emergency messages..................... 181
Safety concept...........................................29, 45, 55
Recommended settings ...................................... 321
Safety considerations ......................................24, 31
Redundant .......................................................... 393
Safety for bus systems ......................................... 20
Remanent ........................................................... 394
403
 ifm System Manual ecomatmobile SafetyController (CR7021, CR7201, CR7506) V06
Index

Safety function ................................................... 395 SET_PASSWORD (FB) .................................... 357

Safety functions ........................................... 33, 236 Setting control.................................................... 315
Safety instructions.................................................. 9 Setting of the node numbers and the baud rate of a
CAN device........................................................ 197
Safety outputs %QX0.04...0.07
(%QX32.04...32.07)............................................. 96 Setting rule for a controller ................................ 315
Safety outputs %QX1.00...1.07 Settings in the global variable lists .................... 200
(%QX33.00...33.07)............................................. 99
Settings in the target settings ............................. 199
Safety outputs for PWM and PWMi .................... 95
Setup the target ...............................47, 62, 170, 174
SAFETY_SWITCH (FB)................... 33, 41, 83, 85
Signalling of device errors ................................. 246
SafetyController ................................................... 29
SIL ..................................................................... 396
Safety-related applications software (SRASW) .......
Slave .................................................................. 396
....................................................................... 22, 31
Slave information............................................... 214
Safety-related data objects SRDOs .................... 233
Slight errors ....................................................... 114
Safety-related inputs and outputs ......................... 29
SOFTRESET (FB)............................................. 339
Safety-related object validation time SRVT ...... 233
Software reset .................................................... 338
Safety-related processing of the memory areas.... 53
Software structure ................................................ 55
Safety-related programming with CoDeSys to ISO
13849 ................................................................... 21 Specific ifm libraries.......................................... 380
Safety-standard types ................................... 13, 395 SRDO................................................................. 396
Save.................................................................... 112 SRP/CS .........................................................13, 396
Saving, reading and converting data in the memory SRVT ................................................................. 396
........................................................................... 343
SSC_RECEIVE (FB) ..................................104, 335
SCT .................................................................... 395
SSC_TRANSMIT (FB) ......................104, 335, 337
SD card .............................................................. 395
Standard ISO 13849..................................13, 29, 45
SDO ................................................................... 395
Standardise the output signals of a joystick ....... 292
Self-regulating process....................................... 313
Start of all correctly configured slaves............... 181
Self-test .............................................................. 396
Start the network.........................................182, 183
SERIAL_MODE.................................................. 60
Starting the network with GLOBAL_START .........
SERIAL_PENDING (FB).................................. 333 ............................................................186, 211, 224
SERIAL_RX (FB)...................................... 331, 333 Starting the network with START_ALL_NODES
....................................................................186, 211
SERIAL_SETUP (FB)....................................... 328
Start-up of the network without [Automatic startup]
SERIAL_TX (FB).............................................. 330
........................................................................... 186
Serious errors ............................................. 114, 115
State, safe........................................................... 396
Set up programming system................................. 61
Status LED........................................................... 58
Set up programming system manually ................. 61
STOP state ........................................................... 57
Set up programming system via templates...............
Structure Emergency_Message.......................... 215
......................................65, 104, 106, 129, 174, 370
Structure node status .......................................... 214
SET_DEBUG (FB) ................................ 30, 60, 352
Structure of an EMCY message......................... 245
SET_IDENTITY (FB) ............................... 353, 355
Structure of an error message............................. 245
SET_INTERRUPT_I (FB)................................. 365
Structure of the visualisations in the templates.... 71
SET_INTERRUPT_XMS (FB) ................... 76, 362
Summary CAN / CANopen ............................... 127
404
 ifm System Manual ecomatmobile SafetyController (CR7021, CR7201, CR7506) V06
Index

Supplement project with further functions..... 67, 72 Use of the serial interface .............................60, 327
Symbols ............................................................. 396 Use, intended ..................................................... 397
System configuration ......................................... 120 Using CAN ........................................................ 119
System description ............................................... 44 Using ifm downloader........................................ 112
System flags ............................................... 114, 374 Watchdog........................................................... 397
System test ........................................................... 55 Watchdog behaviour .................24, 31, 51, 109, 387
System variable .................................................. 396 What are the individual files and libraries used for?
........................................................................... 378
Tab [Base settings]............................................. 191
What do the symbols and formats mean? ................
Tab [CAN parameters]....................... 175, 178, 213
................................................................7, 392, 396
Tab [CAN settings] ............................................ 193
What does a PWM output do? ....................293, 393
Tab [Default PDO mapping].............................. 194
What does machine safety mean? ........................ 11
Tab [Receive PDO-Mapping] and [Send
What is the dither? ......................................294, 385
PDO-Mapping] .................................................. 179
What previous knowledge is required? ................ 10
Tab [Service Data Objects] ................ 179, 227, 229
When is a dither useful?..................................... 294
Target ................................................................. 396
Wire cross-sections ............................................ 124
Target file........................................................... 378
wo ...................................................................... 397
TCP .................................................................... 397
Technical about CANopen................................. 171
Technology of the safety-related control functions
for PL or SIL........................................................ 19
Template ............................................................ 397
Test basis for certification.................................... 44
Test input ............................................................. 30
TEST mode .................................30, 57, 58, 60, 352
Test rate rt .......................................................... 397
The object directory of the CANopen master ..........
................................................................... 188, 198
The purpose of this library? – An introduction .. 292
TIMER_READ (FB).......................................... 341
TIMER_READ_US (FB)................................... 342
Topology............................................................ 119
Transmit emergency messages via the application
program.............................................................. 197
Troubleshooting ................................................. 382
UDP ................................................................... 397
Units for CANopen ............................................ 204
Units for SAE J1939 .......................................... 158
Uptime, mean..................................................... 397
Use as digital inputs ..................................... 87, 258
Use in applications up to CAT 3 / PL d ............... 31
Use of analogue inputs for digital signals ............ 89
405