Programming Manual: Classiccontroller Cr0033

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Programming Manual
ClassicController
CR0033
with integrated I/O modul: CR0133
Runtime system V02.00.03

CODESYS® V2.3
English
10 / 2018
7391022 / 05
ClassicController CR0033 / CR0133
Contents
1 About this manual 5

1.1 Copyright ..............................................................................................................................5
1.2 Overview: documentation modules for CR0033 ..................................................................6
1.3 What do the symbols and formats mean? ...........................................................................7
1.4 How is this documentation structured? ................................................................................8
1.5 History of the instructions (CR0033 + CR0133) ................................................................8
2 Safety instructions 10
2.1 Please note! .......................................................................................................................10
2.2 What previous knowledge is required? ..............................................................................11
2.3 Start-up behaviour of the controller....................................................................................11
2.4 Notes: serial number ..........................................................................................................12
2.5 Notes: TEST inputs ............................................................................................................12
3 System description 13
3.1 Information concerning the device .....................................................................................13
3.2 Hardware description .........................................................................................................14
3.2.1 Hardware structure ..................................................................................................................... 14
3.2.2 Operating principle of the delayed switch-off .............................................................................. 17
3.2.3 Relays: important notes! ............................................................................................................. 18
3.2.4 Monitoring concept ..................................................................................................................... 19
3.2.5 Inputs (technology) ..................................................................................................................... 23
3.2.6 Outputs (technology) .................................................................................................................. 28
3.2.7 Note on wiring ............................................................................................................................ 32
3.2.8 Safety instructions about Reed relays ........................................................................................ 32
3.2.9 Feedback in case of externally supplied outputs ........................................................................ 33
3.2.10 Status LED ................................................................................................................................. 34
3.3 Interface description ...........................................................................................................36
3.3.1 Serial interface ........................................................................................................................... 36
3.3.2 USB interface ............................................................................................................................. 36
3.3.3 CAN interfaces ........................................................................................................................... 37
3.4 Software description ..........................................................................................................38
3.4.1 Software modules for the device ................................................................................................ 38
3.4.2 Programming notes for CODESYS projects ............................................................................... 40
3.4.3 Operating states ......................................................................................................................... 44
3.4.4 Operating modes ........................................................................................................................ 48
3.4.5 Performance limits of the device ................................................................................................ 49
4 Configurations 50
4.1 Set up the runtime system .................................................................................................51
4.1.1 Reinstall the runtime system ...................................................................................................... 51
4.1.2 Update the runtime system......................................................................................................... 52
4.1.3 Verify the installation .................................................................................................................. 52
4.2 Set up the programming system ........................................................................................53
4.2.1 Set up the programming system manually ................................................................................. 53
4.2.2 Set up the programming system via templates........................................................................... 55
4.3 Function configuration in general .......................................................................................56
4.3.1 Configuration of the inputs and outputs (default setting) ............................................................ 56
4.3.2 System variables ........................................................................................................................ 56
4.4 Function configuration of the inputs and outputs ...............................................................57
4.4.1 Configure inputs ......................................................................................................................... 58
4.4.2 Configure outputs ....................................................................................................................... 63
4.5 Variables ............................................................................................................................67
4.5.1 Retain variables .......................................................................................................................... 67
2
4.5.2 Network variables ....................................................................................................................... 68
5 ifm function elements 69

5.1 ifm libraries for the device CR0033 ....................................................................................69
5.1.1 Library ifm_CR0033_V02yyzz.LIB .............................................................................................. 69
5.1.2 Library ifm_CR0033_CANopenxMaster_Vxxyyzz.LIB ................................................................ 71
5.1.3 Library ifm_CR0033_CANopenxSlave_Vxxyyzz.LIB .................................................................. 72
5.1.4 Library ifm_CR0033_J1939_Vxxyyzz.LIB .................................................................................. 72
5.1.5 Library ifm_hydraulic_32bit_Vxxyyzz.LIB ................................................................................... 73
5.2 ifm function elements for the device CR0033 ....................................................................74
5.2.1 Function elements: CAN layer 2 ................................................................................................. 74
5.2.2 Function elements: CANopen master ......................................................................................... 83
5.2.3 Function elements: CANopen slave ........................................................................................... 93
5.2.4 Function elements: CANopen SDOs ........................................................................................ 101
5.2.5 Function elements: SAE J1939 ................................................................................................ 106
5.2.6 Function elements: serial interface ........................................................................................... 118
5.2.7 Function elements: Optimising the PLC cycle via processing interrupts .................................. 123
5.2.8 Function elements: processing input values ............................................................................. 128
5.2.9 Function elements: adapting analogue values ......................................................................... 134
5.2.10 Function elements: counter functions for frequency and period measurement ........................ 139
5.2.11 Function elements: output functions in general ........................................................................ 156
5.2.12 Function elements: PWM functions .......................................................................................... 160
5.2.13 Function elements: hydraulic control ........................................................................................ 171
5.2.14 Function elements: controllers.................................................................................................. 186
5.2.15 Function elements: software reset ............................................................................................ 193
5.2.16 Function elements: measuring / setting of time ........................................................................ 195
5.2.17 Function elements: device temperature.................................................................................... 198
5.2.18 Function elements: saving, reading and converting data in the memory .................................. 200
5.2.19 Function elements: data access and data check ...................................................................... 212
5.2.20 Function elements: administer error messages ........................................................................ 219
6 Diagnosis and error handling 227

6.1 Diagnosis .........................................................................................................................227
6.2 Fault .................................................................................................................................227
6.3 Reaction in case of an error .............................................................................................228
6.4 Relay: important notes! ....................................................................................................228
6.5 Response to system errors ..............................................................................................228
6.6 CAN / CANopen: errors and error handling .....................................................................229
7 Appendix 230
7.1 System flags.....................................................................................................................230
7.1.1 System flags: CAN ................................................................................................................... 231
7.1.2 System flags: SAE-J1939 ......................................................................................................... 232
7.1.3 System flags: error flags (standard side) .................................................................................. 233
7.1.4 System flags: status LED (standard side)................................................................................. 234
7.1.5 System flags: voltages (standard side) ..................................................................................... 235
7.1.6 System flags: 16 inputs and 16 outputs (standard side) ........................................................... 236
7.2 Address assignment and I/O operating modes ................................................................237
7.2.1 Addresses / variables of the I/Os .............................................................................................. 237
7.2.2 Possible operating modes inputs/outputs ................................................................................. 241
7.3 Integrated I/O module: Description ..................................................................................244
7.3.1 System description I/O module ExB01 ..................................................................................... 244
7.3.2 Configuration of the I/O module ................................................................................................ 258
7.3.3 Object directory of the integrated I/O module ........................................................................... 269
7.3.4 Operation of the I/O module ..................................................................................................... 303
7.3.5 System flag for the integrated ExB01 I/O module..................................................................... 305
7.3.6 Error messages for the I/O module .......................................................................................... 306
7.4 Error tables .......................................................................................................................309
7.4.1 Error codes ............................................................................................................................... 310
3
7.4.2 Error flags ................................................................................................................................. 316

7.4.3 Errors: CAN / CANopen............................................................................................................ 316
8 Terms and abbreviations 318
9 Index 332
4
1 About this manual

Content
Copyright ..................................................................................................................................................5
Overview: documentation modules for CR0033 .......................................................................................6
What do the symbols and formats mean? ................................................................................................7
How is this documentation structured? ....................................................................................................8
History of the instructions (CR0033 + CR0133) .....................................................................................8
26077
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1.1 Copyright
26002
© 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
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1.2 Overview: documentation modules for CR0033

23791
33256
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
System manual "The Description of the configuration and the functions of the ISOBUS software in the device
ISOBUS in the ifm
controller"
6
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1.3 What do the symbols and formats mean?

26329
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
7
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1.4 How is this documentation structured?

16416
33394
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
16420
NOTE
These instructions are valid for the device without and with integrated I/O module.
► In both cases, make sure to set up the PLC configuration for the device CR0033!
You can find more information about the integrated I/O module in:
→ chapter Integrated I/O module: Description (→ p. 244) in the appendix of this documentation.
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1.5 History of the instructions (CR0033 + CR0133)

15794
What has been changed in this manual? An overview:

Date Theme Change
2013-06-24 various new document structure

2014-02-03 integrated I/O module CR0133 description added
2014-04-28 Various function blocks More precise description of the function block input
CHANNEL
2014-06-24 FB PID2 Graphic corrected
2014-06-30 Name of the documentation "System manual" renamed as "Programming manual"
2014-07-04 Device output ERROR (clamp 13) Output is not available. Reference note removed.
2014-07-24 FB INPUT_ANALOG Possible error codes for ERROR output added
FB SET_INPUT_MODE
FB SET_OUTPUT_MODE
2014-07-31 Chapter "Error codes, diagnostics" Error code tables added
2014-07-31 FB PHASE Description of parameters of outputs C, ET corrected
2014-07-31 FB OUTPUT_CURRENT_CONTROL If preset value = 0 mA >> control to 0 "within 100 ms"
instead of "at once"
2014-08-08 Chapter "Inputs of the integrated I/Omodule" completed by sections
"Analogue inputs" and "binary inputs"
8
Date Theme Change

2014-08-08 Chapter "Object directory of the integrated I/O in the headlines "SDOs" replaced by "Object directory"
module"
2014-08-26 Description of inputs, outputs highside / lowside replaced by positive / negative
switching
2014-08-29 Fast inputs Note on automatically set input resistance
2014-09-29 Flag OUT_OVERLOAD_PROTECTION generally replaced by "overload protection"
2014-11-12 Chapter "Outputs (technology)" Section "Diagnostics of the binary outputs"
supplemented or corrected
2015-01-13 Structure of documentation for error codes, system • error flags:
flags now only in the 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
2015-05-26 FB J1939_x_GLOBAL_REQUEST More precise description
2015-06-10 Various function blocks Description of the FB input CHANNEL corrected
2015-07-20 Inputs IN12...IN15 now without operating mode 19
2015-07-27 FB GET_IDENTITY added with output SERIALNUMBER
2015-08-04 Outputs OUT00...01 Diagnosis via current and voltage measurement
2015-08-24 I/O module ExB01 the not realized I/O modes are deleted now
2015-10-22 System flag bit SERIAL_MODE Debugging of the application program via USB is not
possible
2016-04-27 FBs for fast inputs Note in case of higher frequencies added
2017-01-04 FB INC_ENCODER Can be used at the same input on the standard side of
the device in combination with one function block
FAST_COUNT, FREQUENCY,
FREQUENCY_PERIOD, PERIOD, PERIOD_RATIO,
PHASE
2017-01-13 Software manual for CODESYS 2.3 hint to download from the ifm homepage removed
2017-01-13 System manual for ISOBUS hint to download from ifm homepage added
2017-02-22 FB INC_ENCODER Can be used at the same input on the standard side of
the device in combination with one function block
PERIOD, PERIOD_RATIO, PHASE
2017-04-28 System flag LAST_RESET from RTS v02.00.01: value ever is = "0"
2017-06-02 FRAM, MEMCPY, MEMSET: removed from manual, because value and start
Declaration for "remanent memory freely available to address depend from hardware and software of the
the user" device
2017-06-02 Fast inputs Internal resistance of the signal source must be
substantially lower than the input resistance of the
used input
2017-12-08 Addresses and variables of the I/Os Declaration of the input bytes and output bytes
removed because invalid
2018-07-09 List of the ifm branch offices removed
2018-10-10 Outputs of the integrated I/O module ExB01 Hint about VBB1/VBB2 added
9
2 Safety instructions
Content
Please note! ............................................................................................................................................10
What previous knowledge is required? ..................................................................................................11
Start-up behaviour of the controller ........................................................................................................11
Notes: serial number ..............................................................................................................................12
Notes: TEST inputs ................................................................................................................................12
28333
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2.1 Please note!

214
28588
No characteristics are warranted on the basis of the information, notes and examples provided in this
manual. The drawings, representations and examples imply no responsibility for the system and no
application-specific particularities.
► The manufacturer of the machine/equipment is responsible for ensuring the safety of the
machine/equipment.
► Follow the national and international regulations of the country in which the machine/installation is
to be placed on the market!
WARNING
Non-observance of these instructions can lead to property damage or bodily injury!
ifm electronic gmbh does not assume any liability in this regard.
► The acting person must have read and understood the safety instructions and the corresponding
chapters in this manual before working on and with this device.
► The acting person must be authorised to work on the machine/equipment.
► The acting person must have the qualifications and training required to perform this work.
► Adhere to the technical data of the devices!
You can find the current data sheet on ifm's homepage.
► Observe the installation and wiring information as well as the functions and features of the
devices!
→ supplied installation instructions or on ifm's homepage
► Please note the corrections and notes in the release notes for the existing hardware, software and
documentation, available on the ifm website
Website → www.ifm.com
28588
NOTICE
The driver module of the serial interface can be damaged!
Disconnecting or connecting the serial interface while live can cause undefined states which damage
the driver module.
► Do not disconnect or connect the serial interface while live.
10
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2.2 What previous knowledge is required?

28341
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.
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2.3 Start-up behaviour of the controller

6827
15233
28417
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.
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2.4 Notes: serial number

28582
► 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.
>
2.5 Notes: TEST inputs

28581
► The TEST inputs of all the controllers in the machine should be wired individually and marked
clearly so that they can be properly allocated to the controllers.
► During a service access only activate the TEST input of the controller to be accessed.
12
3 System description
Content
Information concerning the device .........................................................................................................13
Hardware description ..............................................................................................................................14
Interface description ...............................................................................................................................36
Software description ...............................................................................................................................38
28392
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3.1 Information concerning the device

10415
This manual describes of the ecomatmobile family for mobile machines of ifm electronic gmbh:
 ClassicController: CR0033
13
3.2 Hardware description

Content
Hardware structure .................................................................................................................................14
Operating principle of the delayed switch-off .........................................................................................17
Relays: important notes! .........................................................................................................................18
Monitoring concept .................................................................................................................................19
Inputs (technology) .................................................................................................................................23
Outputs (technology) ..............................................................................................................................28
Note on wiring .........................................................................................................................................32
Safety instructions about Reed relays ....................................................................................................32
Feedback in case of externally supplied outputs ..................................................................................33
Status LED .............................................................................................................................................34
28381
3.2.1 Hardware structure

Content
Start conditions .......................................................................................................................................14
Relays .....................................................................................................................................................14
Principle block diagram ..........................................................................................................................15
Available memory ...................................................................................................................................15
28382
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Start conditions
28418
The device does not start until sufficient voltage is applied to the supply connection VBBs (e.g. supply
of the relays on the standard side) and to clamp 15.
In vehicles clamp 15 is the plus cable switched by the ignition lock.
• permissible operating voltage = 8...32 V
• start condition: VBBs > 10 V
>
Relays
19661
The ClassicController has 2 internal output relays which can each separate 8 outputs from the terminal
voltage VBBx (x = o | r).
The relays are only activated under the following condition:
• the global bit ERROR = FALSE
AND
• the bit RELAIS_VBBx = TRUE
In an active condition the relay contacts connect the outputs to the terminal voltage VBBx.
Activate the corresponding outputs no earlier than > 45 ms after power-on of the relays!
14
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Principle block diagram

19662
Figure: principle block diagram of supply and relays

>
Available memory
28798
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FLASH-Speicher
8136
FLASH memory (non-volatile, slow memory) 2 176 kByte

overall existing in the device
Thereof the following memory areas are reserved for ...
maximum size of the application program 1 280 kByte
data other than the application program 128 kByte
user can write data such as files, bitmaps, fonts
data other than the application program 64 kByte
read data with FLASHREAD (→ p. 205) or write data with FLASHWRITE (→ p. 206)
(files: 128 bytes less for header)
The remaining rest of the memory is reserved for system internal purposes.
>
SRAM
8360
SRAM (volatile, fast memory) 2 216 kByte

SRAM indicates here all kinds of volatile and fast memories.
data reserved by the application program 192 kByte
15
>
FRAM
20794
FRAM (non-volatile, fast memory) 128 kByte

FRAM indicates here all kinds of non-volatile and fast memories.
variables in the application program, declared as VAR_RETAIN 4 kByte
as remanent defined flags (from %MB0...) 4 kByte
 Set the end of the memory area by FB MEMORY_RETAIN_PARAM (→ p. 203)!
16
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3.2.2 Operating principle of the delayed switch-off

28591
If the ecomatmobile controllers are disconnected from the supply voltage (ignition off), all outputs are
normally switched off at once, input signals are no longer read and processing of the controller
software (runtime system and application program) is interrupted. This happens irrespective of the
current program step of the controller.
If this is not requested, the controller must be switched off via the program. After switch-off of the
ignition this enables, for example, saving of memory states.
The ClassicControllers can be switched off via the program by means of a corresponding connection
of the supply voltage inputs and the evaluation of the related system flags. The block diagram in the
chapter Hardware structure (→ p. 14) shows the context of the individual current paths.
>
Connect terminal VBB15 to the ignition switch

2418
The internal PLC electronics is initialised via the terminal VBB15 if at terminal VBBs supply voltage is
applied.
These terminals VBB15 and VBBs are monitored internally. The applied terminal voltage VBB15 can
be monitored via the system flag CLAMP_15_VOLTAGE. The applied terminal voltage VBBs can be
monitored via the system flag SUPPLY_VOLTAGE.
>
Latching
2419
Power-on of the controller:

 voltage is applied to VBB15 (clamp 15*) by means of the ignition switch.
 The system flag CLAMP_15_VOLTAGE recognises the voltage that has been applied and
activates the system flag SUPPLY_SWITCH.
 SUPPLY_SWITCH activates the connection to the potential VBBs.
> The ignition switch is bypassed. Latching of the control voltage is established.
Power-off of the controller via clamp 15:
 The system flag CLAMP_15_VOLTAGE recognises the switching off of the supply voltage on
terminal VBB15.
► Reset the system flag SUPPLY_SWITCH in the application program.
> Latching via VBBs is removed and the controller switches off completely.
*) In vehicles clamp 15 is the plus cable switched by the ignition lock.
17
>
3.2.3 Relays: important notes!

12976
Assignment relays – potentials: → data sheet

Max. total current per relay contact (= per output group): → data sheet
NOTICE
Risk of destruction of the relay contacts!
In an emergency situation, "sticking" relay contacts can no longer separate the outputs from the power
supply!
If VBBS (VBBrel) and clamp 15 are separated from the power supply at the same time, but the
potentials VBBx stay connected to it, then the relays can drop even before the outputs are deactivated
by the system.
In this case the relays separate the outputs from the power supply under load. This significantly
reduces the life cycle of the relays.
► If VBBx is permanently connected to the power supply:
• also connect VBBS (VBBrel) permanently and
• switch off the outputs via the program with the help of clamp 15.
18
3.2.4 Monitoring concept

Content
Monitoring of the supply voltages VBBx .................................................................................................19
Operating principle of the monitoring concept ........................................................................................21
Reference voltage output .......................................................................................................................22
28520
The controller monitors the supply voltages and the system error flags.
Depending on the status...
• the controller switches off the internal relays
> the outputs are de-energised, but retain their logic state
> the program continues to run
or:
• the runtime system deactivates the controller
> the program stops
> the outputs change to logic "0"
> the status LED goes out
>
Monitoring of the supply voltages VBBx

6752
In case of a fault we differentiate 2 scenarios:

>
Terminal voltage VBBx falls below the limit value of 5.25 V

15752
> The controller detects undervoltage. The outputs supplied by the terminal voltage VBBx are
deactivated.
> If the terminal voltage recovers and returns to the normal range (> 10 V), the outputs are
reactivated.
32395
WARNING
Dangerous restart possible!
Risk of personal injury! Risk of material damage to the machine/plant!
If in case of a fault an output is switched off via the hardware, the logic state generated by the
application program is not changed.
► Remedy:
• Reset the output logic in the application program!
• Remove the fault!
• Reset the outputs depending on the situation.
19
>
Terminal voltage VBBs falls below the limit value of 10 V

20638
> The controller continues to operate until the voltage has dropped so far that the internal voltages
created from it also drop.
Below 10 V no retain data is saved. → flag RETAIN_WARNING
> In case of a drop of the internal voltages the controller goes into reset.
Execution of the runtime and application programs is interrupted.
This happens irrespective of the current program step of the PLC.
> A restart of the controller is not carried out before the supply voltages are above the limit value
again.
20
Operating principle of the monitoring concept

2421
WARNING
Danger due to unintentional switch-off of all outputs!
If monitoring routines detect a system error:
> the device deactivates the energy for all outputs.
During program processing the output relays are completely controlled via the software by the user.
So a parallel contact of the safety chain, for example, can be evaluated as an input signal and the
output relay can be switched off accordingly. To be on the safe side, the corresponding applicable
national regulations must be complied with.
If an error occurs during program processing, the relays can be switched off using the system flag bit
ERROR to disconnect critical plant sections.
Manual setting of a flag bit ERROR_VBB... has NO effects on the relays!

32479
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!
If a watchdog error occurs, ...

> the program processing is interrupted automatically
> the outputs become currentless and go to logical "0"
> the controller is reset
> the controller then starts again as after power on.
21
>
Reference voltage output

13934
The reference voltage output is used to supply sensors with a stable voltage which is not subjected to
the fluctuations of the supply voltage.
13402
NOTICE
Reference voltage output can get damaged!
► Do NOT apply any external voltage!
Via the binary system variables REFERENCE_VOLTAGE_5 or REFERENCE_VOLTAGE_10 the

voltage is set on the reference voltage output [VREF OUT]:
Reference voltage
REFERENCE_VOLTAGE_10 REFERENCE_VOLTAGE_5
[VREF OUT]
FALSE FALSE 0V
FALSE TRUE 5V
TRUE FALSE 10 V
TRUE TRUE 0V
► If reference voltage = 10 V selected:

supply the controller with min. 13 V!
► Voltage monitoring on the reference voltage output with system variable REF_VOLTAGE.
22
3.2.5 Inputs (technology)

Content
Analogue inputs ......................................................................................................................................23
Binary inputs ...........................................................................................................................................24
Input group I00...I11 ...............................................................................................................................25
Input group I12...I15 ...............................................................................................................................26
28353
>
Analogue inputs
15446
The analogue inputs can be configured via the application program. The measuring range can be set
as follows:
• current input 0...20 mA
• voltage input 0...10 V
• resistance measurement 16...30 000  / 3...680  (measurement to GND)
The voltage measurement can also be carried out ratiometrically (0...1000 ‰, adjustable via function
blocks). This means potentiometers or joysticks can be evaluated without additional reference voltage.
A fluctuation of the supply voltage has no influence on this measured value.
As an alternative, an analogue channel can also be evaluated binarily.
In case of ratiometric measurement the connected sensors should be supplied with VBBs of the
device. So, faulty measurements caused by offset voltage are avoided.
33383
In = pin multifunction input n

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

8972
Figure: block diagram of the resistor survey input
In = pin resistor survey input n

(CR) = device
(1) = input filter
(2) = constant-current source
(3) = internal resistance
(4) = voltage
23
>
Binary inputs
1015
28811
The binary input can be operated in following modes:

• binary input plus switching (BL) for positive sensor signal
• binary input minus switching (BH) for negative sensor signal
Depending on the device the binary inputs can configured differently. In addition to the protective
mechanisms against interference, the binary inputs are internally evaluated via an analogue stage.
This enables diagnosis of the input signals. But in the application software the switching signal is
directly available as bit information
In = pin binary-input n
(CR) = device
(1) = input filter
(2a) = input minus switching
(2b) = input plus switching
(3) = voltage
Figure: basic circuit of binary input minus switching / plus switching for negative and positive sensor signals
In = pin binary input n In = pin binary input n

(S) = sensor (S) = sensor
Basic circuit of binary input plus switching (BL) Basic circuit of binary input minus switching (BH)
for positive sensor signal: for negative sensor signal:
Input = open  signal = low (GND) Input = open  signal = high (supply)
For some of these inputs (→ data sheet) the potential can be selected to which it will be switched.
24
>
Input group I00...I11

19315
These inputs are a group of multifunction channels.

These inputs can be used as follows (each input separately configurable):
• analogue input 0...20 mA
• analogue input 0...10 V
• voltage measurement ratiometric 0...1000 ‰
• binary input plus switching (BL) for positive sensor signal (with/without diagnosis)
• fast input for e.g. incremental encoders and frequency or interval measurement
→ chapter Possible operating modes inputs/outputs (→ p. 241)
Sensors with diagnostic capabilities to NAMUR can be evaluated.
All inputs show the same behaviour concerning function and diagnosis. But:
I00...I07: multifunction input with supply voltage dependent levels for frequency measurement.
I08...I11: multifunction input with fixed levels for frequency measurement.
Detailed description → chapter Address assignment inputs / outputs
► Configuration of each input is made via the application program:
• FB INPUT_ANALOG (→ p. 129) > input MODE or:
• FB SET_INPUT_MODE (→ p. 132) > input MODE
• Fast inputs with the following FBs:
FAST_COUNT (→ p. 140) Counter block for fast input pulses
FREQUENCY (→ p. 142) Measures the frequency of the signal arriving at the selected channel
FREQUENCY_PERIOD (→ p. 144) Measures the frequency and the cycle period (cycle time) in [µs] at the indicated channel
INC_ENCODER (→ p. 146) Up/down counter function for the evaluation of encoders
INC_ENCODER_HR (→ p. 148) Up/down counter function for the high resolution evaluation of encoders
PERIOD (→ p. 150) Measures the frequency and the cycle period (cycle time) in [µs] at the indicated channel
PHASE (→ p. 154) Reads a pair of channels with fast inputs and compares the phase position of the signals
> If the analogue inputs are configured for current measurement, the device switches to the safe
voltage measurement range (0...32V DC) and the corresponding error bit in the flag byte
ERROR_CURRENT_Ix is set when the final value (> 21.7 mA) is exceeded.
The device checks once a second if the current value is again below the limit value. When the
value is again below the limit value, the input automatically switches back to the current
measurement range.
► For NAMUR: if the diagnosis function is to be used, additionally activate this mode:
• function block SET_INPUT_MODE > set input DIAGNOSTICS.
 For NAMUR: The useful signal of the switches or sensors should not be higher than the system
supply voltage.
NAMUR diagnosis for binary signals of

non-electronic switches:
► Equip the switch with an additional resistor
connection! Figure: non-electronic switch S at input Inn
25
>
33456
> The result of the diagnostics is for example shown by the following system flags:
System flags (symbol name) Type Description
ERROR_BREAK_Ix DWORD input double word x: wire break error
(0...x, value depends on the device, or (resistance input): short to supply
→ data sheet) [Bit 0 for input 0] ... [bit z for input z] of this group
Bit = TRUE: error
Bit = FALSE: no error
ERROR_SHORT_Ix DWORD input double word x: short circuit error
(0...x, value depends on the device, only if input mode = IN_DIGITAL_H
Bit = TRUE: error
> In the application program, the system variables ANALOG00...ANALOGxx can be used for
customer-specific diagnostics.
>
Input group I12...I15

10424

• input for resistance measurement (e.g. temperature sensors or fuel sensors)
26
>
Resistance measurement
9773
Typical sensors on these inputs:

• tank level
• temperature (PT1000, NTC)
8972

(CR) = device
(1) = input filter
(4) = voltage
8970
The resistance for this device is not linearly dependent on the resistance value, → figure:
Figure: resolution dependent on the

resistance value
(1) = resistance value at the input

(2) = resolution
By how many ohms does the measured value change when the signal of the A/D converter on the input changes by 1?
Examples:
• In the range of 1...100  the resolution is 1.2 .
• In the range of 1 k the resolution is approx. 2 .
• In the range of 10 k the resolution is approx. 11 
27
3.2.6 Outputs (technology)

Content
Binary outputs .........................................................................................................................................28
PWM outputs ..........................................................................................................................................28
Protective functions of the outputs .........................................................................................................28
Output group Q00...Q15 .........................................................................................................................30
28572
>
Binary outputs
28815
The following operating modes are possible for the device outputs (→ data sheet):
• binary output, plus switching (BH) with/without diagnostic function
• binary output minus switched (BL) without diagnostic function
28815
Qn = pin output n Qn = pin output n

(L) = load (L) = load
Basic circuit of output plus switching (BH) Basic circuit of output minus switching (BL)
for positive output signal for negative output signal
>
PWM outputs
28530
• PWM output, plus switching (BH) without diagnostic function
28530
Qn = pin output n
(L) = load
Basic circuit of output plus switching (BH)

for positive output signal
>
Protective functions of the outputs

15248
The outputs of this device are protected against overload and short circuit within specific ranges.
→ data sheet
>
Definition: overload
28846
Overload can only be detected on an output with current measurement.

