Programming Manual

BasicDisplay

CR0452

Runtime system v03

CODESYS® v2.3

English
04 / 2021
7391002 / 05
ifm Programming Manual BasicDisplay CR0452 v03.02
Contents

Contents

1 About this manual 4

1.1 Copyright ..............................................................................................................................4
1.2 Overview: documentation modules for CR0452 ..................................................................5
1.3 What do the symbols and formats mean? ...........................................................................6
1.4 How is this documentation structured? ................................................................................7
1.5 History of the instructions (CR0452) ..................................................................................7

2 Safety instructions 8
2.1 Please note ..........................................................................................................................8
2.2 What previous knowledge is required? ................................................................................8
2.3 Start-up behaviour of the controller......................................................................................9
2.4 Notes: serial number ............................................................................................................9

3 System description 10
3.1 Information about the device ..............................................................................................10
3.1.1 Accessories ................................................................................................................................ 10
3.2 Hardware description .........................................................................................................11
3.2.1 Hardware setup .......................................................................................................................... 11
3.2.2 Status-LED ................................................................................................................................. 14
3.3 Interface description ...........................................................................................................15
3.3.1 CAN interfaces ........................................................................................................................... 15
3.4 Software description ..........................................................................................................16
3.4.1 Software modules for the device ................................................................................................ 16
3.4.2 Programming notes for CODESYS projects ............................................................................... 19
3.4.3 Operating states ......................................................................................................................... 22
3.4.4 Performance limits of the device ................................................................................................ 25

4 Configurations 32
4.1 Set up the runtime system .................................................................................................32
4.1.1 Reinstall the runtime system ...................................................................................................... 33
4.1.2 Update the runtime system......................................................................................................... 34
4.1.3 Verify the installation .................................................................................................................. 34
4.2 Set up the programming system ........................................................................................35
4.2.1 Set up the programming system manually ................................................................................. 35
4.2.2 Set up the programming system via templates........................................................................... 39
4.3 Function configuration in general .......................................................................................40
4.3.1 System variables ........................................................................................................................ 40
4.4 Variables ............................................................................................................................41
4.4.1 Retain variables .......................................................................................................................... 42
4.4.2 Network variables ....................................................................................................................... 43

5 ifm function elements 44

5.1 ifm libraries for the device CR0452 ....................................................................................44
5.1.1 Required libraries ....................................................................................................................... 44
5.1.2 Library ifm_CR0452_Vxxyyzz.LIB .............................................................................................. 45
5.1.3 Library ifm_CR0452_Init_Vxxyyzz.LIB ....................................................................................... 46
5.1.4 Library ifm_PDMsmart_util_Vxxyyzz.LIB .................................................................................... 46
5.1.5 Library ifm_RAWCan_NT_Vxxyyzz.LIB...................................................................................... 46
5.1.6 Library ifm_CANopen_NT_Vxxyyzz.LIB ..................................................................................... 47
5.1.7 Library ifm_J1939_NT_Vxxyyzz.LIB ........................................................................................... 48

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ifm Programming Manual BasicDisplay CR0452 v03.02
Contents

5.2 ifm function elements for the device CR0452 ....................................................................50

5.2.1 Function element outputs ........................................................................................................... 51
5.2.2 Function elements: RAW-CAN (Layer 2) .................................................................................... 52
5.2.3 Function elements: CANopen..................................................................................................... 80
5.2.4 Function elements: SAE J1939 ................................................................................................ 126
5.2.5 Function elements: system ....................................................................................................... 158
5.2.6 Function elements: graphics..................................................................................................... 176

6 Diagnosis and error handling 186

6.1 Diagnosis .........................................................................................................................186
6.2 Fault .................................................................................................................................186
6.3 Response to system errors ..............................................................................................187
6.3.1 Example process for response to an error message ................................................................ 187
6.4 CAN / CANopen: errors and error handling .....................................................................187

7 Appendix 188
7.1 System flags.....................................................................................................................188
7.2 Error tables .......................................................................................................................190
7.2.1 Error flags ................................................................................................................................. 190
7.2.2 Errors: CAN / CANopen............................................................................................................ 190

8 Terms and abbreviations 191

9 Index 205

10 Notizen • Notes • Notes 209

3
ifm Programming Manual BasicDisplay CR0452 v03.02
About this manual Copyright

1 About this manual

Copyright ..................................................................................................................................................4
Overview: documentation modules for CR0452 .......................................................................................5
What do the symbols and formats mean? ................................................................................................6
How is this documentation structured? ....................................................................................................7
History of the instructions (CR0452) ......................................................................................................7
202

>

1.1 Copyright
6088

© All rights reserved by ifm electronic gmbh. No part of this manual may be reproduced and used
without the consent of ifm electronic gmbh.
All product names, pictures, companies or other brands used on our pages are the property of the respective rights owners:
• AS-i is the property of the AS-International Association, (→ www.as-interface.net)
• CAN is the property of the CiA (CAN in Automation e.V.), Germany (→ www.can-cia.org)
• CODESYS™ is the property of the 3S – Smart Software Solutions GmbH, Germany (→ www.codesys.com)
• DeviceNet™ is the property of the ODVA™ (Open DeviceNet Vendor Association), USA (→ www.odva.org)
• EtherNet/IP® is the property of the →ODVA™
• EtherCAT® is a registered trade mark and patented technology, licensed by Beckhoff Automation GmbH, Germany
• IO-Link® (→ www.io-link.com) is the property of the →PROFIBUS Nutzerorganisation e.V., Germany
• ISOBUS is the property of the AEF – Agricultural Industry Electronics Foundation e.V., Deutschland
(→ www.aef-online.org)
• Microsoft® is the property of the Microsoft Corporation, USA (→ www.microsoft.com)
• Modbus® is the property of the Schneider Electric SE, France (→ www.schneider-electric.com)
• PROFIBUS® is the property of the PROFIBUS Nutzerorganisation e.V., Germany (→ www.profibus.com)
• PROFINET® is the property of the →PROFIBUS Nutzerorganisation e.V., Germany
• Windows® is the property of the →Microsoft Corporation, USA

4
ifm Programming Manual BasicDisplay CR0452 v03.02
About this manual Overview: documentation modules for CR0452

>

1.2 Overview: documentation modules for CR0452

22853

The documentation for this devices consists of the following modules:

(Downloads from ifm's website → www.ifm.com )
Document Contents / Description

Data sheet Technical data in a table

Installation instructions  Instructions for installation, electrical installation, and commissioning
(are supplied with the
 Technical data
device)
Programming manual  Functions of the setup menu of the device
 Creation of a CODESYS project with this device
 Target settings with CODESYS
 Programming of the device-internal PLC with CODESYS
 Description of the device-specific CODESYS function libraries
System manual Know-how about the following topics (examples):
"Know-How ecomatmobile"  Overview Templates and demo programs
 CAN, CANopen
 Control outputs
 Visualisations
 Overview of the files and libraries

5
ifm Programming Manual BasicDisplay CR0452 v03.02
About this manual What do the symbols and formats mean?

>

1.3 What do the symbols and formats mean?

203

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

WARNING
Death or serious irreversible injuries may result.

CAUTION
Slight reversible injuries may result.

NOTICE
Property damage is to be expected or may result.

Important note
Non-compliance can result in malfunction or interference
Information
Supplementary note
► ... Request for action
> ... Reaction, result
→ ... "see"
abc Cross-reference
123 Decimal number
0x123 Hexadecimal number
0b010 Binary number
[...] Designation of pushbuttons, buttons or indications

6
ifm Programming Manual BasicDisplay CR0452 v03.02
About this manual How is this documentation structured?

>

1.4 How is this documentation structured?

204
1508

This documentation is a combination of different types of manuals. It is for beginners and also a
reference for advanced users. This document is addressed to the programmers of the applications.
How to use this manual:
 Refer to the table of contents to select a specific subject.
 Using the index you can also quickly find a term you are looking for.
 At the beginning of a chapter we will give you a brief overview of its contents.
 Abbreviations and technical terms → Appendix.
In case of malfunctions or uncertainties please contact the manufacturer at:
Contact → www.ifm.com
We want to become even better! Each separate section has an identification number in the top right
corner. If you want to inform us about any inconsistencies, indicate this number with the title and the
language of this documentation. Thank you very much for your support!
We reserve the right to make alterations which can result in a change of contents of the
documentation. You can find the current version on ifm's website:
→ www.ifm.com
>

1.5 History of the instructions (CR0452)

15324

What has been changed in this manual? An overview:

Date Theme Change
2014-03-24 Visualisation limits Information concerning the permissible drawing area
2014-04-29 FB CAN_REMOTE_RESPONSE More precise description of the function block
ENABLE
2014-05-12 Limitations CAN Limitations added for CAN, CANopen and CAN J1939
2014-06-30 Name of the documentation "System manual" renamed as "Programming manual"
2015-01-13 Structure of documentation for error codes, system • error flags:
flags now only in the appendix, chapter System flags
• CAN / CANopen errors and error handling:
now only in the system manual "Know-How"
• error codes, EMCY codes:
now in the appendix, chapter Error tables
2015-03-10 Available memory Description improved
2017-01-13 Software manual for CODESYS 2.3 hint to download from the ifm homepage removed
2018-07-09 List of the ifm branch offices removed
2021-04 Available memory corrected

7
ifm Programming Manual BasicDisplay CR0452 v03.02
Safety instructions Please note

2 Safety instructions
Please note ...............................................................................................................................................8
What previous knowledge is required? ....................................................................................................8
Start-up behaviour of the controller ..........................................................................................................9
Notes: serial number ................................................................................................................................9
213

>

2.1 Please note

6091
11779

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

WARNING
Non-observance of these instructions can lead to property damage or personal injury.
ifm electronic gmbh does not assume any liability in this regard.
► The acting person must have read and understood the safety instructions and the corresponding
chapters in this manual before working on and with this device.
► The acting person must be authorised to work on the machine/equipment.
► The acting person must have the qualifications and training required to perform this work.
► Adhere to the technical data of the devices!
You can find the current data sheet on the ifm website.
► Note the installation and wiring information as well as the functions and features of the devices!
→ supplied installation instructions or on the ifm website.
Homepage → www.ifm.com
>

2.2 What previous knowledge is required?

215

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

8
ifm Programming Manual BasicDisplay CR0452 v03.02
Safety instructions Start-up behaviour of the controller

>

2.3 Start-up behaviour of the controller

6827
15233
11575

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

A restart can, for example, be caused by:

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

2.4 Notes: serial number

20780

► In the user's production facility, draw a diagram of the controller network in the machine. Enter the
serial number of each controller installed into the network diagram.
► Before downloading a software component, read out this serial number and check the network
diagram to make sure that you are accessing the right controller.

9
ifm Programming Manual BasicDisplay CR0452 v03.02
System description Information about the device

3 System description
Information about the device ..................................................................................................................10
Hardware description ..............................................................................................................................11
Interface description ...............................................................................................................................15
Software description ...............................................................................................................................16
975

>

3.1 Information about the device

15407

This manual describes of the ecomatmobile family for mobile machines of ifm electronic gmbh:
 BasicDisplayXL: CR0452
The display is part of the family of the BasicController: CR040n, CR041n, CR043n.
>

3.1.1 Accessories
15406

A wide range of accessories is available for the BasicDisplay. Examples:

EC0404 Frame for front panel mounting of CR0452
EC0406 RAMmount set for using CR0452 as a desktop unit
EC0452 Cable for power supply and CAN between the display and the BasicController when the
cover EC0402 is used
EC0454 5 m cable for power supply and CAN between the display and the BasicController
--- "Maintenance Tool" software for updating firmware, runtime system and application
program
Download → www.ifm.com
You can find accessories for the article on ifm's website:
→ www.ifm.com > Select your country > [Data sheet search] > article no. > [Accessories]

10
ifm Programming Manual BasicDisplay CR0452 v03.02
System description Hardware description

3.2 Hardware description

Hardware setup ......................................................................................................................................11

Status-LED .............................................................................................................................................14
14081

3.2.1 Hardware setup

Available memory ...................................................................................................................................12

Colour display of the CR0452 ................................................................................................................13
Operating elements of CR0452 ..............................................................................................................13
Key LEDs dimmable ...............................................................................................................................13
Connection on the rear panel of the housing .........................................................................................13
15269

Protection IP 65
on the front panel when mounted: Protection IP 67

11
ifm Programming Manual BasicDisplay CR0452 v03.02
System description Hardware description

>

Available memory
13736
>

FLASH memory
13053

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

overall existing in the device
Thereof the following memory areas are reserved for ...
maximum size of the application program 512kByte
data other than the application program 64 kByte
read data with FB FLASH_READ (→ p. 160)
(files: 128 bytes less for header)
The remaining rest of the memory is reserved for system internal purposes.
>

SRAM
14027

SRAM (volatile, fast memory) 592 kByte

overall existing in the device
SRAM indicates here all kinds of volatile and fast memories.
Thereof the following memory areas are reserved for ...
data reserved by the application program 128 kByte
The remaining rest of the memory is reserved for system internal purposes.
>

FRAM
2262

FRAM (non-volatile, fast memory) 2 kByte

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

12
ifm Programming Manual BasicDisplay CR0452 v03.02
System description Hardware description

>

Colour display of the CR0452

15258

Designation Data
Technology TFT
Screen diagonal 4.3" (10.9 cm)
Aspect ratio 16:9
Resolution 480 x 272 pixels
Colour depth 8 bits = 256 colours via defined colour palette
► Create image as a 256-colour file!
Background illumination LED
dimmable in 1 % steps
Setting a) can be changed temporarily and b) can be preset (stored)
>

Operating elements of CR0452

15260

The display is fitted with the following operating elements:

 4 function keys [F1]...[F4]
backlit with LEDs
 1 rocker switch
as a combination of 4 independent keys
backlit with LEDs
 1 [OK] key
backlit with LED
 1 [ESC] key
backlit with LED
All keys work independently of each other.
The device detects several simultaneously pressed keys and evaluates them.
>

Key LEDs dimmable

8369

► All operating elements are backlit with LEDs.

Night design of the operating elements:
 The LEDs for all operating elements can only be dimmed together:
 Flag KEY_BACKLIGHT_CTRL
>

Connection on the rear panel of the housing

8351

M12 connector, A-coded, for supply and CAN:

Illustration Pin Designation Note
1 n.c. ----
2 VBB 8...32 V DC
3 GND terminal 31
4 CAN_H
5 CAN_L

13
ifm Programming Manual BasicDisplay CR0452 v03.02
System description Hardware description

>

3.2.2 Status-LED
7998

The operating states are indicated by the integrated status LED (default setting).
LED colour Display Description
Permanently off No operating voltage
Off

Briefly on Initialisation or reset checks

Orange
(time frame = 200 ms)
Flashing with 5 Hz no runtime system loaded
Green
(time frame = 200 ms)
Flashing with 2 Hz Application = RUN
Green
(time frame = 200 ms)
Application = STOP
Permanently on
or: no application loaded
Green

Flashing with 5 Hz Application = stopped because of undervoltage

Red
(time frame = 200 ms)
Application = STOP with error
application program is stopped
Cause: exceeded timeout of the application or visualisation:
Flashing with 10 Hz
 Delete the application!
Red  PowerOn reset
 Reload the application into the device

(time frame = 200 ms)

Application = STOP and FATAL ERROR
Cause: software watchdog has failed
 PowerOn reset
If without success:
 Goto Bootloader
Permanently on
 PowerOn reset
Red  Reload the BasicSystem into the device
 Reload the application into the device
If without success:
 Hardware error: send device to ifm!

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

Control the LED in the application program

15481

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

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

14
ifm Programming Manual BasicDisplay CR0452 v03.02
System description Interface description

>

3.3 Interface description

CAN interfaces .......................................................................................................................................15

14098

3.3.1 CAN interfaces

CAN: interfaces and protocols ................................................................................................................15

14101

Connections and data → data sheet

>

CAN: interfaces and protocols

15270
15271

The device is equipped with only one CAN interface.

The interface can be used with the following functions:
• RAW-CAN (Layer 2): CAN on level 2 (→ chapter Function elements: RAW-CAN (Layer 2) (→ p. 52))
• CANopen master / CANopen slave (→ chapter Function elements: CANopen (→ p. 80))
• CANopen network variables (via CODESYS) (→ chapter Network variables (→ p. 43))
• SAE J1939 (for drive management, → chapter Function elements: SAE J1939 (→ p. 126))
• Bus load detection
• Error frame counter
• Download interface
• 100 % bus load without package loss
15272

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

Default download ID ID 127 ID 126 ID 125 ID 124

CAN Layer 2
Interface does not Interface does not Interface does not
CAN protocols CANopen
exist exist exist
SAE J1939

Standard baud rate = 250 Kbits/s

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

15
ifm Programming Manual BasicDisplay CR0452 v03.02
System description Software description

>

3.4 Software description

Software modules for the device ............................................................................................................16

Programming notes for CODESYS projects...........................................................................................19
Operating states .....................................................................................................................................22
Performance limits of the device ............................................................................................................25
14107

3.4.1 Software modules for the device

Bootloader ..............................................................................................................................................17
Runtime system ......................................................................................................................................17
Application program ................................................................................................................................17
Libraries ..................................................................................................................................................18
14110

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

software module Can user change the module? By means of what tool?
Application program CODESYS,
yes
with libraries MaintenanceTool
Upgrade yes
Runtime system *) MaintenanceTool
Downgrade yes
Bootloader no ---
(Hardware) no ---
*) The runtime system version number must correspond to the target version number in the CODESYS target system setting.
→ chapter Set up the target (→ p. 36)

Below we describe this software module:

16
ifm Programming Manual BasicDisplay CR0452 v03.02
System description Software description

>

Bootloader
14111

On delivery ecomatmobile controllers only contain the boot loader.

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

Runtime system
14112

Basic program in the device, establishes the connection between the hardware of the device and the
application program.
→ chapter Software modules for the device (→ p. 16)
On delivery, there is normally no runtime system loaded in the controller (LED flashes green at 5 Hz).
Only the bootloader is active in this operating mode. It provides the minimum functions for loading the
runtime system, among others support of the interfaces (e.g. CAN).
Normally it is necessary to download the runtime system only once. Then, the application program can
be loaded into the controller (also repeatedly) without affecting the runtime system.
The runtime system is provided with this documentation on a separate data carrier. In addition, the
current version can be downloaded from the website of ifm electronic gmbh:
→ www.ifm.com
>

Application program
15274
14118

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

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

The visualisation pages and embedded graphics are part of the CODESYS application program.

17
ifm Programming Manual BasicDisplay CR0452 v03.02
System description Software description

>

Libraries
15409

ifm electronic offers several libraries (*.LIB) to match each device containing program modules for
the application program. Examples:
Library Use
ifm_CR0452_Vxxyyzz.LIB Device-specific library
Must always be contained in the application program!
ifm_RawCAN_NT_Vxxyyzz.LIB (optional)
when a CAN interface of the device is to be operated with CAN
Layer 2
ifm_CANopen_NT_Vxxyyzz.LIB (optional)
when a CAN interface of the device is to be operated as
CANopen master or CANopen slave
ifm_J1939_NT_Vxxyyzz.LIB (optional)
when a CAN interface of the device is to communicate with a
motor control
Details: → chapter ifm libraries for the device CR0452 (→ p. 44)

18
ifm Programming Manual BasicDisplay CR0452 v03.02
System description Software description

>

3.4.2 Programming notes for CODESYS projects

FB, FUN, PRG in CODESYS .................................................................................................................19

Note the cycle time! ................................................................................................................................20
Important note to program the device ....................................................................................................20
Creating application program .................................................................................................................21
Using ifm maintenance tool ....................................................................................................................22
Distribution of the application program ...................................................................................................22
7426

Here you receive tips how to program the device.

► See the notes in the CODESYS programming manual.

>

FB, FUN, PRG in CODESYS

15410

In CODESYS we differentiate between the following types of function elements:

FB = function block
• An FB can have several inputs and several outputs.
• An FB may be called several times in a project.
• An instance must be declared for each call.
• Permitted: Call FB and FUN in FB.
FUN = function
• A function can have several inputs but only one output.
• The output is of the same data type as the function itself.
PRG = program
• A PRG can have several inputs and several outputs.
• A PRG may only be called once in a project.
• Permitted: Call PRG, FB and FUN in PRG.

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

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

19
ifm Programming Manual BasicDisplay CR0452 v03.02
System description Software description

>

Note the cycle time!

8006

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

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

>

Important note to program the device

20763

Applies to the following devices:

• BasicController relay CR0431
► For the time of programming interconnect the connections B:1 (VBB15) and B:8 (VBBs).
Otherwise programming is not possible.
Background:
 The controller resets all outputs when programming begins, also SUPPLY_SWITCH.
 Without VBB15 the controller would be separated from the voltage supply and is switched off.
 When the controller is switched on again, the device is in bootloader mode.
The programmer has to load the Basic System to the device again.
Then reload the application program to the device.

20
ifm Programming Manual BasicDisplay CR0452 v03.02
System description Software description

>

Creating application program

8007

The application program is generated by the CODESYS 2.3 programming system and loaded in the
controller several times during the program development for testing:
In CODESYS: [Online] > [Login] > load the new program.
For each such download via CODESYS 2.3 the source code is translated again. The result is that
each time a new checksum is formed in the controller memory. This process is also permissible for
safety controllers until the release of the software.

Graphics: Creation and distribution of the software

21
ifm Programming Manual BasicDisplay CR0452 v03.02
System description Software description

>

Using ifm maintenance tool

8492

The ifm Maintenance Tool serves for easy transfer of the program code from the programming station
to the controller. As a matter of principle each application software can be copied to the controllers
using the ifm Maintenance Tool. Advantage: A programming system with CODESYS licence is not
required.
Here you will find the current ifm Maintenance Tool:
Homepage → www.ifm.com
>

Distribution of the application program

8493

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

3.4.3 Operating states

1075

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

INIT state (Reset)

20647

Premise: a valid runtime system is installed.

This state is passed through after every power on reset:
> The runtime system is initialised.
> Various checks are carried out, e.g. waiting for correctly power supply voltage.
> This temporary state is replaced by the RUN or STOP state.
> The LED lights orange.
Change out of this state possible into one of the following states:
• RUN
• STOP

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System description Software description

>

STOP state
8288

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

• from the INIT state if no application program is loaded.
• From the RUN state if the following condition is met:
• The STOP command is sent via the CODESYS interface.
In the STOP state:
> The outputs of the device are switched off.
> Processing of the application program is stopped.
> The LED lights green.
A transition from this state into one of the following states is possible:
• RUN
• ERROR
• FATAL ERROR
• INIT (after power-on-reset)
>

RUN state
8287

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

 from the INIT state (autostart) if the following conditions are met:
• The operating voltage has reached a minimum value. AND:
• The application program exists.
 From the STOP state:
• via the CODESYS command RUN.
• The operating voltage has reached or exceeded a minimum value.
In the RUN state:
> The runtime system is running.
> The application program is running.
> The LED flashes green with 2 Hz.
The LED can be controlled differently by the application program → FB SET_LED (→ p. 172).
A transition from this state into one of the following states is possible:
• INIT (after power-on-reset)
• STOP
• ERROR
• FATAL ERROR

23
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System description Software description

>

ERROR state
8290

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

• if the supply voltage is too low.
In the ERROR state:
> The outputs of the device are switched off.
> Processing of the application program is stopped.
> System parameters are saved.
> The LED flashed red with 5 Hz.
A transition from this state into one of the following states is possible:
• INIT (after power-on-reset)
• RUN
• STOP
• FATAL ERROR
>

FATAL ERROR state

8289

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

• memory error (RAM / Flash)
• exception error
• runtime system error
In the FATAL ERROR state:
> The outputs of the device are switched off.
> The application program is terminated.
> The runtime system is terminated.
> The LED lights red.
A transition from this state into one of the following states is possible:
• INIT (after power-on-reset)

24
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System description Software description

>

3.4.4 Performance limits of the device

7358

Note the limits of the device! → Data sheet

>

Watchdog behaviour
15277

In this device, a watchdog monitors the program runtime of the CODESYS application.
If the maximum watchdog time (application program: 100 ms; visualisation: 1 200 ms) is exceeded:
> the device changes to the "Timeout Error" state
> all processes are stopped (reset)
> all outputs are switched off
> the screen goes black
> the status LED flashes red at 10 Hz
Eliminate the fault:
 Delete application program!
 PowerOn Reset
 Reload the application program into the device
If the watchdog in question fails:
> a second watchdog leads the device to the state "Fatal Error"
> the status LED lights red
Eliminate the fault:
 PowerOn Reset
If unsuccessful:
 Goto Bootloader
 PowerOn Reset
 Reload the runtime system into the device
 Reload the application program into the device
If unsuccessful:
 Hardware error: return device to ifm!

25
ifm Programming Manual BasicDisplay CR0452 v03.02
System description Software description

>

Visualisation limits
8337

Embedded displays, used e.g. in ecomatmobile devices, cannot provide the full colour scope of
bitmap graphics because the available power reserves are restricted. Nevertheless, the following
preparations enable bitmap images in the device:
 Correct selection of the motifs,
 clever shifting of colours or
clever compilation of a colour palette and
 the correct scaling of the bitmaps before using them in the device.
 Performance limits of the device (→ p. 25)
8465

Parameter Limitation CR0451 Limitation CR0452

File type Bitmap (*.bmp)
File name Only small letters, naming convention = 8.3
Image size 320 x 240 pixels 480 x 272 pixels
Colours 8 bit = 28 colours = 256 colours can be represented
Required memory space < 76 Kbytes, depending on the image content for RLE compression
Table: specifications for the start image

The graphics used in the project may be larger than the specified image size. In this case, however,
only a (selectable) section of the image will be visible.
8464

Colours:
The device supports 28 (= 256) colour nuances.
► Create bitmap (BMP) with 256 colours:

>

Resample / scale image

3117

If an image is loaded in the device which does not meet the requirements for size or colour, it is
resized before it is displayed and the colours used are "checked".
Each time the image is opened, it must be resampled. This often leads to much longer times to
change from one image to the other. Corrective measures:
► First carry out all transformations of the bitmap or the image in an image processing program on
your computer.
Only for BasicDisplay: The colour palette is adapted when the image is integrated into the project
by CODESYS. On the device itself no adaptations will be made (size, scaling, colour).
► Only save the suitably transformed images in the visualisation of the device.

26
ifm Programming Manual BasicDisplay CR0452 v03.02
System description Software description

>

Limitations for visualisations

8319

Designation Limitation
Length of character strings < 80 characters

Length of path names not relevant

Number of visualisation pages < 15
Number of graphical objects per visualisation page < 20
Number of bitmaps per project < 256
depending on the size and the
available flash memory for the
application
Number of character sets per project Character sets are permanently
stored and cannot be changed.
Number of POUs ¹) per project < 512

¹) POU (Program Organization Unit) = function, function block or program block

Because of the limited memory:
• avoid grouping of elements
• avoid visualisation as a master slide
• avoid visualisation of master background slides

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System description Software description

>

CODESYS visualisation elements

453

Bitmap graphics (BMP)  chapter Visualisation limits (→ p. 26)

Not all CODESYS functions can be executed successfully on this device:
Visualisation element Functional safety for the PDM
A polyline is to consist of maximum 5 anchor points; not scalable
Polyline o
A polyline is not to enclose any area.
Curve -- Not supported
Rectangle + No problems known
Rounded rectangle -- Not supported
Circle, ellipse + No problems known
Polygon o A polygon is to consist of maximum 10 anchor points; not scalable
Pie chart -- Not supported
Visualisation -- Not supported
Button -- Not supported
Table -- Not supported
Scroll bar -- Not supported
Trend curve -- Not supported
Alarm table -- Not supported
Scales + Create scale as BMP file
Represent pointer instrument as BMP file with a superposed CoDeSys
Pointer instrument +
polygon
Create scale as BMP file
Bar graph +
Represent value as a superposed CoDeSys rectangle
Create scale as BMP file
Histogram +
Represent value as a superposed CoDeSys rectangle
Up to 256 per project possible
• BMP ¹)
Graphic file + • BMP RLE compressed
• TIFF ¹)
• JPEG ¹)
Graphics scaling mode o Supported for circle, ellipse, rectangle, line, polyline, polygon
ActiveX element -- Not supported
Pointer diagram -- Not supported
Edit tools -- Not supported

+ can be used without problem

o can be used with restrictions
-- cannot be used

¹) During the integration into the project the file is converted into an RLE compressed bitmap.
From the CODESYS version 2.3.9.24 an additional dialogue opens when an image is integrated.
Using this dialogue the file is adapted to the Colour palette used for the device. During the colour
conversion you can select between 'most similar colour' (deactivate [Dithering]) and 'Dithering'.
Drawing area:
 The left upper corner marks the home position (0,0) of the virtual and physical drawing area.
 Virtual drawing area = 2,560 x 1,536 pixels
(enlarges the physical drawing area)
 Elements in the virtual drawing area are not calculated.

28
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System description Software description

>

Drawing area
15987

 The left upper corner marks the home position (0,0) of the virtual and physical drawing area.
 Virtual drawing area (X/Y coordinates) = -32768...+32767
(enlarges the physical drawing area)
 All objects including their outer dimensions must be within the borders of the virtual drawing area
even after scaling or shifting!
Otherwise the visualisation will not be correct any more.
 Elements in the virtual drawing area are not calculated.
>

Texts
8436

 The smallest font size which is clearly visible on the device is 11 point.
 Permissible fonts:
- Arial (standard)
- Lucida Console
 Permissible font size [Pixel] and font weight:
- Arial: 11 (standard), 16, 24, 32 (all only normal)
- Lucida Console: 16, 24, 48*) (all only normal)
*) Lucida Console in the font size 48 only has the following characters:
- numbers 0 to 9
- special characters + - . : %
- space.
 Permissible effects:
- none (standard)
 The following text scripts are ignored:
- Western
- Hebrew
- Arabic
- Greek
- Turkish
- Baltic
- Central European
- Cyrillic
- Vietnamese

29
ifm Programming Manual BasicDisplay CR0452 v03.02
System description Software description

>

Movement of elements
7392

Image and text elements can be moved on the display in a defined manner.

Element movement Description

Rotate Rotate the element around a defined pivot point
Indicate the angle of rotation
 angle of rotation in [degree]
 positive value = rotation clockwise
 negative value = rotation anticlockwise
Shift Shifting of the element:
 horizontal
 vertical
 only within the drawing area
 max. until leaving the drawing area
Relative shifting of Each edge of the element can be shifted by a specified number of pixels via an
• rectangle INT type variable:
• ellipse / circle  basic position of the 4 edges = zero
 new value shifts this edge by the specified value
Shift direction for value > 0:
 horizontal edge down
 vertical edge to the right
Shift direction for value < 0:
 horizontal edge up
 vertical edge to the left
>

Limitations for CAN in this device

17975

FIFO (First In, First Out) = Operating principle of the stack memory: The data packet that was
written into the stack memory first, will also be read first. Each identifier has such a buffer (queue).
Some Raw-CAN function elements enable transmitting and receiving of several messages in one PLC
cycle as the messages are temporarily stored in a FiFo:
- CAN_TX..., → Function elements: transmit RAW-CAN data
- CAN_RX_ENH_FIFO (→ p. 62)
- CAN_RX_RANGE_FIFO (→ p. 66)
The number of FIFo messages is limited. The following limitations of the devices are valid:
Device BasicController: CR040n, CR041n,
CR043n
Criterion BasicDisplay: CR045n PDM360 NG: CR108n, CR120n
ioControl: CR205n
SmartController: CR253n
max. FiFo transmit
- with FB CAN_TX... 4 messages 4 messages
- with FB CAN_TX_ENH... 16 messages 16 messages
max. FiFo receive
- with FB CAN_RX_..._FIFO 32 messages 32 messages

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System description Software description

>

Limitations for CANopen in this device

17976

The following limitations of the devices are valid:

Device BasicController: CR040n, CR041n,
CR043n
Criterion BasicDisplay: CR045n PDM360 NG: CR108n, CR120n
ioControl: CR205n
SmartController: CR253n
max. guarding error 32 messages 128 messages
max. SDO data 2 048 bytes 2 048 bytes
>

Limitations for CAN J1939 in this device

17977

The following limitations of the devices are valid:

Device BasicController: CR040n, CR041n,
CR043n
Criterion BasicDisplay: CR045n PDM360 NG: CR108n, CR120n
ioControl: CR205n
SmartController: CR253n
max. FiFo transmit
- with FB J1939_TX 4 messages 4 messages
- with FB J1939_TX_ENH 16 messages 16 messages
max. FiFo receive
- with FB J1939_RX_FIFO 32 messages 32 messages
max. DTCs 64 messages 64 messages
max. data J1939 1 785 bytes 1 785 bytes

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ifm Programming Manual BasicDisplay CR0452 v03.02
Configurations Set up the runtime system

4 Configurations
Set up the runtime system ......................................................................................................................32
Set up the programming system ............................................................................................................35
Function configuration in general ...........................................................................................................40
Variables .................................................................................................................................................41
1016

The device configurations described in the corresponding installation instructions or in the Appendix
(→ p. 188) to this documentation are used for standard devices (stock items). They fulfil the requested
specifications of most applications.
Depending on the customer requirements for series use it is, however, also possible to use other
device configurations, e.g. with respect to the inputs/outputs and analogue channels.

4.1 Set up the runtime system

Reinstall the runtime system ..................................................................................................................33

Update the runtime system.....................................................................................................................34
Verify the installation ..............................................................................................................................34
14091

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Configurations Set up the runtime system

>

4.1.1 Reinstall the runtime system

14635
8486

On delivery of the ecomatmobile controller no runtime system is normally loaded (LED flashes green
at 5 Hz). Only the boot loader is active in this operating mode. It provides the minimum functions for
loading the operating system (e.g. RS232, CAN).
Normally it is necessary to download the runtime system only once. The application program can then
be loaded to the device (also several times) without influencing the runtime system.
The runtime system is provided with this documentation on a separate data carrier. In addition, the
current version can be downloaded from the website of ifm electronic gmbh:
→ www.ifm.com
8651

NOTICE
Risk of data loss!
In case of power failure during the data transmission data can be lost so that the device is no longer
functionable. Repair is only possible by ifm electronic.
► Ensure an uninterrupted power supply during the data transmission!
8485

NOTE
The software versions suitable for the selected target must always be used:
• runtime system (ifm_CR0452_Vxxyyzz.RESX),
• PLC configuration (ifm_CR0452_Vxx.CFG),
• device library (ifm_CR0452_Vxxyyzz.LIB ) and
• the further files.
V version
xx: 00...99 target version number
yy: 00...99 release number
zz: 00...99 patch number

The basic file name (e.g. "CR0452") and the software version number "xx" (e.g. "01") must always have
the same value! Otherwise the device goes to the STOP mode.
The values for "yy" (release number) and "zz" (patch number) do not have to match.
4368

The following files must also be loaded:

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

It may happen that the target system cannot or only partly be programmed with your currently
installed version of CODESYS. In such a case, please contact the technical support department of ifm
electronic gmbh.
Contact → www.ifm.com
The runtime system is transferred to the device using the separate program "Maintenance Tool". (The
program can be downloaded from ifm's website, if necessary):
→ www.ifm.com
Normally the application program is loaded to the device via the programming system. But it can also
be loaded using the "Maintenance Tool" if it was first read from the device.

33
ifm Programming Manual BasicDisplay CR0452 v03.02
Configurations Set up the runtime system

>

4.1.2 Update the runtime system

13269

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

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

For this operation, the same instructions apply as in the previous chapter 'Reinstall the runtime
system'.
>

4.1.3 Verify the installation

14637

► After loading of the runtime system into the controller:

• Check whether the runtime system was transmitted correctly!
• Check whether the correct runtime system is loaded in the controller!
► 1st test:
Test with the ifm maintenance tool if the correct runtime system version was loaded:
• Read name and version of the runtime system in the device!
• Manually compare this information with the target data!
► 2nd test (optional):
Check in the application program if the correct runtime system version was loaded:
• read name and version of the runtime system in the device!
• Compare this data with the specified values!
The following FB serves for reading the data:
GET_SW_INFO (→ p. 164) Delivers information about the system software of the device:
• software name,
• software version,
• build number,
• build date

► If the application detects an incorrect version of a runtime system:

bring all safety functions into the safe state.

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ifm Programming Manual BasicDisplay CR0452 v03.02
Configurations Set up the programming system

>

4.2 Set up the programming system

Set up the programming system manually .............................................................................................35

Set up the programming system via templates ......................................................................................39
14461

4.2.1 Set up the programming system manually

Set up the target .....................................................................................................................................36

Activate the PLC configuration ...............................................................................................................37
CAN declaration (e.g. CR1080) ..............................................................................................................38
3963

35
ifm Programming Manual BasicDisplay CR0452 v03.02
Configurations Set up the programming system

>

Set up the target

13136
11379

When creating a new project in CODESYS the target file corresponding to the device must be loaded.
► Select the requested target file in the dialogue window [Target Settings] in the menu
[Configuration].
> The target file constitutes the interface to the hardware for the programming system.
> At the same time, several important libraries and the PLC configuration are loaded when selecting
the target.
► If necessary, in the window [Target settings] > tab [Network functionality] > activate [Support
parameter manager] and / or activate [Support network variables].
► If necessary, remove the loaded (3S) libraries or complement them by further (ifm) libraries.
► Always complement the appropriate device library ifm_CR0452_Vxxyyzz.LIB manually!
8485

NOTE
The software versions suitable for the selected target must always be used:
• runtime system (ifm_CR0452_Vxxyyzz.RESX),
• PLC configuration (ifm_CR0452_Vxx.CFG),
• device library (ifm_CR0452_Vxxyyzz.LIB ) and
• the further files.
V version
xx: 00...99 target version number
yy: 00...99 release number
zz: 00...99 patch number

The basic file name (e.g. "CR0452") and the software version number "xx" (e.g. "01") must always have
the same value! Otherwise the device goes to the STOP mode.
The values for "yy" (release number) and "zz" (patch number) do not have to match.
4368

The following files must also be loaded:

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

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

36
ifm Programming Manual BasicDisplay CR0452 v03.02
Configurations Set up the programming system

>

Activate the PLC configuration

10079

The PLC configuration is automatically loaded with the target system. The PLC configuration maps the
contents of the file CR0452.cfg in CODESYS. Like this, the programmer has easy access to
predefined system and error flags, inputs and outputs as well as to the CAN interfaces of the device.
To access the PLC configuration (e.g. CR1080):
► Click on the tab [Resources] in CoDeSys:

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

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

> Based on the configuration the following is available in the program environment for the user:
 System and error flags
Depending on the application and the application program, these flags must be processed and
evaluated. Access is made via their symbolic names.
 Structure of the inputs and outputs
These can be directly symbolically designated (highly recommended!) in the window [PLC
Configuration] (example → figure below) and are available in the whole project as [Global
Variables].