Overload is defined as ...
"a nominal maximum current of 12.5 %".
28
>
Definition: short circuit

15250
A short circuit can be detected on all outputs with diagnostic capabilities.

Precondition: output is NOT configured for current measurement.
A short circuit is defined as ...
"a drop of the output voltage below 88% (± 2.5% of the measured value) of the corresponding supply
voltage."
> A ground fault can only be detected in case of output = TRUE.
>
Reaction of the outputs to overload or short circuit

15251
>
Self-protection of the output

15333
The hardware protects itself, irrespective of the operating mode of the output and of the fault
detection. In case of a too high thermal load (caused by short circuit or overload), the output driver
begins to clock.
The driver may be damaged in case of too long clocking of the output (several hours).
We therefore recommend:
that you operate device outputs with diagnostic capabilities in the following mode, since, in this case,
the software protects the drivers additionally by switching off:
• function block SET_OUTPUT_MODE (→ p. 157) > input DIAGNOSTICS = TRUE and
• function block SET_OUTPUT_MODE > input PROTECTION = TRUE
>
Reaction according to the operating mode of the output

15479
In case of an overload or a short circuit, the behaviour of the output depends on its operating mode
(→ FB SET_OUTPUT_MODE (→ p. 157) > inputs DIAGNOSTICS and PROTECTION):
 DIAGNOSTICS = FALSE and PROTECTION = FALSE:
> the output continues to be operated.
 DIAGNOSTICS = TRUE and PROTECTION = FALSE:
> error is detected and signalled as error code (→ chapter Error codes (→ p. 310)).
This depends on the type of output and the current or voltage at the output.
The programmer can react to the error in the program.
 DIAGNOSTICS = TRUE and PROTECTION = TRUE:
> error is detected and signalled as error code (→ chapter Error codes).
> the respective output is switched off.
> The logic state of the output remains unaffected by this!
> The controller checks every second if the error has been eliminated.
If error eliminated: Controller switches the output on again.
>
Reaction when PWM1000, OUTPUT_CURRENT_CONTROL, OUTPUT_BRIDGE is/are used

15480
It is different when the following FBs are used:

• PWM1000 (→ p. 169)
• OUTPUT_CURRENT_CONTROL (→ p. 166)
• OUTPUT_BRIDGE (→ p. 161)
There is no diagnostics.
The Self-protection of the output (→ p. 29) becomes active.
29
>
Reaction for outputs with current feedback

20641
► For outputs with current feedback:

Request the typical current for the output in the application program!
It is the responsibility of the application programmer to react to the event.
>
Output group Q00...Q15

10445
These outputs are a group of multifunction channels.

These outputs provide several function options (each output separately configurable):
• binary output, plus switching (BH), partly also minus switching (BL)
• analogue current-controlled output (PWMi)
• analogue output with pulse-width modulation (partly as H-bridge)
► Configuration of each output is made via the application program:
→ function block SET_OUTPUT_MODE (→ p. 157) > input MODE
indicate the load currents → FB OUTPUT_CURRENT (→ p. 165)
PWM output: → FB PWM1000 (→ p. 169)
PWMi output: → FB OUTPUT_CURRENT_CONTROL (→ p. 166)
control H-bridge → FB OUTPUT_BRIDGE (→ p. 161)
► Configure the current measuring range for outputs Q00…Q03 and Q08…Q11
(either 2 A or 4 A):
→ function block SET_OUTPUT_MODE > input CURRENT_RANGE
When using the H-bridge current control is not supported.
NOTE
To protect the internal measuring resistors, the overload protection should always be active (default
setting). The following protection is given:
• current measuring range = 2 A: protection from 2.25 A
• current measuring range = 3 A: protection from 3.375 A
• current measuring range = 4 A: protection from 4.5 A.
The function is not supported in PWM mode.
The function can be deactivated if required.
For the limit values please make sure to adhere to the data sheet!
Wire break and short circuit detection are active when ...
• the output is configured as "binary plus switching" (BH) AND
• the output is switched ON.
► When using outputs switching to mass the supply voltage on the connected load must not be
higher than the supply voltage(s) of the output group(s)!
► Should be avoided that an output group can continued to be operated in spite of deactivated relay,
the load on an output switching against ground must only be supplied via an output switching
against a supply of the same output group.
33351
Depending on the ambient temperature a short circuit cannot be reliably detected from a certain
short circuit current since the output drivers temporarily deactivate themselves for protection against
destruction.
30
>
Diagnosis: binary outputs (via current measurement)

19398
28857
The diagnostics of these outputs is made via internal current measurement in the output:
Figure: principle block diagram

(1) Output channel
(2) Read back channel for diagnostics
(3) Pin output n
(4) Load
>
Diagnosis: overload (via current measurement)

19437
28851

>
Diagnosis: wire break (via current measurement)

28854
Wire-break detection is done via the read back channel inside the output.
Prerequisite for diagnosis: output = TRUE
no current flows on the resistor Ri (no voltage drops).
Diagnosis = wire break: Without wire break the load current flows through the series resistor Ri
generating a voltage drop which is evaluated via the read back channel.
>
Diagnosis: short circuit (via current measurement)

28850
Diagnosis = short circuit against GND: the supply voltage drops over the series resistor Ri
31
3.2.7 Note on wiring

28579
The wiring diagrams (→ installation instructions of the devices, chapter "Wiring") describe the standard
device configurations. The wiring diagram helps allocate the input and output channels to the IEC
addresses and the device terminals.
The individual abbreviations have the following meaning:
A Analogue input
BH Binary high side input: minus switching for negative sensor signal
Binary high side output: plus switching for positive output signal
BL Binary low side input: plus switching for positive sensor signal
Binary low side output: minus switching for negative output signal
CYL Input period measurement
ENC Input encoder signals
FRQ Frequency input
H bridge Output with H-bridge function
PWM Pulse-width modulated signal
PWMi PWM output with current measurement
IH Pulse/counter input, high side: minus switching for negative sensor signal
IL Pulse/counter input, low side: plus switching for positive sensor signal
R Read back channel for one output
Allocation of the input/output channels: → Catalogue, mounting instructions or data sheet

>
3.2.8 Safety instructions about Reed relays

28354
For use of non-electronic switches please note the following:

28354
Contacts of Reed relays may be clogged (reversibly) if connected to the device inputs without
series resistor.
► Remedy: Install a series resistor for the Reed relay:

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

28835
In some applications actuators are not only controlled by outputs of the PLC but additionally by
external switches. In such cases the externally supplied outputs must be protected with blocking
diodes (→ see graphics below).
NOTICE
Destruction of outputs if there is inadmissible feedback!
If actuators are externally controlled, the corresponding potential bar of the same output group must
not become potential-free (e.g. for RELAIS = FALSE).
Otherwise the terminal voltage VBBx is fed back to the potential bar of the output group via the
protective diode integrated in the output driver of the external connected output. A possibly other set
output of this group thus triggers its connected load. The load current destroys the output which feeds
back.
► Protect externally supplied outputs by means of blocking diodes!
Example:
The flag RELAIS switches off the
supply VBBo of the output group.
Without blocking diodes the external
switch S1 feeds the supply VBBo via
the internal protective diode (red) from
output Q1 to the internal potential bar
of the outputs.
If output Q2 = TRUE (→ graphic), K2
will receive voltage via the protective
diode Q1 despite RELAIS = FALSE
(red lines). Due to overload this
protective diode burns out and the
output Q1 is destroyed!
Graphic: example wiring with blocking diodes

due to the danger of feedback
Remedy:
Insert the blocking diodes V1 and V2
(→ green arrows)!
Successful:
If RELAIS = FALSE, K2 remains
switched off, even if Q2 = TRUE.
33
>
NOTE
Help for externally supplied outputs
► The externally supplied outputs must be decoupled via diodes so that no external voltage is
applied to the output terminal.
>
3.2.10 Status LED

20774
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

Yellow
(time frame = 200 ms)
Flashing with 0.2 Hz TEST=FALSE: no runtime system loaded
Orange
(time frame = 1 s)
Flashing with 5 Hz TEST=TRUE: no runtime system loaded
Green
Flashing with 2 Hz Application = RUN
Green
Application = STOP
Permanently on
or: no application loaded
Green
Flashing with 2 Hz TEST=TRUE: Application = RUN and ERROR STOP / FATAL ERROR
Red
Trap error or:
Briefly on
TEST=FALSE: FATAL ERROR
Red
Permanently on TEST=FALSE: ERROR STOP
Red
The status LED can be changed by the programming system for the operating states STOP and RUN.
34
>
Control the LED in the application program

20775
With this device the status LED can also be set by the application program. To do so, the following
system variables are used (→ chapter System flags (→ p. 230)):
LED WORD LED color for "LED switched on":
0x0000 = LED_GREEN (preset)
0x0001 = LED_BLUE
0x0002 = LED_RED
0x0003 = LED_WHITE
0x0004 = LED_BLACK
0x0005 = LED_MAGENTA
0x0006 = LED_CYAN
0x0007 = LED_YELLOW
LED_X WORD LED color for "LED switched off":
0x0000 = LED_GREEN
0x0001 = LED_BLUE
0x0002 = LED_RED
0x0003 = LED_WHITE
0x0004 = LED_BLACK (preset)
0x0006 = LED_CYAN
0x0007 = LED_YELLOW
LED_MODE WORD LED flashing frequency:
0x0000 = LED_2HZ (flashes at 2 Hz; preset)
0x0001 = LED_1HZ (flashes at 1 Hz)
0x0002 = LED_05HZ (flashes at 0.5 Hz)
0x0003 = LED_0HZ (lights permanently with value in LED)
NOTE
► Do NOT use the LED color RED in the application program.
> In case of an error the LED color RED is set by the runtime system.
BUT: If the colors and/or flashing modes are changed in the application program, the above table
with the default setting is no longer valid.
35
3.3 Interface description

Content
Serial interface ........................................................................................................................................36
USB interface .........................................................................................................................................36
CAN interfaces .......................................................................................................................................37
28337
>
3.3.1 Serial interface

28346
This device features a serial interface.

The serial interface can generally be used in combination with the following functions:
• program download
• debugging
• free use of the application
28346
NOTE
The serial interface is not available to the user by default, because it is used for program download
and debugging.
The interface can be freely used if the user sets the system flag bit SERIAL_MODE=TRUE.
Debugging of the application program is then only possible via any of the CAN interfaces.
Connections and data → data sheet

>
3.3.2 USB interface

14100
This device features a USB interface for program download and debugging.
Install the USB driver on the PC → installation instructions / operating instructions
Settings in CODESYS for [Online] > [Communication Parameters...] via USB:
Device Runtime system version Parameter Value
CR0032 < V03.00.00 Baud rate 115200
CR0032 > V03.00.01 Baud rate 4800...57600
CR0033, CR0133 < V02.00.01 Baud rate 115200
CR0033, CR0133 > V02.00.02 Baud rate 4800...57600
CR0232, CR0233 all Baud rate 115200
CR0234, CR0235 all Baud rate 4800...57600
CR7n32 < V01.00.04 Baud rate 115200
CR7n32 > V01.00.05 Baud rate 4800...57600
CR0n3n, CR7n32 all Motorola byteorder No

CR0n3n, CR7n32 all Flow Control On
36
3.3.3 CAN interfaces

Content
CAN: interfaces and protocols ................................................................................................................37
28810
>
CAN: interfaces and protocols

13820
32633
The devices are equipped with several CAN interfaces depending on the hardware design. Basically,
all interfaces can be used with the following functions independently of each other:
• Layer 2: CAN at level 2 (→ chapter Function elements: CAN layer 2 (→ p. 74))
• CANopen master (→ chapter Function elements: CANopen master (→ p. 83))
• CANopen slave (→ chapter Function elements: CANopen slave (→ p. 93))
• CANopen network variables (via CODESYS)
• SAE J1939 (for drive management, → chapter Function elements: SAE J1939 (→ p. 106))
• bus load detection
• error frame counter
• download interface
• 100 % bus load without package loss
11793
The following CAN interfaces and CAN protocols are available in this ecomatmobile device:
CAN interface CAN 1 CAN 2 CAN 3 CAN 4
Default download ID ID 127 ID 126 ID 125 ID 124
CAN Layer 2 CAN Layer 2 CAN Layer 2 CAN Layer 2

CAN protocols CANopen CANopen CANopen CANopen
SAE J1939 SAE J1939 SAE J1939 SAE J1939
Standard baud rate = 125 Kbits/s
Which CANopen compatible interface works with which CANopen protocol is decided by the order
in which you append the subelements in the PLC configuration:
CODESYS > [PLC Configuration] > [CR0033 Configuration Vxx] > [Append subelement] >
[CANopen master] or [CANopen slave]
37
3.4 Software description

Content
Software modules for the device ............................................................................................................38
Programming notes for CODESYS projects...........................................................................................40
Operating states .....................................................................................................................................44
Operating modes ....................................................................................................................................48
Performance limits of the device ............................................................................................................49
28396
3.4.1 Software modules for the device

Content
Bootloader ..............................................................................................................................................38
Runtime system ......................................................................................................................................39
Application program ................................................................................................................................39
Libraries ..................................................................................................................................................39
28399
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. 53)
Below we describe this software module:
>
Bootloader
28807
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.
38
>
Runtime system
28330
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. 38)
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
28795
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.
28795
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.
>
Libraries
14117
ifm electronic offers several libraries (*.LIB) to match each device containing program modules for
the application program. Examples:
Library Use
ifm_CR0033_Vxxyyzz.LIB device-specific library
Must always be contained in the application program!
ifm_CR0033_CANopenxMaster_Vxxyyzz.LIB (optional)
x = 1...4 = number of the CAN interface if a CAN interface of the device is to be operated as a CANopen
master
ifm_CR0033_CANopenxSlave_Vxxyyzz.LIB (optional)
x = 1...4 = number of the CAN interface if a CAN interface of the device is to be operated as a CANopen
slave
ifm_CR0033_J1939_Vxxyyzz.LIB (optional)
if a CAN interface of the device is to communicate with a Diesel
engine
Details: → chapter ifm libraries for the device CR0033 (→ p. 69)
39
3.4.2 Programming notes for CODESYS projects

Content
FB, FUN, PRG in CODESYS .................................................................................................................40
Calculations and conversions in the application program ......................................................................41
Note the cycle time! ................................................................................................................................41
Creating application program .................................................................................................................42
Save boot project ....................................................................................................................................43
Using ifm downloader .............................................................................................................................43
Using ifm maintenance tool ....................................................................................................................43
28583
Here you receive tips how to program the device.

► See the notes in the CODESYS programming manual.
>
FB, FUN, PRG in CODESYS

28833
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 must contain max. 8,000 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 FB call in a function:
• every time there is an additional initialisation call and
• the data of the last call gets lost.
40
>
Calculations and conversions in the application program

28189
NOTE
If the following elements are required in the application program:
• mathematical functions (e.g. ATAN),
• calculations,
• conversions (e.g. REAL_TO_BYTE),
then the following applies to the values at the inputs and outputs of the corresponding operators:
► Strictly observe the admissible value range in each individual case!
> Otherwise, this may cause an FPU error in the controller.
Examples:
28189
The value of the target format that can max. represented is exceeded.
Example:
REAL_TO_INT (12345678.3)
> INT is limited to -32768...+32767 (only integers)
28189
An existing real number is obviously in the value range of the target format.
In reality, however, the number is outside the target format (because of the internal representation of
the real number).
Example:
DW := REAL_TO_DWORD (4294967295.0);
> The most accurate representation of 4294967295 in REAL is 4.294967296E9
> Therefore the value exceeds the max. permissible value of the target format by 1.
> DWORD is limited to 0...4294967295.
>
Note the cycle time!

28578
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.
41
>
Creating application program

28845
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
42
>
Save boot project

28359
Always save the related boot project together with your application project in the device. Only then
will the application program be available after a power failure in the device.
NOTE
Note: The boot project is slightly larger than the actual program.
However: Saving the boot project in the device will fail if the boot project is larger than the available
IEC code memory range. After power-on the boot project is deleted or invalid.
► CODESYS menu [Online] > [Create boot project]

This is necessary after each change!
> After a reboot, the device starts with the boot project last saved.
> If NO boot project was saved:
• The device remains in the STOP operation after reboot.
• The application program is not (no longer) available.
• The LED lights green.
>
Using ifm downloader

28403
The ifm downloader serves for easy transfer of the program code from the programming station to the
controller. As a matter of principle each application software can be copied to the controllers using the
ifm downloader. Advantage: A programming system with CODESYS licence is not required.
Here you will find the current ifm downloader (min. V06.18.26):
Homepage → www.ifm.com
>
Using ifm maintenance tool

27717
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
43
3.4.3 Operating states

Content
Operating states: runtime system is not available ..................................................................................44
Operating states: application program is not available ..........................................................................45
Operating states: application program is available ................................................................................46
Bootloader state .....................................................................................................................................46
INIT state (Reset) ...................................................................................................................................47
STOP state .............................................................................................................................................47
RUN state ...............................................................................................................................................47
SYSTEM STOP state .............................................................................................................................47
28585
After power on the ecomatmobile device can be in one of five possible operating states:
• BOOTLOADER
• INIT
• STOP
• RUN
• SYSTEM STOP (after ERROR STOP)
>
Operating states: runtime system is not available

28558
Figure: operating states (here: runtime system is not available)
44
>
Operating states: application program is not available

28587
Figure: operating states (here: application program is not available)
45
>
Operating states: application program is available

28586
Figure: operating states (here: application program is available)

>
Bootloader state
28806
No runtime system was loaded. The ecomatmobile controller is in the boot loading state. Before
loading the application software the runtime system must be downloaded.
> The LED flashes green (5 Hz).
46
>
INIT state (Reset)

28313
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 yellow.
Change out of this state possible into one of the following states:
• RUN
• STOP
>
STOP state
28422
This state is reached in the following cases:

 From the RESET state if:
• no program is loaded or
• the last state before the RESET state was the STOP state
 From the RUN state by the STOP command
• only for the operating mode = Test (→ chapter TEST mode (→ p. 48))
> The LED lights green.
>
RUN state
28335
This state is reached in the following cases:

 From the RESET state if:
• the last state before the RESET state was the RUN state
 From the STOP state by the RUN command
• only for the operating mode = Test (→ chapter TEST mode (→ p. 48))
> The LED flashes green (2 Hz).
>
SYSTEM STOP state

28385
The ecomatmobile controller goes to this state if a non tolerable error (ERROR STOP) was found.
This state can only be left by a power-off-on reset.
> The LED lights red.
47
>
3.4.4 Operating modes

28589
Independent of the operating states the controller can be operated in different modes.
>
TEST mode
28409
NOTICE
Loss of the stored software possible!
In the test mode there is no protection of the stored runtime system and application software.
28409
NOTE
> Connect the TEST connection to the supply voltage only AFTER you have connected the OPC
client!
This operating mode is reached by applying supply voltage to the test input
(→ installation instructions > chapter "Technical data" > chapter "Wiring").
The ecomatmobile controller can now receive commands via one of the interfaces in the RUN or
STOP mode and, for example, communicate with the programming system.
Only in the TEST mode the software can be downloaded to the controller.
The state of the application program can be queried via the flag TEST.
Summary Test input is active:
• Programming mode is enabled
• Software download is possible
• Status of the application program can be queried
• Protection of stored software is not possible
>
Notes: TEST inputs

28581
► The TEST inputs of all the controllers in the machine should be wired individually and marked
clearly so that they can be properly allocated to the controllers.
► During a service access only activate the TEST input of the controller to be accessed.
48
SERIAL_MODE
2548
The serial interface is available for the exchange of data in the application. Debugging the application
software is then only possible via all 4 CAN interfaces.
This function is switched off as standard (FALSE). Via the flag SERIAL_MODE the state can be
controlled and queried via the application program or the programming system.
→ chapter Function elements: serial interface (→ p. 118)
>
DEBUG mode
28844
If the input DEBUG of SET_DEBUG (→ p. 216) is set to TRUE, the programming system or the
downloader, for example, can communicate with the controller and execute some special system
commands (e.g. for service functions via the GSM modem CANremote).
In this operating mode a software download is not possible because the test input (→ chapter TEST
mode (→ p. 48)) is not connected to supply voltage.
>
3.4.5 Performance limits of the device

28571
Note the limits of the device! → Data sheet
>
Watchdog behaviour
28352
In this device, a watchdog monitors the program runtime of the CODESYS application.
If the maximum watchdog time (approx. 100 ms) is exceeded:
> the device performs a reset and reboots.
This you can read in the flag LAST_RESET.
>
CODESYS functions
2254
You should note the following limits:

 Up to 2 048 blocks (PB, FB...) are supported.
 Flags available for user → chapter Available memory (→ p. 15).
Description of the retain flags → for the corresponding FBs.
49
4 Configurations
Content
Set up the runtime system ......................................................................................................................51
Set up the programming system ............................................................................................................53
Function configuration in general ...........................................................................................................56
Function configuration of the inputs and outputs ...................................................................................57
Variables .................................................................................................................................................67
18065
33438
The device configurations described in the corresponding installation instructions or in the Appendix (→
p. 230) 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.
16420
NOTE
These instructions are valid for the device without and with integrated I/O module.
► In both cases, make sure to set up the PLC configuration for the device CR0033!
You can find more information about the integrated I/O module in:
→ chapter Integrated I/O module: Description (→ p. 244) in the appendix of this documentation.
50
4.1 Set up the runtime system

Content
Reinstall the runtime system ..................................................................................................................51
Update the runtime system.....................................................................................................................52
Verify the installation ..............................................................................................................................52
28320
>
4.1.1 Reinstall the runtime system

14092
28531
On delivery of the ecomatmobile device no runtime system is normally loaded (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 (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
28531
NOTE
The software versions suitable for the selected target must always be used:
• runtime system (ifm_CR0033_Vxxyyzz.H86),
• PLC configuration (ifm_CR0033_Vxx.CFG),
• device library (ifm_CR0033_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. "CR0033") and the software version number "xx" (e.g. "02") must always have
the same value! Otherwise the device goes to the STOP mode.
The values for "yy" (release number) and "zz" (patch number) do not have to match.
28531
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 "ifm downloader".
The software 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 ifm downloader if it was first read from the device→ upload).
>
51
4.1.2 Update the runtime system

28404
An older runtime system is already installed on the device. Now, you would like to update the runtime
system on the device?
28404
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

19517
32744
► After loading of the runtime system into the controller:

• check whether the runtime system was transmitted correctly!
• check whether the right runtime system is on the controller!
► 1st check:
use the ifm downloader or the maintenance tool to verify whether the correct version of the
runtime system was loaded:
• read out the name, version and CRC of the runtime system in the device!
• Manually compare this information with the target data!
► 2nd check (optional):
verify in the application program whether the correct version of the runtime system was loaded:
• read out the 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_IDENTITY (→ p. 215) Reads the specific identifications stored in the device:
• hardware name and hardware version of the device
• serial number of the device
• name of the runtime system in the device
• version and revision no. of the runtime system in the device
• name of the application (has previously been saved by means of SET_IDENTITY (→ p. 217))
► If the application detects an incorrect version of a runtime system:

bring all safety functions into the safe state.
52
4.2 Set up the programming system

Content
Set up the programming system manually .............................................................................................53
Set up the programming system via templates ......................................................................................55
28306
4.2.1 Set up the programming system manually

Content
Set up the target .....................................................................................................................................53
Activate the PLC configuration (e.g. CR0033) .......................................................................................54
28307
>
Set up the target

2687
28316
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_CR0033_Vxxyyzz.LIB manually!
53
>
Activate the PLC configuration (e.g. CR0033)

28916
During the configuration of the programming system (→ previous section) the PLC configuration was
also carried out automatically.
► The menu item [PLC Configuration] is reached via the tab [Resources].
Double-click on [PLC Configuration] to open the corresponding window.
► Click on the tab [Resources] in CODESYS:
► In the left column double-click on [PLC Configuration].

> Display of the current PLC configuration (example → following figure):
Based on the configuration the user can find the following in the program environment:
 all important system and error flags
Depending on the application and the application program, these flags must be processed and
evaluated. Access is made via their symbolic names.
 The structure of the inputs and outputs
These can directly be designated symbolically (highly recommended!) in the window [PLC
Configuration] (→ figure below) and are available in the whole project as [Global Variables].
54
>
4.2.2 Set up the programming system via templates

28325
ifm offers ready-to-use templates (program templates), by means of which the programming system
can be set up quickly, easily and completely.
28325
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.
55
>
4.3 Function configuration in general

28350
>
4.3.1 Configuration of the inputs and outputs (default setting)

20784
>
Inputs (preset)
20785
 in binary mode (plus switching)

 diagnostic function is not active
>
Outputs with current measurement (default setting)

20786

 diagnostic function is active
 overload protection is active
>
Outputs without current measurement (default setting)

20787

 diagnostic function is not active
 there is no overload protection
>
4.3.2 System variables

13519
28363
All system variables (→ chapter System flags (→ p. 230)) have defined addresses which cannot be
shifted.
> To indicate and process a watchdog error or causes of a new start the system variable
LAST_RESET is set.
56
4.4 Function configuration of the inputs and outputs

Content
Configure inputs .....................................................................................................................................58
Configure outputs ...................................................................................................................................63
28314
For some devices of the ecomatmobile controller family, additional diagnostic functions can be
activated for the inputs and outputs. So, the corresponding input and output signal can be monitored
and the application program can react in case of a fault.
Depending on the input and output, certain marginal conditions must be taken into account when
using the diagnosis:
► It must be checked by means of the data sheet if the device used has the described input and
output groups (→ data sheet).
 Constants are predefined (e.g. IN_DIGITAL_H) in the device libraries (ifm_CR0033_Vxxyyzz.LIB
) for the configuration of the inputs and outputs.
For details → Possible operating modes inputs/outputs (→ p. 241).
57
4.4.1 Configure inputs

Content
Safety instructions about Reed relays ....................................................................................................58
Configure the software filters of the inputs .............................................................................................59
Analogue inputs: configuration and diagnosis ........................................................................................59
Binary inputs: configuration and diagnosis .............................................................................................60
Fast inputs ..............................................................................................................................................61
28784
Valid operating modes → chapter Possible operating modes inputs/outputs (→ p. 241)
>
Safety instructions about Reed relays

28354
For use of non-electronic switches please note the following:

28354
Contacts of Reed relays may be clogged (reversibly) if connected to the device inputs without
series resistor.
► Remedy: Install a series resistor for the Reed relay:

Series resistor = max. input voltage / permissible current in the Reed relay
Example: 32 V / 500 mA = 64 Ohm
► The series resistor must not exceed 5 % of the input resistance RE of the device input→ data
sheet). Otherwise, the signal will not be detected as TRUE.
Example:
RE = 3 000 Ohm
 max. series resistor = 150 Ohm
58
>
Configure the software filters of the inputs

6883
A software filter that filters the measured input voltage on the analogue inputs can be configured via
the system variables Ixx_FILTER. In case of a step response the filter behaves like a conventional
low-pass filter, the limit frequency is set by the value entered in the system variable. Values of 0...8 are
possible.
Table: limit frequency software low-pass filter on analogue input
Ixx_FILTER Filter frequency [Hz] Signal rise time Remarks
0 Filter deactivated
1 390 1 ms
2 145 2.5 ms
3 68 5 ms
4 34 10 ms Recommended, default setting
5 17 21 ms
6 8 42 ms
7 4 84 ms
8 2 169 ms
>9 34 10 ms → Default setting
12969
After changing the filter setting, the value of this input or output is not output correctly at once. Only
after the signal rise time (→ table) will the value be correct again.
The signal rise time is the time taken by a signal at the output of the filter to rise from 10 % to 90 % of the final value if an
input step is applied. The signal fall time is the time taken by a signal to decrease from 90 % to 10 %.
>
Analogue inputs: configuration and diagnosis

13960

> If the analogue inputs are configured for current measurement, the device switches to the safe
voltage measurement range (0...32V DC) and the corresponding error bit in the flag byte
ERROR_CURRENT_Ix is set when the final value (> 21.7 mA) is exceeded.
The device checks once a second if the current value is again below the limit value. When the
value is again below the limit value, the input automatically switches back to the current
measurement range.
18414
If inputI15 is not used:

 Configure input I15 as binary input!
59
>
Binary inputs: configuration and diagnosis

14516

► For NAMUR: if the diagnosis function is to be used, additionally activate this mode:
• function block SET_INPUT_MODE > set input DIAGNOSTICS.

connection! Figure: non-electronic switch S at input Inn
32629
> The result of the diagnostics is for example shown by the following system flags:
Bit = TRUE: error
Bit = TRUE: error
60
>
Fast inputs
19318
The devices dispose of fast counting/pulse inputs for an input frequency up to 30 kHz (→ data sheet).
The input resistance of the fast inputs switches automatically depending on the applied mode or
function block:
Input resistance for mode / FB
3.2 kohms (standard) FAST_COUNT, FREQUENCY, INC_ENCODER, PERIOD and similar FBs
50.7 kohms input with fixed switching level 32 V
23900
The internal resistance Ri of the signal source must be substantially lower than the input
resistance Rinput of the used input (principle voltage alignment).
Otherwise the input signal of the fast input can be distort (low-pass characteristic).
14677
If, for example, mechanical switches are connected to these inputs, there may be faulty signals in
the controller due to contact bouncing.
 If necessary, filter these "false signals" using the filters Ixx_DFILTER.
(→ chapter System flags (→ p. 230)) (not available for all inputs)
Appropriate function blocks are e.g.:
PERIOD_RATIO (→ p. 152) Measures the frequency and the cycle period (cycle time) in [µs] during the indicated periods at
the indicated channel. In addition, the mark-to-space ratio is indicated in [‰].
When using these units, the parameterised inputs and outputs are automatically configured, so the
programmer of the application does not have to do this.
61
>
Configure the hardware filter

19320
A digital hardware filter can be configured on the fast counter and pulse inputs via the system variable
Ixx_DFILTER. The value in µs (max. 100 000) indicates how long a binary level must be applied
without interruption before it is adopted. Default = 0 µs.
The level change of the input signal is delayed by the value set in the filter.
The filter has an effect on the detected signals only for the following function blocks:
Digital filters are not available for all fast counter and pulse inputs.
>
Use as binary inputs

3804
The permissible high input frequencies also ensure the detection of faulty signals, e.g. bouncing
contacts of mechanical switches.
► If required, suppress the faulty signals in the application program!
62
4.4.2 Configure outputs

Content
Configure the software filters of the outputs ...........................................................................................63
Binary outputs: configuration and diagnosis...........................................................................................64
PWM outputs ..........................................................................................................................................65
28788
Valid operating modes → chapter Possible operating modes inputs/outputs (→ p. 241)
>
Configure the software filters of the outputs

6882
Via the system variables Qxx_FILTER a software filter which filters the measured current values can
be configured.
 In case of a step response the filter behaves like a conventional low-pass filter, the limit frequency
is set by the value entered in the system variable.
 During current measuring the filter setting affects the diagnosis time.
Table: Limit frequency software low-pass filter for the current measurement on the output
Qxx_FILTER Filter frequency [Hz] Signal rise time Remarks
0 Filter deactivated
1 580 0.6 ms
2 220 1.6 ms
3 102 3.5 ms
4 51 7 ms Recommended, default setting
5 25 14 ms
6 12 28 ms
7 6 56 ms
8 3 112 ms
>9 51 7 ms → Default setting
12969
After changing the filter setting, the value of this input or output is not output correctly at once. Only
after the signal rise time (→ table) will the value be correct again.
The signal rise time is the time taken by a signal at the output of the filter to rise from 10 % to 90 % of the final value if an
input step is applied. The signal fall time is the time taken by a signal to decrease from 90 % to 10 %.
63
>
Binary outputs: configuration and diagnosis

15754
• binary output minus switched (BL) without diagnostic function
32635

32635
WARNING
► Remedy:
>
Binary outputs: configuration

15868
► Configuration of each output is made via the application program:

→ function block SET_OUTPUT_MODE (→ p. 157) > input MODE
Permissible values → chapter Possible operating modes inputs/outputs (→ p. 241)
>
Binary outputs: Diagnostics

15762
If the diagnostics is to be used, it needs to be activated additionally.

Prerequisite: configuration of the binary output as plus switching
► Use output as binary output with diagnostics (→ data sheet):
→ FB SET_OUTPUT_MODE > input DIAGNOSTICS = TRUE
> The diagnosis messages appear in the system flag ERRORCODE:
ERRORCODE DWORD Last error written to internal error list
The list contains all error codes that occurred.
More messages are indicated via various error flags.
→ chapter System flags (→ p. 230)
64
>
PWM outputs
14717
• PWM output pair H-bridge without diagnostic function
32563
Qn = pin output n
(L) = load

16253
WARNING
Property damage or bodily injury possible due to malfunctions!
For outputs in PWM mode:
• There are no diagnostic functions
9980
NOTE
PWM outputs must NOT be operated in parallel, e.g. in order to increase the max. output current. The
outputs do not operate synchronously.
Otherwise the entire load current could flow through only one output. The current measurement would
no longer function.
 PWM outputs can be operated with and without current control function.
Current-controlled PWM outputs are mainly used for triggering proportional hydraulic functions.
The medium current across a PWM signal can only be correctly determined via the FB
OUTPUT_CURRENT if the current flowing in the switched-on state is within the measuring range.
>
Availability of PWM
15885
Outputs with PWM function → Data sheet

>
FBs for PWM functions

14710
The following function blocks are available for the PWM function:
OUTPUT_BRIDGE (→ p. 161) H-bridge on a PWM channel pair
OUTPUT_CURRENT (→ p. 165) Measures the current (average via dither period) on an output channel
OUTPUT_CURRENT_CONTROL (→ p. 166) Current controller for a PWMi output channel
PWM1000 (→ p. 169) Initialises and configures a PWM-capable output channel
the mark-to-space ratio can be indicated in steps of 1 ‰
Possible special functions of the outputs:

→ chapter Function elements: hydraulic control (→ p. 171)
→ chapter Function elements: controllers (→ p. 186)
65
>
Current control with PWM (= PWMi)

13829
Current measurement of the coil current can be carried out via the current measurement channels
integrated in the controller. This allows for example that the current can be re-adjusted if the coil heats
up. Thus the hydraulic relationships in the system remain the same.
In principle, the current-controlled outputs are protected against short circuit.
66
4.5 Variables
Content
Retain variables ......................................................................................................................................67
Network variables ...................................................................................................................................68
28318
In this chapter you will learn more about how to handle variables.
28318
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
>
4.5.1 Retain variables

15454
Variables declared as RETAIN generate remanent data. Retain variables keep the values saved in
them when the device is switched on/off or when an online reset is made.
The contents of the retain variables are lost if the device is in the STOP state during power-off!
32425
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).
67
>
4.5.2 Network variables

28528
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
68
5 ifm function elements

Content
ifm libraries for the device CR0033 ........................................................................................................69
ifm function elements for the device CR0033.........................................................................................74
28394
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 CR0033

Content
Library ifm_CR0033_V02yyzz.LIB .........................................................................................................69
Library ifm_CR0033_CANopenxMaster_Vxxyyzz.LIB ...........................................................................71
Library ifm_CR0033_CANopenxSlave_Vxxyyzz.LIB .............................................................................72
Library ifm_CR0033_J1939_Vxxyyzz.LIB ..............................................................................................72
Library ifm_hydraulic_32bit_Vxxyyzz.LIB ...............................................................................................73
28323
>
5.1.1 Library ifm_CR0033_V02yyzz.LIB

19426
This is the device library.This ifm library contains the following function blocks:
Function element Short description
CANx (→ p. 75) Initialises CAN interface x
x = 1...n = number of the CAN interface (depending on the device, → data sheet)
CANx_BAUDRATE (→ p. 76) Sets the transmission rate for the bus participant on CAN interface x
CANx_BUSLOAD (→ p. 77) Determines the current bus load on CAN interface x and counts the occurred error frames
CANx_DOWNLOADID (→ p. 78) Sets the download identifier for CAN interface x
CANx_ERRORHANDLER (→ p. 79) Executes a "manual" bus recovery on CAN interface x
CANx_RECEIVE (→ p. 80) CAN interface x: Configures a data receive object and reads out the receive buffer of the data
object
CANx_SDO_READ (→ p. 102) CAN interface x: Reads the SDO with the indicated indices from the node
CANx_SDO_WRITE (→ p. 104) CAN interface x: writes the SDO with the indicated indices to the node
CANx_TRANSMIT (→ p. 82) Transfers a CAN data object (message) to the CAN interface x for transmission at each call
CHECK_DATA (→ p. 213) Generates a checksum (CRC) for a configurable memory area and checks the data of the
memory area for undesired changes
DELAY (→ p. 187) Delays the output of the input value by the time T (dead-time element)
ERROR_REPORT (→ p. 220) Reports an application-specific error to the system
ERROR_RESET (→ p. 222) Resets upcoming error messages
FLASHREAD (→ p. 205) transfers different data types directly from the flash memory to the RAM
69

FLASHWRITE (→ p. 206) writes different data types directly into the flash memory
FRAMREAD (→ p. 208) transfers different data types directly from the FRAM memory to the RAM
FRAMWRITE (→ p. 209) writes different data types directly into the FRAM memory
GET_IDENTITY (→ p. 215) Reads the specific identifications stored in the device:
INPUT_ANALOG (→ p. 129) analogue input channel: alternatively measurement of ...
• current
• voltage
MEMCPY (→ p. 210) Writes and reads different data types directly in the memory
MEMORY_RETAIN_PARAM (→ p. 203) Determines the remanent data behaviour for various events
MEMSET (→ p. 211) Writes in a specified data area
NORM (→ p. 135) Normalises a value [WORD] within defined limits to a value with new limits
NORM_DINT (→ p. 137) Normalises a value [DINT] within defined limits to a value with new limits
NORM_REAL (→ p. 138) Normalises a value [REAL] within defined limits to a value with new limits
PACK_ERRORCODE (→ p. 224) Helps to build an ERRORCODE from the bytes for:
• error class
• application-specific error
• error source
• error cause
PID1 (→ p. 188) PID controller
PID2 (→ p. 190) PID controller
PT1 (→ p. 192) Controlled system with first-order delay
SERIAL_PENDING (→ p. 119) Determines the number of data bytes stored in the serial receive buffer
SERIAL_RX (→ p. 120) Reads a received data byte from the serial receive buffer at each call
SERIAL_SETUP (→ p. 121) Initialises the serial RS232 interface
SERIAL_TX (→ p. 122) Transmits one data byte via the serial RS232 interface
SET_DEBUG (→ p. 216) organises the DEBUG mode or the monitoring mode (depending on the TEST input)
SET_IDENTITY (→ p. 217) Sets an application-specific program identification
SET_INPUT_MODE (→ p. 132) Assigns an operating mode to an input channel
70

SET_INTERRUPT_I (→ p. 124) Conditional execution of a program part after an interrupt request via a defined input channel
SET_INTERRUPT_XMS (→ p. 126) Conditional execution of a program part at an interval of x milliseconds
SET_OUTPUT_MODE (→ p. 157) Sets the operating mode of the selected output channel
SET_PASSWORD (→ p. 218) Sets a user password for access control to program and memory upload
SHOW_ERROR_LIST (→ p. 225) Reads the present error code
SOFTRESET (→ p. 194) leads to a complete reboot of the device
TEMPERATURE (→ p. 199) Reads the current temperature in the device
TIMER_READ (→ p. 196) Reads out the current system time in [ms]
Max. value = 49d 17h 2min 47s 295ms
TIMER_READ_US (→ p. 197) Reads out the current system time in [µs]
Max. value = 1h 11min 34s 967ms 295µs
UNPACK_ERRORCODE (→ p. 226) Helps to unpack an ERRORCODE into the bytes for:
• error class
• error source
• error cause
>
5.1.2 Library ifm_CR0033_CANopenxMaster_Vxxyyzz.LIB

13707
x = 1...4 = number of the CAN interface

This library contains function blocks for operation of the device as a CANopen master.
This ifm library contains the following function blocks:
CANx_MASTER_EMCY_HANDLER (→ p. 84) Handles the device-specific error status of the CANopen master on CAN interface x
CANx_MASTER_SEND_EMERGENCY (→ p. 85) Sends application-specific error status of the CANopen master on CAN interface x
CANx_MASTER_STATUS (→ p. 87) Status indication on CAN interface x of the device used as CANopen master
71
>
5.1.3 Library ifm_CR0033_CANopenxSlave_Vxxyyzz.LIB

13709
x = 1...4 = number of the CAN interface

This library contains function blocks for operation of the device as a CANopen slave.
CANx_SLAVE_EMCY_HANDLER (→ p. 94) Handles the device-specific error status of the CANopen slave on CAN interface x:
• error register (index 0x1001) and
• error field (index 0x1003) of the CANopen object directory
CANx_SLAVE_NODEID (→ p. 95) Enables setting of the node ID of a CANopen slave on CAN interface x at runtime of the
application program
CANx_SLAVE_SEND_EMERGENCY (→ p. 96) Sends application-specific error status of the CANopen slave on CAN interface x
CANx_SLAVE_SET_PREOP (→ p. 98) Switches the operating mode of this CANopen slave from "OPERATIONAL" to "OPERATIONAL"
on CAN interface x
CANx_SLAVE_STATUS (→ p. 99) Shows the status of the device used as CANopen slave on CAN interface x
>
5.1.4 Library ifm_CR0033_J1939_Vxxyyzz.LIB

13711
This library contains function blocks for engine control.

J1939_x (→ p. 107) CAN interface x: protocol handler for the communication profile SAE J1939
J1939_x_GLOBAL_REQUEST (→ p. 108) CAN interface x: handles global requesting and receipt of data from the J1939 network
participants
J1939_x_RECEIVE (→ p. 110) CAN interface x: Receives a single message or a message block
J1939_x_RESPONSE (→ p. 112) CAN interface x: handles the automatic response to a request message
J1939_x_SPECIFIC_REQUEST (→ p. 114) CAN interface x: automatic requesting of individual messages from a specific J1939 network
participant
J1939_x_TRANSMIT (→ p. 116) CAN interface x: sends individual messages or message blocks
72
>
5.1.5 Library ifm_hydraulic_32bit_Vxxyyzz.LIB

13729
This library contains function blocks for hydraulic controls.

CONTROL_OCC (→ p. 172) OCC = Output Current Control
Scales the input value [WORD] to an indicated current range
JOYSTICK_0 (→ p. 174) Scales signals [INT] from a joystick to clearly defined characteristic curves, standardised to 0...
1000
JOYSTICK_1 (→ p. 177) Scales signals [INT] from a joystick D standardised to 0... 1000
JOYSTICK_2 (→ p. 181) Scales signals [INT] from a joystick to a configurable characteristic curve; free selection of the
standardisation
NORM_HYDRAULIC (→ p. 184) Normalises a value [DINT] within defined limits to a value with new limits
73
5.2 ifm function elements for the device CR0033

Content
Function elements: CAN layer 2 .............................................................................................................74
Function elements: CANopen master ....................................................................................................83
Function elements: CANopen slave .......................................................................................................93
Function elements: CANopen SDOs ....................................................................................................101
Function elements: SAE J1939 ............................................................................................................106
Function elements: serial interface .......................................................................................................118
Function elements: Optimising the PLC cycle via processing interrupts .............................................123
Function elements: processing input values ........................................................................................128
Function elements: adapting analogue values .....................................................................................134
Function elements: counter functions for frequency and period measurement ..................................139
Function elements: output functions in general ....................................................................................156
Function elements: PWM functions ......................................................................................................160
Function elements: hydraulic control ....................................................................................................171
Function elements: controllers .............................................................................................................186
Function elements: software reset .......................................................................................................193
Function elements: measuring / setting of time ....................................................................................195
Function elements: device temperature ...............................................................................................198
Function elements: saving, reading and converting data in the memory .............................................200
Function elements: data access and data check .................................................................................212
Function elements: administer error messages ...................................................................................219
13988
28309
Here you will find the description of the ifm function elements suitable for this device, sorted by topic.
5.2.1 Function elements: CAN layer 2

Content
CANx ......................................................................................................................................................75
CANx_BAUDRATE .................................................................................................................................76
CANx_BUSLOAD ...................................................................................................................................77
CANx_DOWNLOADID ...........................................................................................................................78
CANx_ERRORHANDLER ......................................................................................................................79
CANx_RECEIVE ....................................................................................................................................80
CANx_TRANSMIT ..................................................................................................................................82
28402
Here, the CAN function blocks (layer 2) for use in the application program are described.
74
CANx
2159
Unit type = function block (FB)
Unit is contained in the libraryifm_CR0033_Vxxyyzz.LIB
Symbol in CODESYS:
>
Description
2162
CANx initialises the xth CAN interface

x = 1...n = number of the CAN interface (depending on the device, → data sheet).
The download ID must be different for every interface.
The baud rates of the individual CANx can be set to different values.
► The input INIT is only set for one cycle during reboot or restart of the interface!
A change of the download ID and/or baud rate only becomes valid after power off/on.
If the unit is not executed, the interface works with 11-bit identifiers.
>
Parameters of the inputs

2163
Parameter Data type Description

INIT BOOL TRUE (in the 1st cycle):
Function block is initialised
FALSE: during further processing of the program
EXTENDED_MODE BOOL := FALSE TRUE: identifier of the CAN interface operates with 29 bits
FALSE: identifier of the CAN interface operates with 11 bits
DOWNLOAD_ID BYTE Download ID of CAN interface x
x = 1...n = number of the CAN interface (depending on the device,
→ data sheet)
valid = 1...127
preset = 127 - (x-1)
BAUDRATE WORD := 125 Baud rate [kbits/s]
valid = 20, 50, 100, 125, 250, 500, 1000
75
CANx_BAUDRATE
11834
Symbol in CODESYS:
>
Description
11839
CANx_BAUDRATE sets the transmission rate for the bus participant.

The function block is used to set the transmission rate for the device. To do so, the corresponding
value in Kbits/s is entered at the input BAUDRATE.
The new value will become effective on RESET (voltage OFF/ON or soft reset).
>

27644

ENABLE BOOL TRUE (in the 1st cycle):
Adopt and activate parameters
else: this function is not executed
BAUDRATE WORD := 125 Baud rate [kbits/s]
valid = 20, 50, 100, 125, 250, 500, 1000
76
CANx_BUSLOAD
2178
Symbol in CODESYS:
>
Description
2180
Determines the current bus load on the CAN bus and counts the occurred error frames.
CANx_BUSLOAD determines the bus load via the number and length of the messages transferred via
the CAN bus during the time indicated in PERIOD by taking the current baud rate into account. The
value BUSLOAD is updated after the time indicated in PERIOD has elapsed.
If the bit RESET is permanently FALSE, the number of the error frames occurred since the last
RESET is indicated.
NOTE
If the communication on the CAN bus is carried out via the CANopen protocol, it is useful to set the
value of PERIOD to the duration of the SYNC cycle.
The measurement period is not synchronised with the CANopen SYNC cycle.
>

2181

ENABLE BOOL TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
INIT BOOL TRUE (only for 1 cycle):
configuration of the measurement duration PERIOD
RESET BOOL TRUE: Set ERRORFRAME to "0"
FALSE: function element is not executed
PERIOD WORD Time in [ms] to determine the bus load
allowed = 20...1 000 ms
>
Parameters of the outputs

2182

ERRORFRAMES WORD Number of error frames occurred on the CAN bus since the last reset
BUSLOAD BYTE Current bus load in [%]
77
CANx_DOWNLOADID
11841
= CANx Download-ID
Symbol in CODESYS:
>
Description
11846
CANx_DOWNLOADID sets the download identifier for the CAN interface x.