37
ifm Programming Manual BasicDisplay CR0452 v03.02
Configurations Set up the programming system

>

CAN declaration (e.g. CR1080)

10080

In the CODESYS PLC configuration you now have to declare the CAN interface(s).
► Right-click on the name of the PLC configuration. [CANopen Interface [FIX]] of the desired CAN
interface.
► Click on [Append Subelement].
► Even if the device is operated as a CANopen slave: Click on [CANopen Master...]:

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

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

► If the device is operated on CAN Layer 2 or as a slave via network variables or CAN_RX /
CAN_TX:
Check whether the correct baud rate is set for the device (baud rate must be identical for all
participants).
► If the device is operated as a CANopen master:
Check all parameter settings.
► Close the window [PLC Configuration].

38
ifm Programming Manual BasicDisplay CR0452 v03.02
Configurations Set up the programming system

► In the menu [File] > [Save as ...] give a sensible name to the project and save it in the requested
directory.
► In the application program always call an own instance of the FB CANOPEN_ENABLE (→ p. 81)
for every CAN interface!
>

4.2.2 Set up the programming system via templates

13745

ifm offers ready-to-use templates (program templates), by means of which the programming system
can be set up quickly, easily and completely.
970

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

39
ifm Programming Manual BasicDisplay CR0452 v03.02
Configurations Function configuration in general

>

4.3 Function configuration in general

3971
>

4.3.1 System variables

15576

All system variables (→ chapter System flags (→ p. 188)) have defined addresses which cannot be
shifted.

40
ifm Programming Manual BasicDisplay CR0452 v03.02
Configurations Variables

>

4.4 Variables

Retain variables ......................................................................................................................................42

Network variables ...................................................................................................................................43
3130

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

The device supports the following types of variables:

Variable Declaration place Validity area Memory behaviour

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

Network Values are available to all CODESYS volatile

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

→ CODESYS programming manual

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ifm Programming Manual BasicDisplay CR0452 v03.02
Configurations Variables

>

4.4.1 Retain variables

8672

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

Typical applications for retain variables are for example:

• operating hours which are counted up and retained while the machine is in operation,
• position values of incremental encoders,
• preset values entered in the monitor,
• machine parameters,
i.e. all variables whose values must not get lost when the device is switched off.
All variable types, also complex structures (e.g. timers), can be declared as retain.
► To do so, activate the control field [RETAIN] in the variable declaration (→ window).

>

Save retain variables

9853

In the device the data type RETAIN is only stored in the volatile memory (RAM) during the runtime.
To save the data permanently, at the end of each cycle they are automatically be saved in the FRAM
memory ¹).
¹) FRAM indicates here all kinds of non-volatile and fast memories.

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

>

Read back retain variables

9854

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

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

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ifm Programming Manual BasicDisplay CR0452 v03.02
Configurations Variables

>

4.4.2 Network variables

15242
9856

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

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ifm Programming Manual BasicDisplay CR0452 v03.02
ifm function elements ifm libraries for the device CR0452

5 ifm function elements

ifm libraries for the device CR0452 ........................................................................................................44
ifm function elements for the device CR0452.........................................................................................50
13586

All CODESYS function elements (FBs, PRGs, FUNs) are stored in libraries. Below you will find a list of
all the ifm libraries you can use with this device.
This is followed by a description of the function elements, sorted by topic.

5.1 ifm libraries for the device CR0452

Required libraries ...................................................................................................................................44

Library ifm_CR0452_Vxxyyzz.LIB ..........................................................................................................45
Library ifm_CR0452_Init_Vxxyyzz.LIB ...................................................................................................46
Library ifm_PDMsmart_util_Vxxyyzz.LIB ...............................................................................................46
Library ifm_RAWCan_NT_Vxxyyzz.LIB .................................................................................................46
Library ifm_CANopen_NT_Vxxyyzz.LIB .................................................................................................47
Library ifm_J1939_NT_Vxxyyzz.LIB ......................................................................................................48
14235

>

5.1.1 Required libraries

15300

If you do not want to base the initial programming of this device on an ifm template, you should be
sure to integrate at least the following libraries into your project:
ifm_CR0452_Vxxyyzz.LIB Device library
ifm_CR0452_Init_Vxxyyzz.LIB Initialises the device screen

>

Libraries required for network variables

15304

If you want to work with network variables, you will need the following libraries in addition:
ifm_NetVarLib_NT_Vxxyyzz.LIB Support of network variables (ifm library)
3S_CANopenNetVar.LIB Support of network variables (3S library)

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ifm Programming Manual BasicDisplay CR0452 v03.02
ifm function elements ifm libraries for the device CR0452

>

5.1.2 Library ifm_CR0452_Vxxyyzz.LIB

15284

This is the device library. This ifm library contains the following function blocks:
Function element Short description
FLASH_INFO (→ p. 159) Reads the information from the user flash memory:
• name of the memory area (user defined),
• software version,
• start address (for simple reading with IEC structure)
FLASH_READ (→ p. 160) transfers different data types directly from the flash memory to the RAM
GET_APP_INFO (→ p. 161) Delivers information about the application program stored in the device:
• name of the application,
• version of the application,
• unique CODESYS build number,
• CODESYS build date
GET_HW_INFO (→ p. 162) Delivers information about the device hardware:
• ifm article number (e.g. CR0403),
• article designation,
• unambiguous serial number,
• hardware revision,
• production date
GET_IDENTITY (→ p. 163) Reads the identification of the application stored in the device
(has previously been saved by means of SET_IDENTITY (→ p. 171))
GET_SW_INFO (→ p. 164) Delivers information about the system software of the device:
• software name,
• software version,
• build number,
• build date
GET_SW_VERSION (→ p. 165) Delivers information about the software versions stored in the device:
• BasicSystem version,
• bootloader version,
• SIS version,
• application program version,
• user flash version
MEM_ERROR (→ p. 166) Signals errors in some parameters or in the memory
(Re-)initialisation of system resources
MEMCPY (→ p. 167) Writes and reads different data types directly in the memory
OHC (→ p. 169) Adjustable operating hours counter (0...3)
SET_IDENTITY (→ p. 171) Sets an application-specific program identification
SET_LED (→ p. 172) Change the frequency and color of the status LED in the application program
SET_PASSWORD (→ p. 174) Sets a user password for access control to program and memory upload
TIMER_READ_US (→ p. 175) Reads out the current system time in [µs]
Max. value = 1h 11min 34s 967ms 295µs

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5.1.3 Library ifm_CR0452_Init_Vxxyyzz.LIB

15286

This ifm library contains the following function blocks:

Function element Short description
BASICDISPLAY_INIT (→ p. 183) Initialises the screen of the BasicDisplay in the first PLC cycle

>

5.1.4 Library ifm_PDMsmart_util_Vxxyyzz.LIB

15289

This ifm library contains the following function blocks:

Function element Short description
GET_TEXT_FROM_FLASH (→ p. 177) Reads texts of the type STRING from the flash memory via FLASH_READ (→ p. 160)
NORM_DINT (→ p. 179) Normalises a value [DINT] within defined limits to a value with new limits
NORM_REAL (→ p. 180) Normalises a value [REAL] within defined limits to a value with new limits
PDM_PAGECONTROL (→ p. 184) Controls invoking of certain visualisation pages
TOGGLE (→ p. 181) Setting and resetting of a Boolean variable with only one input bit

>

5.1.5 Library ifm_RAWCan_NT_Vxxyyzz.LIB

14715

This ifm library contains the following function blocks:

Function element Short description
CAN_ENABLE (→ p. 53) Initialises the indicated CAN interface
Configures the CAN baud rate
CAN_RECOVER (→ p. 54) Activate / deactivate the automatic bus off handling
Restart the CAN interface in case of bus off
CAN_REMOTE_REQUEST (→ p. 76) Send a corresponding request and return the response of the other device as a result
CAN_REMOTE_RESPONSE (→ p. 78) Provides data to the CAN controller in the device which is automatically sent as a response to the
request of a remote message
CAN_RX (→ p. 59) Configures a data receive object and reads out the receive buffer of the data object
CAN_RX_ENH (→ p. 60) • Configures a data receive object and reads out the receive buffer of the data object
• Frame type and mask can be selected
CAN_RX_ENH_FIFO (→ p. 62) • Configures a data receive object and reads out the receive buffer of the data object
• Frame type and mask can be selected
• Several CAN messages per cycle possible
CAN_RX_RANGE (→ p. 64) • Configures a range of data receive objects and reads out the receive buffer of the data objects
• Frame type and mask can be selected
CAN_RX_RANGE_FIFO (→ p. 66) • Configures a range of data receive objects and reads out the receive buffer of the data objects
• Frame type and mask can be selected
• Several CAN messages per cycle possible
CAN_SETDOWNLOADID (→ p. 55) = Set CAN download ID
Sets the download identifier for the CAN interface
CAN_STATUS (→ p. 56) Get status information on the CAN bus selected:
BAUDRATE, DOWNLOAD_ID, BUSOFF, WARNING_RX, WARNING_TX, VERSION, BUSLOAD
and reset if required: BUSOFF, WARNING_RX, WARNING_TX
CAN_TX (→ p. 69) Transfers a CAN data object (message) to the configured CAN interface for transmission at each
call

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Function element Short description

CAN_TX_ENH (→ p. 71) Transfers a CAN data object (message) to the configured CAN interface for transmission at each
call
CAN-specific characteristics can be set
CAN_TX_ENH_CYCLIC (→ p. 73) Cyclically transfers a CAN data object (message) to the configured CAN interface for
transmission
CAN-specific characteristics can be set

>

5.1.6 Library ifm_CANopen_NT_Vxxyyzz.LIB

14914

This ifm library contains the following function blocks:

Function element Short description
CANOPEN_ENABLE (→ p. 81) Initialises the indicated CANopen master interface
Configures the CAN baud rate
CANOPEN_GETBUFFERFLAGS (→ p. 83) = CANopen get buffer flags
Provides information on the buffer flags
The flags can be reset via the optional inputs.
CANOPEN_GETEMCYMESSAGES (→ p. 120) = Get CANopen emergency messages
Lists all emergency messages that have been received by the controller from other nodes in the
network since the last deletion of messages
The list can be reset by setting the according input.
CANOPEN_GETERRORREGISTER (→ p. 122) = Get CANopen error register
Reads the error registers 0x1001 and 0x1003 from the controller
The registers can be reset by setting the respective inputs.
CANOPEN_GETGUARDHBERRLIST (→ p. 116) = get CANopen guard and heartbeat error list
Lists all nodes in an array for which the master has detected an error:
guarding error, heartbeat error
The list can be reset by setting the according input.
CANOPEN_GETGUARDHBSTATSLV (→ p. 117) = CANopen slave get guard and heartbeat state
Signals the following states to the controller in slave operation:
node guarding monitoring, heartbeat monitoring
The signalled errors can be reset by setting the respective input.
CANOPEN_GETNMTSTATESLAVE (→ p. 90) = CANopen slave get network management state
Signals the network operating status of the node
CANOPEN_GETODCHANGEDFLAG (→ p. 94) = Get object directory changed flag
Reports any change of value for a particular object directory entry
CANOPEN_GETSTATE (→ p. 85) = CANopen set state
Request the parameters of the master, a slave device or a specific node in the network
CANOPEN_GETSYNCSTATE (→ p. 112) = CANopen get SYNC state
• Reads the setting of the SYNC functionality (active / not active),
• reads the error state of the SYNC functionality (SyncError)
CANOPEN_NMTSERVICES (→ p. 91) = CANopen network management services
Updates the internal node status
and, depending on the NMT command entries:
• triggers an NMT command or
• triggers the initialisation of a node
CANOPEN_READOBJECTDICT (→ p. 95) = CANopen read object directory
Reads configuration data from the object directory of the device
CANOPEN_SDOREAD (→ p. 99) = CANopen read SDO
Reads an "Expedited SDO" = Expedited Service Data Object
CANOPEN_SDOREADBLOCK (→ p. 101) = CANopen read SDO block
Reads the indicated entry in the object directory of a node in the network via SDO block transfer
CANOPEN_SDOREADMULTI (→ p. 103) = CANopen read SDO multi
Reads the indicated entry in the object directory of a node in the network

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Function element Short description

CANOPEN_SDOWRITE (→ p. 105) = SDO write
Writes an "Expedited SDO" = Expedited Service Data Object
CANOPEN_SDOWRITEBLOCK (→ p. 107) = CANopen write SDO block
Writes in the indicated entry in the object directory of a node in the network via SDO block
transfer
CANOPEN_SDOWRITEMULTI (→ p. 109) = CANopen write SDO multi
Writes in the indicated entry in the object directory of a node in the network
CANOPEN_SENDEMCYMESSAGE (→ p. 124) = CANopen send emergency message
Sends an EMCY message. The message is assembled from the according parameters and
entered in register 0x1003
CANOPEN_SETSTATE (→ p. 87) = CANopen set state
Set the parameters of the master, a slave device or a specific node in the network
CANOPEN_SETSYNCSTATE (→ p. 114) = CANopen set SYNC state
Switch the SYNC functionality on and off
CANOPEN_WRITEOBJECTDICT (→ p. 96) = CANopen write object directory
Writes configuration data into the object directory of the device

>

5.1.7 Library ifm_J1939_NT_Vxxyyzz.LIB

14912

This ifm library contains the following function blocks:

Function element Short description
J1939_DM1RX (→ p. 151) J1939 Diagnostic Message 1 RX
Receives diagnostic messages DM1 or DM2 from other ECUs
J1939_DM1TX (→ p. 153) J1939 Diagnostic Message 1 TX
Transmit an active error message to the CAN stack
J1939_DM1TX_CFG (→ p. 156) J1939 Diagnostic Message 1 TX configurable
CAN stack does not send cyclic DM1 "zero active faults" messages
J1939_DM3TX (→ p. 157) J1939 Diagnostic Message 3 TX
Deletes inactive DTCs (DM2) on a device
J1939_ENABLE (→ p. 127) Initialises the J1939 stack
J1939_GETDABYNAME (→ p. 129) = Get destination arbitrary name
Determine the target address of one or several participants by means of the name information
J1939_NAME (→ p. 131) Give the device a name for identification in the network
J1939_RX (→ p. 138) Receives a single frame message
Shows the message last read on the CAN bus
J1939_RX_FIFO (→ p. 139) = J1939 RX with FIFO
Receives all specific messages and successively reads them from a FiFo
J1939_RX_MULTI (→ p. 141) = J1939 RX multiframe message
Receives multiframe messages
J1939_SPEC_REQ (→ p. 135) = J1939 specific request
Requests and receives a specific message from another controller
J1939_SPEC_REQ_MULTI (→ p. 136) = J1939 specific request multiframe message
Requests and receives a specific multiframe message from another controller
J1939_STATUS (→ p. 133) Shows relevant information on the J1939 stack
J1939_TX (→ p. 143) Sends individual single frame messages
J1939_TX_ENH (→ p. 144) = J1939 TX enhanced
Sends individual single frame messages
Can also be set: transmission priority, data length
J1939_TX_ENH_CYCLIC (→ p. 146) = J1939 TX enhanced cyclic
Cyclically sends single frame messages
Can also be set: transmission priority, data length, period

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Function element Short description

J1939_TX_ENH_MULTI (→ p. 148) = J1939 TX enhanced Multiframe Message
Sends individual multiframe messages

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5.2 ifm function elements for the device CR0452

Function element outputs .......................................................................................................................51

Function elements: RAW-CAN (Layer 2) ...............................................................................................52
Function elements: CANopen ................................................................................................................80
Function elements: SAE J1939 ............................................................................................................126
Function elements: system ...................................................................................................................158
Function elements: graphics ................................................................................................................176
13988
3826

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

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5.2.1 Function element outputs

8354
7556

Some function elements return a RESULT message.

Possible results for RESULT:
Value
Description
dec | hex
0 00 FB is inactive
1...31 Global return values; examples:
1 01 FB execution completed without error – data is valid
4 04 FB is being processed – data is cyclically processed
5 05 FB is being processed – still receiving
6 06 FB is being processed – still sending
7 07 FB is being processed – remote for ID active
8 08 function block is active
14 0E FB is active
CANopen manager configures devices and sends SDOs
15 0F FB is active
CANopen manager is started
3210...63 FB specific return values
6410…127 FB specific error messages
12810...255 Global error messages; examples:

238 EE Error: CANopen configuration is too large and cannot be started

239 EF Error: CANopen manager could not be started
240 F0 Error: several modal inputs are active
e.g. CANopen NTM services
241 F1 Error: CANopen state transition is not permitted
242 F2 Error: setting is not possible
247 F7 Error: memory exceeded (length larger than array)
250 FA Error: FiFo is full – data was lost
252 FC Error: CAN multiframe transmission failed
253 FD Error: CAN transmission failed.
Data cannot be sent.
255 FF Error: not enough memory available for the consuming multiframe

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5.2.2 Function elements: RAW-CAN (Layer 2)

Function elements: RAW-CAN status ....................................................................................................52

Function elements: receive RAW-CAN data ..........................................................................................58
Function elements: transmit RAW-CAN data .........................................................................................68
Function elements: RAW-CAN remote...................................................................................................75
15051

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

Function elements: RAW-CAN status

CAN_ENABLE ........................................................................................................................................53
CAN_RECOVER ....................................................................................................................................54
CAN_SETDOWNLOADID ......................................................................................................................55
CAN_STATUS ........................................................................................................................................56
15049

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CAN_ENABLE
7492

Unit type = function block (FB)

Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7494

With CAN_ENABLE the CAN hardware is initialised. Without this call no other calls are possible in
RAW-CAN or they return an error.
In order to change the baud rate the following procedure is required:
► Maintain the function block on ENABLE=FALSE for the duration of one cycle.
> All protocols are reset.
> Re-initialisation of the CAN interface and the CAN protocols running on it. Any information
available for cyclical transmission is lost as well and must be newly created.
> At renewed ENABLE=TRUE, the new baud rate is adopted.
>

Parameters of the inputs

7495

Parameter Data type Description

ENABLE BOOL := FALSE TRUE: enable CAN interface
FALSE: disable CAN interface
CHANNEL BYTE CAN interface (1...n) depending on the device
BAUDRATE WORD := 250 Baudrate [kbits/s]
permissible = 20, 50, 100, 125, 250, 500, 1000

>

Parameters of the outputs

8530

Parameter Data type Description

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

Possible results for RESULT:

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

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CAN_RECOVER
7512

Unit type = function block (FB)

Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7513

CAN_RECOVER has the following tasks:

 to activate / deactivate the automatic bus off handling
 to restart the CAN interface in case of bus off
> In case of bus off: CAN Controller deletes all buffers (including the buffers of the other protocols).
If CAN_RECOVER is not used (ENABLE=FALSE):
> in case of a bus off a recovery attempt is automatically made after 1 s.
> after 4 failed recovery attempts in a row the affected CAN interface is deactivated.
>

Parameters of the inputs

7514

Parameter Data type Description

ENABLE BOOL := FALSE TRUE: No automatic recovery after CAN bus off
FALSE: Automatic recovery after CAN bus off
CHANNEL BYTE CAN interface (1...n) depending on the device
RECOVER_EXECUTE BOOL TRUE (only for 1 cycle):
restart of CAN interface
remedy bus off condition
FALSE: function element is not executed
InhibitTime TIME := T#1s Waiting time between bus off and restart of the CAN interface
(optional use of the parameter)

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CAN_SETDOWNLOADID
7516

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

Symbol in CODESYS:

>

Description
7517

The download ID is required for data exchange when connecting the runtime system and the
CODESYS development environment. When the device is started the download ID is set with the
default value from the hardware configuration.
With CAN_SETDOWNLOADID this value can be set in the PLC program (e.g. using certain inputs).
The changed ID is also written into the hardware configuration.
>

Parameters of the inputs

7519

Parameter Data type Description

EXECUTE BOOL := FALSE FALSE  TRUE (edge):
execute function element once
otherwise: function element is not active
A function element already started is processed.
CHANNEL BYTE CAN interface (1...n) depending on the device
DOWNLOAD_ID BYTE 1...127 = set download ID
0 = read download ID

>

Parameters of the outputs

7520

Parameter Data type Description

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

Possible results for RESULT:

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

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CAN_STATUS
7499

Unit type = function block (FB)

Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7501

CAN_STATUS provides information on the chosen CAN bus.