The function block can be used to set the communication identifier for program download and
debugging. The new value is entered when the input ENABLE is set to TRUE.
The new value will become effective on RESET (voltage OFF/ON or soft reset).
>

27633

ENABLE BOOL TRUE (in the 1st cycle):
ID BYTE Set download ID of CAN interface x
x = 1...n = number of the CAN interface (depending on the device,
→ data sheet)
allowed = 1...127
preset = 127 - (x-1)
78
CANx_ERRORHANDLER
2174
Symbol in CODESYS:
>
Description
2329
13991
If the automatic bus recover function is to be used (default setting) the function
CANx_ERRORHANDLER must not be integrated and instanced in the program!
CANx_ERRORHANDLER executes a "manual" bus recovery on the CAN interface x.

► After a recognised CAN bus-off, call the function block for one cycle with BUSOFF_RECOVER =
TRUE to make sure that the controller can send and receive on the CAN bus again.
► Then reset the error bit CANx_BUSOFF for this CAN interface in the application program.
> The CAN interface is operative again.
>

27647

BUSOFF_RECOVER BOOL TRUE (only 1 cycle):
> remedy 'bus off' status
> reboot of the CAN interfacex
79
CANx_RECEIVE
27450
Symbol in CODESYS:
>
Description
13338
CANx_RECEIVE configures a data receive object and reads the receive buffer of the data object.
► The FB must be called once for each data object during initialisation to inform the CAN controller
about the identifiers of the data objects.
► In the further program cycle CANx_RECEIVE is called for reading the corresponding receive
buffer, also repeatedly in case of long program cycles.
► Depending on the CAN interface max. 256 instances are possible for the FB CANx_RECEIVE.
► In the Standard Mode all 2048 IDs can be used simultaneously
In the Extended Mode only 256 (any) IDs can be used simultaneously.
► Each ID (Standard or Extended) can be allotted to only one FB instance.
For multiple use of an ID: the last instance called.
► Set in FB CANx if CANx_RECEIVE should receive normal or extended frames.
> If CANx_RECEIVE is configured for the reception of a normal frame, the frame with this ID will not
be transferred to a CANopen Stack ( if available).
> If an ID is set outside the permissible range (depending on the setting in CANx), the function block
will not be executed.
► Evaluate the output AVAILABLE so that newly received data objects are read from the butter and
processed in time.
Receive buffer: max. 16 software buffers per identifier.
> Each call of the FB decrements the byte AVAILABLE by 1.
If AVAILABLE = 0, there is no data in the buffer.
► Evaluate the output OVERFLOW to detect an overflow of the data buffer.
If OVERFLOW = TRUE, at least 1 data object has been lost.
80
>

27658

CONFIG BOOL TRUE (in the 1st cycle):
configure data object
CLEAR BOOL TRUE: delete receive buffer
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
>

28454

DATA ARRAY [0..7] OF BYTE received data, (1...8 bytes)
DLC BYTE Number of the bytes of the CAN telegram read from the receive buffer
allowed: 0...8
RTR BOOL = FALSE Received message was a Remote Transmission Request
(wird hier nicht unterstützt)
AVAILABLE BYTE Number of the CAN telegrams received but not yet read from the
receive buffer (before the FB is called).
Possible values = 0...16
0 = no valid data available
OVERFLOW BOOL TRUE: Overflow of the data buffer  loss of data!
FALSE: Data buffer is without data loss
81
CANx_TRANSMIT
27812
Symbol in CODESYS:
>
Description
2166
CANx_TRANSMIT transmits a CAN data object (message) to the CAN controller for transmission.
The FB is called for each data object in the program cycle, also repeatedly in case of long program
cycles. The programmer must ensure by evaluating the output RESULT that his transmit order was
accepted. Simplified it can be said that at 125 kbits/s one transmit order can be executed per 1 ms.
The execution of the FB can be temporarily blocked (ENABLE = FALSE) via the input ENABLE. So,
for example a bus overload can be prevented.
To put it simply, at 125 kbits/s one transmit order can be executed per 1 ms.
Several data objects with the same or with different ID can be transmitted virtually at the same time if a
flag is assigned to each data object and controls the execution of the FB via the ENABLE input.
Transmit buffer: max. 16 software buffers and 1 hardware buffer for all identifiers together.
>

19813

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
DLC BYTE Number of bytes to be transmitted from the DATA array
allowed: 0...8
DATA ARRAY [0..7] OF BYTE data to be sent (1...8 bytes)
>

2168

RESULT BOOL TRUE (only for 1 cycle):
Function block accepted transmit order
FALSE: Transmit order was not accepted
82
5.2.2 Function elements: CANopen master

Content
CANx_MASTER_EMCY_HANDLER .....................................................................................................84
CANx_MASTER_SEND_EMERGENCY ................................................................................................85
CANx_MASTER_STATUS .....................................................................................................................87
27841
ifm electronic provides a number of FBs for the CANopen master which will be explained below.
83
CANx_MASTER_EMCY_HANDLER
2006
Unit is contained in the libraryifm_CR0033_CANopenxMaster_Vxxyyzz.LIB
Symbol in CODESYS:
>
Description
27782
CANx_MASTER_EMCY_HANDLER manages the device-specific error status of the master. The FB

must be called in the following cases:
 the error status is to be transmitted to the network and
 the error messages of the application are to be stored in the object directory.
The current values from the error register (index 0x1001/01) and error field (index 0x1003/0-5) of the
CANopen object directory can be read via the FB.
If application-specific error messages are to be stored in the object directory,

CANx_MASTER_EMCY_HANDLER must be called after (repeatedly) calling
CANx_MASTER_SEND_EMERGENCY (→ p. 85).
>

27655

CLEAR_ERROR_FIELD BOOL FALSE  TRUE (edge):
• transmit content of ERROR_FIELD to function block output
• delete content of ERROR_FIELD in object directory
>

27759

ERROR_REGISTER BYTE Shows content of OBV index 0x1001 (error register)
ERROR_FIELD ARRAY [0..5] OF WORD Shows the content of the OBV index 0x1003 (error field)
ERROR_FIELD[0]: number of stored errors
ERROR_FIELD[1...5]: Stored errors, the most recent error is shown on
index [1]
84
CANx_MASTER_SEND_EMERGENCY
2012
Symbol in CODESYS:
>
Description
27783
CANx_MASTER_SEND_EMERGENCY transmits application-specific error states. The FB is called if

the error status is to be transmitted to other devices in the network.
If application-specific error messages are to be stored in the object directory,

CANx_MASTER_EMCY_HANDLER (→ p. 84) must be called after (repeatedly) calling
CANx_MASTER_SEND_EMERGENCY.
>

27656

ERROR BOOL Using this input, the information whether the error associated to the
configured error code is currently present is transmitted.
FALSE  TRUE (edge):
sends the next error code
if input was not TRUE in the last second
TRUE  FALSE (edge)
AND the fault is no longer indicated:
after a delay of approx. 1 s:
> zero error message is sent
ERROR_CODE WORD The error code provides detailed information about the detected error.
The values should be entered according to the CANopen specification.
ERROR_REGISTER BYTE ERROR_REGISTER indicates the error type.
The value indicated here is linked by a bit-by-bit OR operation with all
the other error messages that are currently active. The resulting value
is written into the error register (index 100116/00) and transmitted with
the EMCY message.
MANUFACTURER_ERROR_FIELD ARRAY [0..4] OF BYTE Here, up to 5 bytes of application-specific error information can be
entered. The format can be freely selected.
85
>
Example: CANx_MASTER_SEND_EMERGENCY
27890
In this example 3 error messages will be generated subsequently:

1. ApplError1, Code = 0xFF00 in the error register 0x81
CAN1_MASTER_EMCY_HANDLER sends the error messages to the error register "Object 0x1001" in
the error array "Object 0x1003".
86
CANx_MASTER_STATUS
2692
Symbol in CODESYS:
>
Description
27780
Status indication of the device used with CANopen.

CANx_MASTER_STATUS shows the status of the device used as CANopen master. Further
possibilities:
• monitoring the network status
• monitoring the status of the connected slaves
• resetting or starting the slaves in the network.
The FB simplifies the use of the CODESYS CANopen master libraries. We urgently recommend to
carry out the evaluation of the network status and of the error messages via this FB.
87
>

19861

GLOBAL_START BOOL TRUE: All connected network participants (slaves)
are started simultaneously during network initialisation
( state OPERATIONAL).
FALSE: The connected network participants are started
one after the other.
CLEAR_RX_OVERFLOW_FLAG BOOL FALSE  TRUE (edge):
Clear error flag RX_OVERFLOW
CLEAR_RX_BUFFER BOOL FALSE  TRUE (edge):
Delete data in the receive buffer
CLEAR_TX_OVERFLOW_FLAG BOOL FALSE  TRUE (edge):
Clear error flag TX_OVERFLOW
CLEAR_TX_BUFFER BOOL FALSE  TRUE (edge):
Delete data in the transmit buffer
CLEAR_OD_CHANGED_FLAG BOOL FALSE  TRUE (edge):
Delete flag OD_CHANGED
CLEAR_ERROR_CONTROL BOOL FALSE  TRUE (edge):
Delete the guard error list (ERROR_CONTROL)
RESET_ALL_NODES BOOL FALSE  TRUE (edge):
All connected network participants (slaves)
are reset via NMT command
START_ALL_NODES BOOL FALSE  TRUE (edge):
All connected network participants (slaves)
are started via NMT command
NODE_STATE_SLAVES DWORD Pointer address to a array [0.. MAX_NODEINDEX] of
CANx_NODE_STATE
The status information of the slaves in the CANopen network is to be
written into this array. The behaviour of the slaves can be controlled by
means of access to certainly values.
MAX_NODEINDEX is a constant, which is calculated by CODESYS
during the compiling of the application.
Determine the address by means of the operator ADR and
assigne it to the POU!
Example code → chapter Example: CANx_MASTER_STATUS (→
p. 91)
EMERGENCY_OBJECT_SLAVES DWORD Pointer address to a array [0.. MAX_NODEINDEX] of
CANx_EMERGENCY_MESSAGE
Shows the last error messages of all network nodes.
88
>

2696

NODE_ID BYTE current node ID of the CANopen slave
BAUDRATE WORD current baudrate of the CANopen node in [kBaud]
NODE_STATE INT Current status of CANopen master
SYNC BOOL SYNC signal of the CANopen master
TRUE: In the last cycle a SYNC signal was sent
FALSE: In the last cycle no SYNC signal was sent
RX_OVERFLOW BOOL TRUE: Error: receive buffer overflow
FALSE: no overflow
TX_OVERFLOW BOOL TRUE: Error: transmission buffer overflow
FALSE: no overflow
OD_CHANGED BOOL TRUE: Data in the object directory of the CANopen master
have been changed
FALSE: no data change
ERROR_CONTROL ARRAY [0..7] OF BYTE The array contains the list (max. 8) of missing network nodes (guard
or heartbeat error)
GET_EMERGENCY STRUCT At the output the data for the structure
CANx_EMERGENY_MESSAGE CANx_EMERGENCY_MESSAGE are available.
The last received EMCY message in the CANopen network is always
displayed.
To obtain a list of all occurred errors, the array
EmergencyObjectSlavesArray must be evaluated!
FIRST_NODE_INDEX INT Section where the node numbers of the nodes (slaves) connected to
LAST_NODE_INDEX INT this CAN bus are located
>
Internal structure parameters

2698
Here you can see the structures of the arrays used in this function block.
Using Controller CR0032 as an example, the following code fragments show the use of the function
block CANx_MASTER_STATUS→ chapter Example: CANx_MASTER_STATUS (→ p. 91).
>
Structure of CANx_EMERGENCY_MESSAGE
13996
The structure is defined by the global variables of the library

ifm_CR0033_CANopenMaster_Vxxyyzz.LIB.
NODE_ID BYTE Node ID of the participant the EMCY has been received from
ERROR_CODE WORD Error code indicating which error has occurred.
→ CANopen specification CiA Draft Standard 301 Version 4
ERROR_REGISTER BYTE Value in the error register (index 0x1001/00) of the sending participant
MANUFACTURER_ERROR_FIELD ARRAY [0..4] OF BYTE Manufacturer-specific data field in EMCY message
89
>
Structure of CANx_NODE_STATE
13997
The structure is defined by the global variables of the library

ifm_CR0033_CANopenMaster_Vxxyyzz.LIB.
NODE_ID BYTE Node ID of the CANopen slave the status information and
configuration flags in the structure belong to
NODE_STATE BYTE Current state of the CANopen slave seen from the perspective of the
CANopen stack of the CANopen master
LAST_STATE BYTE The last known state of the CANopen slave
0 = receive bootup message from CANopen slave
4 = CANopen slave in PRE-OPERATIONAL state
and is configured via SDO access
5 = CANopen slave in OPERATIONAL state
RESET_NODE BOOL Flag for manual reset of CANopen slave
(NMT command = Reset_Node)
START_NODE BOOL Flag for manual start of CANopen slave
(NMT command = start)
PREOP_NODE BOOL Flag to manually set the CANopen slave to the PRE-OPERATIONAL
state
NMT command = enter PRE-OPERATIONAL)
SET_TIMEOUT_STATE BOOL Flag used to manually skip initialisation of a CANopen slave if the
following applies:
• slave does not exist in network
• and slave is not configured as optional
SET_NODE_STATE BOOL Flag for manual initialisation of a CANopen slave
When accessing object 0x1000, the slave had identified itself as a
device type other than the one indicated in the EDS file incorporated in
the CODESYS configuration of the controller.
90
>
Example: CANx_MASTER_STATUS
27895
>
Slave information
2699
To be able to access the information of the individual CANopen nodes, you must create an array for
the corresponding structure. The structures are contained in the library. You can see them under [Data
types] in the library manager.
The number of the array elements is determined by the global variable MAX_NODEINDEX which is
automatically generated by the CANopen stack. It contains the number of the slaves minus 1 indicated
in the network configurator.
The numbers of the array elements do not correspond to the node ID. The identifier can be read
from the corresponding structure under NODE_ID.
>
Program example to CAN1_MASTER_STATUS

20651
Declaration of the variables:
Example of the program:
91
>
Structure node status

27713
>
Structure Emergency_Message
27712
92
5.2.3 Function elements: CANopen slave

Content
CANx_SLAVE_EMCY_HANDLER .........................................................................................................94
CANx_SLAVE_NODEID .........................................................................................................................95
CANx_SLAVE_SEND_EMERGENCY ...................................................................................................96
CANx_SLAVE_SET_PREOP .................................................................................................................98
CANx_SLAVE_STATUS ........................................................................................................................99
27838
ifm electronic provides a number of FBs for the CANopen slave which will be explained below.
93
CANx_SLAVE_EMCY_HANDLER
2050
Unit is contained in the libraryifm_CR0033_CANopenxSlave_Vxxyyzz.LIB
Symbol in CODESYS:
>
Description
27786
CANx_SLAVE_EMCY_HANDLER handles the device-specific error status of the CANopen slave:

• error register (index 0x1001) and
• error field (index 0x1003) of the CANopen object directory.
► Call the function block in the following cases:
• the error status is to be transmitted to the CAN network and
• the error messages of the application program are to be stored in the object directory.
Do you want to store the error messages in the object directory?

► After (repeated) handling of CANx_SLAVE_SEND_EMERGENCY (→ p. 96) call
CANx_SLAVE_EMCY_HANDLER once!
>

27659

CLEAR_ERROR_FIELD BOOL FALSE  TRUE (edge):
• transmit content of ERROR_FIELD to function block output
• delete content of ERROR_FIELD in object directory
>

27749

ERROR_REGISTER BYTE Shows content of OBV index 0x1001 (error register)
ERROR_FIELD ARRAY [0..5] OF WORD Shows the content of the OBV index 0x1003 (error field)
ERROR_FIELD[0]: number of stored errors
ERROR_FIELD[1...5]: Stored errors, the most recent error is shown on
index [1]
94
CANx_SLAVE_NODEID
2044
= CANx Slave Node-ID

Symbol in CODESYS:
>
Description
27781
CANx_SLAVE_NODEID enables the setting of the node ID of a CANopen slave at runtime of the
Normally, the FB is called once during initialisation of the controller, in the first cycle. Afterwards, the
input ENABLE is set to FALSE again.
>

27654

ENABLE BOOL FALSE  TRUE (edge):
NODEID BYTE node ID = ID of the node
permissible values = 1...127
95
CANx_SLAVE_SEND_EMERGENCY
2056
Symbol in CODESYS:
>
Description
27787
CANx_SLAVE_SEND_EMERGENCY transmits application-specific error states. These are error

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

27660

ERROR BOOL Using this input, the information whether the error associated to the
configured error code is currently present is transmitted.
FALSE  TRUE (edge):
sends the next error code
if input was not TRUE in the last second
TRUE  FALSE (edge)
AND the fault is no longer indicated:
after a delay of approx. 1 s:
> zero error message is sent
ERROR_CODE WORD The error code provides detailed information about the detected error.
ERROR_REGISTER BYTE ERROR_REGISTER indicates the error type.
The value indicated here is linked by a bit-by-bit OR operation with all
the other error messages that are currently active. The resulting value
is written into the error register (index 100116/00) and transmitted with
the EMCY message.
MANUFACTURER_ERROR_FIELD ARRAY [0..4] OF BYTE Here, up to 5 bytes of application-specific error information can be
entered. The format can be freely selected.
96
>
Example: CANx_SLAVE_SEND_EMERGENCY
27896
In this example 3 error messages will be generated subsequently:

CAN1_SLAVE_EMCY_HANDLER sends the error messages to the error register "Object 0x1001" in
the error array "Object 0x1003".
97
CANx_SLAVE_SET_PREOP
2700
Symbol in CODESYS:
>
Description
2703
CANx_SLAVE_SET_PREOP switches the operating mode of this CANopen slave from

"OPERATIONAL" to "PRE-OPERATIONAL".
Normally, in case of a fault the controller switches as follows:
• a FATAL ERROR results in SOFT RESET of the controller
• an ERROR STOP results in a SYSTEM STOP
Under certain conditions it might be necessary that the application sets the operating mode of the
device working as a slave to "PRE-OPERATIONAL". This is done via the FB described here.
>

2704

Set slave to PRE-OPERATIONAL
98
CANx_SLAVE_STATUS
2706
Symbol in CODESYS:
>
Description
2707
CANx_SLAVE_STATUS shows the status of the device used as CANopen slave.

We urgently recommend carrying out the evaluation of the network status via this function block.
>

2708

CLEAR_RX_OVERFLOW_FLAG BOOL FALSE  TRUE (edge):
Clear error flag RX_OVERFLOW
CLEAR_RX_BUFFER BOOL FALSE  TRUE (edge):
Delete data in the receive buffer
CLEAR_TX_OVERFLOW_FLAG BOOL FALSE  TRUE (edge):
Clear error flag TX_OVERFLOW
CLEAR_TX_BUFFER BOOL FALSE  TRUE (edge):
Delete data in the transmit buffer
CLEAR_RESET_FLAGS BOOL FALSE  TRUE (edge):
Clear flag RESET_NODE
Clear flag RESET_COM
CLEAR_OD_CHANGED_FLAGS BOOL FALSE  TRUE (edge):
Clear flag OD_CHANGED
Clear flag OD_CHANGED-_INDEX
99
>

27746

NODE_ID BYTE current node ID of the CANopen slave
BAUDRATE WORD current baudrate of the CANopen node in [kBaud]
NODE_STATE BYTE Current status of CANopen slave
0 = Bootup message sent
and is configured via SDO access
5 = CANopen slave in OPERATIONAL state
SYNC BOOL SYNC signal of the CANopen master
TRUE: In the last cycle a SYNC signal was received
FALSE: In the last cycle no SYNC signal was received
SYNC_ERROR BOOL TRUE: Error: the SYNC signal of the master was not received
or received too late
(after expiration of ComCyclePeriod)
FALSE: no SYNC error
GUARD_HEARTBEAT_ERROR BOOL TRUE: Error: the guarding or heartbeat signal of the master
was not received or received too late
FALSE: no guarding or heartbeat error
RX_OVERFLOW BOOL TRUE: Error: receive buffer overflow
FALSE: no overflow
TX_OVERFLOW BOOL TRUE: Error: transmission buffer overflow
FALSE: no overflow
RESET_NODE BOOL TRUE: the CANopen stack of the slave was reset
by the master
FALSE: the CANopen stack of the slave was not reset
RESET_COM BOOL TRUE: the communication interface of the CAN stack was
reset by the master
FALSE: the communication interface was not reset
OD_CHANGED BOOL TRUE: Data in the object directory of the CANopen master
have been changed
FALSE: no data change
OD_CHANGED_INDEX INT Index of the object directory entry changed last
100
5.2.4 Function elements: CANopen SDOs

Content
CANx_SDO_READ ..............................................................................................................................102
CANx_SDO_WRITE .............................................................................................................................104
28407
Here you will find ifm function elements for CANopen handling of Service Data Objects (SDOs).
101
CANx_SDO_READ
27448
Symbol in CODESYS:
>
Description
27791
CANx_SDO_READ reads the →SDO (→ p. 329) with the indicated indexes from the node.
Prerequisite: Node must be in the mode "PRE-OPERATIONAL" or "OPERATIONAL".
By means of these, the entries in the object directory can be read. So it is possible to selectively read
the node parameters.
Danger of data loss!

Allocate enough memory space for the requested SDO!
Otherwise the data following behind will be overwritten.
Example:
>

27629

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
DATA DWORD Addresse of the receive data array
valid length = 0...255
102
>

27761

RESULT BYTE feedback of the function block
(possible messages → following table)
LEN WORD length of the entry in "number of bytes"
The value for LEN must not be greater than the size of the receive
array. Otherwise any data is overwritten in the application.
Possible results for RESULT:

Value
Description
dec | hex
0 00 FB is inactive
1 01 FB execution completed without error – data is valid
2 02 function block is active (action not yet completed)
3 03 Error, no data received during monitoring time
103
CANx_SDO_WRITE
27807
Symbol in CODESYS:
>
Description
27790
CANx_SDO_WRITE writes the →SDO (→ p. 329) with the specified indexes to the node.
Prerequisite: the node must be in the state "PRE-OPERATIONAL" or "OPERATIONAL".
Using this FB, the entries can be written to the object directory. So it is possible to selectively set the
node parameters.
The value for LEN must be lower than the length of the transmit array. Otherwise, random data will
be sent.
Example:
104
>

27628

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 WORD length of the entry in "number of bytes"
The value for LEN must not be greater than the size of the transmit
array. Otherwise any data is sent.
DATA DWORD Address of the transmit data array
permissible length = 0...255
>

27760


Value
Description
dec | hex
0 00 FB is inactive
3 03 Error, data cannot be transmitted
105
5.2.5 Function elements: SAE J1939

Content
J1939_x ................................................................................................................................................107
J1939_x_GLOBAL_REQUEST ............................................................................................................108
J1939_x_RECEIVE ..............................................................................................................................110
J1939_x_RESPONSE ..........................................................................................................................112
J1939_x_SPECIFIC_REQUEST ..........................................................................................................114
J1939_x_TRANSMIT ............................................................................................................................116
28361
For SAE J1939, ifm electronic provides a number of function elements which will be explained in the
following.
106
J1939_x
2274
Unit is contained in the libraryifm_CR0033_J1939_Vxxyyzz.LIB
Symbol in CODESYS:
>
Description
2276
J1939_x serves as protocol handler for the communication profile SAE J1939.
To handle the communication, the protocol handler must be called in each program cycle. To do so,
the input ENABLE is set to TRUE.
Once set, ENABLE must remain TRUE!
The protocol handler is started if the input START is set to TRUE for one cycle.
Using MY_ADDRESS, a device address is assigned to the controller. It must differ from the addresses
of the other J1939 bus participants. It can then be read by other bus participants.
>

27639

START BOOL TRUE (only for 1 cycle):
Start J1939 protocol at CAN interface x
MY_ADDRESS BYTE J1939 address of the device
107
J1939_x_GLOBAL_REQUEST
2282
Symbol in CODESYS:
>
Description
27878
J1939_x_GLOBAL_REQUEST is responsible for the automatic requesting of individual messages

from all (global) active J1939 network participants. To do so, the parameters PG, PF, PS and the
address of the array DST in which the received data is stored are assigned to the FB.
Info
PGN = [Page] + [PF] + [PS]
PDU = [PRIO] + [PGN] + [J1939 address] + [data]
27878
NOTICE
Risk of inadmissible overwriting of data!
► Create a receiver array with a size of 1 785 bytes.
This is the maximum size of a J1939 message.
► Check the amount of received data:
the value must not exceed the size of the array created to receive data!
► For every requested message use an own instance of the FB!