Without hardware initialisation the following flags can be reset to FALSE:
- BUSOFF
- WARNING_RX
- WARNING_TX
>

Parameters of the inputs

7502

Parameter Data type Description

ENABLE BOOL := FALSE TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CHANNEL BYTE CAN interface (1...n) depending on the device
CLEAR BOOL := FALSE TRUE: Reset the following flags:
• WARNING_RX
• WARNING_TX
• BUSOFF
FALSE: function element is not executed

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Parameters of the outputs

7504

Parameter Data type Description

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

Possible results for RESULT:

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

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Function elements: receive RAW-CAN data

CAN_RX .................................................................................................................................................59
CAN_RX_ENH .......................................................................................................................................60
CAN_RX_ENH_FIFO .............................................................................................................................62
CAN_RX_RANGE ..................................................................................................................................64
CAN_RX_RANGE_FIFO ........................................................................................................................66
15050

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CAN_RX
7586

Unit type = function block (FB)

Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7588

CAN_RX is used for receiving a message.

The FB limits itself to a few functions and the required memory space is low.
CAN_RX filters for the set identifier. If several CAN messages with the same identifier are received in
one cycle, only the last / latest message is available.
>

Parameters of the inputs

7589

Parameter Data type Description

ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CHANNEL BYTE CAN interface (1...n) depending on the device
ID DWORD Number of the data object identifier:
normal frame (2 048 IDs):
0...2 047 = 0x0000 0000...0x0000 07FF
extended Frame (536 868 864 IDs):
2 048...536 870 911 = 0x0000 0800...0x1FFF FFFF

>

Parameters of the outputs

7590

Parameter Data type Description

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

Possible results for RESULT:

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

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CAN_RX_ENH
7606

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

Symbol in CODESYS:

>

Description
7608

In addition, CAN_RX_ENH provides the following possibilities (as opposed to CAN_RX (→ p. 59)):
• select the frame type (11 or 29 bits),
• define a mask for the evaluation of the CAN ID.

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

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

With the mask several identifiers can be defined as filters.

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

Parameters of the inputs

7609

Parameter Data type Description

ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CHANNEL BYTE CAN interface (1...n) depending on the device
ID DWORD Number of the data object identifier:
normal frame (211 IDs):
0...2 047 = 0x0000 0000...0x0000 07FF
extended Frame (229 IDs):
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
Extended BOOL := FALSE TRUE: extended Frame (ID = 0...229-1)
(optional use of the parameter) FALSE: normal Frame (ID = 0...211-1)
ID_Mask DWORD := 0 filter mask for the identifier:
(optional use of the parameter) if ID_MASK bit = 0, CAN ID bit may be = 0 or 1
if ID_MASK bit = 1, CAN ID bit must be = ID bit

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Parameters of the outputs

7613

Parameter Data type Description

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

Possible results for RESULT:

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

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CAN_RX_ENH_FIFO
7615

= CAN RX enhanced with FiFo

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

Symbol in CODESYS:

>

Description
7616

In addition, CAN_RX_ENH_FIFO provides a FiFo for the received data (as opposed to CAN_RX_ENH
(→ p. 60)). Thus several CAN messages can be received in one cycle.

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

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

Description to the filter mask: → CAN_RX_ENH (→ p. 60) > chapter Description

>

Parameters of the inputs

7609

Parameter Data type Description

ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CHANNEL BYTE CAN interface (1...n) depending on the device
ID DWORD Number of the data object identifier:
normal frame (211 IDs):
0...2 047 = 0x0000 0000...0x0000 07FF
extended Frame (229 IDs):
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
Extended BOOL := FALSE TRUE: extended Frame (ID = 0...229-1)
(optional use of the parameter) FALSE: normal Frame (ID = 0...211-1)
ID_Mask DWORD := 0 filter mask for the identifier:
(optional use of the parameter) if ID_MASK bit = 0, CAN ID bit may be = 0 or 1
if ID_MASK bit = 1, CAN ID bit must be = ID bit

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Parameters of the outputs

7617

Parameter Data type Description

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

Possible results for RESULT:

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

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CAN_RX_RANGE
7592

Unit type = function block (FB)

Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7594

CAN_RX_RANGE provides the following settings:

 select the message type (11 or 29 bits),
 define an identifier range.
CAN_RX filters for the set identifier. If several CAN messages with the same identifier are received in
one cycle, only the last / latest message is available.
>

Parameters of the inputs

7595

Parameter Data type Description

ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CHANNEL BYTE CAN interface (1...n) depending on the device
ID_START DWORD start number of the data object identifier range:
normal frame (211):
0...2 047 = 0x0000 0000...0x0000 07FF
extended frame (229):
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
ID_STOP DWORD end number of the data object identifier range:
normal frame (211):
0...2 047 = 0x0000 0000...0x0000 07FF
extended frame (229):
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
Extended BOOL := FALSE TRUE: extended Frame (ID = 0...229-1)
(optional use of the parameter) FALSE: normal Frame (ID = 0...211-1)

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>

Parameters of the outputs

7598

Parameter Data type Description

ID DWORD Number of the data object identifier:
normal frame (2 048 IDs):
0...2 047 = 0x0000 0000...0x0000 07FF
extended Frame (536 868 864 IDs):
2 048...536 870 911 = 0x0000 0800...0x1FFF FFFF
DATALENGTHCOUNT BYTE = Data Length Count
number of the data bytes received
DATA ARRAY [0..7] OF BYTE received data, (1...8 bytes)
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

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

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CAN_RX_RANGE_FIFO
7601

= CAN RX range with FiFo

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

Symbol in CODESYS:

>

Description
7603

CAN_RX_RANGE_FIFO basically works like CAN_RX_RANGE (→ p. 64).

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

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

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

Parameters of the inputs

7595

Parameter Data type Description

ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CHANNEL BYTE CAN interface (1...n) depending on the device
ID_START DWORD start number of the data object identifier range:
normal frame (211):
0...2 047 = 0x0000 0000...0x0000 07FF
extended frame (229):
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
ID_STOP DWORD end number of the data object identifier range:
normal frame (211):
0...2 047 = 0x0000 0000...0x0000 07FF
extended frame (229):
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
Extended BOOL := FALSE TRUE: extended Frame (ID = 0...229-1)
(optional use of the parameter) FALSE: normal Frame (ID = 0...211-1)

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>

Parameters of the outputs

7604

Parameter Data type Description

ID DWORD Number of the data object identifier:
normal frame (2 048 IDs):
0...2 047 = 0x0000 0000...0x0000 07FF
extended Frame (536 868 864 IDs):
2 048...536 870 911 = 0x0000 0800...0x1FFF FFFF
DATALENGTHCOUNT BYTE = Data Length Count
number of the data bytes received
DATA ARRAY [0..7] OF BYTE received data, (1...8 bytes)
MORE_DATA_AVAILABLE BOOL TRUE: further received data available in the FiFo
FALSE: no further data available in the FiFo
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

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

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Function elements: transmit RAW-CAN data

CAN_TX..................................................................................................................................................69
CAN_TX_ENH ........................................................................................................................................71
CAN_TX_ENH_CYCLIC.........................................................................................................................73
15055

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CAN_TX
7522

Unit type = function block (FB)

Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7523

CAN_TX sends a standard message per cycle.

The FB limits itself to a few functions and the required memory space is low.
> If an instance of this FB is called several times during a cycle, the data is also sent several times.
In case of the simple functions CAN_TX and CAN_RX, it is determined by means of the ID whether a
standard or an extended frame is to be sent. With the enhanced versions this is set via the input
EXTENDED. Therefore, extended frames in the ID area 0...2047 cannot be sent via the easy
functions.
>

Parameters of the inputs

7524

Parameter Data type Description

ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CHANNEL BYTE CAN interface (1...n) depending on the device
ID DWORD Number of the data object identifier:
normal frame (2 048 IDs):
0...2 047 = 0x0000 0000...0x0000 07FF
extended Frame (536 868 864 IDs):
2 048...536 870 911 = 0x0000 0800...0x1FFF FFFF
DATA ARRAY [0..7] OF BYTE data to be sent (1...8 bytes)

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>

Parameters of the outputs

7527

Parameter Data type Description

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

Possible results for RESULT:

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

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CAN_TX_ENH
7558

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

Symbol in CODESYS:

>

Description
7559

Additional setting options are offered through CAN_TX_ENH (for: enhanced). Here, all CAN specific
characteristics can be set individually, e.g.:
 Is it an 11 or a 29 bit identifier?
 The additional inputs can be preset so that CAN_TX (→ p. 69) is not required.
> If an instance of this FB is called several times during a cycle, the data is also sent several times.
>

Parameters of the inputs

7634

Parameter Data type Description

ENABLE BOOL := FALSE TRUE: execute this function element
Edge: enter the new values
FALSE: unit is not executed
reset internal remote values
CHANNEL BYTE CAN interface (1...n) depending on the device
ID DWORD Number of the data object identifier:
normal frame (211 IDs):
0...2 047 = 0x0000 0000...0x0000 07FF
extended Frame (229 IDs):
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
Extended BOOL := FALSE TRUE: extended Frame (ID = 0...229-1)
(optional use of the parameter) FALSE: normal Frame (ID = 0...211-1)
DATALENGTHCODE BYTE = Data Length Code
number of the data bytes to be sent (0...8)
DATA ARRAY [0..7] OF BYTE data to be sent (1...8 bytes)

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>

Parameters of the outputs

7527

Parameter Data type Description

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

Possible results for RESULT:

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

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CAN_TX_ENH_CYCLIC
7568

= CAN TX enhanced cyclic

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

Symbol in CODESYS:

>

Description
7569

CAN_TX_ENH_CYCLIC serves for cyclical transmitting of CAN messages.

Otherwise, the FB corresponds to CAN_TX_ENH (→ p. 71).
► Set the period duration via the parameter PERIOD.

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

>

Parameters of the inputs

7582

Parameter Data type Description

ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CHANNEL BYTE CAN interface (1...n) depending on the device
ID DWORD Number of the data object identifier:
normal frame (211 IDs):
0...2 047 = 0x0000 0000...0x0000 07FF
extended Frame (229 IDs):
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
Extended BOOL := FALSE TRUE: extended Frame (ID = 0...229-1)
(optional use of the parameter) FALSE: normal Frame (ID = 0...211-1)
DataLengthCode BYTE := 8 length of the data to be sent (0...8 bytes)
(optional use of the parameter)
DATA ARRAY [0..7] OF BYTE data to be sent (1...8 bytes)
PERIOD TIME period duration

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>

Parameters of the outputs

7510

Parameter Data type Description

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

Possible results for RESULT:

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

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Function elements: RAW-CAN remote

CAN_REMOTE_REQUEST ...................................................................................................................76
CAN_REMOTE_RESPONSE.................................................................................................................78
15057

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CAN_REMOTE_REQUEST
7625

Unit type = function block (FB)

Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7627

In order to request a remote message, an according requirement is dispatched via

CAN_REMOTE_REQUEST and the response of the other device is sent back as result.
>

Parameters of the inputs

7628

Parameter Data type Description

EXECUTE BOOL := FALSE FALSE  TRUE (edge):
execute function element once
otherwise: function element is not active
A function element already started is processed.
CHANNEL BYTE CAN interface (1...n) depending on the device
ID DWORD Number of the data object identifier:
normal frame (211 IDs):
0...2 047 = 0x0000 0000...0x0000 07FF
extended Frame (229 IDs):
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
Extended BOOL := FALSE TRUE: extended Frame (ID = 0...229-1)
(optional use of the parameter) FALSE: normal Frame (ID = 0...211-1)

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>

Parameters of the outputs

7629

Parameter Data type Description

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

Possible results for RESULT:

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

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CAN_REMOTE_RESPONSE
7631

Unit type = function block (FB)

Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7633

CAN_REMOTE_RESPONSE provides data to the CAN controller in the device which is automatically
sent upon the request of a remote message.
This FB strongly depends on the device type. Only a limited number of remote messages can be set
up:
BasicController: CR040n, CR041n, CR043n
max. 40 remote messages
BasicDisplay: CR045n
PDM360 NG: CR108n, CR120n max. 100 remote messages
>

Parameters of the inputs

7634

Parameter Data type Description

ENABLE BOOL := FALSE TRUE: execute this function element
Edge: enter the new values
FALSE: unit is not executed
reset internal remote values
CHANNEL BYTE CAN interface (1...n) depending on the device
ID DWORD Number of the data object identifier:
normal frame (211 IDs):
0...2 047 = 0x0000 0000...0x0000 07FF
extended Frame (229 IDs):
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
Extended BOOL := FALSE TRUE: extended Frame (ID = 0...229-1)
(optional use of the parameter) FALSE: normal Frame (ID = 0...211-1)
DATALENGTHCODE BYTE = Data Length Code
number of the data bytes to be sent (0...8)
DATA ARRAY [0..7] OF BYTE data to be sent (1...8 bytes)

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>

Parameters of the outputs

7636

Parameter Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
6 06 FB is being processed – remote for ID not active
7 07 FB is being processed – remote for ID active
8 08 function block is active
10 0A no further remote entrys available
242 F2 Error: setting is not possible

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5.2.3 Function elements: CANopen

Function elements: CANopen status ......................................................................................................80

Function elements: CANopen network management .............................................................................89
Function elements: CANopen object directory .......................................................................................93
Function elements: CANopen SDOs ......................................................................................................98
Function elements: CANopen SYNC ...................................................................................................111
Function elements: CANopen guarding ...............................................................................................115
Function elements: CANopen emergency............................................................................................119
15059

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

Function elements: CANopen status

CANOPEN_ENABLE ..............................................................................................................................81
CANOPEN_GETBUFFERFLAGS ..........................................................................................................83
CANOPEN_GETSTATE .........................................................................................................................85
CANOPEN_SETSTATE .........................................................................................................................87
15061

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>

CANOPEN_ENABLE
7785

Unit type = function block (FB)

Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7787

CANOPEN_ENABLE allows to switch the CANopen master on or off.

► In the application program always call an own instance of the FB CANOPEN_ENABLE (→ p. 81)
for every CAN interface!

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

If the master is restarted after a stop, all other connected nodes also have to be re-initialised.
Without CANOPEN_ENABLE, the CANopen master is started automatically, as far as this has been
selected in the configuration.
The configured baud rate is only adopted if CAN_ENABLE (→ p. 53) has not been activated before.
>

Parameters of the inputs

7788

Parameter Data type Description

ENABLE BOOL := TRUE TRUE:
• Enable CANopen for the selected channel
• Start CANopen manager or CANopen device
according to the configuration settings
FALSE:
• Disable CANopen for the selected channel
• Terminate CANopen manager or CANopen device
CHANNEL BYTE CAN interface (1...n) depending on the device
Baud rate WORD := 0 Baud rate [kbits/s]
(optional use of the parameter) permissible values = 20, 50, 100, 125, 250, 500, 800, 1 000
0 = use setting from the PLC configuration

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>

Parameters of the outputs

7789

Parameters Data type Description

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

Possible results for RESULT:

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

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CANOPEN_GETBUFFERFLAGS
7890

= Get buffer flags

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

Symbol in CODESYS:

>

Description
7892

CANOPEN_GETBUFFERFLAGS supplies information on the buffer flags.

The flags can be reset via the optional inputs.
The function block returns the state of the overflow flags.
>

Parameters of the inputs

7893

Parameter Data type Description

EXECUTE BOOL := FALSE FALSE  TRUE (edge):
execute function element once
otherwise: function element is not active
A function element already started is processed.
CHANNEL BYTE CAN interface (1...n) depending on the device
ResetRXFlags BOOL := FALSE TRUE: Provide fag status at the output and then reset
(optional use of the parameter) FALSE: function element is not executed
ResetTXFlags BOOL := FALSE TRUE: Provide flag status at the output and then reset
(optional use of the parameter) FALSE: function element is not executed

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>

Parameters of the outputs

7894

Parameter Data type Description

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

Possible results for RESULT:

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

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CANOPEN_GETSTATE
7865

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

Symbol in CODESYS:

>

Description
7867

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

Parameters of the inputs

7868

Parameter Data type Description

EXECUTE BOOL := FALSE FALSE  TRUE (edge):
execute function element once
otherwise: function element is not active
A function element already started is processed.
CHANNEL BYTE CAN interface (1...n) depending on the device
NODE BYTE Node ID = ID of the node (0...127)
Device as CANopen master:
Value = 0:
Only the status information of the device itself is returned at the
outputs. The outputs with information on the nodes are invalid.
Value not 0:
Node ID of a node in the network. For this one as well as for the
device the states are returned at the outputs.
Device as CANopen slave:
Value = 0 (preset):
The status information of the slave is returned at the outputs.
Value not 0:
no action

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>

Parameters of the outputs

7869

Parameter Data type Description

MASTERSTATE BYTE Master state = internal state of the master:
0 = 0x00 = master starts up
4 = 0x04 = node configuration running
5 = 0x05 = normal operating state of the master
255 = 0xFF = PLC running as slave
PLCNODEID BYTE PLC node ID = node ID of the PLC the program is running on
Value = 0...127 = 0x00...0x7F
PLCBAUDRATE DWORD Baudrate of the PLC
PLCVERSION DWORD PLC version
CANSTATE BYTE Status of the CANopen network
Device operated as master:
Node ID = 0 (device as such):
0 = 0x00 = OK
128 = 0x80 = BUSOFF
Node ID ≠ 0 (node):
0 = 0x00 = OK
1 = 0x01 = guard or heartbeat error on node
128 = 0x80 = BUSOFF
Device operated as slave:
0 = 0x00 = OK
1 = 0x01 = guard or heartbeat error
128 = 0x80 = BUSOFF
NODESTATE BYTE Node state = internal node state of a slave seen from the master's
perspective. The input NODEID identifies the node.
-1 = 0xFF = reset after ResetNode
1 = 0x01 = waiting for BOOTUP
2 = 0x02 = after receipt of the BOOTUP message
3 = 0x03 = not yet configured: STOPPED
4 = 0x04 = after configuration with SDOs: PRE-OPERATIONAL
5 = 0x05 = after starting the node: OPERATIONAL
97 = 0x61 = optional node
98 = 0x62 = other device type configured than in 0x1000
99 = 0x63 = node guarding
LASTNODESTATE BYTE Last Node State
Node state according to CANopen (with these values the status is also
coded in the corresponding messages with regard to the node).
0 0x00 BOOTUP
4 0x04 STOPPED
5 0x05 OPERATIONAL
127 0x7F PRE-OPERATIONAL
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

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

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CANOPEN_SETSTATE
7858

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

Symbol in CODESYS:

>

Description
7860

Via CANOPEN_SETSTATE, parameters of the master, a slave device or a node in the network can be
set.
The treatment of the NMT state of master, node or device is carried out in the CAN stack or via the
commands of the FB CANOPEN_NMTSERVICES (→ p. 91). At the same time admissibility checks are
carried out. For reasons of consistency no inputs are provided for this purpose.

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>

Parameters of the inputs

7861

Parameter Data type Description

EXECUTE BOOL := FALSE FALSE  TRUE (edge):
execute function element once
otherwise: function element is not active
A function element already started is processed.
CHANNEL BYTE CAN interface (1...n) depending on the device
NODE BYTE Node ID = ID of the node (0...127)
Device as CANopen master:
Value = 0:
The changes only refer to the device itself.
Value not 0:
Node ID of a node in the network the parameters of which are to be
changed. The established settings are only adopted for this node (not
for the device).
Device as CANopen slave:
In slave mode, the node ID of the slave can be set via this input.
Value = 0:
no action
Value not 0:
The function block adopts this value as the new node ID of the device.
GlobalStart BOOL := TRUE Requirement: FB must be called immediately after starting the IEC
(optional use of the parameter) program. This setting overwrites the setting of the configuration.
TRUE: Start all participants simultaneously
FALSE: Start all participants one after the other
CfgTimeout TIME := T#0ms set configuration timeout for a node:
(optional use of the parameter) Value = 0:
no action – retain configuration data
Value not 0:
overwrite data from the configuration with the new value
InitNoSdos BOOL := FALSE To the node indicated in NODE, during initialisation,...
(optional use of the parameter) TRUE: do not send configuration data
FALSE: send configured SDOs

>

Parameters of the outputs

7862

Parameter Data type Description

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

Possible results for RESULT:

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

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Function elements: CANopen network management

CANOPEN_GETNMTSTATESLAVE .....................................................................................................90
CANOPEN_NMTSERVICES ..................................................................................................................91
15063

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CANOPEN_GETNMTSTATESLAVE
7851

= Get network management state slave

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

Symbol in CODESYS:

>

Description
7853

► Only use the FB if the device is operated as CANopen slave!

With CANOPEN_GETNMTSTATESLAVE, only the operating state according to CANopen and an
error message are reported to the application if an invalid state transition has been requested.
>

Parameters of the inputs

7854

Parameter Data type Description

EXECUTE BOOL := FALSE FALSE  TRUE (edge):
execute function element once
otherwise: function element is not active
A function element already started is processed.
CHANNEL BYTE CAN interface (1...n) depending on the device

>

Parameters of the outputs

7855

Parameter Data type Description

NMTSTATE BYTE Network operating status of the node
0 = INIT
1 = OPERATIONAL
2 = PRE-OPERATIONAL
3 = STOPPED
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

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

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CANOPEN_NMTSERVICES
7843

= Network management services

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

Symbol in CODESYS:

>

Description
7844

Depending on its NMT command entries, CANOPEN_NMTSERVICES either triggers an NMT

command or the initialisation of a node.
NMT = Network-ManagemenT
The function block updates the internal node status. If a state transition to CANopen (→ system
manual "Know-How ecomatmobile" > NMT state) should not be permitted, the command is not
executed.
A CANopen device can automatically change its CANopen state by means of the FB:
preoperational  operational
>

Parameters of the inputs

7847

Parameter Data type Description

EXECUTE BOOL := FALSE FALSE  TRUE (edge):
execute function element once
otherwise: function element is not active
A function element already started is processed.
CHANNEL BYTE CAN interface (1...n) depending on the device
NODE BYTE CANopen ID of the node
permissible = 0...127 = 0x00...0x7F
NODE = 0:
command applies to all nodes in the network
NODE = Node ID of the device:
command applies to the device as such
NMTSERVICE BYTE network command
0 = init node (except master)
1 = enter PRE-OPERATIONAL
2 = start node
3 = reset node
4 = reset communication
5 = stop node
Timeout TIME := T#0ms waiting time of the FB for the initialisation
(optional use of the parameter) when the time has elapsed, the FB stops waiting.
0 = use value from the configuration

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>

Parameters of the outputs

7848

Parameter Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
8 08 function block is active
35 23 at least 1 SDO of the configuration was not successful
36 24 node was already initialised
37 25 when initialisation was requested the node was not in the PRE-OPERATIONAL mode
43 2B master / slave is not initialised
241 F1 Error: CANopen state transition is not permitted
242 F2 Error: setting is not possible

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Function elements: CANopen object directory

CANOPEN_GETODCHANGEDFLAG ...................................................................................................94
CANOPEN_READOBJECTDICT ...........................................................................................................95
CANOPEN_WRITEOBJECTDICT .........................................................................................................96
15065

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CANOPEN_GETODCHANGEDFLAG
7927

= Get object directory changed flag

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

Symbol in CODESYS:

>

Description
7928

CANOPEN_GETODCHANGEDFLAG reports any change of value for a particular object directory

entry.
>

Parameters of the inputs

7930

Parameter Data type Description

EXECUTE BOOL := FALSE FALSE  TRUE (edge):
execute function element once
otherwise: function element is not active
A function element already started is processed.
CHANNEL BYTE CAN interface (1...n) depending on the device
IDX WORD index in object directory
SUBIDX BYTE sub-index referred to the index in the object directory

>

Parameters of the outputs

7931

Parameter Data type Description

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

Possible results for RESULT:

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

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CANOPEN_READOBJECTDICT
7933

= Read object directory

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

Symbol in CODESYS:

>

Description
7935

CANOPEN_READOBJECTDICT reads up to 4 bytes of configuration data from the object directory of

the device for use in the application program.
>

Parameters of the inputs

7936

Parameter Data type Description

EXECUTE BOOL := FALSE FALSE  TRUE (edge):
execute function element once
otherwise: function element is not active
A function element already started is processed.
CHANNEL BYTE CAN interface (1...n) depending on the device
IDX WORD index in object directory
SUBIDX BYTE sub-index referred to the index in the object directory

>

Parameters of the outputs

7937

Parameter Data type Description

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

Possible results for RESULT:

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

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CANOPEN_WRITEOBJECTDICT
7940

= Write object directory

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

Symbol in CODESYS:

>

Description
7942

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

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

>

Parameters of the inputs

7943

Parameter Data type Description

EXECUTE BOOL := FALSE FALSE  TRUE (edge):
execute function element once
otherwise: function element is not active
A function element already started is processed.
CHANNEL BYTE CAN interface (1...n) depending on the device
IDX WORD index in object directory
SUBIDX BYTE sub-index referred to the index in the object directory
DATA DWORD parameter value

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>

Parameters of the outputs

7945

Parameter Data type Description

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

Possible results for RESULT:

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

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Function elements: CANopen SDOs

CANOPEN_SDOREAD ..........................................................................................................................99
CANOPEN_SDOREADBLOCK ............................................................................................................101
CANOPEN_SDOREADMULTI .............................................................................................................103
CANOPEN_SDOWRITE ......................................................................................................................105
CANOPEN_SDOWRITEBLOCK ..........................................................................................................107
CANOPEN_SDOWRITEMULTI ...........................................................................................................109
2071

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

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CANOPEN_SDOREAD
7791

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

Symbol in CODESYS:

>

Description
7793

CANOPEN_SDOREAD is an easy function block for editing "Expedited SDOs", i.e. SDOs with max.
4 bytes of user data. This type usually represents the bigger part of the SDO communication.
Expedited SDO = Expedited Service Data Object
A considerable amount of memory space can be saved due to the limitation of the data volume to
max. 4 bytes of user data, as this FB only needs to reserve 4 bytes as buffer storage and does not
create a large data array itself.
>

Parameters of the inputs

7794

Parameter Data type Description

EXECUTE BOOL := FALSE FALSE  TRUE (edge):
execute function element once
otherwise: function element is not active
A function element already started is processed.
CHANNEL BYTE CAN interface (1...n) depending on the device
NODE BYTE ID of the node
permissible values = 1...127 = 0x01...0x7F
IDX WORD index in object directory
SUBIDX BYTE sub-index referred to the index in the object directory
Timeout TIME := T#10ms waiting time of the FB for the response
(optional use of the parameter) when the time has elapsed, the FB stops waiting.
value = 0: use value from the configuration

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>

Parameters of the outputs

7795

Parameter Data type Description

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

Possible results for RESULT:

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

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CANOPEN_SDOREADBLOCK
14942

= SDO Read Block

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

Symbol in CODESYS:

>

Description
14943

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

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

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

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>

Parameters of the inputs

14945

Parameter Data type Description

EXECUTE BOOL := FALSE FALSE  TRUE (edge):
execute function element once
otherwise: function element is not active
A function element already started is processed.
CHANNEL BYTE CAN interface (1...n) depending on the device
NODE BYTE (Node ID) ID of the node
allowed = 1...127 = 0x01...0x7F
The COB ID of the SDO is calculated from the node ID + 0x600
IDX WORD index in object directory
SUBIDX BYTE sub-index referred to the index in the object directory
DATA DWORD Address of the data zone for storage of the received data
Input is without function for devices with file system (Linux).
FILE STRING(80) Path and file name for storage of the received data in binary format
Input without function for device without file system
(BasicSystem).
MAX_LEN DWORD Maximum permitted number of bytes which may be received
SegmentedTransfer BOOL := FALSE TRUE: Segmented SDO transfer
(optional use of the parameter) FALSE: SDO block transfer
Timeout TIME := T#10ms waiting time of the FB for the response
(optional use of the parameter) when the time has elapsed, the FB stops waiting.
value = 0: use value from the configuration
>

Parameters of the outputs

14951

Parameter Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid
5 05 FB is active – no data received yet
16 10 Transmission is active as a segmented download
17 11 Transmission is active as a block download
32 20 SDO transmission aborted by client or server
(SDO abort code 0x80)
33 21 TIMEOUT elapsed
64 40 Error: Write pointer outside admissible data range
65 41 Error: File could not be opened
66 42 Error when writing to file
242 F2 Error: setting is not possible

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>

CANOPEN_SDOREADMULTI
7806

= SDO read multi

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

Symbol in CODESYS:

>

Description
7808

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

Parameters of the inputs

7809

Parameter Data type Description

EXECUTE BOOL := FALSE FALSE  TRUE (edge):
execute function element once
otherwise: function element is not active
A function element already started is processed.
CHANNEL BYTE CAN interface (1...n) depending on the device
NODE BYTE (Node ID) ID of the node
allowed = 1...127 = 0x01...0x7F
The COB ID of the SDO is calculated from the node ID + 0x600
IDX WORD index in object directory
SUBIDX BYTE sub-index referred to the index in the object directory
Timeout TIME := T#10ms waiting time of the FB for the response
(optional use of the parameter) when the time has elapsed, the FB stops waiting.
value = 0: use value from the configuration

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>

Parameters of the outputs

7810

Parameter Data type Description

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

Possible results for RESULT:

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

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CANOPEN_SDOWRITE
7825

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

Symbol in CODESYS:

>

Description
7826

CANOPEN_SDOWRITE is an easy function block for editing "Expedited SDOs", i.e. SDOs with max.
4 bytes user data. This type usually represents the bigger part of the SDO communication.
Expedited SDO = expedited service data object
A considerable amount of memory space can be saved due to the limitation of the data volume to
max. 4 bytes of user data because this FB only needs to reserve 4 bytes as buffer storage and does
not create a large data array itself.
>

Parameters of the inputs

7828

Parameter Data type Description

EXECUTE BOOL := FALSE FALSE  TRUE (edge):
execute function element once
otherwise: function element is not active
A function element already started is processed.
CHANNEL BYTE CAN interface (1...n) depending on the device
NODE BYTE ID of the node
permissible values = 1...127 = 0x01...0x7F
IDX WORD index in object directory
SUBIDX BYTE sub-index referred to the index in the object directory
LEN BYTE number of the data bytes to be transmitted
permissible values = 1...4 = 0x01...0x04
DATA ARRAY [0..3] OF BYTE data area (1...4 bytes)
Timeout TIME := T#10ms waiting time of the FB for the response
(optional use of the parameter) when the time has elapsed, the FB stops waiting.
value = 0: use value from the configuration

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>

Parameters of the outputs

7829

Parameter Data type Description

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

Possible results for RESULT:

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

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CANOPEN_SDOWRITEBLOCK
14961

= SDO Write Block

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

Symbol in CODESYS:

>

Description
14963

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

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

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

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>

Parameters of the inputs

14964

Parameter Data type Description

EXECUTE BOOL := FALSE FALSE  TRUE (edge):
execute function element once
otherwise: function element is not active
A function element already started is processed.
CHANNEL BYTE CAN interface (1...n) depending on the device
NODE BYTE (Node ID) ID of the node
allowed = 1...127 = 0x01...0x7F
The COB ID of the SDO is calculated from the node ID + 0x600
IDX WORD index in object directory
SUBIDX BYTE sub-index referred to the index in the object directory
LEN DWORD number of data bytes to be transmitted in DATA
allowed = 1...2 048 = 0x0000 0001...0x0000 0800
DATA DWORD Address of the data zone for reading of the data to be transmitted
Input is without function for devices with file system (Linux).
FILE STRING(80) Path and file name for reading of the data to be transmitted in binary
format
Input without function for device without file system
(BasicSystem).
SegmentedTransfer BOOL := FALSE TRUE: Segmented SDO transfer
(optional use of the parameter) FALSE: SDO block transfer
Timeout TIME := T#10ms waiting time of the FB for the response
(optional use of the parameter) when the time has elapsed, the FB stops waiting.
value = 0: use value from the configuration

>

Parameters of the outputs

14968

Parameter Data type Description

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

Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid
8 08 FB is active – not yet processed
16 10 Transmission is active as a segmented download
17 11 Transmission is active as a block download
32 20 SDO transmission aborted by client or server
(SDO abort code 0x80)
33 21 TIMEOUT elapsed
65 41 Error: File could not be opened
242 F2 Error: setting is not possible

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CANOPEN_SDOWRITEMULTI
7832

= SDO write multi

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

Symbol in CODESYS:

>

Description
7834

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

Parameters of the inputs

7835

Parameter Data type Description

EXECUTE BOOL := FALSE FALSE  TRUE (edge):
execute function element once
otherwise: function element is not active
A function element already started is processed.
CHANNEL BYTE CAN interface (1...n) depending on the device
NODE BYTE ID of the node
permissible values = 1...127 = 0x01...0x7F
IDX WORD index in object directory
SUBIDX BYTE sub-index referred to the index in the object directory
LEN DWORD number of the data bytes to be transmitted
permissible values = 1...2 048 = 0x0000 0001...0x0000 0800
DATA ARRAY [0..SDOMAXDATA] OF buffer memory for user data of the SDO data transmission
BYTE
Timeout TIME := T#10ms waiting time of the FB for the response
(optional use of the parameter) when the time has elapsed, the FB stops waiting.
value = 0: use value from the configuration

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>

Parameters of the outputs

7836

Parameter Data type Description

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

Possible results for RESULT:

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

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Function elements: CANopen SYNC

CANOPEN_GETSYNCSTATE .............................................................................................................112
CANOPEN_SETSYNCSTATE .............................................................................................................114
15069

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CANOPEN_GETSYNCSTATE
7871

= Get SYNC state

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

Symbol in CODESYS:

>

Description
7872

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

Parameters of the inputs

7874

Parameter Data type Description

EXECUTE BOOL := FALSE FALSE  TRUE (edge):
execute function element once
otherwise: function element is not active
A function element already started is processed.
CHANNEL BYTE CAN interface (1...n) depending on the device

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>

Parameters of the outputs

7875

Parameter Data type Description

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

Possible results for RESULT:

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

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CANOPEN_SETSYNCSTATE
7883

= Set SYNC state

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

Symbol in CODESYS:

>

Description
7884

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

>

Parameters of the inputs

7886

Parameter Data type Description

EXECUTE BOOL := FALSE FALSE  TRUE (edge):
execute function element once
otherwise: function element is not active
A function element already started is processed.
CHANNEL BYTE CAN interface (1...n) depending on the device
SYNC BOOL status of the SYNC functionality
TRUE: SYNC is activated:
In the master mode SYNC telegrams are generated according to the
settings in the configuration, and synchronous PDOs are transmitted
and received.
In the slave mode SYNC telegrams are received and accordingly
processed.
FALSE: SYNC is not active

>

Parameters of the outputs

7887

Parameter Data type Description

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

Possible results for RESULT:

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

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Function elements: CANopen guarding

CANOPEN_GETGUARDHBERRLIST .................................................................................................116
CANOPEN_GETGUARDHBSTATSLV ................................................................................................117
15071

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CANOPEN_GETGUARDHBERRLIST
7896

= Get guard and heartbeat error list

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

Symbol in CODESYS:

>

Description
7898

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

Parameters of the inputs

7899

Parameter Data type Description

EXECUTE BOOL := FALSE FALSE  TRUE (edge):
execute function element once
otherwise: function element is not active
A function element already started is processed.
CHANNEL BYTE CAN interface (1...n) depending on the device
ResetList BOOL := FALSE Reset error list
(optional use of the parameter) TRUE: Provide the error list as well as number of faulty
nodes at the output and then reset.
FALSE: function element is not executed
>

Parameters of the outputs

7900

Parameter Data type Description

N_NODES WORD Number of nodes with heartbeat or guarding error
0 = none of the nodes has a guarding or heartbeat error
NODEID ARRAY List of node IDs with heartbeat or guarding error.
[0..MAXGUARDERROR] OF The most recent entry is in index 0.
BYTE MAXGUARDERROR depends on device
→ chapter Limitations for CANopen in this device (→ p. 31)
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

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

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CANOPEN_GETGUARDHBSTATSLV
7902

= Get guard and heartbeat state slave

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

Symbol in CODESYS:

>

Description
7904

CANOPEN_GETGUARDANDHBSTATESLAVE reports the following states to the controller in slave

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

Parameters of the inputs

7905

Parameter Data type Description

EXECUTE BOOL := FALSE FALSE  TRUE (edge):
execute function element once
otherwise: function element is not active
A function element already started is processed.
CHANNEL BYTE CAN interface (1...n) depending on the device
Reset BOOL := FALSE TRUE: Provide the current states at the outputs
(optional use of the parameter) and then reset to "No error"
FALSE: function element is not executed

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>

Parameters of the outputs

7906

Parameter Data type Description

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

Possible results for RESULT:

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

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Function elements: CANopen emergency

CANOPEN_GETEMCYMESSAGES ....................................................................................................120
CANOPEN_GETERRORREGISTER ...................................................................................................122
CANOPEN_SENDEMCYMESSAGE ...................................................................................................124
15073

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CANOPEN_GETEMCYMESSAGES
7921

= Get emergency messages

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

Symbol in CODESYS:

>

Description
7923

CANOPEN_GETEMCYMESSAGES returns all emergency messages that have been received by the
controller from other nodes in the network since the last deletion of messages.
The list can be reset by setting the according input. A maximum of MAXEMCYMSGS messages is
stored. Each message contains information from which the node it was sent. The most recent
message is in index 0.
>

Parameters of the inputs

7924

Parameter Data type Description

EXECUTE BOOL := FALSE FALSE  TRUE (edge):
execute function element once
otherwise: function element is not active
A function element already started is processed.
CHANNEL BYTE CAN interface (1...n) depending on the device
RstList BOOL := FALSE TRUE: Provide list with accumulated CAN messages
(optional use of the parameter) at the output and then delete
FALSE: function element is not executed

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>

Parameters of the outputs

7925

Parameter Data type Description

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

Possible results for RESULT:

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

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CANOPEN_GETERRORREGISTER
7915

= Get error register

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

Symbol in CODESYS:

>

Description
7917

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

Parameters of the inputs

7918

Parameter Data type Description

EXECUTE BOOL := FALSE FALSE  TRUE (edge):
execute function element once
otherwise: function element is not active
A function element already started is processed.
CHANNEL BYTE CAN interface (1...n) depending on the device
Reset_1001 BOOL := FALSE TRUE: Reset error register 0x1001
(optional use of the parameter) FALSE: function element is not executed
Reset_1003 BOOL := FALSE TRUE: Reset error register 0x1003
(optional use of the parameter) Set number of entries to 0
FALSE: function element is not executed
The inputs remain unchanged.