► To the destination address DST applies:
Determine the address by means of the operator ADR and assigne it to the POU!
► In addition, the priority (typically 3, 6 or 7) must be assigned.
► Given that the request of data can be handled via several control cycles, this process must be
evaluated via the RESULT byte.
 RESULT = 2: the POU is waiting for data of the participants.
 RESULT = 1: data was received by a participant.
The output LEN indicates how many data bytes have been received.
Store / evaluate this new data immediately!
When a new message is received, the data in the memory address DST is overwritten.
 RESULT = 0: no participant on the bus sends a reply within 1.25 seconds.
The FB returns to the non-active state.
Only now may ENABLE be set again to FALSE!
► For the reception of data from several participants at short intervals:
call the POU several times in the same PLC cycle and evaluate it at once!
108
>

27638

PRIO BYTE message priority (0…7)
PG BYTE Data page
Value of defined PGN (Parameter Group Number)
allowed = 0...1 (normally = 0)
PF BYTE PDU format byte
PDU2 (global) = 240...255
PS BYTE PDU specific byte
GE (Group Extension) = 0...255
DST DWORD destination address
Info
>

20789

SA BYTE J1939 address of the answering device
LEN WORD number of received bytes

Value
Description
dec | hex
0 00 FB is inactive
109
J1939_x_RECEIVE
2278
Symbol in CODESYS:
>
Description
27785
J1939_x_RECEIVE serves for receiving one individual message or a block of messages.

To do so, the FB must be initialised for one cycle via the input CONFIG. During initialisation, the
parameters PG, PF, PS, RPT, LIFE and the memory address of the data array DST are assigned.
Once the following parameters have been configured they can no longer be modified in the running
application program: PG, PF, PS, RPT, LIFE, DST.
27785
NOTICE

Once RPT has been set it can no longer be modified!
► The receipt of data must be evaluated via the RESULT byte. If RESULT = 1 the data can be read
from the memory address assigned via DST and can be further processed.
> When a new message is received, the data in the memory address DST is overwritten.
> The number of received message bytes is indicated via the output LEN.
> If RESULT = 3, no valid messages have been received in the indicated time window (LIFE • RPT).
This block must also be used if the messages are requested using the FBs J1939_..._REQUEST.
110
>

27661

PG BYTE Data page
PDU1 (specific) = 0...239
PDU2 (global) = 240...255
If PF = PDU1  PS = DA (Destination Address)
(DA = J1939 address of external device)
If PF = PDU2  PS = GE (Group Extension)
RPT TIME Monitoring time
Within this time window the messages must be received
cyclically.
> Otherwise, there will be an error message.
RPT = T#0s  no monitoring
Once RPT has been set it can no longer be modified!
LIFE BYTE tolerated number of J1939 messages not received
>

27730

DEVICE BYTE J1939 address of the sender

Value
Description
dec | hex
0 00 FB is inactive
3 03 Error, no data received during monitoring time
111
J1939_x_RESPONSE
2280
Symbol in CODESYS:
>
Description
27872
J1939_x_RESPONSE handles the automatic response to a request message.

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

27684

PG BYTE Data page
PDU2 (global) = 240...255
SRC DWORD start address in source memory
LEN WORD number (> 1) of the data bytes to be transmitted
112
>

27751


Value
Description
dec | hex
0 00 FB is inactive
1 01 Data transfer completed without errors
113
J1939_x_SPECIFIC_REQUEST
2281
Symbol in CODESYS:
>
Description
27873
J1939_x_SPECIFIC_REQUEST is responsible for the automatic requesting of individual messages

from a specific J1939 network participant. To do so, the logical device address DA, the parameters
PG, PF, PS and the address of the array DST in which the received data is stored are assigned to the
FB.
Info
27873
NOTICE

► In addition, the priority (typically 3, 6 or 7) must be assigned.
► Given that the request of data can be handled via several control cycles, this process must be
evaluated via the RESULT byte. All data has been received if RESULT = 1.
> The output LEN indicates how many data bytes have been received.
114
>

27683

DA BYTE J1939 address of the requested device
PG BYTE Data page
PDU2 (global) = 240...255
Info
>

27729


Value
Description
dec | hex
0 00 FB is inactive
3 03 Error
115
J1939_x_TRANSMIT
279
Symbol in CODESYS:
>
Description
27875
J1939_x_TRANSMIT is responsible for transmitting individual messages or blocks of messages. To do

so, the parameters PG, PF, PS, RPT and the address of the data array SRC are assigned to the FB.
Info

► In addition, the number of data bytes to be transmitted and the priority (typically 3, 6 or 7) must be
assigned.
► Given that the transmission of data is processed via several control cycles, the process must be
evaluated via the RESULT byte. All data has been transmitted if RESULT = 1.
If more than 8 bytes are to be sent, a "multi package transfer" is carried out.
116
>

27686

PG BYTE Data page
PDU2 (global) = 240...255
LEN WORD number of data bytes to be transmitted
allowed = 1...1 785 = 0x0001...0x06F9
RPT TIME Repeat time during which the data messages are to be transmitted
cyclically
RPT = T#0s  sent only once
Info
>

27732


Value
Description
dec | hex
0 00 FB is inactive
117
5.2.6 Function elements: serial interface

Content
SERIAL_PENDING ..............................................................................................................................119
SERIAL_RX ..........................................................................................................................................120
SERIAL_SETUP ...................................................................................................................................121
SERIAL_TX ..........................................................................................................................................122
13011
32570
NOTE
and debugging.
The function blocks listed below allow you to use the serial interface in the application program.
118
SERIAL_PENDING
27711

Symbol in CODESYS:
>
Description
12994
SERIAL_PENDING determines the number of data bytes stored in the serial receive buffer.
In contrast to SERIAL_RX the content of the buffer remains unchanged after this function has been
called.
The SERIAL FBs form the basis for the creation of an application-specific protocol for the serial
interface.
To do so, set the system flag bit SERIAL_MODE=TRUE!
32976
NOTE
and debugging.
>

12996

NUMBER WORD Number of data bytes received (1...1 000)
119
SERIAL_RX
27722

Symbol in CODESYS:
>
Description
12997
SERIAL_RX reads a received data byte from the serial receive buffer at each call.
If more than 1000 data bytes are received, the buffer overflows and data is lost. This is indicated by
the bit OVERFLOW.
If 7-bit data transmission is used, the 8th bit contains the parity and must be suppressed by the user if
necessary.
interface.
32837
NOTE
and debugging.
>

27694

CLEAR BOOL TRUE: delete receive buffer
>

12931

Rx BYTE Byte data received from the receive buffer
AVAILABLE WORD Number of received bytes available in the receive buffer BEFORE the
call of the function block:
0 = no data received
1...1 000 = number of bytes in the receive buffer
120
SERIAL_SETUP
27723

Symbol in CODESYS:
>
Description
13000
SERIAL_SETUP initialises the serial RS232 interface.

The function block does not necessarily need to be executed in order to be able to use the serial
interface. Without function block call the last preset value applies.
Using ENABLE=TRUE for one cycle, the function block sets the serial interface to the indicated
parameters. The changes made with the help of the function block are saved non-volatily.
32977
NOTE
and debugging.
>

13002

ENABLE BOOL TRUE (only for 1 cycle):
Initialise interface
BAUD RATE DWORD Baud rate
permissible values → data sheet
preset value → data sheet
DATABITS BYTE := 8 Number of data bits
allowed = 7 or 8
PARITY BYTE := 0 Parity
allowed: 0=none, 1=even, 2=odd
With parameter setting DATABITS = 7 and PARITY = 0:
function block operates with PARITY = 1
STOPBITS BYTE := 1 Number of stop bits
allowed = 1 or 2
121
SERIAL_TX
27720

Symbol in CODESYS:
>
Description
13003
SERIAL_TX transmits one data byte via the serial RS232 interface.
The FiFo transmission memory contains 1 000 bytes.
Using the input ENABLE the transmission can be enabled or disabled.
interface.
32838
NOTE
and debugging.
>

28461

DATA BYTE value to be transmitted
122
5.2.7 Function elements: Optimising the PLC cycle via processing interrupts
Content
SET_INTERRUPT_I .............................................................................................................................124
SET_INTERRUPT_XMS ......................................................................................................................126
20965
28098
Here we show you functions to optimise the PLC cycle.

28098
The PLC cyclically processes the stored application program in its full length. The cycle time can vary
due to program branchings which depend e.g. on external events (= conditional jumps). This can have
negative effects on certain functions.
By means of systematic interrupts of the cyclic program it is possible to call time-critical processes
independently of the cycle in fixed time periods or in case of certain events.
Since interrupt functions are principally not permitted for SafetyControllers, they are thus not available.
123
SET_INTERRUPT_I
27727

Symbol in CODESYS:
>
Description
19234
32443
SET_INTERRUPT_I handles the execution of a program part by an interrupt request via an input
channel.
In the conventional PLC the cycle time is decisive for real-time monitoring. So the PLC is at a
disadvantage as compared to customer-specific controllers. Even a "real-time operating system" does
not change this fact when the whole application program runs in one single block which cannot be
changed.
A possible solution would be to keep the cycle time as short as possible. This often leads to splitting
the application up to several control cycles. This, however, makes programming complex and difficult.
Another possibility is to call a certain program part only upon request by an input pulse independently
of the control cycle:
The time-critical part of the application is integrated by the user in a block of the type PROGRAM
(PRG). This block is declared as the interrupt routine by calling SET_INTERRUPT_I once (during
initialisation). As a consequence, this program block will always be executed if an edge is detected on
the input CHANNEL. If inputs and outputs are used in this program part, these are also read and
written in the interrupt routine, triggered by the input edge. Reading and writing can be stopped via the
FB inputs READ_INPUTS, WRITE_OUTPUTS and ANALOG_INPUTS.
So in the program block all time-critical events can be processed by linking inputs or global variables
and writing outputs. So FBs can only be executed if actually called by an input signal.
NOTE
The program block should be skipped in the cycle (except for the initialisation call) so that it is not
cyclically called, too.
The input (CHANNEL) monitored for triggering the interrupt cannot be initialised and further processed
in the interrupt routine.
The runtime of the main cycle plus the sum of the duration of all program parts called via interrupt
must always be within the max. permissible cycle time!
The user is responsible for data consistency between the main program and the program parts
running in the interrupt mode!
124
>
32443
Interrupt priorities:
 All program parts called via interrupt have the same priority of execution. Several simultaneous
interrupts are processed sequentially in the order of their occurrence.
 If a further edge is detected on the same input during execution of the program part called via
interrupt, the interrupt is listed for processing and the program is directly called again after
completion. As an option, interfering multiple pulses can be filtered out by setting the glitch filter.
 The program running in the interrupt mode can be disrupted by interrupts with a higher priority
(e.g. CAN).
 If several interrupts are present on the same channel, the last initialised FB (or the PRG) will be
assigned the channel. The previously defined FB (or the PRG) is then no longer called and no
longer provides data.
Do not use this function block on one input together with one of the following function blocks!
• INC_ENCODER_HR (→ p. 148)
>

27646

initialisation of the function block
CHANNEL BYTE Number of interrupt input
0...7 for the inputs IN00...IN07
MODE BYTE Type of edge at the input CHANNEL which triggers the interrupt
1 = rising edge (standard value)
2 = falling edge
3 = rising and falling edge
> 3 = standard value
READ_INPUTS BOOL TRUE: read the inputs 0...7 before calling the program
and write into the input flags I00...I07
FALSE: only read the channel indicated under CHANNEL
and write to the corresponding input flag Ixx
WRITE_OUTPUTS BOOL TRUE: write the current values of the output flags Q00...Q07
to the outputs after completion of the program sequence
FALSE: do not write outputs
ANALOG_INPUTS BOOL TRUE: read inputs 0...7 and write the unfiltered, uncalibrated
analogue values to the flags ANALOG_IRQ00...07
FALSE: do not write flags ANALOG_IRQ00...07
125
SET_INTERRUPT_XMS
28322

Symbol in CODESYS:
>
Description
19363
SET_INTERRUPT_XMS handles the execution of a program part at an interval of x ms.

In the conventional PLC the cycle time is decisive for real-time monitoring. So, the PLC is at a
disadvantage as compared to customer-specific controllers. Even a "real-time operating system" does
not change this fact when the whole application program runs in one single block which cannot be
changed.
A possible solution would be to keep the cycle time as short as possible. This often leads to splitting
the application up to several control cycles. This, however, makes programming complex and difficult.
Another possibility is to call a certain program part at fixed intervals (every x ms) independently of the
control cycle:
The time-critical part of the application is integrated by the user in a block of the type PROGRAM
(PRG). This block is declared as the interrupt routine by calling SET_INTERRUPT_XMS once (during
initialisation). As a consequence, this program block is always processed after the REPEATTIME has
elapsed (every x ms). If inputs and outputs are used in this program part, they are also read and
written in the defined cycle. Reading and directly writing can be stopped via the FB inputs
READ_INPUTS, WRITE_OUTPUTS and ANALOG_INPUTS.
So, in the program block all time-critical events can be processed by linking inputs or global variables
and writing outputs. So, timers can be monitored more precisely than in a "normal cycle".
NOTE
 In the whole program call SET_INTERRUPT_XMS only once and only in the first cycle!
 To avoid that the program block called by interrupt is additionally called cyclically, it should be
skipped in the cycle (with the exception of the initialisation call).
Several timer interrupt blocks can be active.
Restrictions for time permitted:
 Runtime of the program part running in interrupt < REPEATTIME
 The runtime of the main cycle plus the sum of the duration of all program parts called via interrupt
must always be within the max. permissible cycle time!
The user is responsible for data consistency between the main program and the program parts
running in the interrupt mode!
Please note: In case of a high CAN bus activity the set REPEATTIME may fluctuate.
The count of per interrupt running program parts (as SET_INTERRUPT_XMS) is limited to 16. More
definitions of program parts running per interrupt than SET_INTERRUPT_XMS will be ignored and not
executed.
126
>
Interrupt priorities:
 All program parts called via interrupt have the same priority of execution. Several simultaneous
interrupts are processed sequentially in the order of their occurrence.
 The program running in the interrupt mode can be disrupted by interrupts with a higher priority
(e.g. CAN).
>

28486

initialisation of the function block
REPEATTIME TIME Duration in [ms] between end of program and reboot
The duration between two calls is determined as the sum of
REPEATTIME and runtime of the program called via interrupt.
READ_INPUTS BOOL TRUE: read the inputs 0...7 before calling the program
and write into the input flags I00...I07
FALSE: no update of the inputs
WRITE_OUTPUTS BOOL TRUE: write the current values of the output flags Q00...Q07
to the outputs after completion of the program sequence
FALSE: do not write outputs
ANALOG_INPUTS BOOL TRUE: read inputs 0...7 and write the unfiltered, uncalibrated
analogue values to the flags ANALOG_IRQ00...07
FALSE: do not write flags ANALOG_IRQ00...07
127
5.2.8 Function elements: processing input values

Content
INPUT_ANALOG ..................................................................................................................................129
SET_INPUT_MODE .............................................................................................................................132
1602
28368
In this chapter we show you ifm FBs which allow you to read and process the analogue or digital
signals at the device input.
NOTE
The analogue raw values shown in the PLC configuration of CODESYS directly come from the ADC.
They are not yet corrected!
Therefore different raw values can appear in the PLC configuration for identical devices.
Error correction and normalisation are only carried out by ifm function blocks. The function blocks
provide the corrected value.
128
INPUT_ANALOG
15916

Symbol in CODESYS:
>
Description
12912
12916
INPUT_ANALOG enables the following operating modes at the input channels.

Details → chapter Possible operating modes inputs/outputs (→ p. 241)
The function block provides the current analogue value at the selected analogue channel. The
analogue values are provided as standardised values. At the same time the uncalibrated raw values
are provided via the system flags ANALOGxx.
► For frequency and period measurements as well as counter functions: set MODE=1
(= IN_DIGITAL_H)!
The measurement and the output value results from the operating mode indicated via MODE:
19260
MODE FB Output
Input operating mode Global variable Unit
dec | hex OUT
0 0000 deactivated IN_NOMODE --- ---
1 0001 binary input, minus switching (BH) IN_DIGITAL_H 0/1 ---
2 0002 binary input, plus switching (BL) IN_DIGITAL_L 0/1 ---
4 0004 current input IN_CURRENT 0…20 000 µA
8 0008 voltage input IN_VOLTAGE10 0…10 000 mV
16 0010 voltage input IN_VOLTAGE30 0…32 000 mV
32 0020 voltage input, ratiometric IN_RATIO 0…1 000 ‰
64 0040 --- --- --- ---
128 0080 --- --- --- ---
256 0100 --- --- --- ---
3...680
512 0200 resistance input IN_RESISTANCE 
16...30 000
20790
These and other operating modes of the inputs can also be configured with ...
These and other operating modes of the inputs: → FB SET_INPUT_MODE (→ p. 132).

 If VBBs < 4 V (for the modes 1, 2, 32): no values are read
 Values which are higher than indicated are also recorded (incl. ratio)
 Overload protection is always active during current measurement
18414

129
>
13020
NOTE
When switching into another mode during runtime, it takes a few cycles before the output value is
correct again.
If the same input channel was configured differently during runtime, the most recent configuration will
apply.
>

11937

MODE WORD Operating mode of the input channel CHANNEL:
0 = 0x0000 IN_NOMODE (off; preset is active)
1 = 0x0001 IN_DIGITAL_H preset
2 = 0x0002 IN_DIGITAL_L
4 = 0x0004 IN_CURRENT 0…20 000 µA
8 = 0x0008 IN_VOLTAGE10 0…10 000 mV
16 = 0x0010 IN_VOLTAGE30 0…32 000 mV
32 = 0x0020 IN_RATIO 0...1 000 ‰
64 = 0x0040 ---
128 = 0x0080 ---
256 = 0x0100 ---
512 = 0x0200 IN_RESISTANCE 3...680 ...30 000 
CHANNEL BYTE Number of input channel
0...15 for the inputs I00...I15
For the function block xxx_E (if available) applies:
0...23 for the inputs I00_E...I23_E
130
>

11938

OUT WORD Output value according to MODE
in case of an invalid setting: OUT = "0"
ERROR DWORD Error code from this function block call →Error codes (→ p. 310)
Possible results for ERROR (n=any desired value):

The 32-bit error code consists of four 8-bit values (DWORD).
4th byte 3rd byte 2nd byte 1st byte
Error class Application-specific error code Error source Error cause
Value [hex] Description

00 00 00 00 no error
01 00 10+nn 01 Wire break on input channel Inn (nn = HEX value)
Example: channel I15  10+nn = 1F
01 00 10+nn 02 Short cirquit on input channel Inn (nn = HEX value)
(only if IN_DIGITAL_H and DIAGNOSTICS = TRUE)
01 00 10+nn 04 Overload on input channel Inn (nn = HEX value)
(only if current measurement or resistance measurement)
01 00 00 F8 Wrong parameter  general error
131
SET_INPUT_MODE
15918

Symbol in CODESYS:
>
Description
11944
Use SET_INPUT_MODE to assign operating modes to the input channels.

 Values which are higher than indicated are also recorded (incl. ratio)
 Overload protection is always active during current measurement
The operating mode should not be changed during operation.
The function block INPUT_ANALOG (→ p. 129) can also be used to configure the operating mode on an
input.
18414

13020
NOTE
When switching into another mode during runtime, it takes a few cycles before the output value is
correct again.
If the same input channel was configured differently during runtime, the most recent configuration will
apply.
132
>

11945

Initialise block (only 1 cycle)
> Read block inputs
TRUE: execute this function element
MODE WORD Operating mode of the input channel CHANNEL:
0 = 0x0000 IN_NOMODE (off; preset is active)
1 = 0x0001 IN_DIGITAL_H preset
2 = 0x0002 IN_DIGITAL_L
4 = 0x0004 IN_CURRENT 0…20 000 µA
8 = 0x0008 IN_VOLTAGE10 0…10 000 mV
16 = 0x0010 IN_VOLTAGE30 0…32 000 mV
32 = 0x0020 IN_RATIO 0...1 000 ‰
64 = 0x0040 ---
128 = 0x0080 ---
256 = 0x0100 ---
512 = 0x0200 IN_RESISTANCE 3...680 ...30 000 
CHANNEL BYTE Number of input channel
DIAGNOSTICS BOOL TRUE: Channel with diagnostic function
only effective for IN_DIGITAL_H or IN_RESISTANCE
Error messages:
• wire break or short to ground
if input voltage < 1V for > 100 ms
• short to supply
if input voltage < 95 % VBBS for > 100 ms
• resistor value > 31 kOhm (I12...I14) or > 700 Ohm (I15)
>

11947



00 00 00 00 no error
133
5.2.9 Function elements: adapting analogue values

Content
NORM ...................................................................................................................................................135
NORM_DINT ........................................................................................................................................137
NORM_REAL .......................................................................................................................................138
27840
If the values of analogue inputs or the results of analogue functions must be adapted, the following
FBs will help you.
134
NORM
27675

Symbol in CODESYS:
>
Description
27772
NORM normalises a value within defined limits to a value with new limits.
The FB normalises a value of type WORD within the limits of XH and XL to an output value within the
limits of YH and YL. This FB is for example used for generating PWM values from analogue input
values.
NOTE
► The value for X must be in the defined input range between XL and XH!
There is no internal plausibility check of the value X.
> 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.
>

27679

X WORD input value
XH WORD Upper limit of input value range [increments]
XL WORD Lower limit of input value range [increments]
YH WORD Upper limit of output value range
YL WORD Lower limit of output value range
>

27742

Y WORD output value
135
>
Example: NORM (1)

27883
lower limit value input 0 XL

upper limit value input 100 XH
lower limit value output 0 YL
upper limit value output 2000 YH
then the FB converts the input signal for example as follows:
from X = 50 0 100 75
   
to Y = 1000 0 2000 1500
>
Example: NORM (2)

27884
lower limit value input 2000 XL

upper limit value input 0 XH
lower limit value output 0 YL
upper limit value output 100 YH
then the FB converts the input signal for example as follows:
from X = 1000 0 2000 1500
   
to Y = 50 100 0 25
136
NORM_DINT
2217

Symbol in CODESYS:
>
Description
2355
NORM_DINT normalises a value within defined limits to a value with new limits.
The FB normalises a value of type DINT within the limits of XH and XL to an output value within the
values.
NOTE
► 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)!
inverted manner.
>

2359

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
>

2360

Y DINT output value
137
NORM_REAL
2218

Symbol in CODESYS:
>
Description
2358
NORM_REAL normalises a value within defined limits to a value with new limits.
The FB normalises a value of type REAL within the limits of XH and XL to an output value within the
values.
NOTE
► 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)!
inverted manner.
>

2356

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
>

2357

Y REAL Output value
138
5.2.10 Function elements: counter functions for frequency and period measurement
Content
FAST_COUNT ......................................................................................................................................140
FREQUENCY .......................................................................................................................................142
FREQUENCY_PERIOD .......................................................................................................................144
INC_ENCODER ...................................................................................................................................146
INC_ENCODER_HR ............................................................................................................................148
PERIOD ................................................................................................................................................150
PERIOD_RATIO ...................................................................................................................................152
PHASE..................................................................................................................................................154
19285
Depending on the ecomatmobile device up to 16*) fast inputs are supported which can process input
frequencies of up to 30 kHz. In addition to frequency measurement, the inputs can also be used for
the evaluation of incremental encoders (counter function).
*) ExtendedController: up to 32 fast inputs
Due to the different measuring methods errors can occur when the frequency is determined.
The following FBs are available for easy evaluation:
Function element Permissible values Explanation
Measurement of the frequency on the indicated channel.
FREQUENCY 0.1...30 000 Hz
Measurement error is reduced in case of high frequencies
Measurement of frequency and period duration (cycle time) on the indicated
PERIOD 0.1...5 000 Hz
channel
Measurement of frequency and period duration (cycle time) as well as
PERIOD_RATIO 0.1...5 000 Hz
mark-to-space ratio [‰] on the indicated channel
The FB combines the two FBs FREQUENCY and PERIOD or PERIOD_RATIO.
FREQUENCY_PERIOD 0.1...30 000 Hz
Automatic selection of the measuring method at 5 kHz
PHASE 0.1...5 000 Hz Reading of a channel pair and comparison of the phase position of the signals
INC_ENCODER 0.1...30 000 Hz Up/down counter function for the evaluation of encoders
INC_ENCODER_HR 0.1...5 000 Hz Up/down counter function for the high resolution evaluation of encoders
FAST_COUNT 0.1...30 000 Hz Counting of fast pulses
Important when using the fast inputs as "normal" digital inputs:

► The increased sensitivity to noise pulses must be taken into account (e.g. contact bouncing for
mechanical contacts).
► The input signal must be debounced, if necessary! → chapter Configure the hardware filter (→ p. 62)
 The standard digital input can evaluate signals up to 50 Hz (depending on IEC cycle and filter
settings).
139
FAST_COUNT
15922

For the extended side of the ExtendedControllers the FB name ends with '_E'. (not for CR0133)
Symbol in CODESYS:
>
Description
20653
FAST_COUNT operates as counter block for fast input pulses.

During ENABLE=TRUE the function block detects rising edges at the FRQ input channels.
Maximum input frequency → data sheet.
If resetting and newly setting ENABLE, the counter continues to count from the value that was valid at
the last reset of ENABLE.
When setting INIT (rising edge) the count value CV is set to 0.
When resetting the parameter INIT the counter counts from 0.
22690
The following applies to the standard side of the device:

This function block may be used at the same input together with the function block INC_ENCODER
(→ p. 146).
22692
► Initialise the jointly operated function blocks at the same time.