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>

Parameters of the outputs

7919

Parameter Data type Description

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

Possible results for RESULT:

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

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CANOPEN_SENDEMCYMESSAGE
7908

= Send emergency message

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

Symbol in CODESYS:

>

Description
7910

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

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

Parameters of the inputs

7911

Parameter Data type Description

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

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>

Parameters of the outputs

7912

Parameter Data type Description

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

Possible results for RESULT:

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

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5.2.4 Function elements: SAE J1939

Function elements: SAE J1939 status .................................................................................................126

Function elements: SAE J1939 request ...............................................................................................134
Function elements: receive SAE J1939 ...............................................................................................137
Function elements: transmit SAE J1939 ..............................................................................................142
Function elements: SAE J1939 diagnosis ............................................................................................150
2273

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

Function elements: SAE J1939 status

J1939_ENABLE ....................................................................................................................................127
J1939_GETDABYNAME ......................................................................................................................129
J1939_NAME .......................................................................................................................................131
J1939_STATUS ....................................................................................................................................133
15077

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J1939_ENABLE
7641

Unit type = function block (FB)

Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7642

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

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

Parameters of the inputs

7643

Parameter Data type Description

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

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>

Parameters of the outputs

8542

Parameter Data type Description

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

Possible results for RESULT:

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

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J1939_GETDABYNAME
7664

= get destination arbitrary name

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

Symbol in CODESYS:

>

Description
7665

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

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>

Parameters of the inputs

7667

Parameter Data type Description

ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CHANNEL BYTE CAN interface (1...n) depending on the device
IndustryGroup BYTE = 0xFF industry group = industry group of the device
(optional use of the parameter) permissible values = 0...7
255 = 0xFF = filter for all
VehicleSystemInstance BYTE := 0xFF instance of the vehicle system
(optional use of the parameter) permissible values = 0...15 = 0x00...0x0F
255 = 0xFF = filter for all
VehicleSystem BYTE := 0xFF vehicle system
(optional use of the parameter) permissible values = 0...127 = 0x00...0x7F
255 = 0xFF = filter for all
nFunction WORD := 0xFFFF function of the device
(optional use of the parameter) permissible values = 0...255 = 0x0000...0x00FF
65 535 = 0xFFFF = filter for all
FunctionInstance BYTE := 0xFF instance of the function
(optional use of the parameter) permissible values = 0...31 = 0x00...0x1F
255 = 0xFF = filter for all
ECUInstance BYTE := 0xFF instance of the control device
(optional use of the parameter) permissible values = 0...7
255 = 0xFF = filter for all
ManufacturerCode WORD := 0xFFFF manufacturer code (must be requested from SAE)
(optional use of the parameter) permissible values = 0...2047 (211-1) = 0x0000...0x07FF
65 535 = 0xFFFF = filter for all
IdentityNumber DWORD := 0xFFFF FFFF serial number of the device (should not be overwritten)
(optional use of the parameter) permissible values = 0...2047 (211-1) = 0x0000 0000...0x0000 07FF
4 294 967 295 = 0xFFFF FFFF = filter for all

>

Parameters of the outputs

7668

Parameter Data type Description

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

Possible results for RESULT:

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

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J1939_NAME
7646

Unit type = function block (FB)

Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7648

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

Table: Composition of the 64 bit NAME information according to SAE J1939-81

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>

Parameters of the inputs

7652

Parameter Data type Description

ENABLE BOOL := FALSE TRUE: Any desired address available
FALSE: Fixed address
CHANNEL BYTE CAN interface (1...n) depending on the device
IndustryGroup BYTE = 0xFF industry group = industry group of the device
(optional use of the parameter) permissible values = 0...7
255 = 0xFF = filter for all
VehicleSystemInstance BYTE := 0xFF instance of the vehicle system
(optional use of the parameter) permissible values = 0...15 = 0x00...0x0F
255 = 0xFF = filter for all
VehicleSystem BYTE := 0xFF vehicle system
(optional use of the parameter) permissible values = 0...127 = 0x00...0x7F
255 = 0xFF = filter for all
nFunction WORD := 0xFFFF function of the device
(optional use of the parameter) permissible values = 0...255 = 0x0000...0x00FF
65 535 = 0xFFFF = filter for all
FunctionInstance BYTE := 0xFF instance of the function
(optional use of the parameter) permissible values = 0...31 = 0x00...0x1F
255 = 0xFF = filter for all
ECUInstance BYTE := 0xFF instance of the control device
(optional use of the parameter) permissible values = 0...7
255 = 0xFF = filter for all
ManufacturerCode WORD := 0xFFFF manufacturer code (must be requested from SAE)
(optional use of the parameter) permissible values = 0...2047 (211-1) = 0x0000...0x07FF
65 535 = 0xFFFF = filter for all
IdentityNumber DWORD := 0xFFFF FFFF serial number of the device (should not be overwritten)
(optional use of the parameter) permissible values = 0...2047 (211-1) = 0x0000 0000...0x0000 07FF
4 294 967 295 = 0xFFFF FFFF = filter for all

>

Parameters of the outputs

7661

Parameter Data type Description

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

Possible results for RESULT:

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

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J1939_STATUS
7670

Unit type = function block (FB)

Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7672

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

Parameters of the inputs

7673

Parameter Data type Description

ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CHANNEL BYTE CAN interface (1...n) depending on the device

>

Parameters of the outputs

7674

Parameter Data type Description

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

Possible results for RESULT:

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

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Function elements: SAE J1939 request

J1939_SPEC_REQ ..............................................................................................................................135
J1939_SPEC_REQ_MULTI .................................................................................................................136
15079

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J1939_SPEC_REQ
15023

= J1939 Specific Request

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

Symbol in CODESYS:

>

Description
15026

J1939_SPECIFIC_REQUEST requests and receives a specific message from another controller.

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

Parameters of the inputs

15028

Parameter Data type Description

EXECUTE BOOL := FALSE FALSE  TRUE (edge):
execute function element once
otherwise: function element is not active
A function element already started is processed.
CHANNEL BYTE CAN interface (1...n) depending on the device
PGN DWORD PGN = Parameter Group Number
permissible = 0...262 143 = 0x00000000...0x0003FFFF
DA BYTE J1939 address of the requested device
>

Parameters of the outputs

15029

Parameter Data type Description

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

Possible results for RESULT:

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

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J1939_SPEC_REQ_MULTI
15033

= J1939 Specific Request Multiframe Message

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

Symbol in CODESYS:

>

Description
15036

J1939_SPECIFIC_REQUEST requests and receives a specific multiframe message from another

controller.
>

Parameters of the inputs

15037

Parameter Data type Description

EXECUTE BOOL := FALSE FALSE  TRUE (edge):
execute function element once
otherwise: function element is not active
A function element already started is processed.
CHANNEL BYTE CAN interface (1...n) depending on the device
PGN DWORD PGN = Parameter Group Number
permissible = 0...262 143 = 0x00000000...0x0003FFFF
DA BYTE J1939 address of the requested device

>

Parameters of the outputs

15038

Parameter Data type Description

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

Possible results for RESULT:

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

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Function elements: receive SAE J1939

J1939_RX .............................................................................................................................................138
J1939_RX_FIFO ...................................................................................................................................139
J1939_RX_MULTI ................................................................................................................................141
15081

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J1939_RX
7724

Unit type = function block (FB)

Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7725

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

Parameters of the inputs

7726

Parameter Data type Description

ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CHANNEL BYTE CAN interface (1...n) depending on the device
PGN DWORD PGN = Parameter Group Number
permissible = 0...262 143 = 0x00000000...0x0003FFFF

The PGN = 0 is not used.

>

Parameters of the outputs

7727

Parameter Data type Description

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

Possible results for RESULT:

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

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J1939_RX_FIFO
7732

= J1939 RX with FIFO

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

Symbol in CODESYS:

>

Description
7733

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

Parameters of the inputs

7734

Parameter Data type Description

ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CHANNEL BYTE CAN interface (1...n) depending on the device
PGN DWORD PGN = Parameter Group Number
permissible = 0...262 143 = 0x00000000...0x0003FFFF

The PGN = 0 is not used.

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>

Parameters of the outputs

7735

Parameter Data type Description

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

Possible results for RESULT:

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

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J1939_RX_MULTI
7736

= J1939 RX multiframe message

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

Symbol in CODESYS:

>

Description
7741

J1939_RX_MULTI enables receipt of multi-frame messages.

>

Parameters of the inputs

7743

Parameter Data type Description

EXECUTE BOOL := FALSE FALSE  TRUE (edge):
execute function element once
otherwise: function element is not active
A function element already started is processed.
CHANNEL BYTE CAN interface (1...n) depending on the device
PGN DWORD PGN = Parameter Group Number
permissible = 0...262 143 = 0x00000000...0x0003FFFF

The PGN = 0 is not used.

>

Parameters of the outputs

7744

Parameter Data type Description

SA BYTE Source address of the transmitter
PRIO BYTE message priority (0…7)
LEN WORD number of the bytes received
permissible values = 0...1 785 = 0x0000 0000...0x0000 06F9
DATA ARRAY [0..1784] OF BYTE data to be sent (1...1785 bytes)
RESULT BYTE feedback of the function block
(possible messages → following table)

Possible results for RESULT:

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

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Function elements: transmit SAE J1939

J1939_TX .............................................................................................................................................143
J1939_TX_ENH ....................................................................................................................................144
J1939_TX_ENH_CYCLIC ....................................................................................................................146
J1939_TX_ENH_MULTI .......................................................................................................................148
15083

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J1939_TX
7688

Unit type = function block (FB)

Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
7689

J1939_TX is the easiest method for transmitting single frame messages.

>

Parameters of the inputs

7690

Parameter Data type Description

ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CHANNEL BYTE CAN interface (1...n) depending on the device
DA BYTE := 249 DA = Destination Address of the ECU
PGN > 61139: parameter DA is ignored
PGN DWORD PGN = Parameter Group Number
permissible = 0...262 143 = 0x00000000...0x0003FFFF
DATA ARRAY [0..7] OF BYTE data to be sent (1...8 bytes)

>

Parameters of the outputs

7693

Parameter Data type Description

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

Possible results for RESULT:

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

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J1939_TX_ENH
7696

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

Symbol in CODESYS:

>

Description
7697

Additional setting options are provided by J1939_TX_ENH (for: enhanced) for single frame messages:
 transmitting priority
 data length
Multi frame messages  J1939_TX_ENH_MULTI (→ p. 148).
>

Parameters of the inputs

7702

Parameter Data type Description

ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CHANNEL BYTE CAN interface (1...n) depending on the device
DA BYTE := 249 DA = Destination Address of the ECU
PGN > 61139: parameter DA is ignored
Prio BYTE := 3 message priority
(optional use of the parameter) permissible values = 0…7
PGN DWORD PGN = Parameter Group Number
permissible = 0...262 143 = 0x00000000...0x0003FFFF
Len BYTE := 8 number of the bytes to be transmitted
(optional use of the parameter) permissible values = 0...8
DATA ARRAY [0..7] OF BYTE data to be sent (1...8 bytes)

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>

Parameters of the outputs

7969

Parameter Data type Description

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

Possible results for RESULT:

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

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J1939_TX_ENH_CYCLIC
7716

= J1939 TX enhanced cyclic

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

Symbol in CODESYS:

>

Description
7718

J1939_TX_ENH_CYCLIC serves for cyclic transmitting of CAN messages.

Otherwise, the FB corresponds to J1939_TX_ENH (→ p. 144).
► Set the period duration via the parameter PERIOD.

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

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

>

Parameters of the inputs

7719

Parameter Data type Description

ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CHANNEL BYTE CAN interface (1...n) depending on the device
DA BYTE := 249 DA = Destination Address of the ECU
PGN > 61139: parameter DA is ignored
Prio BYTE := 3 message priority
(optional use of the parameter) permissible values = 0…7
PGN DWORD PGN = Parameter Group Number
permissible = 0...262 143 = 0x00000000...0x0003FFFF
Len BYTE := 8 number of the bytes to be transmitted
(optional use of the parameter) permissible values = 0...8
DATA ARRAY [0..7] OF BYTE data to be sent (1...8 bytes)
PERIOD TIME period duration

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>

Parameters of the outputs

7720

Parameter Data type Description

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

Possible results for RESULT:

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

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J1939_TX_ENH_MULTI
7699

= J1939 TX enhanced multiframe message

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

Symbol in CODESYS:

>

Description
7705

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

The FB corresponds to J1939_TX_ENH (→ p. 144). In addition, it can be determined whether the
transmission shall be executed as BAM (Broadcast Announce Message).
>

Parameters of the inputs

7712

Parameter Data type Description

EXECUTE BOOL := FALSE FALSE  TRUE (edge):
execute function element once
otherwise: function element is not active
A function element already started is processed.
CHANNEL BYTE CAN interface (1...n) depending on the device
DA BYTE := 249 DA = Destination Address of the ECU
PGN > 61139: parameter DA is ignored
Prio BYTE := 3 message priority
(optional use of the parameter) permissible values = 0…7
PGN DWORD PGN = Parameter Group Number
permissible = 0...262 143 = 0x00000000...0x0003FFFF
Len BYTE := 8 number of the bytes to be transmitted
(optional use of the parameter) permissible values = 0...8
DATA ARRAY [0..1784] OF BYTE data to be sent (1...1785 bytes)
Bam BOOL := FALSE BAM = Broadcast Announce Message = message to all participants
(optional use of the parameter) TRUE: multi-frame transmission as BAM
message to all participants
FALSE: automatic; message only to target address

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>

Parameters of the outputs

7714

Parameter Data type Description

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

Possible results for RESULT:

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

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Function elements: SAE J1939 diagnosis

J1939_DM1RX .....................................................................................................................................151
J1939_DM1TX ......................................................................................................................................153
J1939_DM1TX_CFG ............................................................................................................................156
J1939_DM3TX ......................................................................................................................................157
15085

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J1939_DM1RX
14977

= J1939 Diagnostic Message 1 RX

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

Symbol in CODESYS:

>

Description
7761

J1939_RX_DM1 receives diagnostic messages DM1 or DM2 from other ECUs.

>

Parameters of the inputs

14979

Parameter Data type Description

ENABLE BOOL := FALSE TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CHANNEL BYTE CAN interface (1...n) depending on the device
DA BYTE DA = Destination Address of the ECU from where the DTCs are to be
retrieved.
DA = 254: read DTCs from the device itself
ACTIVE BOOL TRUE: Read active DTCs (DM1)
FALSE: Read previously active DTCs (DM2)

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>

Parameters of the outputs

14980

Parameter Data type Description

REDSTOPLAMP BOOL red stop lamp (for older projects only)
TRUE: ON
FALSE: OFF
AMBERWARNINGLAMP BOOL Amber warning lamp (for older projects only)
TRUE: ON
FALSE: OFF
PROTECTLAMP BOOL protect lamp (for older projects only)
TRUE: ON
FALSE: OFF
NUMBER BYTE number of the DTCs received (0...8)
SPN WORD Suspect Parameter Number (→ J1939 specification)
FMI BYTE Failure Mode Indicator (→ J1939 specification)
permissible values = 0...31 = 0x00...0x1F
SPN_CM BOOL conversion method (→ J1939 specification)
OC BYTE occurrence count
RESULT BYTE feedback of the function block
(possible messages → following table)
MIL_FC BYTE Status of the electronic component:
Malfunction indicatation light status and flash code:
0 = off
1 = on
2 = flash slowly
3 = flash quickly
REDSTOPLAMP_FC BYTE Status of the electronic component:
red stop light status and flash code:
0 = off
1 = on
2 = flash slowly
3 = flash quickly
AMBERWARNINGLAMP_FC BYTE Status of the electronic component:
Yellow warning light status and flash code:
0 = off
1 = on
2 = flash slowly
3 = flash quickly
PROTECTLAMP_FC BYTE Status of the electronic component:
protection light status and flash mode:
0 = off
1 = on
2 = flash slowly
3 = flash quickly

Possible results for RESULT:

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

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J1939_DM1TX
14993

= J1939 Diagnostic Message 1 TX

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

Symbol in CODESYS:

>

Description
7747

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

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>

Parameters of the inputs

14995

Parameter Data type Description

EXECUTE BOOL := FALSE FALSE  TRUE (edge):
execute function element once
otherwise: function element is not active
A function element already started is processed.
CHANNEL BYTE CAN interface (1...n) depending on the device
ACTIVE BOOL TRUE: DTC is active
Cyclically transmitted (1x per second) as DM1
FALSE: DTC is no longer active
Saved in the hardware configuration
Transmitted as DM2 when requested
REDSTOPLAMP BOOL red stop lamp (for older projects only)
TRUE: ON
FALSE: OFF
AMBERWARNINGLAMP BOOL Amber warning lamp (for older projects only)
TRUE: ON
FALSE: OFF
PROTECTLAMP BOOL protect lamp (for older projects only)
TRUE: ON
FALSE: OFF
SPN WORD Suspect Parameter Number (→ J1939 specification)
FMI BYTE Failure Mode Indicator (→ J1939 specification)
permissible values = 0...31 = 0x00...0x1F
SPN_CM BOOL conversion method (→ J1939 specification)
MIL_FC BYTE Status of the electronic component:
Malfunction indicatation light status and flash code:
0 = off
1 = on
2 = flash slowly
3 = flash quickly
REDSTOPLAMP_FC BYTE Status of the electronic component:
red stop light status and flash code:
0 = off
1 = on
2 = flash slowly
3 = flash quickly
AMBERWARNINGLAMP_FC BYTE Status of the electronic component:
Yellow warning light status and flash code:
0 = off
1 = on
2 = flash slowly
3 = flash quickly
PROTECTLAMP_FC BYTE Status of the electronic component:
protection light status and flash mode:
0 = off
1 = on
2 = flash slowly
3 = flash quickly

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>

Parameters of the outputs

7750

Parameter Data type Description

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

Possible results for RESULT:

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

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J1939_DM1TX_CFG
15424

= J1939 Diagnostic Message 1 TX configurable

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

Symbol in CODESYS:

>

Description
15426

As from runtime system V03.00.03 the CAN stack automatically sends a DM1 message every second
as soon as the FB J1939_ENABLE (→ p. 127) is called for the corresponding CAN interface.
► Use the FB J1939_DM1TX_CFG if you do not want the CAN stack to automatically and cyclically
transmit DM1 messages.
The FB offers the following modes for cyclic transmission of DM1 messages:
MODE = 0 The CAN stack sends DM1 "zero active faults" messages in compliance with standards every second.
(preset) A manual transmission of DM1 messages via the FB J1939_DM1TX (→ p. 153)is possible.
MODE = 1 The CAN stack does not send DM1 "zero active faults" messages.
DM2 requests are answered automatically.
A manual transmission of DM1 messages via the FBJ1939_DM1TX (→ p. 153) is possible.
MODE = 2 The CAN stack does not send cyclic DM1 "zero active faults" messages
Nor does the CAN stack automatically reply to DM2 requests.
>

Parameters of the inputs

15427

Parameter Data type Description

ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CHANNEL BYTE CAN interface (1...n) depending on the device
MODE BYTE := 0 Operating mode of the function block
allowed = 0...2 (→ Description of the FB)
>

Parameters of the outputs

15429

Parameter Data type Description

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

Possible results for RESULT:

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

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J1939_DM3TX
15002

= J1939 Diagnostic Message 3 TX

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

Symbol in CODESYS:

>

Description
15004

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

Parameters of the inputs

15006

Parameter Data type Description

EXECUTE BOOL := FALSE FALSE  TRUE (edge):
execute function element once
otherwise: function element is not active
A function element already started is processed.
CHANNEL BYTE CAN interface (1...n) depending on the device
DA BYTE DA = Destination Address of the ECU on which the DTCs are to be
deteled.
DA = 254: delete DTCs (DM2) in the device itself

>

Parameters of the outputs

15008

Parameter Data type Description

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

Possible results for RESULT:

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

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5.2.5 Function elements: system

FLASH_INFO .......................................................................................................................................159
FLASH_READ ......................................................................................................................................160
GET_APP_INFO ..................................................................................................................................161
GET_HW_INFO ....................................................................................................................................162
GET_IDENTITY ....................................................................................................................................163
GET_SW_INFO ....................................................................................................................................164
GET_SW_VERSION ............................................................................................................................165
MEM_ERROR ......................................................................................................................................166
MEMCPY ..............................................................................................................................................167
OHC ......................................................................................................................................................169
SET_IDENTITY ....................................................................................................................................171
SET_LED ..............................................................................................................................................172
SET_PASSWORD................................................................................................................................174
TIMER_READ_US ...............................................................................................................................175
15067

Here we show you ifm functions that enable you to

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

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FLASH_INFO
11580

Unit type = function block (FB)

Unit is contained in the library ifm_CR0452_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
11588

FLASH_INFO reads the information from the user flash memory:

• name of the memory area (user defined),
• software version,
• start address (for simple reading with IEC structure).
>

Parameters of the inputs

11589

Parameter Data type Description

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

>

Parameters of the outputs

11590

Parameter Data type Description

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

Possible results for RESULT:

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

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FLASH_READ
8147

Unit type = function block (FB)

Unit is contained in the library ifm_CR0452_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
11579

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

Parameters of the inputs

8148

Parameter Data type Description

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

Parameters of the outputs

8152

Parameter Data type Description

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

Possible results for RESULT:

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

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GET_APP_INFO
11581

= get application information

Unit type = function block (FB)
Unit is contained in the library ifm_CR0452_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
11593

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

Parameters of the inputs

11594

Parameter Data type Description

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

>

Parameters of the outputs

11595

Parameter Data type Description

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

Possible results for RESULT:

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

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GET_HW_INFO
11582

= get hardware information

Unit type = function block (FB)
Unit is contained in the library ifm_CR0452_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
1599

GET_HW_INFO provides information about the hardware of the device:

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

Parameters of the inputs

11600

Parameter Data type Description

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

>

Parameters of the outputs

11601

Parameter Data type Description

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

Possible results for RESULT:

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

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GET_IDENTITY
8166

Unit type = function block (FB)

Unit is contained in the library ifm_CR0452_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
15411

GET_IDENTITY reads the identification stored in the device (has previously been saved by means of
SET_IDENTITY (→ p. 171)).
>

Parameters of the inputs

8167

Parameter Data type Description

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

>

Parameters of the outputs

8168

Parameter Data type Description

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

Possible results for RESULT:

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

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GET_SW_INFO
11583

= get software information

Unit type = function block (FB)
Unit is contained in the library ifm_CR0452_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
11596

GET_SW_INFO provides information about the system software of the device:

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

Parameters of the inputs

11597

Parameter Data type Description

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

>

Parameters of the outputs

11598

Parameter Data type Description

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

Possible results for RESULT:

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

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GET_SW_VERSION
14763

= get software version

Unit type = function block (FB)
Unit is contained in the library ifm_CR0452_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
14765

GET_SW_VERSION provides information on the software in the device:

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

Parameters of the inputs

14766

Parameter Data type Description

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

>

Parameters of the outputs

14767

Parameter Data type Description

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

Possible results for RESULT:

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

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MEM_ERROR
14770

= Memory Error
Unit type = function block (FB)
Unit is contained in the library ifm_CR0452_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
14772

MEM_ERROR signals errors in some parameters or in the memory.

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

Parameters of the inputs

14773

Parameter Data type Description

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

Parameters of the outputs

14774

Parameter Data type Description

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

Possible results for RESULT:

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

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MEMCPY
8160

= memory copy
Unit type = function block (FB)
Unit is contained in the library ifm_CR0452_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
412

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

Parameters of the inputs

8162

Parameter Data type Description

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

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>

Parameters of the outputs

8163

Parameter Data type Description

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

Possible results for RESULT:

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

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OHC
14777

= Operating Hours Counter

Unit type = function block (FB)
Unit is contained in the library ifm_CR0452_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
14778

OHC provides 4 operating hours counters for universal use.

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

If hardware version of device < AD:

reset the memory area for OHC once:
 In the FB MEM_ERROR (→ p. 166), set input RESET_OHC = TRUE!
> Only now can the operating hours counters be used.

>

Parameters of the inputs

14779

Parameter Data type Description

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

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>

Parameters of the outputs

14780

Parameter Data type Description

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

Possible results for RESULT:

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

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SET_IDENTITY
8174

Unit type = function block (FB)

Unit is contained in the library ifm_CR0452_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
8535

SET_IDENTITY sets an application-specific program identification.

Using this FB, a program identification can be created by the application program.
► This identification can be read in order to identify the loaded program:
• via the software "Maintenance Tool"
• in the application program via the FB GET_IDENTITY (→ p. 163)
>

Parameters of the inputs

8175

Parameter Data type Description

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

>

Parameters of the outputs

8176

Parameter Data type Description

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

Possible results for RESULT:

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

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SET_LED
8052

Unit type = function block (FB)

Unit is contained in the library ifm_CR0452_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
8054

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

If the flashing mode is changed in the application program, the default setting table is no longer
valid ( chapter Status-LED (→ p. 14)).

>

Parameters of the inputs

8223

Parameter Data type Description

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

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>

Parameters of the outputs

8227

Parameter Data type Description

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

Possible results for RESULT:

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

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SET_PASSWORD
8178

Unit type = function block (FB)

Unit is contained in the library ifm_CR0452_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
8179

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

The password is reset when loading a new application program.

>

Parameters of the inputs

8180

Parameter Data type Description

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

>

Parameters of the outputs

8181

Parameter Data type Description

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

Possible results for RESULT:

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

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TIMER_READ_US
8219

Unit type = function block (FB)

Unit is contained in the library ifm_CR0452_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
660

TIMER_READ_US reads the current system time in [µs].

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

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

>

Parameters of the outputs

8220

Parameter Data type Description

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

Possible results for RESULT:

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

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5.2.6 Function elements: graphics

Function elements: graphics help .........................................................................................................176

Function elements: graphical visualisation ...........................................................................................182
15294

Function elements: graphics help

GET_TEXT_FROM_FLASH .................................................................................................................177
NORM_DINT ........................................................................................................................................179
NORM_REAL .......................................................................................................................................180
TOGGLE ...............................................................................................................................................181
15296

Here you will find further ifm function elements that will support you while programming the graphical
interface.

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GET_TEXT_FROM_FLASH
3196

Unit type = function block (FB)

Unit is contained in the library ifm_PDMsmart_UTIL_Vxxyyzz.Lib

Symbol in CODESYS:

>

Description
11651

GET_TEXT_FROM_FLASH controls FLASH_READ (→ p. 160) to directly read text of type STRING.

As opposed to PDM360 and PDM360compact, PDM360smart has no file system. Therefore flash
memories or FLASH memories are recommended to store text messages. To read these memory
areas FLASH_READ is needed.
To ensure reading of one or several texts, the start address of the text in the memory must be
calculated. This calculation and setting/resetting of the ENABLE input are made in
GET_TEXT_FROM_FLASH.
The texts in the memory must be organised according to the rules below:
Text length
The text length should be the same for all texts and is limited to max. 30 characters because of the
display size of the device.
Text creation
The texts should be created using a spreadsheet program (e.g. Excel) and then saved in CSV format.
This CSV file can be directly loaded to the requested memory area using the ifm maintenance tool.
Download → www.ifm.com
A STRING is automatically terminated with a NULL byte by the programming system. Therefore a text
of 30 characters uses 31 bytes in the memory. The FB takes this into account for the calculation.
From the indicated flash memory of the device (→ chapter Available memory (→ p. 12)) subtract 128
bytes for the header. Thus with text length of 30 characters 65 408 / 31 = 2 109 texts can be saved in
the flash memory.

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>

Parameters of the inputs

3302

Parameter Data type Description

ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
TEXT_UP BOOL edge FALSE  TRUE: read next text
TEXT_DOWN BOOL edge FALSE  TRUE: read previous text
TEXT_MIN WORD lower limit for MESSAGE_NO
TEXT_MAX WORD upper limit for MESSAGE_NO
TEXT_LENGTH BYTE text length
MESSAGE_NO WORD text number
NULL_TERMINATE BOOL TRUE: string has null termination
FALSE: string has no null termination

>

Parameters of the outputs

15596

Parameter Data type Description

READ BOOL Read command
► Set this signal to the input ENABLE of the FB
FLASH_READ!
START_ADR WORD Calculated start address
► Set this signal to the input SCR of the FB
FLASH_READ!
ACTIV BOOL TRUE: FB is active (if input ENABLE = 1)
ACT_MESSAGE_NO WORD Current text number

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NORM_DINT
13240

Unit type = function block (FB)

Unit is contained in the library ifm_PDMsmart_UTIL_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
3307

NORM_DINT normalises a value within defined limits to a value with new limits.
The FB normalises a value of type DINT, which is within the limits of XH and XL, to an output value
within the limits of YH and YL. This FB is for example used to generate 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 X.
Outside this value range the output X_OUT_OF_RANGE is set.
► The result of the calculation (XH-XL)•(YH-YL) must remain in the value range of data type DINT
(-2 147 483 648...2 147 483 647)!
> 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

3308

Parameter Data type Description

X DINT current input value
XH DINT upper limit of input value range
XL DINT lower limit of input value range
YH DINT upper limit of output value range
YL DINT lower limit of output value range

>

Parameters of the outputs

3309

Parameter Data type Description

Y DINT output value
X_OUT_OF_RANGE BOOL Error: X is beyond the limits of XH and XL

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NORM_REAL
13244

Unit type = function block (FB)

Unit is contained in the library ifm_PDMsmart_UTIL_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
3310

NORM_REAL normalises a value within defined limits to a value with new limits.
The FB normalises a value of type REAL, which is within the limits of XH and XL, to an output value
within the limits of YH and YL. This FB is for example used to generate 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 X.
Outside this value range the output X_OUT_OF_RANGE is set.
► The result of the calculation (XH-XL)•(YH-YL) must remain in the value range of data type REAL
(-3,402823466•1038...3,402823466•1038)!
> 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

3311

Parameter Data type Description

X REAL Input value
XH REAL Upper limit of output value range
XL REAL Lower limit of the input value range
YH REAL Upper limit of the output value range
YL REAL Lower limit of output value range

>

Parameters of the outputs

3312

Parameter Data type Description

Y REAL Output value
X_OUT_OF_RANGE BOOL Error: X is beyond the limits of XH and XL

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TOGGLE
13248

Unit type = function block (FB)

Unit is contained in the library ifm_PDMsmart_UTIL_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
3304

TOGGLE enables the setting and resetting of a Boolean variable via only one input bit.
The first rising edge on the input IN sets the output OUT to 'TRUE'.
The next rising edge resets the output back to 'FALSE'.
etc.
>

Parameters of the inputs

3305

Parameter Data type Description

IN BOOL edge FALSE  TRUE:
setting / resetting of the output
>

Parameters of the outputs

3306

Parameter Data type Description

OUT BOOL 1st edge on IN  TRUE
2nd edge on IN  FALSE
3rd edge on IN  TRUE ...

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Function elements: graphical visualisation

BASICDISPLAY_INIT ...........................................................................................................................183
PDM_PAGECONTROL ........................................................................................................................184
15298

Here you will find ifm function elements for the following purposes:
• initialise device screen
• invoke visualisation pages

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BASICDISPLAY_INIT
9310

Unit type = function (FUN) of type BOOL

Unit is contained in the library ifm_CRRnnnn_Init_Vxxyyzz.LIB

Symbol in CODESYS:

>

Description
9312

The function BASICDISPLAY_INIT initialises the screen of the BasicDisplay in the first PLC cycle.
Without this initialisation the screen remains dark.
The function requires no parameter setting.
► Call the function only in the first PLC cycle!
Then skip the call.
 the following example
>

Example: BasicDisplay_Init
9314

► Generate the program (PRG)

INIT_DISPLAY.
► Call the function (FUN)
BASICDISPLAY_INIT so that it is
only executed in the first PLC cycle.

► Call the program INIT_DISPLAY in

the program PLC_PRG (together
with the other initialisations, if any).

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>

PDM_PAGECONTROL
3186

Unit type = program (PRG)

Unit is contained in the library available for the following devices:
• PDM360: CR1050, CR1051
ifm_PDM_UTIL_Vxxyyzz.LIB
• PDM360compact: CR1052, CR1053, CR1055, CR1056
ifm_PDMng_UTIL_Vxxyyzz.LIB • PDM360 NG: CR108n, CR120n
• BasicDisplay: CR045n
ifm_PDMsmart_UTIL_Vxxyyzz.LIB
• PDM360smart: CR1070, CR1071

Symbol in CODESYS:

>

Description
3294

PDM_PAGECONTROL controls the opening of certain visualisation pages. In CoDeSys the

visualisation pages are opened and feedback is given via the system variable CurrentVisu (type
STRING[40]).
With this program it is possible to open a selected visualisati→ p. or to scroll through the visualisations
step by step.
Optimum use of the program is ensured when all visualisation names correspond to the same pattern,
i.e. a combination of a basename followed by a 5-digit number (library version V04.00.07 or higher;
before: 3-digit *)).
Example BASENAME = PAGE:
Visualisation name = PAGE00001, PAGE00002, PAGE00003, etc.
For the basename 1...35 capital letters (no special characters) are allowed. The visualisations should
be numbered consecutively. The program creates the final visualisation name from the parameter
BASENAME and the number or reads the number from the current visualisation name and provides it
in the output parameter ACT_PAGE.
Instead of naming the visualisations with basename and consecutive number every visualisation can
also be named individually, e.g. SERVICE1, MOTORDATA2, CONFIGURATION3. In this case, however,
programming is more complex because basename and visualisation number must be assigned
individually. Scrolling step by step is then very restricted.
Use the letter P as BASENAME, your program is then compatible with the ifm templates.

*) Also note the new 5-digit numbering when naming your existing visualisation pages!

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>

Parameters of the inputs

3293

Parameter Data type Description

INIT BOOL TRUE (only for 1 cycle):
Display is initialised with the initisalisation indicated in
INIT_PAGE.
FALSE: during further processing of the program
INIT_PAGE WORD visualisation number which is to be called with INIT
PAGE_UP BOOL edge FALSE  TRUE:
increments the visualisation number
PAGE_DOWN BOOL edge FALSE  TRUE:
decrements the visualisation number
PAGE_EXTERN WORD The indicated visualisati→ p. is directly opened (independent of
PAGE_UP / PAGE_DOWN).
if PAGE_EXTERN = ACT_PAGE, then PAGE_EXTERN is
reset "0"!
PAGE_MAX WORD maximum number of selectable visualisation pages
BASENAME STRING [35] Common part of the name of the visualisati→ p. Visualisation pages
are numbered by their names: eg. P00001. The following applies:
• "P" = BASENAME (only capital letters!)
• "00001" = visualisation number (5 digits!)

>

Parameters of the outputs

3295

Parameter Data type Description

ACT_PAGE WORD current visualisation number

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Diagnosis and error handling Diagnosis

6 Diagnosis and error handling

Diagnosis ..............................................................................................................................................186
Fault ......................................................................................................................................................186
Response to system errors...................................................................................................................187
CAN / CANopen: errors and error handling..........................................................................................187
19598

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

• during the boot phase (reset phase)
• during executing the application program
→ chapter Operating states (→ p. 22)
In so doing a high operating reliability is provided, as much as possible.

>

6.1 Diagnosis
19601

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

6.2 Fault
19602

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

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Diagnosis and error handling Response to system errors

>

6.3 Response to system errors

8504

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

6.3.1 Example process for response to an error message

8505

The runtime system cyclically writes the system flag TEMPERATURE.

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

6.4 CAN / CANopen: errors and error handling

19604

→ System manual "Know-How ecomatmobile"

→ chapter CAN / CANopen: errors and error handling

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Appendix System flags

7 Appendix
System flags .........................................................................................................................................188
Error tables ...........................................................................................................................................190
1664

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

>

7.1 System flags

15309

The addresses of the system flags can change if the PLC configuration is extended.
► While programming only use the symbol names of the system flags!