> Subsequent loading of function block FAST_COUNT may influence the values of the function
block INC_ENCODER.
• FREQUENCY (→ p. 142)
• FREQUENCY_PERIOD (→ p. 144)
• PERIOD (→ p. 150)
• PERIOD_RATIO (→ p. 152)
• PHASE (→ p. 154)
32853
NOTE
In case of higher frequencies (higher than those guaranteed by ifm) the following problems may occur:
 The switch-on and switch-off times of the outputs become more important.
 Undue heating of the components may occur.
The influences mentioned above depend on the components used in the individual case.
These possible influences cannot be exactly predicted.
140
>

19869

> counter stopped
INIT BOOL FALSE  TRUE (edge):
unit is initialised
CHANNEL BYTE number of the fast input channel
MODE_UP_DOWN BOOL TRUE: counter counts downwards
FALSE: counter counts upwards
LOAD BOOL TRUE: start value PV is loaded in CV
PV DWORD Start value (preset value) for the counter
>

28430

CV DWORD current counter value
Behaviour in case of overflow:
• the counter stops at 0 when counting downwards
• there is an overflow when counting upwards
141
FREQUENCY
15924

Symbol in CODESYS:
>
Description
20656
20675
FREQUENCY measures the frequency of the signal arriving at the selected CHANNEL. The FB
evaluates the positive edge of the signal.
Depending on the TIMEBASE, frequency measurements can be carried out in a wide value range.
• high frequencies require a short timebase
• low frequencies require a longer timebase
Limit values:
TIMEBASE permissible, measurable frequency
57 000 ms
1 149 Hz
(= maximum value)
30 000 Hz
2 184 ms
(= maximum value)
The longer the timebase for the frequency to be measured, the more precise the measured value
determined.
Example of a frequency = 1 Hz:
TIMEBASE [ms] max. errors [%] Measurement [Hz]
1 000 100 0...2
10 000 10 0.9...1.1
The frequency is provided directly in [Hz].

32852
NOTE
7321
For frequency measuring: ensure that the function block does not receive more than 65 535
positive edges within the value of TIMEBASE!
Otherwise, the internal counting register may overflow and lead to incorrect results.
142
>
22690

(→ p. 146).
22691
• FAST_COUNT (→ p. 140)
• PERIOD (→ p. 150)
• PHASE (→ p. 154)
>

19871

Function block and interface are initialised
FALSE: measurement in process
or:measurement begins if previously INIT=TRUE
TIMEBASE TIME Time basis for frequency measurement (max. 57 s)
>

28425

F REAL frequency of the input signal in [Hz]
143
FREQUENCY_PERIOD
15926

Symbol in CODESYS:
>
Description
20659
20676
FREQUENCY_PERIOD measures the frequency and period duration (cycle time) in [µs] on the
indicated channel (allowed for all inputs). Maximum input frequency → data sheet.
The FB combines PERIOD/PERIOD_RATIO and FREQUENCY in a common function. The measuring
method is automatically selected at approx. 5 kHz:
• below 5.2 kHz the FB behaves like PERIOD or PERIOD_RATIO
• above 5.5 kHz the FB behaves like FREQUENCY.
This FB measures the frequency and the cycle time of the signal at the selected CHANNEL. To
calculate, all positive edges are evaluated and the average value is determined by means of the
number of indicated PERIODS.
For an input frequency > 5 kHz and an active FREQUENCY mode the ratio cannot be measured.
The maximum measuring range is approx. 15 min.
32856
NOTE
7321
For frequency measuring: ensure that the function block does not receive more than 65 535
positive edges within the value of TIMEBASE!
Otherwise, the internal counting register may overflow and lead to incorrect results.
22690

(→ p. 146).
144
>
22691
NOTE
• PERIOD (→ p. 150)
• PHASE (→ p. 154)
>

19872

FALSE: measurement in process
or:measurement begins if previously INIT=TRUE
PERIODS BYTE Number of periods to be averaged (1...16)
0 : Outputs C and F are not updated
> 16 : is limited to 16
TIMEBASE TIME Time basis for frequency measurement (max. 57 s)
RATIO_ENABLE BOOL TRUE: Ratio measurement provided to RATIO1000
FALSE: No ratio measurement provided
>

2337

C DWORD Cycle time of the detected periods in [µs]
permissible = 33...10 000 000 = 0x21...0x989680
ET TIME for measuring the interval:
(can be used for very slow signals)
RATIO_ENABLE = TRUE:
time elapsed since the last change of edge on the input
RATIO_ENABLE = FALSE:
time elapsed since the last rising edge on the input
for other measurements:
ET = 0
RATIO1000 WORD Mark-to-space ratio in [‰]
permissible = 1...999 = 0x1...0x3E7
Preconditions:
• for measuring the interval
• pulse duration > 100 µs
• frequency < 5 kHz
145
INC_ENCODER
15928
= Incremental Encoder
Symbol in CODESYS:
>
Description
19302
INC_ENCODER offers up/down counter functions for the evaluation of encoders.

Each input pair CHANNEL to be evaluated by means of the function block is formed by two
neighbouring frequency inputs.
Limit frequency = 30 kHz
max. number of units to be connected: 4 encoders (ExtendedController: max. 8 encoders)
Set preset value:
1. Enter value in PRESET_VALUE
2. Set PRESET to TRUE for one cycle
3. Reset PRESET to FALSE
The function block counts every 4th pulse at the

input pair (corresponds to the resolution of the
encoder), as long as INIT=FALSE and
PRESET=FALSE.
The current counter value is available at the output
COUNTER.
The outputs UP and DOWN indicate the current counting direction of the counter. The outputs are
TRUE if the counter has counted in the corresponding direction in the preceding program cycle (even
in case of overflow). If the counter stops, the direction output in the following program cycle is also
reset.
22616

For each physical input of the function block INC_ENCODER (→ p. 146), one of the following POUs
may be used in addition:
• PERIOD (→ p. 150)
• PHASE (→ p. 154)
146
>
22691
The following applies to the extended side of the device:

For each physical input of the function block INC_ENCODER_E, no further function blocks may
be used in addition.
>

529

CHANNEL BYTE Number of the input channel pair
0 = channel pair 0 = inputs I00 + I01
...
0 = channel pair 0 = inputs I00_E + I01_E
...
PRESET_VALUE DINT counter start value
PRESET BOOL FALSE  TRUE (edge):
PRESET_VALUE is loaded to COUNTER
TRUE: Counter ignores the input pulses
FALSE: Counter counts the input pulses
>

28429

COUNTER DINT Current counter value
UP BOOL TRUE: counter counts upwards in the last cycle
FALSE: counter counts not upwards in the last cycle
DOWN BOOL TRUE: counter counts downwards in the last cycle
FALSE: counter counts not downwards in the last cycle
147
INC_ENCODER_HR
19225
= Incremental Encoder high resolution

For the extended side of the ExtendedControllers the FB name ends with '_E'.
Symbol in CODESYS:
>
Description
19231
INC_ENCODER offers up/down counter functions for the evaluation of encoders.

Each input pair to be evaluated by means of the function block is formed by two neighbouring
frequency inputs.
Limit frequency = 5 kHz
max. number of units to be connected: 4 encoders (ExtendedController: max. 8 encoders)
Set preset value:
1. Enter value in PRESET_VALUE
2. Set PRESET to TRUE for one cycle
3. Reset PRESET to FALSE
The function block counts every edge at the input

pair (corresponding to 4-fold resolution of the
encoder), as long as INIT=FALSE and
PRESET=FALSE.
The current counter value is available at the output
COUNTER.
The outputs UP and DOWN indicate the current counting direction of the counter:
 Output = TRUE if the counter has counted in the corresponding direction in the preceding program
cycle (even in case of overflow).
 If the counter stops, the direction output in the following program cycle is also reset.
 Different in the event of overflow:
When the counter stops, the direction output = TRUE until an opposite count has been made.
• INC_ENCODER (→ p. 146)
• PERIOD (→ p. 150)
• PHASE (→ p. 154)
• SET_INTERRUPT_I (→ p. 124)
148
>

529

...
...
PRESET_VALUE DINT counter start value
PRESET BOOL FALSE  TRUE (edge):
PRESET_VALUE is loaded to COUNTER
TRUE: Counter ignores the input pulses
FALSE: Counter counts the input pulses
>

28429

COUNTER DINT Current counter value
UP BOOL TRUE: counter counts upwards in the last cycle
FALSE: counter counts not upwards in the last cycle
DOWN BOOL TRUE: counter counts downwards in the last cycle
FALSE: counter counts not downwards in the last cycle
149
PERIOD
15930

Symbol in CODESYS:
>
Description
20662
20677
PERIOD measures the frequency and period duration (cycle time) in [µs] on the indicated channel
(allowed for all inputs). Maximum input frequency → data sheet.
number of indicated PERIODS.
In case of low frequencies there will be inaccuracies when using FREQUENCY (→ p. 142). To avoid this,
PERIOD can be used. The cycle time is directly indicated in [µs].
The maximum measuring range is 10 seconds.
32860
NOTE
22690

(→ p. 146).
22691
• PHASE (→ p. 154)
150
>

19874

unit is initialised
>

28503

allowed = 200...10 000 000 = 0xC8...0x989680 (= 10 seconds)
ET TIME time elapsed since the last rising edge on the input
(can be used for very slow signals)
151
PERIOD_RATIO
15932

Symbol in CODESYS:
>
Description
20665
20678
PERIOD_RATIO measures the frequency and the period duration (cycle time) in [µs] over the
indicated periods on the indicated channel (allowed for all inputs). In addition, the mark-to-period ratio
is indicated in [‰]. Maximum input frequency → data sheet.
number of indicated PERIODS. In addition, the mark-to-period ratio is indicated in [‰].
For example: In case of a signal ratio of 25 ms high level and 75 ms low level the value RATIO1000 is
provided as 250 ‰.
In case of low frequencies there will be inaccuracies when using FREQUENCY (→ p. 142). To avoid this,
PERIOD_RATIO can be used. The cycle time is directly indicated in [µs].
The maximum measuring range is 10 seconds.
32859
NOTE
22690

(→ p. 146).
22691
• PERIOD (→ p. 150)
• PHASE (→ p. 154)
152
>

19873

unit is initialised
>

28502

allowed = 200...10 000 000 = 0xC8...0x989680 (= 10 seconds)
ET TIME Time passed since the last change of state on the input (can be used
in case of very slow signals)
RATIO1000 WORD Mark-to-space ratio in [‰]
permissible = 1...999 = 0x1...0x3E7
Preconditions:
• for measuring the interval
• pulse duration > 100 µs
• frequency < 5 kHz
153
PHASE
15934

Symbol in CODESYS:
>
Description
20668
20679
PHASE reads a pair of channels with fast inputs and compares the phase position of the signals.
Maximum input frequency → data sheet.
This FB compares a pair of channels with fast inputs so that the phase position of two signals towards
each other can be evaluated. An evaluation of the cycle period is possible even in the range of
seconds (max. 10 seconds).
32857
NOTE
22690

(→ p. 146).
22691
• PERIOD (→ p. 150)
154
>

19875

...
...
>

28473

C DWORD period duration of the first input's signal of the channel pair in [µs]
P INT angle of the phase shaft
valid measurement: 1...358 °
ET TIME Time elapsed since the last positive edge at the second pulse input of
the channel pair
155
5.2.11 Function elements: output functions in general

Content
SET_OUTPUT_MODE .........................................................................................................................157
10462
For this device you can set the mode of some or all outputs. Here we show you a couple of function
elements to it.
156
SET_OUTPUT_MODE
15937

Symbol in CODESYS:
>
Description
12094
SET_OUTPUT_MODE sets the operating mode of the selected output channel.

Allowed operating modes (→ data sheet):
Config. value Config. value
MODE CURRENT_RANGE
hex dec hex dec
--- --- --- no current measurement 00 0
OUT_DIGITAL_H (positive) 0001 1 current measurement 2 A (3 A) 01 1
OUT_DIGITAL_L (negative) 0002 2 current measurement 4 A 02 2
.
The operating mode should not be changed during operation.

15672
NOTE
Is the measuring range for ACTUAL_CURRENT to be changed (to 4 A) at the function block
OUTPUT_BRIDGE during operation?
► For both related outputs, during the init phase, call the function block SET_OUTPUT_MODE
before calling the function block OUTPUT_BRIDGE!
CURRENT_RANGE = 2 (for 4 A)
157
>

12096

> Read block inputs
MODE WORD Operating mode of output channel CHANNEL:
1 = 0x0001 OUT_DIGITAL_H
2 = 0x0002 OUT_DIGITAL_L
CHANNEL BYTE Number of the output channel
0...15 for the outputs Q00...Q15
0...31 for the outputs Q00_E...Q31_E
DIAGNOSTICS BOOL TRUE: Channel with diagnostic function
only effective for OUT_DIGITAL_H
• Wire break on outputs with current measurement:
if output is switched on AND
if current < 25 mA for > 66 ms
• Wire break on outputs without current measurement:
if output is switched off AND
if output voltage > 22 % VBBx for > 100 ms
• Overload with current measurement:
if current > 112.5 % of the measuring range for > 66 ms
• Short circuit without current measurement:
if VBBx > 7.3 V AND
if output voltage < 88 % VBBx for > 66 ms
For current measurement:
the filter settings Qxx_FILTER influence the diagnosis time
FALSE: channel without diagnostic function
PROTECTION BOOL TRUE: Protection against overload
only for OUT_DIGITAL_H
AND output with current measurement
If an overload or a short circuit is detected, the output switches off for
1 s, then on again.
CURRENT_RANGE BYTE Current measuring in the output channel CHANNEL:
0 = 0x00 OUT_CURRENT_RANGE_NONE (off)
for output without current
measurement
OR
for OUT_DIGITAL_L
AND output with current
measurement
1 = 0x01 OUT_CURRENT_RANGE1 2A/3A
measurement
2 = 0x02 OUT_CURRENT_RANGE2 4A
measurement
158
>

12102



00 00 00 00 no error
159
5.2.12 Function elements: PWM functions

Content
OUTPUT_BRIDGE ...............................................................................................................................161
OUTPUT_CURRENT ...........................................................................................................................165
OUTPUT_CURRENT_CONTROL .......................................................................................................166
PWM1000 .............................................................................................................................................169
28362
Here, you will find ifm function blocks that allow you to operate the outputs with Pulse-Width
Modulation (PWM).
160
OUTPUT_BRIDGE
2198

Symbol in CODESYS:
>
Description
19298
OUTPUT_BRIDGE controls the H-bridges on the PWM channels.

By means of this FB the outputs can easily be used as H-bridge. To do so, two successive output
channels are combined to one bridge by means of a minus switching driver. If DIRECTION = FALSE,
for the first output the plus switching driver is triggered via a PWM signal and the minus switching
driver of the second output is switched.
NOTE
When using the H-bridge current control is not supported.
Outputs which are operated in the PWM mode do not support any diagnostic functions and no ERROR
flags are set. This is due to the structure of the outputs.
Calling this FB with an output configured as B(L) is not permitted.
An output defined as PWM output can no longer be used as binary output afterwards.
The function overload protection is not active in this mode!
The function overload protection will be resetted by function OUTPUT_BRIDGE.
► Change the parameters only during operation when INIT=FALSE. The new parameters will not be
adopted before the current PWM period has elapsed.
Changes of the PWM frequencies during operation:
only permissible in the range 40...2 000 Hz.
If VALUE = 0, output will not be fully deactivated. In principle the output will be active during a timer
tick of the PWM timer (typically approx. 50 µs).
► FB must be called in each cycle.
161
>
Assignment of the output channels usable as an H-bridge  data sheet.

15672
NOTE
Is the measuring range for ACTUAL_CURRENT to be changed (to 4 A) at the function block
OUTPUT_BRIDGE during operation?
► For both related outputs, during the init phase, call the function block SET_OUTPUT_MODE
before calling the function block OUTPUT_BRIDGE!
CURRENT_RANGE = 2 (for 4 A)
ACTUAL_CURRENT shows the current of the H bridge in [mA].

Measurement method:
• PWM frequency < 100 Hz: averaging over one PWM period
• PWM frequency > 100 Hz: averaging over (PWM frequency/50) PWM periods (rounded down)
>
Principle of the H-bridge

9990
16411
Here you can see how a h-bridge can be run via PWM outputs at a ifm controller.
Basic circuit of a H-bridge with PWM control:
T1 and T2 together are e.g. output Qx.

Also T3 and T4 belongs together, e.g. for Qy.
Therfore you only need two pins for connecting the DC motor.
162
>
Program example:
163
>

2204

CHANNEL BYTE Name of output pair:
1 = bridge 1 at Q01 + Q03
2 = bridge 2 at Q09 + Q11
1 = bridge 1 at Q01_E + Q03_E
2 = bridge 2 at Q09_E + Q11_E
PWM_FREQUENCY WORD PWM frequency [Hz] for load on output
> function block limited to value of 20...2 000 = 0x0014...0x07D0
VALUE WORD PWM value (mark-to-space ratio) in [‰]
allowed = 0...1 000 = 0x0000...0x03E8
Values > 1 000 are regarded as = 1 000
DIRECTION BOOL Direction of rotation of the motor:
TRUE: Counter-clockwise (ccw):
Bridge 1: current flow Q01(_E)  Q03(_E)
Bridge 2: current flow Q09(_E)  Q11(_E)
FALSE: Clockwise (cw):
Bridge 1: current flow Q01(_E)  Q03(_E)
Bridge 2: current flow Q09(_E)  Q11(_E)
BRAKE_ASSISTANT BOOL TRUE: When changing the rotational direction:
the function block switches both outputs to ground
to brake the motor
as long as CHANGEOVER_TIME is running.
CHANGEOVER_TIME WORD Space time in [ms] during which the motor is not triggered in the case
of a change of the rotational direction
(> cycle time, at least 10 ms)
values < 10 ms work as = 10 ms
>

2205

ACTUAL_CURRENT WORD Output current in [mA]
164
OUTPUT_CURRENT
382

Symbol in CODESYS:
>
Description
28839
OUTPUT_CURRENT handles the current measurement in conjunction with an active PWM channel.
The FB provides the current output current if the outputs are used as PWM outputs or as plus
switching. The current measurement is carried out in the device, i.e. no external measuring resistors
are required.
>

17894

OUTPUT_CHANNEL BYTE Number of the current-controlled output channel (0...15)
DITHER_RELATED BOOL Current is determined as an average value via...
TRUE: one dither period
FALSE: one PWM period
>

28492

165
OUTPUT_CURRENT_CONTROL
2196

Symbol in CODESYS:
>
Description
2200
OUTPUT_CURRENT_CONTROL operates as current controller for the PWM outputs.

The setting parameters KI and KP represent the I-component and the P-component of the controller. It
is recommended to set KI=50 and KP=50 as start values so as to determine the best setting of the
controller. Depending on the requested controller behaviour the values can gradually be incremented
(controller is stronger / faster) or decremented (controller is weaker / slower).
At the preset value DESIRED_CURRENT=0 the output is controlled down to 0 mA within about
100 ms with the setting parameters being ignored.
Depending on the controller hardware used, a different teach performance has to be noted.
If parameters are changed during running, than the following can occur:
• the control possibly can skip completely or
• the control can need a longer time to tune the given value.
 Therefore validate the measured current and restart the control if necessary.
166
>
NOTE
► When defining the parameter DITHER_VALUE make sure that the resulting PWM ratio in the
operating range of the loop control remains between 0...1000 %:
• PWM ratio + DITHER_VALUE < 1000 ‰ and
• PWM ratio - DITHER_VALUE > 0 ‰.
Outside this permissible area, DITHER_VALUE is internally reduced to the maximum possible
value temporarily, so that the average value of the PWM ratio corresponds to the required value.
> When the dither is activated, changes to PWM_FREQUENCY, DITHER_VALUE and
DITHER_FREQUENCY become effective only when the current dither period has been
completed.
► Changes of the PWM frequencies during operation:
> If the current indicated in the parameter DESIRED_CURRENT cannot be reached because the
PWM ratio is already at 100 %, this is indicated by the system variable ERROR_CONTROL_Qx.
> If KI = 0, there is no loop control.
> If during the loop control a PWM_RATIO = 0 results, the output is not deactivated completely. In
principle the output will be active during a timer tick of the PWM timer (typically approx. 50 µs).
► The initialisation of the FB (INIT = TRUE) may only be carried out once per PLC cycle.
► Calling this FB with an output configured as B(L) is not permitted.
► An output defined as PWM output can no longer be used as binary output afterwards.
> If the flowing current in the switched-on condition exceeds the measuring range, control will no
longer be possible because the AD converter is at the end of the measuring range and therefore
provides wrong values (the max. value).
167
>

2201

OUTPUT_CHANNEL BYTE Number of the current-controlled output channel (0...15)
DESIRED_CURRENT WORD Desired current value of the output in [mA]
allowed = 0...2 000 / 0...4 000
(dependent on output and configuration)
PWM_FREQUENCY WORD PWM frequency [Hz] for load on output
DITHER_FREQUENCY WORD dither frequency in [Hz]
value range = 0...FREQUENCY / 2
FREQUENCY / DITHER_FREQUENCY must be even-numbered!
The FB increases all other values to the next matching value.
DITHER_VALUE WORD peak-to-peak value of the dither in [‰]
permissible values = 0...1 000 = 0000...03E8
KP BYTE proportional component of the output signal
KI BYTE Integral component of the output signal
if KI = 0 no rule
>

2202

PWM_RATIO WORD For monitoring purposes: display PWM pulse ratio 0...999 %
168
PWM1000
326

Symbol in CODESYS:
>
Description
2311
PWM1000 handles the initialisation and parameter setting of the PWM outputs.
The FB enables a simple use of the PWM function in the device. For each channel an own PWM
frequency, the mark-to-period ratio and the dither can be set.
The PWM frequency FREQUENCY can be directly indicated in [Hz] and the mark-to-period ratio
VALUE in steps of 1 ‰.
If VALUE = 0, output will not be fully deactivated. In principle the output will be active during a timer
tick of the PWM timer (typically approx. 50 µs).
► When defining the parameter DITHER_VALUE make sure that the resulting PWM ratio in the
operating range of the loop control remains between 0...1000 %:
• PWM ratio + DITHER_VALUE < 1000 ‰ and
• PWM ratio - DITHER_VALUE > 0 ‰.
Outside this permissible area, DITHER_VALUE is internally reduced to the maximum possible
value temporarily, so that the average value of the PWM ratio corresponds to the required value.
► Activate the function block permanently!
► Calling this FB with an output configured as B(L) is not permitted.
NOTE
The function change of a channel defined as PWM function during operation is not possible. The PWM
function remains set until a hardware reset is carried out on the controller  power off and on again.
For high PWM frequencies differences can occur between the set ratio and the ratio on the output due
to the system.
► Changes of the PWM frequencies during operation:
Changes during the runtime:

Always when the input CHANGE is set to TRUE, the FB adopts the value ...
• FREQUENCY after the current PWM period
• VALUE after the current PWM period
• DITHER_VALUE after the current dither period
• DITHER_FREQUENCY after the current dither period
169
>

2312

INIT BOOL TRUE (only 1 cycle):
Adopting new value from FREQUENCY
FREQUENCY WORD PWM frequency in [Hz]
CHANNEL BYTE Number of the PWM output channel
VALUE WORD PWM value (mark-to-space ratio) in [‰]
allowed = 0...1 000 = 0x0000...0x03E8
Values > 1 000 are regarded as = 1 000
CHANGE BOOL TRUE: adoption of the new value of ...
• FREQUENCY: after the current PWM period
• VALUE: after the current PWM period
• DITHER_VALUE: after the current dither period
• DITHER_FREQUENCY: after the current dither period
FALSE: the changed PWM value has no influence on the output
DITHER_VALUE WORD peak-to-peak value of the dither in [‰]
permissible values = 0...1 000 = 0000...03E8
170
5.2.13 Function elements: hydraulic control

Content
CONTROL_OCC ..................................................................................................................................172
JOYSTICK_0 ........................................................................................................................................174
JOYSTICK_1 ........................................................................................................................................177
JOYSTICK_2 ........................................................................................................................................181
NORM_HYDRAULIC ............................................................................................................................184
13760
The library ifm_HYDRAULIC_32bit_Vxxyyzz.Lib contains the following function blocks:

CONTROL_OCC (→ p. 172) OCC = Output Current Control
Scales the input value [WORD] to an indicated current range
JOYSTICK_0 (→ p. 174) Scales signals [INT] from a joystick to clearly defined characteristic curves, standardised to 0...
1000
JOYSTICK_1 (→ p. 177) Scales signals [INT] from a joystick D standardised to 0... 1000
JOYSTICK_2 (→ p. 181) Scales signals [INT] from a joystick to a configurable characteristic curve; free selection of the
standardisation
NORM_HYDRAULIC (→ p. 184) Normalises a value [DINT] within defined limits to a value with new limits
The following function blocks are needed from the library UTIL.Lib (in the CODESYS package):
• RAMP_INT
• CHARCURVE
These function blocks are automatically called and configured by the function blocks of the hydraulics
library.
The following function blocks are needed from the library:ifm_CR0033_Vxxyyzz.LIB
These function blocks are automatically called and configured by the function blocks of the hydraulics
library.
171
CONTROL_OCC
2735

Unit is contained in the libraryifm_HYDRAULIC_32bit_Vxxyyzz.Lib
Symbol in CODESYS:
>
Description
2737
CONTROL_OCC scales the input value X to a specified current range.