System flags (symbol name) Type Description

KEY_F1 BOOL function key 1
KEY_F2 BOOL function key 2
KEY_F3 BOOL function key 3
KEY_F4 BOOL function key 4
KEY_UP BOOL navigation key []
KEY_DOWN BOOL navigation key []
KEY_LEFT BOOL navigation key []
KEY_RIGHT BOOL navigation key []
KEY_OK BOOL navigation key [OK]
KEY_ESC BOOL Navigation key [ESC]
KEY_CHANGED BOOL Pulse: Key status changed
(= a button was pressed or released)
KEY_PRESSED BOOL A button was pressed
KEY_BACKLIGHT BYTE key background illumination (0...100 %)
preset = 100 %
RT_F1 BOOL pulse: function key 1 actuated
RT_F2 BOOL pulse: function key 2 actuated
RT_F3 BOOL pulse: function key 3 actuated
RT_F4 BOOL pulse: function key 4 actuated
RT_UP BOOL pulse: navigation key [] actuated
RT_DOWN BOOL pulse: navigation key [] actuated
RT_LEFT BOOL pulse: navigation key [] actuacted
RT_RIGHT BOOL pulse: navigation key [] actuated
RT_OK BOOL pulse: navigation key [OK] actuated
FT_F1 BOOL pulse: function key 1 released
FT_F2 BOOL pulse: function key 2 released
FT_F3 BOOL pulse: function key 3 released
FT_F4 BOOL pulse: function key 4 released
FT_UP BOOL pulse: navigation key [] released

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Appendix System flags

System flags (symbol name) Type Description

FT_DOWN BOOL pulse: navigation key [] released
FT_LEFT BOOL pulse: navigation key [] released
FT_RIGHT BOOL pulse: navigation key [] released
FT_OK BOOL pulse: navigation key [OK] released
SCREEN_BACKLIGHT BYTE LCD background illumination (0...100 %)
preset = 100 %
SUPPLY_VOLTAGE_VBBS WORD supply voltage on VBBs in [mV]
SUPPLY_VOLTAGE_VU WORD internal supply voltage in [mV]
TEMPERATURE INT Temperature in the device in [°C]

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Appendix Error tables

>

7.2 Error tables

Error flags .............................................................................................................................................190

Errors: CAN / CANopen........................................................................................................................190
19606

>

7.2.1 Error flags

19608

→ chapter System flags (→ p. 188)

>

7.2.2 Errors: CAN / CANopen

19610
19604

→ System manual "Know-How ecomatmobile"

→ chapter CAN / CANopen: errors and error handling
>

EMCY codes: CANx

13094

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

EMCY code Object

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

>

EMCY codes: system

8413

EMCY code Object

Manufactor specific information
object 0x1003 0x1001
Byte 0 Byte 1 Byte 2
Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Description
[hex] [hex] [hex]
00 31 05 Supply voltage
00 42 09 Excess temperature

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Terms and abbreviations

8 Terms and abbreviations

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

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

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

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

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

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

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

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

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Terms and abbreviations

>

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

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

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

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

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

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

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

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

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

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

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Terms and abbreviations

>

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

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

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

This results in the following CSV file:

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

>

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

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Terms and abbreviations

>

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

DC
Direct Current
>

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

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

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

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Terms and abbreviations

>

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

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

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

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

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

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

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

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

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>

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

F
FiFo
FIFO (First In, First Out) = Operating principle of the stack memory: The data packet that was written
into the stack memory first, will also be read first. Each identifier has such a buffer (queue).
>

Flash memory
Flash ROM (or flash EPROM or flash memory) combines the advantages of semiconductor memory
and hard disks. Similar to a hard disk, the data are however written and deleted blockwise in data
blocks up to 64, 128, 256, 1024, ... bytes at the same time.
Advantages of flash memories
 The stored data are maintained even if there is no supply voltage.
 Due to the absence of moving parts, flash is noiseless and insensitive to shocks and magnetic
fields.
Disadvantages of flash memories
 A storage cell can tolerate a limited number of write and delete processes:
• Multi-level cells: typ. 10 000 cycles
• Single level cells: typ. 100 000 cycles
 Given that a write process writes memory blocks of between 16 and 128 Kbytes at the same time,
memory cells which require no change are used as well.
>

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

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

HMI
HMI = Human Machine Interface

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>

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

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

IEC user cycle

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

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

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

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

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

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

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Terms and abbreviations

>

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

J
J1939
→ SAE J1939
>

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

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

LSB
Least Significant Bit/Byte
>

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

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

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

MMI
→ HMI (→ p. 196)

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Terms and abbreviations

>

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

MSB
Most Significant Bit/Byte
>

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

Node
This means a participant in the network.
>

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

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

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

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

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

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>

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

P
PC card
→PCMCIA card
>

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

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

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

PDU
PDU = Protocol Data Unit = protocol data unit.
The PDU is a term from the →CAN protocol →SAE J1939. It refers to a component of the target
address (PDU format 1, connection-oriented) or the group extension (PDU format 2,
message-oriented).
>

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

PGN
PGN = Parameter Group Number
PGN = 6 zero bits + 1 bit reserved + 1 bit data page + 8 bit PDU Format (PF) + 8 PDU Specific (PS)
The parameter group number is a term from the →CAN protocol →SAE J1939.

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>

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

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

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

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

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

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

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

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>

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

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

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

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

Runtime system
Basic program in the device, establishes the connection between the hardware of the device and the
application program.
→ chapter Software modules for the device (→ p. 16)
>

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

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

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>

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

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

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

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

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

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

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

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

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

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>

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

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

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

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

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Index

CANOPEN_SDOWRITEMULTI...........................................................109
9 Index CANOPEN_SENDEMCYMESSAGE ..................................................124
CANOPEN_SETSTATE ........................................................................87
A CANOPEN_SETSYNCSTATE ............................................................114
CANOPEN_WRITEOBJECTDICT ........................................................96
About this manual ....................................................................................4
CiA .......................................................................................................192
Accessories ...........................................................................................10
CiA DS 304 ..........................................................................................192
Activate the PLC configuration ..............................................................37
CiA DS 401 ..........................................................................................192
Address ................................................................................................191
CiA DS 402 ..........................................................................................192
Appendix ..............................................................................................188
CiA DS 403 ..........................................................................................192
Application program ...............................................................................17
CiA DS 404 ..........................................................................................192
Application software.............................................................................191
CiA DS 405 ..........................................................................................192
Architecture..........................................................................................191
CiA DS 406 ..........................................................................................192
Available memory ..................................................................................12
CiA DS 407 ..........................................................................................192
B Clamp 15..............................................................................................192
COB ID.................................................................................................193
BASICDISPLAY_INIT ..........................................................................183
CODESYS ...........................................................................................193
Baud.....................................................................................................191
CODESYS visualisation elements.........................................................28
Boot loader ..........................................................................................191
Colour display of the CR0452................................................................13
Bootloader..............................................................................................17
Configurations........................................................................................32
Bus .......................................................................................................191
Connection on the rear panel of the housing ........................................13
C Control the LED in the application program ..........................................14
Copyright..................................................................................................4
CAN .....................................................................................................191 Creating application program ................................................................21
interfaces and protocols ................................................................................ 15
CSV file ................................................................................................193
CAN / CANopen
Cycle time ............................................................................................193
errors and error handling............................................................................. 187
CAN declaration (e.g. CR1080) .............................................................38 D
CAN interfaces.......................................................................................15
CAN stack ............................................................................................191 Data type..............................................................................................194
CAN_ENABLE .......................................................................................53 DC ........................................................................................................194
CAN_RECOVER ...................................................................................54 Description 53, 54, 55, 56, 59, 60, 62, 64, 66, 69, 71, 73, 76, 78, 81, 83,
85, 87, 90, 91, 94, 95, 96, 99, 101, 103, 105, 107, 109, 112, 114, 116,
CAN_REMOTE_REQUEST ..................................................................76 117, 120, 122, 124, 127, 129, 131, 133, 135, 136, 138, 139, 141, 143,
CAN_REMOTE_RESPONSE................................................................78 144, 146, 148, 151, 153, 156, 157, 159, 160, 161,162, 163, 164, 165,
CAN_RX ................................................................................................59 166, 167, 169, 171, 172, 174, 175, 177, 179, 180, 181, 183, 184
CAN_RX_ENH.......................................................................................60 Diagnosis .................................................................................... 186, 194
CAN_RX_ENH_FIFO ............................................................................62 Diagnosis and error handling...............................................................186
CAN_RX_RANGE .................................................................................64 Distribution of the application program ..................................................22
CAN_RX_RANGE_FIFO .......................................................................66 Dither ...................................................................................................194
CAN_SETDOWNLOADID .....................................................................55 DLC ......................................................................................................194
CAN_STATUS .......................................................................................56 DRAM ..................................................................................................195
CAN_TX .................................................................................................69 Drawing area .........................................................................................29
CAN_TX_ENH .......................................................................................71 DTC......................................................................................................195
CAN_TX_ENH_CYCLIC........................................................................73
CANOPEN_ENABLE .............................................................................81
E
CANOPEN_GETBUFFERFLAGS .........................................................83 ECU .....................................................................................................195
CANOPEN_GETEMCYMESSAGES...................................................120 EDS-file ................................................................................................195
CANOPEN_GETERRORREGISTER ..................................................122 Embedded software .............................................................................195
CANOPEN_GETGUARDHBERRLIST ................................................116 EMC .....................................................................................................195
CANOPEN_GETGUARDHBSTATSLV ...............................................117 EMCY...................................................................................................195
CANOPEN_GETNMTSTATESLAVE ....................................................90 EMCY codes
CANOPEN_GETODCHANGEDFLAG ..................................................94 CANx ........................................................................................................... 190
CANOPEN_GETSTATE ........................................................................85 system ......................................................................................................... 190
CANOPEN_GETSYNCSTATE ............................................................112 Error flags ............................................................................................190
CANOPEN_NMTSERVICES .................................................................91 ERROR state .........................................................................................24
CANOPEN_READOBJECTDICT ..........................................................95 Error tables ..........................................................................................190
CANOPEN_SDOREAD .........................................................................99 Errors
CANOPEN_SDOREADBLOCK ...........................................................101 CAN / CANopen .......................................................................................... 190
CANOPEN_SDOREADMULTI ............................................................103 Ethernet ...............................................................................................195
CANOPEN_SDOWRITE .....................................................................105 EUC .....................................................................................................196
CANOPEN_SDOWRITEBLOCK .........................................................107 Example

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ifm Programming Manual BasicDisplay CR0452 v03.02
Index

BasicDisplay_Init ......................................................................................... 183 Important note to program the device ...................................................20

Example process for response to an error message ..........................187 Information about the device .................................................................10
INIT state (Reset) ..................................................................................22
F Instructions ..........................................................................................197
FATAL ERROR state .............................................................................24 Intended use ........................................................................................197
Fault .....................................................................................................186 Interface description ..............................................................................15
FB, FUN, PRG in CODESYS ................................................................19 IP address............................................................................................197
FiFo ......................................................................................................196 ISO 11898 ............................................................................................197
Flash memory ......................................................................................196 ISO 11992 ............................................................................................197
FLASH memory .....................................................................................12 ISO 16845 ............................................................................................198
FLASH_INFO.......................................................................................159
FLASH_READ .....................................................................................160 J
FRAM .............................................................................................12, 196 J1939 ...................................................................................................198
Function configuration in general ..........................................................40 J1939_DM1RX ....................................................................................151
Function element outputs ......................................................................51 J1939_DM1TX .....................................................................................153
Function elements J1939_DM1TX_CFG ...........................................................................156
CANopen ....................................................................................................... 80 J1939_DM3TX .....................................................................................157
CANopen emergency .................................................................................. 119 J1939_ENABLE ...................................................................................127
CANopen guarding ...................................................................................... 115
J1939_GETDABYNAME .....................................................................129
CANopen network management ................................................................... 89
J1939_NAME.......................................................................................131
CANopen object directory ............................................................................. 93
CANopen SDOs ............................................................................................ 98 J1939_RX ............................................................................................138
CANopen status ............................................................................................ 80 J1939_RX_FIFO ..................................................................................139
CANopen SYNC .......................................................................................... 111 J1939_RX_MULTI ...............................................................................141
graphical visualisation ................................................................................. 182 J1939_SPEC_REQ .............................................................................135
graphics ....................................................................................................... 176 J1939_SPEC_REQ_MULTI ................................................................136
graphics help ............................................................................................... 176 J1939_STATUS ...................................................................................133
RAW-CAN (Layer 2) ...................................................................................... 52
J1939_TX.............................................................................................143
RAW-CAN remote ......................................................................................... 75
J1939_TX_ENH ...................................................................................144
RAW-CAN status ........................................................................................... 52
J1939_TX_ENH_CYCLIC ...................................................................146
receive RAW-CAN data ................................................................................ 58
receive SAE J1939 ...................................................................................... 137 J1939_TX_ENH_MULTI ......................................................................148
SAE J1939 ................................................................................................... 126
SAE J1939 diagnosis .................................................................................. 150
K
SAE J1939 request ..................................................................................... 134 Key LEDs dimmable ..............................................................................13
SAE J1939 status ........................................................................................ 126
system ......................................................................................................... 158 L
transmit RAW-CAN data ............................................................................... 68
transmit SAE J1939 .................................................................................... 142 LED ......................................................................................................198
Libraries .................................................................................................18
G Libraries required for network variables ................................................44
Library ifm_CANopen_NT_Vxxyyzz.LIB................................................47
GET_APP_INFO..................................................................................161
Library ifm_CR0452_Init_Vxxyyzz.LIB ..................................................46
GET_HW_INFO ...................................................................................162
Library ifm_CR0452_Vxxyyzz.LIB .........................................................45
GET_IDENTITY ...................................................................................163
Library ifm_J1939_NT_Vxxyyzz.LIB .....................................................48
GET_SW_INFO ...................................................................................164
Library ifm_PDMsmart_util_Vxxyyzz.LIB ..............................................46
GET_SW_VERSION ...........................................................................165
Library ifm_RAWCan_NT_Vxxyyzz.LIB ................................................46
GET_TEXT_FROM_FLASH ................................................................177
Limitations for CAN in this device..........................................................30
H Limitations for CAN J1939 in this device ...............................................31
Limitations for CANopen in this device..................................................31
Hardware description.............................................................................11
Limitations for visualisations ..................................................................27
Hardware setup .....................................................................................11
Link ......................................................................................................198
Heartbeat .............................................................................................196
LSB ......................................................................................................198
History of the instructions (CR0452) .....................................................7
HMI ......................................................................................................196 M
How is this documentation structured? ...................................................7
MAC-ID ................................................................................................198
I Master ..................................................................................................198
MEM_ERROR .....................................................................................166
ID .........................................................................................................197
MEMCPY .............................................................................................167
IEC 61131 ............................................................................................197
Misuse..................................................................................................198
IEC user cycle ......................................................................................197
MMI ......................................................................................................198
ifm function elements.............................................................................44
Movement of elements ..........................................................................30
ifm function elements for the device CR0452 .......................................50
MRAM ..................................................................................................199
ifm libraries for the device CR0452 .......................................................44

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Index

MSB .....................................................................................................199 Required libraries...................................................................................44

Resample / scale image ........................................................................26
N Response to system errors..................................................................187
Network variables ..................................................................................43 Retain variables .....................................................................................42
NMT .....................................................................................................199 ro ..........................................................................................................202
Node ....................................................................................................199 RTC......................................................................................................202
Node Guarding ....................................................................................199 RUN state ..............................................................................................23
NORM_DINT .......................................................................................179 Runtime system .............................................................................17, 202
NORM_REAL ......................................................................................180 rw .........................................................................................................202
Note the cycle time! ...............................................................................20
Notes
S
serial number ................................................................................................... 9 SAE J1939 ...........................................................................................202
Notizen • Notes • Notes .......................................................................209 Safety instructions ...................................................................................8
Save retain variables .............................................................................42
O SD card ................................................................................................203
Obj / object...........................................................................................199 SDO .....................................................................................................203
Object directory....................................................................................199 Self-test ................................................................................................203
OBV .....................................................................................................199 Set up the programming system ...........................................................35
OHC .....................................................................................................169 Set up the programming system manually ............................................35
OPC .....................................................................................................199 Set up the programming system via templates .....................................39
Operating elements of CR0452 .............................................................13 Set up the runtime system .....................................................................32
Operating states ....................................................................................22 Set up the target ....................................................................................36
Operational ..........................................................................................200 SET_IDENTITY ...................................................................................171
Overview SET_LED .............................................................................................172
documentation modules for CR0452 .............................................................. 5 SET_PASSWORD ...............................................................................174
Slave ....................................................................................................203
P Software description ..............................................................................16
Parameters of the inputs ...53, 54, 55, 56, 59, 60, 62, 64, 66, 69, 71, 73, Software modules for the device ...........................................................16
76, 78, 81, 83, 85, 88, 90, 91, 94, 95, 96, 99, 102, 103, 105, 108, 109, SRAM.....................................................................................................12
112, 114, 116, 117, 120, 122, 124, 127, 130, 132, 133, 135, 136, 138, Start-up behaviour of the controller .........................................................9
139, 141, 143, 144, 146, 148, 151, 154, 156, 157, 159, 160, 161,162,
163, 164, 165, 166, 167, 169, 171, 172, 174, 178, 179, 180, 181, 185 Status-LED ............................................................................................14
Parameters of the outputs .53, 55, 57, 59, 61, 63, 65, 67, 70, 72, 74, 77, STOP state ............................................................................................23
79, 82, 84, 86, 88, 90, 92, 94, 95, 97, 100, 102, 104, 106, 108, 110, stopped ................................................................................................203
113, 114, 116, 118, 121, 123, 125, 128, 130, 132, 133, 135, 136, 138, Symbols ...............................................................................................203
140, 141, 143, 145, 147, 149, 152, 155, 156, 157, 159, 160, 161, 162, System description ................................................................................10
163, 164, 165, 166, 168, 170, 171, 173, 174, 175, 178, 179, 180, 181,
System flags ........................................................................................188
185
System variable ...................................................................................203
PC card ................................................................................................200
System variables ...................................................................................40
PCMCIA card .......................................................................................200
PDM .....................................................................................................200 T
PDM_PAGECONTROL .......................................................................184
PDO .....................................................................................................200 Target...................................................................................................203
PDU .....................................................................................................200 TCP ......................................................................................................203
Performance limits of the device ...........................................................25 Template ..............................................................................................204
PES ......................................................................................................200 Texts ......................................................................................................29
PGN .....................................................................................................200 TIMER_READ_US...............................................................................175
Pictogram .............................................................................................201 TOGGLE ..............................................................................................181
PID controller .......................................................................................201
U
PLC configuration ................................................................................201
Please note ..............................................................................................8 UDP .....................................................................................................204
Pre-Op .................................................................................................201 Update the runtime system....................................................................34
Process image .....................................................................................201 Use, intended.......................................................................................204
Programming notes for CODESYS projects .........................................19 Using ifm maintenance tool ...................................................................22
PWM ....................................................................................................201
V
R Variables ................................................................................................41
ratiometric ............................................................................................201 Verify the installation .............................................................................34
RAW-CAN ............................................................................................202 Visualisation limits .................................................................................26
Read back retain variables ....................................................................42
Reinstall the runtime system .................................................................33
W
remanent..............................................................................................202 Watchdog .............................................................................................204

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ifm Programming Manual BasicDisplay CR0452 v03.02
Index

Watchdog behaviour..............................................................................25
What do the symbols and formats mean? ...............................................6
What previous knowledge is required? ...................................................8

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ifm Programming Manual BasicDisplay CR0452 v03.02
Notizen • Notes • Notes Error tables

10 Notizen • Notes • Notes

209