Each instance of the FB is called once in each PLC cycle.
This function block uses the following function blocks from the library:ifm_CR0033_Vxxyyzz.LIB
• OUTPUT_CURRENT_CONTROL (→ p. 166)
• OUTPUT_CURRENT (→ p. 165)
The controller controls on the basis of the cycle period of the PWM signal.
The setting parameters KI and KP represent the integral and the proportional component of the
controller. It is recommended to set KI=50 and KP=50 as start values so as to determine the best
setting of the controller.
► Increasing the values for KI and / or KP:  controller becomes more sensitive / faster
Decreasing the values for KI and / or KP:  controller becomes less sensitive / slower
> At the output DESIRED_CURRENT=0 the output is immediately switched to 0 mA and is not
adjusted downward to 0 mA in accordance with the set parameters.
The controller has a fast compensation mechanism for voltage drops of the supply voltage. In addition
to the controller behaviour of the controller and on the basis of the voltage drop, the ratio of the PWM
is increased such that the controller reaches as quickly as possible the desired value.
The input X of CONTROL_OCC should be supplied by the output of the JOYSTICK FBs.
172
>

2739

unit is initialised
R_RAMP INT Rising edge of the ramp in [increments/PLC cycle]
0 = no ramp
F_RAMP INT Falling edge of the ramp in [increments/PLC cycle]
0 = no ramp
TIMEBASE TIME Reference for rising and falling edge of the ramp:
t#0s = rising/falling edge in [increments/PLC cycle]
Fast controllers have very short cycle times!
otherwise = rising/falling edge in [increments/TIMEBASE]
X WORD input value
XH WORD Upper limit of input value range [increments]
XL WORD Lower limit of input value range [increments]
MAX_CURRENT WORD Max. valve current in [mA]
MIN_CURRENT WORD Min. valve current in [mA]
TOLERANCE BYTE Tolerance for min. valve current in [increments]
When the tolerance is exceeded, jump to MIN_CURRENT is effected
CHANNEL BYTE Number of the current-controlled output channel
PWM_FREQUENCY WORD PWM frequency [Hz] for load on input
DITHER_VALUE BYTE peak-to-peak value of the dither in [%]
permissible values = 0...100 = 0x00...0x64
KP BYTE proportional component of the output signal
KI BYTE integral component of the output signal
For KP, KI applies: recommended start value = 50

>

27757

DESIRED_CURRENT WORD Desired current value in [mA] for OCC
(for monitoring purposes)
BREAK BOOL Error: cable interrupted at output
SHORT BOOL Error: short circuit in cable at output
173
JOYSTICK_0
6250

Unit is contained in the libraryifm_hydraulic_32bit_Vxxyyzz.Lib
0
Symbol in CODESYS:
>
Description
27776
JOYSTICK_0 scales signals from a joystick to clearly defined characteristic curves, standardised
to 0...1000.
For this FB the characteristic curve values are specified (→ figures):
 Rising edge of the ramp = 5 increments/PLC cycle
Fast Controllers have a very short cycle time!
 Falling edge of the ramp = no ramp
The parameters XL_POS (XL+), XH_POS (XH+), XL_NEG

(XL-) and XH_NEG (XH-) are used to evaluate the joystick
movements only in the requested area.
The values for the positive and negative area may be different.
The values for XL_NEG and XH_NEG are negative here.
Mode 0:
characteristic curve linear for the range XL to XH
174
Mode 1:
Characteristic curve linear with dead band
Values fixed to:
Dead band:
0…10% of 1000 increments
Mode 2:
2-step linear characteristic curve with dead band
Values fixed to:
Dead band:
0…10% of 1000 increments
Step:
X = 50 % of 1000 increments
Y = 20 % of 1000 increments
Characteristic curve mode 3:

Curve rising (line is fixed)
175
>

27685

X INT Input value [increments]
XH_POS INT Max. preset value positive direction [increments]

(negative values also permissible)
XL_POS INT Min. preset value positive direction [increments]
XH_NEG INT Max. preset value negative direction [increments]
XL_NEG INT Min. preset value negative direction [increments]
MODE BYTE Mode selection characteristic curve:
0 = linear
(X|OUT = 0|0 ... 1000|1000)
1 = linear with dead band
(X|OUT = 0|0 ... 100|0 ... 1000|1000)
2 = 2-step linear with dead band
(X|OUT = 0|0 ... 100|0 ... 500|200 ... 1000|1000)
3 = curve rising (line is fixed)
>

27750

OUT1 WORD Standardised output value: 0…1000 increments
e.g. for valve left
e.g. for valve right
OUT3 INT Standardised output value -1000…0…1000 increments
e.g. for valve on output module (e.g. CR2011 or CR2031)
WRONG_MODE BOOL Error: invalid mode
ERR1 BYTE Error code for rising edge
(referred to the internally used function blocks CHARCURVE and
RAMP_INT from util.lib)
ERR2 BYTE Error code for falling edge
Possible results for ERR1 and ERR2:

Value Description
dec | hex
0 00 no error
1 01 Error in array: wrong sequence
2 02 Error: Input value IN is not contained in value range of array
4 04 Error: invalid number N for array
176
JOYSTICK_1
6255

Symbol in CODESYS:
>
Description
27775
JOYSTICK_1 scales signals from a joystick to configurable characteristic curves, standardised to

0...1000.
For this FB the characteristic curve values can be configured (→ figures):
Mode 0:
Linear characteristic curve
100 % = 1000 increments
Mode 1:
Characteristic curve linear with dead band
Value for the dead band (DB) can be set in % of 1000
increments
DB = Dead_Band
177
Mode 2:
2-step linear characteristic curve with dead band
Values can be configured to:
Dead band:
0…DB in % of 1000 increments
Step:
X = CPX in % of 1000 increments
Y= CPY in % of 1000 increments
DB = Dead_Band
CPX = Change_Point_X
CPY = Change_Point_Y
Characteristic curve mode 3:

Curve rising (line is fixed)
178
>

27650


0 = no ramp
0 = no ramp
MODE BYTE Mode selection characteristic curve:
0 = linear
(X|OUT = 0|0 ... 1000|1000)
1 = linear with dead band
(X|OUT = 0|0 ... DB|0 ... 1000|1000)
2 = 2-step linear with dead band
(X|OUT = 0|0 ... DB|0 ... CPX|CPY ... 1000|1000)
3 = curve rising (line is fixed)
DEAD_BAND BYTE Adjustable dead band
in [% of 1000 increments]
CHANGE_POINT_X BYTE For mode 2: ramp step, value for X
CHANGE_POINT_Y BYTE For mode 2: ramp step, value for Y
179
>

27750

e.g. for valve left
WRONG_MODE BOOL Error: invalid mode

Value Description
dec | hex
0 00 no error
180
JOYSTICK_2
6258

Symbol in CODESYS:
>
Description
27778
JOYSTICK_2 scales the signals from a joystick to a configurable characteristic curve. Free selection of
the standardisation.
For this FB, the characteristic curve is freely configurable (→ figure):
Characteristic curve freely configurable
181
>

27739


0 = no ramp
0 = no ramp
VARIABLE_GAIN ARRAY [0..10] OF POINT Pairs of values describing the curve
The first pairs of values indicated in N_POINT are used. n = 2…11
Example: 9 pairs of values declared as variable VALUES:
VALUES : ARRAY [0..10] OF POINT :=
(X:=0,Y:=0),(X:=200,Y:=0), (X:=300,Y:=50),
(X:=400,Y:=100), (X:=700,Y:=500),
(X:=1000,Y:=900), (X:=1100,Y:=950),
(X:=1200,Y:=1000), (X:=1400,Y:=1050);
There may be blanks between the values.
N_POINT BYTE Number of points (pairs of values in VARIABLE_GAIN) by which the
curve characteristic is defined: n = 2…11
182
>

27731

e.g. for valve left

Value Description
dec | hex
0 00 no error
183
NORM_HYDRAULIC
394

Symbol in CODESYS:
>
Description
27771
NORM_HYDRAULIC standardises input values with fixed limits to values with new limits.
This function block corresponds to NORM_DINT from the CODESYS library UTIL.Lib.
The function block standardises 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.
Due to rounding errors deviations from the standardised value of 1 may occur. If the limits (XH/XL or
YH/YL) are indicated in inversed form, standardisation is also inverted.
If X is outside the limits of XL…XH, the error message will be X_OUT_OF_RANGE = TRUE.
Typical characteristic curve of a hydraulic valve:

The oil flow will not start before 20% of the coil current has
been reached.
At first the oil flow is not linear.
Characteristics of the function block
184
>

27682

XH DINT Max. input value [increments]
XL DINT Min. input value [increments]
YH DINT Max. output value [increments], e.g.:
valve current [mA] / flow [l/min]
YL DINT Min. output value [increments], e.g.:
valve current [mA], flow [l/min]
>

27741

Y DINT output value
X_OUT_OF_RANGE BOOL Error: X is beyond the limits of XH and XL
>
Example: NORM_HYDRAULIC
27881
Parameter Case 1 Case 2 Case 3

Upper limit value input XH 100 100 2000
Lower limit value input XL 0 0 0
Upper limit value output YH 2000 0 100
Lower limit value output YL 0 2000 0
Non standardised value X 20 20 20
Standardised value Y 400 1600 1
 Case 1:
Input with relatively coarse resolution.
Output with high resolution.
1 X increment results in 20 Y increments.
 Case 2:
Input with relatively coarse resolution.
Output with high resolution.
1 X increment results in 20 Y increments.
Output signal is inverted as compared to the input signal.
 Case 3:
Input with high resolution.
Output with relatively coarse resolution.
20 X increments result in 1 Y increment.
185
5.2.14 Function elements: controllers

Content
Setting rule for a controller ...................................................................................................................186
DELAY ..................................................................................................................................................187
PID1 ......................................................................................................................................................188
PID2 ......................................................................................................................................................190
PT1 .......................................................................................................................................................192
27839
The section below describes in detail the units that are provided for set-up by software controllers in
the ecomatmobile device. The units can also be used as basis for the development of your own
control functions.
>
Setting rule for a controller

28400
For controlled systems, whose time constants are unknown the setting procedure to Ziegler and
Nickols in a closed control loop is of advantage.
>
Setting control
28405
At the beginning the controlling system is operated as a purely P-controlling system. In this respect the
derivative time TV is set to 0 and the reset time TN to a very high value (ideally to ) for a slow system.
For a fast controlled system a small T N should be selected.
Afterwards the gain KP is increased until the control deviation and the adjustment deviation perform
steady oscillation at a constant amplitude at KP = KPcritical. Then the stability limit has been reached.
Then the time period Tcritical of the steady oscillation has to be determined.
Add a differential component only if necessary.
TV should be approx. 2...10 times smaller than TN.
KP should be equal to KD.
Idealised setting of the controlled system:
Control unit KP = KD TN TV
P 2.0 • KPcritical –– ––
PI 2.2 • KPcritical 0.83 • Tcritical ––

PID 1.7 • KPcritical 0.50 • Tcritical 0.125 • Tcritical
For this setting process it has to be noted that the controlled system is not harmed by the
oscillation generated. For sensitive controlled systems KP must only be increased to a value at which
no oscillation occurs.
>
Damping of overshoot
27829
To dampen overshoot PT1 (→ p. 192) (low pass) can be used. In this respect the preset value XS is
damped by the PT1 link before it is supplied to the controller function.
The setting variable T1 should be approx. 4...5 times greater than TN of the controller.
186
DELAY
27826

Symbol in CODESYS:
>
Description
27770
DELAY delays the output of the input value by the time T (dead-time element).
Figure: Time characteristics of DELAY
The dead time is influenced by the duration of the PLC cycle.

The dead time my not exceed 100 • PLC cycle time (memory limit!).
In case a longer delay is set, the resolution of the values at the output of the FB will be poorer, which
may cause that short value changes will be lost.
To ensure that the FB works correctly: FB must be called in each cycle.
>

2615

X REAL Input value
T TIME Delay time (dead time)
allowed: 0...100 • cycle time
>

2616

Y REAL Input value, delayed by the time T
187
PID1
19235

Symbol in CODESYS:
>
Description
19237
PID1 handles a PID controller.

The change of the manipulated variable of a PID controller has a proportional, integral and differential
component.
OVERFLOW = TRUE is signalled when the 'I' part reaches an internal limitation because a control
deviation could not be corrected.
OVERFLOW remains TRUE as long as the limitation is active.
>

19238

X REAL Input value
XS REAL preset value
KP REAL Proportional component of the output signal
(only positive values permissible)
KI REAL Integral component of the output signal
KD REAL Differential component of the output signal
Y_MAX REAL maximum control value
RESET BOOL TRUE: reset the function element
>

19241

Y REAL Output value
188
>
Recommended settings
19242
► Start values:
KP = 0
KD = 0
► Adapt KI to the process.
► Then modify KP and KI gradually.
189
PID2
344

Symbol in CODESYS:
>
Description
6262
PID2 handles a PID controller.

The change of the manipulated variable of a PID controller has a proportional, integral and differential
component. The manipulated variable changes first by an amount which depends on the rate of
change of the input value (D component). After the end of the derivative action time TV the
manipulated variable returns to the value corresponding to the proportional component and changes in
accordance with the reset time TN.
The manipulated variable Y is already standardised to PWM1000 (→ p. 169).
Rules:
• Negative values for KP, KI and KD are not permitted.
• In case of TN = 0, the I value is not calculated
• In case of XS > XMAX, XS is limited to XMAX.
• In case of X > XMAX, Y is set to 0.
• If X > XS, the manipulated variable is increased.
• If X < XS, the manipulated variable is reduced.
A reference variable is internally added to the manipulated variable.
Y = Y + 65 536 – (XS / XMAX • 65 536).
The manipulated variable Y has the following time characteristics.
Figure: Typical step response of a PID controller
190
>

12963

X WORD input value
XS WORD preset value
XMAX WORD maximum preset value
KP REAL Proportional component of the output signal
KI REAL Integral component of the output signal
TN TIME integral action time (integral component)
KD REAL Differential component of the output signal
TV TIME derivative action time (differential component)
RESET BOOL TRUE: reset the function element
>

27743

Y WORD Manipulated variable (0...1000 ‰)
>
Recommended setting
27708
► Select TN according to the time characteristics of the system:

fast system = small TN
slow system = large TN
► Slowly increment KP gradually, up to a value at which still definitely no fluctuation will occur.
► Readjust TN if necessary.
► Add differential component only if necessary:
Select a TV value approx. 2...10 times smaller than TN.
Select a KD value more or less similar to KP.
Note that the maximum control deviation is + 127. For good control characteristics this range should
not be exceeded, but it should be exploited to the best possible extent.
191
PT1
28577

Symbol in CODESYS:
>
Description
27819
PT1 handles a controlled system with a first-order time delay.

This FB is a proportional controlled system with a time delay. It is for example used for generating
ramps when using the PWM FBs.
The output of the FB can become instable if T1 is shorter than the SPS cycle time.
The output variable Y of the low-pass filter has the following time characteristics (unit step):
Figure: Time characteristics of PT1

>

2618

T1 TIME Delay time (time constant)
>

2619

Y DINT output value
192
5.2.15 Function elements: software reset

Content
SOFTRESET ........................................................................................................................................194
27843
Using this FB the control can be restarted via an order in the application program.
193
SOFTRESET
27714

Symbol in CODESYS:
>
Description
28134
SOFTRESET leads to a complete reboot of the device.

The FB can for example be used in conjunction with CANopen if a node reset is to be carried out. FB
SOFTRESET executes an immediate reboot of the controller. The current cycle is not completed.
Before reboot, the retain variables are stored.
The reboot is logged in the error memory.
In case of active communication: the long reset period must be taken into account because
otherwise guarding errors will be signalled.
>

27689

194
5.2.16 Function elements: measuring / setting of time

Content
TIMER_READ ......................................................................................................................................196
TIMER_READ_US ...............................................................................................................................197
28375
Using the following function blocks of ifm electronic you can...

• measure time and evaluate it in the application program,
• change time values, if required.
195
TIMER_READ
27719

Symbol in CODESYS:
>
Description
27827
TIMER_READ reads the current system time.

When the supply voltage is applied, the device generates a clock pulse which is counted upwards in a
register. This register can be read using the FB call and can for example be used for time
measurement.
The system timer goes up to 0xFFFF FFFF at the maximum (corresponds to 49d 17h 2min 47s
295ms) and then starts again from 0.
>

27740

T TIME Current system time [ms]
196
TIMER_READ_US
27716

Symbol in CODESYS:
>
Description
27793
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
>

27758

TIME_US DWORD current system time [s]
197
5.2.17 Function elements: device temperature

Content
TEMPERATURE ..................................................................................................................................199
2364
198
TEMPERATURE
2216

Symbol in CODESYS:
>
Description
2365
TEMPERATURE reads the current temperature in the device.

The FB can be called cyclically and indicates the current device temperature (-40...125 °C) on its
output.
>

2366

>

2367

TEMPERATURE INT Current internal temperature of the device [°C]
199
5.2.18 Function elements: saving, reading and converting data in the memory
Content
Storage types for data backup .............................................................................................................200
File system............................................................................................................................................201
Automatic data backup .........................................................................................................................202
Manual data storage .............................................................................................................................204
28364
>
Storage types for data backup

28421
The device provides the following memory types:

>
Flash memory
28829
Properties:
• non-volatile memory
• writing is relatively slow and only block by block
• before re-writing, memory content must be deleted
• fast reading
• limited writing and reading frequency
• really useful only for storing large data quantities
• saving data with FLASHWRITE
• reading data with FLASHREAD
>
FRAM memory
28831
Properties:
• fast writing and reading
• unlimited writing and reading frequency
• any memory area can be selected
• saving data with FRAMWRITE
• reading data with FRAMREAD
200
>
File system
2690
The file system coordinates the storage of the information in the memory. The size of the file system is
128 kbytes.
The file names of the data system are limited:
max. length for Controller: CR0n3n, CR7n3n: 15 characters
max. for all other units: 11 characters
Behaviour of the file system in the Controller: CR0n3n, CR7n3n:
 The controller always tries to write the file, even if the same file name already exists. The file might
be saved several times. Only the current file is used. Via the download (see below) this multiple
filing can be prevented.
 Individual files cannot be overwritten or deleted.
 The file system is completely deleted during each download (boot project download or RAM
download). Then e.g. a symbol file or a project file (FBs in CODESYS) can be written.
 The file system is also deleted during a [Reset (Original)] (CODESYS function in the menu
[Online]).
201
Automatic data backup

Content
MEMORY_RETAIN_PARAM ...............................................................................................................203
14168
32645
The ecomatmobile controllers allow to save data (BOOL, BYTE, WORD, DWORD) non-volatilely
(= saved in case of voltage failure) in the memory. If the supply voltage drops, the backup operation is
automatically started. Therefore it is necessary that the data is defined as RETAIN variables
(→ CODESYS).
A distinction is made between variables declared as RETAIN and variables in the flag area which can
be configured as a remanent block with MEMORY_RETAIN_PARAM (→ p. 203).
Details → chapter Variables (→ p. 67)
The advantage of the automatic backup is that also in case of a sudden voltage drop or an interruption
of the supply voltage, the storage operation is triggered and thus the current values of the data are
saved (e.g. counter values).
If supply voltage < 8 V, retain data is no longer backed up!

In this case, flag RETAIN_WARNING = TRUE.
202
MEMORY_RETAIN_PARAM
27673

Symbol in CODESYS:
>
Description
28023
MEMORY_RETAIN_PARAM determines the remanent data behaviour for various events. Variables
declared as VAR_RETAIN in CODESYS have a remanent behaviour from the outset.
Remanent data keep their value (as the variables declared as VAR_RETAIN) after an uncontrolled
termination as well as after normal switch off and on of the controller. After a restart the program
continues to work with the stored values.
For groups of events that can be selected (with MODE), this function block determines how many
(LEN) data bytes (from flag byte %MB0) shall have retain behaviour even if they have not been
explicitly declared as VAR_RETAIN.
Event MODE = 0 MODE = 1 MODE = 2 MODE = 3
Power OFF  ON Data is newly initialised Data is remanent Data is remanent Data is remanent
Soft reset Data is newly initialised Data is remanent Data is remanent Data is remanent
Cold reset Data is newly initialised Data is newly initialised Data is remanent Data is remanent
Reset default Data is newly initialised Data is newly initialised Data is remanent Data is remanent
Load application program Data is newly initialised Data is newly initialised Data is remanent Data is remanent
Load runtime system Data is newly initialised Data is newly initialised Data is newly initialised Data is remanent
If MODE = 0, only those data have retain behaviour as with MODE=1 which have been explicitly
declared as VAR_RETAIN.
If the FB is never called, the flag bytes act according to MODE = 0. The flag bytes which are above the
configured area act according to MODE = 0, too.
Once a configuration has been made, it remains on the device even if the application or the runtime
system is reloaded.
>

27645

LEN WORD Number of data bytes from flag address %MB0 onwards to show
remanent behaviour
allowed = 0...4 096 = 0x0...0x1000
LEN > 4 096 will be corrected automatically to LEN = 4 096
MODE BYTE Events for which these variables shall have retain behaviour
(0...3; → table above)
For MODE > 3 the last valid setting will remain
203
Manual data storage

Content
FLASHREAD ........................................................................................................................................205
FLASHWRITE ......................................................................................................................................206
FRAMREAD .........................................................................................................................................208
FRAMWRITE ........................................................................................................................................209
MEMCPY ..............................................................................................................................................210
MEMSET ..............................................................................................................................................211
28519
Besides the possibility to store data automatically, user data can be stored manually, via function block
calls, in integrated memories from where they can also be read.
By means of the storage partitioning (→ chapter Available memory (→ p. 15)) the programmer can
find out which memory area is available.
204
FLASHREAD
27888

Symbol in CODESYS:
>
Description
27769
FLASHREAD enables reading of different types of data directly from the flash memory.
> The FB reads the contents as from the address of SRC from the flash memory. In doing so, as
many bytes as indicated under LEN are transmitted.
> The contents are read completely during the cycle in which the FB is called up.
► Please make sure that the target memory area in the RAM is sufficient.
>

2318

SRC DWORD relative start address in memory
allowed = 0...65 535 = 0x0...0x0000 FFFF
If start address is outside the permissible range:
> no data transfer
LEN DWORD number of data bytes (max. 65 536 = 0x0001 0000)
If the indicated number of bytes exceeded the flash memory
space, the data would only be transmitted to the end of the flash
memory space.
205
FLASHWRITE
27885

Symbol in CODESYS:
>
Description
19245
► Activate the TEST input to use the function block! Otherwise, a watchdog error occurs.
Test input is active:
32442
WARNING
Danger due to uncontrollable process operations!
The status of the inputs/outputs is "frozen" during execution of FLASHWRITE.
► Do not execute this FB when the machine is running!
FLASHWRITE enables writing of different data types directly into the flash memory.
Using this FB, large data volumes are to be stored during set-up, to which there is only read access in
the process.
► If a page has already been written (even if only partly), the entire flash memory area needs to be
deleted before new write access to this page. This is done by write access to the address 0.
► Never write to a page several times! Always delete everything first!
Otherwise, traps or watchdog errors occur.
► Do not delete the flash memory area more often than 100 times. Otherwise, the data
consistency in other flash memory areas is no longer guaranteed.
► During each SPS cycle, FLASHWRITE may only be started once!
► To the source start address SRC applies:
> The FB writes the contents of the address SRC into the flash memory. In doing so, as many bytes
as indicated under LEN are transmitted.
If destination start address DST is outside the permissible range: no data transfer!
206
>

2603

DST DWORD Relative start address in memory
allowed = 0...65 535 = 0x0...0x0000 FFFF
LEN DWORD number of data bytes (max. 65 536 = 0x0001 0000)
If the indicated number of bytes exceeded the flash memory
space, the data would only be transmitted to the end of the flash
memory space.
SRC DWORD source address
207
FRAMREAD
27886

Symbol in CODESYS:
>
Description
28176
FRAMREAD enables quick reading of different data types directly from the FRAM memory ¹).
The FB reads the contents as from the address of SRC from the FRAM memory. In doing so, as many
bytes as indicated under LEN are transmitted.
If the FRAM memory area were to be exceeded by the indicated number of bytes, only the data up to
the end of the FRAM memory area will be read.
¹) FRAM indicates here all kinds of non-volatile and fast memories.
>

2606

SRC DWORD relative start address in memory
allowed = 0... 16 383 = 0x0000 0000...0x0000 3FFF
LEN DWORD number of data bytes
allowed = 0...16 384 = 0x0000 0000...0x0000 4000
208
FRAMWRITE
27863

Symbol in CODESYS:
>
Description
28167
FRAMWRITE enables the quick writing of different data types directly into the FRAM memory ¹).
The FB writes the contents of the address SRC to the non-volatile FRAM memory. In doing so, as
many bytes as indicated under LEN are transmitted.
If the FRAM memory area were to be exceeded by the indicated number of bytes, only the data up to
the end of the FRAM memory area will be written.
If the target address DST is outside the permissible range: no data transfer!
¹) FRAM indicates here all kinds of non-volatile and fast memories.
>

2605

DST DWORD Relative start address in memory
allowed = 0... 16 383 = 0x0...0x0000 3FFF
LEN DWORD number of data bytes
allowed = 0...16 384 = 0x0000 0000...0x0000 4000
209
MEMCPY
27672
= memory copy
Symbol in CODESYS:
>
Description
15944
32818
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:
> 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.
> If the memory area into which the data are to be copied is not entirely in a permissible memory
area, the data will not be copied and a parameter error will be signalled.
DST memory area Device Memory size
Application data (all) 192 Kbytes
Tables "Available memory" → chapter Available memory (→ p. 15)

>

27680

LEN WORD number (> 1) of the data bytes to be transmitted
210
MEMSET
2348

Symbol in CODESYS:
>
Description
2350
MEMSET enables writing to a defined data area.

The FB writes the content of DATA into the memory as from the address of DST as many bytes as
indicated under LEN.
► For the destination address DST applies:
> If the memory area into which the data are to be copied is not entirely in a permissible memory
area, the data will not be copied and a parameter error will be signalled.
DST memory area Device Memory size
Application data (all) 192 Kbytes
>

2351

DATA BYTE Value to be written
LEN WORD number of data bytes to be overwritten with DATA
211
5.2.19 Function elements: data access and data check

Content
CHECK_DATA .....................................................................................................................................213
GET_IDENTITY ....................................................................................................................................215
SET_DEBUG ........................................................................................................................................216
SET_IDENTITY ....................................................................................................................................217
SET_PASSWORD................................................................................................................................218
27844
The FBs described in this chapter control the data access and enable a data check.
212
CHECK_DATA
27809

Symbol in CODESYS:
>
Description
27768
CHECK_DATA generates a checksum (CRC) for a configurable memory area and checks the data of
the memory area for undesired changes.
► Create a separate instance of the function block for each memory area to be monitored.
► Determine the address by means of the operator ADR and assigne it to the POU!
► In addition, indicate the number of data bytes LENGTH (length from the STARTADR).
Undesired change: Error!
If input UPDATE = FALSE and data in the memory is changed inadvertently, then RESULT = FALSE.
The result can then be used for further actions (e.g. deactivation of the outputs).
Desired change:
Data changes in the memory (e.g. of the application program or ecomatmobile device) are only
permitted if the output UPDATE is set to TRUE. The value of the checksum is then recalculated. The
output RESULT is permanently TRUE again.
>

2612

STARTADR DWORD Start address of the monitored data memory
(WORD address as from %MW0)
LENGTH DWORD length of the monitored data memory in [byte]
UPDATE BOOL TRUE: Data was changed
> function block calculates new checksum
FALSE: Data was not changed
> function block checks memory area
>

2613

RESULT BOOL TRUE: CRC checksum OK:
intentional data change or no change
FALSE: CRC checksum faulty:
data was changed inadvertently
CHECKSUM DWORD Current CRC checksum
213
>
Example: CHECK_DATA
27893
In the following example the program determines the checksum and stores it in the RAM via pointer pt:
214
GET_IDENTITY
14505

Symbol in CODESYS:
>
Description
14507
GET_IDENTITY reads the specific identifications stored in the device:

>

28478

>

14508

DEVICENAME STRING(31) hardware name
as a string of max. 31 characters, e.g.: "CR0403"
SERIALNUMBER STRING(31) Serial number of the device
as character string of max. 31 characters
e.g.: "12345678"
FIRMWARE STRING(31) Name of the runtime system in the device
as character string of max. 31 characters
e.g.: "CR0403"
RELEASE STRING(31) software version
as a character string of max. 31 characters
APPLICATION STRING(79) Name of the application
as a string of max. 79 characters
e.g.: "Crane1704"
215
SET_DEBUG
27721

Symbol in CODESYS:
>
Description
27815
SET_DEBUG handles the DEBUG mode without active test input (→ chapter TEST mode (→ p. 48)).
If the input DEBUG of the FB is set to TRUE, the programming system or the downloader, for
example, can communicate with the device and execute some special system commands (e.g. for
service functions via the GSM modem CANremote).
In this operating mode a software download is not possible because the test input is not connected
to supply voltage. Only read access is possible.
>

27688

DEBUG BOOL TRUE: debugging via the interfaces possible
FALSE: debugging via the interfaces not possible
216
SET_IDENTITY
11927

Symbol in CODESYS:
>
Description
27814
SET_IDENTITY sets an application-specific program identification.

Using this FB, a program identification can be created by the application program. This identification
(i.e. the software version) can be read via the software tool DOWNLOADER.EXE in order to identify
the loaded program.
The following figure shows the correlations of the different identifications as indicated by the different
software tools. (Example: ClassicController CR0020):
Boot loader Runtime system Application
Identity Identity
BOOTLD_H 020923 CR0020 SET_IDENTITY
Extended identity  V2.0.0 041004  Nozzle in front *)
CR0020 00.00.01 Hardware version
CR0020 00.00.01
Software version
Nozzle in front *)
 
Downloader reads:
Downloader reads: CR0020
BOOTLD_H 020923 V2.0.0 041004
CR0020 00.00.01 ifm electronic gmbh
Nozzle in front *)
CANopen tool reads:

Hardware version
OBV 1009
CR0020 00.00.01
*) 'Nozzle in front' is substitutionally here for a customised text.

>

11928

ID STRING(79) Any desired text with a maximum length of 79 characters
217
SET_PASSWORD
27724

Symbol in CODESYS:
>
Description
27816
SET_PASSWORD sets a user password for the program and memory upload with the
DOWNLOADER.
If the password is activated, reading of the application program or the data memory with the software
tool DOWNLOADER is only possible if the correct password has been entered.
If an empty string (default condition) is assigned to the input PASSWORD, an upload of the application
software or of the data memory is possible at any time.
A new password can be set only after resetting the previous password.
The password is reset when loading a new application program as boot project.
>

2353

> Read block inputs
PASSWORD STRING(16) password
If PASSWORD = "", than access is possible without enter of a
password
218
5.2.20 Function elements: administer error messages

Content
ERROR_REPORT ................................................................................................................................220
ERROR_RESET ...................................................................................................................................222
PACK_ERRORCODE ..........................................................................................................................224
SHOW_ERROR_LIST ..........................................................................................................................225
UNPACK_ERRORCODE .....................................................................................................................226
19229
Here we show you functions that enable you to

• generate application-specific error codes
• list or delete error codes
219
ERROR_REPORT
12357

Symbol in CODESYS:
>
Description
12364
With ERROR_REPORT the application program signals an application-specific error to the system.
► Program the result of the error condition to the input ENABLE.
If ENABLE=TRUE, the function block enters the error code in the error list.
• view current error list with SHOW_ERROR_LIST (→ p. 225)
• delete an error entry from the error list using ERROR_RESET (→ p. 222)
► Program the corresponding error code to the input ERRORCODE:
Structure: yy xx 00 00 → chapter Error codes (→ p. 310)
xx = application-specific error code
yy = error class
Here, the function block PACK_ERRORCODE (→ p. 224)
> The function block output signals whether this function block call has been configured correctly.
The function block does not analyse whether the error codes are meaningful.
>

12363

an error is active
signal the corresponding ERRORCODE
the fault is not active (anymore)
ERRORCODE DWORD When this error code occurs, the configured behaviour is to be applied.
→ chapter Error codes (→ p. 310)
The function block does not analyse whether the error codes are
meaningful.
220
>

19255



00 00 00 00 no error
221
ERROR_RESET
12376

Symbol in CODESYS:
>
Description
12378
With ERROR_RESET the application program can reset upcoming error messages:
 a single error message
 a group of error messages of the same type (same source or same cause)
 application-specific error:
• All errors containing the indicated USER error code are deleted.
• The error class is ignored.
• Error cause and error source must have the value '0'.
 If an error of class 3 or 4 is reset, then...
• the flag ERROR=FALSE is set
• all other errors of classes 3 and 4 are also deleted.
 all errors
Depending on the entered ERRORCODE the following happens with ENABLE=TRUE:
ERRORCODE Note Description
0xCL 00 SO 00 Eror cause = 0 Reset all errors with the same error source
0xCL 00 00 CA Error source = 0 Reset all errors with the same error cause
0xXX AS SO CA Application-specific error Reset all errors with the same number (irrespective of
the error class)
0x00 00 00 00 Error code = 0 Reset all errors
Legend:
CL = code for error class
AS = code for application-specific error
SO = code for error source
CA = code for error cause
XX = code value without any effect
> As long as an error is active, the following happens with a reset:
• The fault is reset briefly.
• When the diagnostic time has elapsed plus 1 program cycle: The fault is signalled again.
► Between two reset actions of the FB:
set ENABLE=FALSE (at least for one PLC cycle)!
222
>

12379

ERRORCODE DWORD When this error code occurs, the configured behaviour is to be applied.
meaningful.
>

19257



00 00 00 00 no error
>
Example: ERROR_RESET
13054
If all errors "Overload" are to be reset with the error class "General errors",
ERRORCODE=0x01000004 needs to be indicated:
0x01 0x00 0x00 0x04
General error No application-specific error All error sources Overload
223
PACK_ERRORCODE
12382

Symbol in CODESYS:
>
Description
12384
PACK_ERRORCODE helps to build an ERRORCODE from the components:

• error class
• error source
• error cause
(structure → chapter Error codes (→ p. 310)).
>

12385

CAUSE BYTE Code for error cause
SOURCE BYTE Code for error source
USERCODE BYTE Code for application-specific error
CLASS BYTE Code for error class
>

12390

ERRORCODE DWORD created error code → chapter Error codes (→ p. 310)
meaningful.
224
SHOW_ERROR_LIST
12360

Symbol in CODESYS:
>
Description
12367
The function block SHOW_ERROR_LIST serves to read the currently present error codes.
With ENABLE=TRUE the function block creates a list of up to 64 currently existing error codes.
ENABLE=FALSE preserves an unchanged version of the most recent list.
If the list is full, no more error codes are accepted.
>

12368

>

12369

ERRORS ARRAY [0..63] OF DWORD List of currently present error codes
225
UNPACK_ERRORCODE
13650

Symbol in CODESYS:
>
Description
13653
UNPACK_ERRORCODE divides an ERRORCODE into its components:

• error class
• error source
• error cause
(structure → chapter Error codes (→ p. 310)).
>

13654

ERRORCODE DWORD Error code →chapter Error codes (→ p. 310)
meaningful.
>

13675

CLASS BYTE Code for error class
USERCODE BYTE Code for application-specific error
SOURCE BYTE Code for error source
CAUSE BYTE Code for error cause
226
6 Diagnosis and error handling

Content
Diagnosis ..............................................................................................................................................227
Fault ......................................................................................................................................................227
Reaction in case of an error .................................................................................................................228
Relay: important notes!.........................................................................................................................228
Response to system errors...................................................................................................................228
CAN / CANopen: errors and error handling..........................................................................................229
28855
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. 44)
In so doing a high operating reliability is provided, as much as possible.
>
6.1 Diagnosis
28856
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
28834
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".
227
>
6.3 Reaction in case of an error

19603
28543
When errors are detected the system flag ERROR can also be set in the application program. Thus, in
case of a fault, the controller reacts as follows:
> the operation LED lights red,
> the output relays switch off,
> the outputs protected by the relays are disconnected from power,
> the logic signal states of the outputs remain unchanged.
NOTE
If the outputs are switched off by the relays, the logic signal states remain unchanged.
► The programmer must evaluate the ERROR bit and thus also reset the output logic in case of a
fault.
Complete list of the device-specific error codes and diagnostic messages

→ chapter System flags (→ p. 230).
>
6.4 Relay: important notes!

14034
NOTICE
Premature wear of the relay contacts possible.
► In normal operation, only switch the relays without load!
For this purpose, set all relevant outputs to FALSE via the application program!
>
6.5 Response to system errors

14033
32423
The programmer has the sole responsibility for the safe processing of data in the application
software.
► Process the specific error flags and/or error codes in the application program!
An error description is provided via the error flag / error code.
This error flag / error code can be further processed if necessary.
After analysis and elimination of the error cause:
► As a general rule, reset all error flags via the application program.
Without explicit reset of the error flags the flags remain set with the corresponding effect on the
228
>
6.6 CAN / CANopen: errors and error handling

28808
→ System manual "Know-How ecomatmobile"

→ chapter CAN / CANopen: errors and error handling
229
7 Appendix
Content
System flags .........................................................................................................................................230
Address assignment and I/O operating modes ....................................................................................237
Integrated I/O module: Description .......................................................................................................244
Error tables ...........................................................................................................................................309
28796
Additionally to the indications in the data sheets you find summary tables in the appendix.
7.1 System flags

Content
System flags: CAN ...............................................................................................................................231
System flags: SAE-J1939 .....................................................................................................................232
System flags: error flags (standard side) ..............................................................................................233
System flags: status LED (standard side) ............................................................................................234
System flags: voltages (standard side) ................................................................................................235
System flags: 16 inputs and 16 outputs (standard side) ......................................................................236
28371
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!

→ chapter Error codes and diagnostic information
230
>
7.1.1 System flags: CAN

12820

CANx_BAUDRATE WORD CAN interface x: set baud rate in [kBaud]
CANx_BUSOFF BOOL CAN interface x: Error "CAN-Bus off"
Reset of the error code alse resets the flag
CANx_DOWNLOADID BYTE CAN interface x: set download identifier
CANx_ERRORCOUNTER_RX BYTE CAN interface x: Error counter receiver
Reset of the flag is possible via write access
CANx_ERRORCOUNTER_TX BYTE CAN interface x: error counter transmission
A reset of the flag is possible via write access
CANx_LASTERROR BYTE CAN interface x:
Error number of the last CAN transmission:
0 = no error Initial value
1 = stuff error more than 5 identical bits in series on the bus
2 = form error received message had wrong format
3 = ack error sent message was not confirmed
4 = bit1 error a recessive bit was sent outside the arbitration area, but a
dominant bit was read on the bus
5 = bit0 error it was tried to send a dominant bit, but a recessive level
was read
OR: a sequence of 11 recessive bits was read during
bus-off recovery
6 = CRC error checksum of the received message was wrong
CANx_WARNING BOOL CAN interface x: warning threshold reached (> 96)
A reset of the flag is possible via write access
CANx stands for x = 1...4 = number of the CAN interface
231
>
7.1.2 System flags: SAE-J1939

12815

J1939_RECEIVE_OVERWRITE BOOL Setting only applies to J1939 data that has not been transmitted
via a J1939 transport protocol.
TRUE:
The old data is overwritten by the new data if the old data has
not yet been read from the function block instance
FALSE:
New data is rejected as long as the old data has not been read
from the function block instance
New data can arrive before the old data has been read out
if the IEC cycle is longer than the refresh rate of the J1939 data
J1939_TASK BOOL Using J1939_TASK, the time requirement for sending J1939
messages is met.
If J1939 messages are to be sent with a repetition time
< 50 ms, the runtime system automatically sets
J1939_TASK=TRUE.
For applications for which the time requirement is > PLC cycle
time:
 Reduce system load with J1939_TASK=FALSE!
TRUE: J1939 task is active (= initial value)
The task is called every 2 ms.
The J1939 stack sends its messages in the
required time frame
FALSE: J1939 task is not active
232
>
7.1.3 System flags: error flags (standard side)

23784

ERROR BOOL TRUE: safe state assumed
all outputs = OFF
output relays = OFF
(e.g. fatal error / Error-Stop)
FALSE: no serious error occurred
Bit = TRUE: error
ERROR_BREAK_Qx DWORD output double word x: wire break error
(0...x, value depends on the device, [Bit 0 for output 0] ... [bit z for output z] of this group
→ data sheet) Bit = TRUE: error
ERROR_CONTROL_Qx DWORD output double word x:current control error
(0...x, value depends on the device, final value cannot be reached
→ data sheet) [Bit 0 for output 0] ... [bit z for output z] of this group
Bit = TRUE: error
ERROR_CURRENT_Ix DWORD input double word x: over-current error
(0...x, value depends on the device, only if Ixx_MODE = IN_CURRENT
Bit = TRUE: error
ERROR_POWER BOOL Overvoltage error for VBBs / clamp 15:
TRUE: Value out of range
or: difference (VBB15 - VBBs) > 1 V
> general error
> application STOP
> outputs = inactive
> no communication
> message "Overvoltage clamp 15"
FALSE: Value OK
Bit = TRUE: error
ERROR_SHORT_Qx DWORD output double word x: short circuit error or overload error
(0...x, value depends on the device, [Bit 0 for output 0] ... [bit z for output z] of this group
→ data sheet) Bit = TRUE: error
ERROR_TEMPERATURE BOOL Temperature error
> general error
FALSE: Value OK
ERROR_VBBx BOOL Supply voltage error on VBBx (x = o | r):
> general error
FALSE: Value OK
ERRORCODE DWORD Last error written to internal error list
The list contains all error codes that occurred.
LAST_RESET BYTE Cause for the last reset:
00 = reset of the application
233
>
7.1.4 System flags: status LED (standard side)

28376

LED WORD LED color for "LED switched on":
0x0000 = LED_GREEN (preset)
0x0001 = LED_BLUE
0x0002 = LED_RED
0x0003 = LED_WHITE
0x0004 = LED_BLACK
0x0006 = LED_CYAN
0x0007 = LED_YELLOW
LED_X WORD LED color for "LED switched off":
0x0000 = LED_GREEN
0x0001 = LED_BLUE
0x0002 = LED_RED
0x0003 = LED_WHITE
0x0004 = LED_BLACK (preset)
0x0006 = LED_CYAN
0x0007 = LED_YELLOW
LED_MODE WORD LED flashing frequency:
0x0000 = LED_2HZ (flashes at 2 Hz; preset)
0x0001 = LED_1HZ (flashes at 1 Hz)
0x0002 = LED_05HZ (flashes at 0.5 Hz)
0x0003 = LED_0HZ (lights permanently with value in LED)
234
>
7.1.5 System flags: voltages (standard side)

12135

CLAMP_15_VOLTAGE WORD voltage applied to clamp 15 in [mV]
REF_VOLTAGE WORD Voltage on reference voltage output in [mV]
REFERENCE_VOLTAGE_5 BOOL Reference voltage output with 5 V activated
REFERENCE_VOLTAGE_10 BOOL Reference voltage output with 10 V activated
RELAIS_VBBy BOOL TRUE: relay for VBBy activated
y=o|r voltage is applied to output group x
(x = 1 | 2)
FALSE: relay for VBBy deactivated
no voltage is applied to output group x
SERIAL_MODE BOOL Activate serial interface (RS232) for use in the application
TRUE:
The RS232 interface can be used in the application, but no
longer for programming, debugging or monitoring of the device.
FALSE:
The RS232 interface cannot be used in the application.
Programming, debugging or monitoring of the device is
possible.
SUPPLY_SWITCH BOOL Bit for switching off the supply latching VBBs. Resetting the flag
is only accepted by the runtime system if the voltage at
clamp 15 < 4 V, otherwise the flag is activated again.
Separation of VBBs is done before the next PLC cycle starts.
Depending on the charging status of the internal capacitors it
may take some time until the device switches off.
TRUE: Supply of the device via VBBs is active
FALSE: Supply of the device via VBBs is deactivated
SUPPLY_VOLTAGE WORD supply voltage at VBBs in [mV]
TEST BOOL TRUE: Test input is active:
FALSE: application is in operation
VBBx_RELAIS_VOLTAGE WORD Supply voltage on VBBx to relay contact in [mV]
x=o|r
VBBx_VOLTAGE WORD Supply voltage on VBBx in [mV]
x=o|r
235
>
7.1.6 System flags: 16 inputs and 16 outputs (standard side)

13121

ANALOGxx WORD Analogue input xx:
xx = 00...15 filtered A/D converter raw value (12 bits) without calibration or
standardisation
ANALOG_IRQxx WORD Analogue input xx:
xx = 00...07 unfiltered A/D converter raw value (12 bits)
without calibration or standardisation
Use in FB SET_INTERRUPT_I (→ p. 124) or SET_INTERRUPT_XMS
(→ p. 126)
CURRENTxx WORD PWM output xx:
xx = 00...15 filtered A/D converter raw values (12 bits) of the current
measurement without calibration or standardisation
Ixx BOOL Status on binary input xx
xx = 00...15 Condition: input is configured as binary input
(MODE = IN_DIGITAL_H or IN_DIGITAL_L)
TRUE: Voltage on binary input > 70 % of VBBS
FALSE: Voltage on binary input < 30 % of VBBS
or: not configured as binary input
or: wrong configuration
Ixx_DFILTER DWORD Pulse input xx:
xx = 00...11 pulse duration in [µs] which is to be ignored as a glitch.
Acquisition of the input signal is delayed by the set time.
allowed = 0...100 000 µs
preset = 0 µs = no filter
Ixx_FILTER BYTE:=4 Binary and analogue input xx:
xx = 00...15 limit frequency (or signal rise time) of the first-order software
low-pass filter
0 = 0x00 = no filter
1 = 0x01 = 390 Hz (1 ms)
2 = 0x02 = 145 Hz (2.5 ms)
3 = 0x03 = 68 Hz (5 ms)
4 = 0x04 = 34 Hz (10 ms) (preset)
5 = 0x05 = 17 Hz (21 ms)
6 = 0x06 = 8 Hz (42 ms)
7 = 0x07 = 4 Hz (84 ms)
8 = 0x08 = 2 Hz (169 ms)
higher = → preset value
Qxx BOOL Status on binary output xx:
xx = 00...15 Condition: output is configured as binary output
TRUE: output activated
FALSE: output deactivated (= initial value)
or: not configured as binary output
Qxx_FILTER BYTE Output xx:
xx = 00...15 limit frequency of the first-order software low-pass filter for the
current measurement
only if Qxx_MODE = OUT_DIGITAL_H
not if PWM mode
0 = 0x00 = no filter
1 = 0x01 = 580 Hz (0.6 ms)
2 = 0x02 = 220 Hz (1.6 ms)
3 = 0x03 = 102 Hz (3.5 ms)
4 = 0x04 = 51 Hz (7 ms) (preset)
5 = 0x05 = 25 Hz (14 ms)
6 = 0x06 = 12 Hz (28 ms)
7 = 0x07 = 6 Hz (56 ms)
8 = 0x08 = 3 Hz (112 ms)
higher = → preset value
236
7.2 Address assignment and I/O operating modes

Content
Addresses / variables of the I/Os .........................................................................................................237
Possible operating modes inputs/outputs .............................................................................................241
28801
→ also data sheet
7.2.1 Addresses / variables of the I/Os

Content
Inputs: addresses and variables (standard side) (16 inputs) ...............................................................237
Outputs: addresses and variables (standard side) (16 outputs) ..........................................................239
28802
>
Inputs: addresses and variables (standard side) (16 inputs)

10432
Abbreviations →chapter Note on wiring (→ p. 32)
Operating modes of the inputs/outputs →chapter Possible operating modes inputs/outputs (→ p. 241)
IEC address I/O variable Remark
%IX0.0 I00 Binary input channel 0
%IW2 ANALOG00 Analogue input channel 0

237

%IW18 CURRENT00 Output current (raw value) on Q00


%IW34 SUPPLY_VOLTAGE Supply voltage on VBBs in [mV]

%IW35 CLAMP_15_VOLTAGE Voltage clamp 15
%IW36 VBBO_VOLTAGE Supply voltage on VBBo in [mV]
%IW37 VBBR_VOLTAGE Supply voltage on VBBr in [mV]
%IW38 VBBO_RELAIS_VOLTAGE Supply voltage VBBo to relay contact in [mV]
%IW39 VBBR_RELAIS_VOLTAGE Supply voltage VBBr to relay contact in [mV]
%IW40 REF_VOLTAGE Voltage on the reference output pin 51
%IW41 ANALOG_IRQ00 Interrupt to analogue input channel 0

%MB7960 ERROR_CURRENT_I0 Error DWORD overcurrent

%MB7964 ERROR_SHORT_I0 Error DWORD short circuit
238

%MB7968 ERROR_BREAK_I0 Error DWORD wire break
>
Outputs: addresses and variables (standard side) (16 outputs)

10433
Abbreviations →chapter Note on wiring (→ p. 32)
Operating modes of the inputs/outputs →chapter Possible operating modes inputs/outputs (→ p. 241)
%QX0.0 Q00 Binary output / PWM output channel 0
%QB2 REFERENCE_VOLTAGE_5 Activating the reference voltage output with 5 V

%QB3 REFERENCE_VOLTAGE_10 Activating the reference voltage output with 10 V
%QB68 I00_FILTER Filter byte for %IX0.0 / %IW2

%QB84 Q00_FILTER Filter byte for %QX0.0
239

%QD25 I00_DFILTER Filter value counting/pulse input 0

%MB7948 ERROR_SHORT_Q0 Error DWORD short circuit

%MB7952 ERROR_BREAK_Q0 Error DWORD wire break
%MB7956 ERROR_CONTROL_Q0 Error DWORD current control
240
7.2.2 Possible operating modes inputs/outputs

Content
Inputs: operating modes (standard side) (16 inputs) ............................................................................241
Outputs: operating modes (standard side) (16 outputs) .......................................................................242
28584
>
Inputs: operating modes (standard side) (16 inputs)

19368
= this configuration value is default
Value
Inputs Possible operating mode Set with function block Function block input
dec hex
INPUT_ANALOG
I00…I11 IN_NOMODE off MODE 0 0000
SET_INPUT_ANALOG
INPUT_ANALOG
IN_DIGITAL_H plus MODE 1 0001
SET_INPUT_ANALOG
INPUT_ANALOG
IN_DIGITAL_L minus MODE 2 0002
SET_INPUT_ANALOG
INPUT_ANALOG
IN_CURRENT 0…20 000 µA MODE 4 0004
SET_INPUT_ANALOG
INPUT_ANALOG
IN_VOLTAGE10 0…10 000 mV MODE 8 0008
SET_INPUT_ANALOG
INPUT_ANALOG
IN_VOLTAGE30 0…32 000 mV MODE 16 0010
SET_INPUT_ANALOG
INPUT_ANALOG
IN_RATIO 0…1 000 ‰ MODE 32 0020
SET_INPUT_ANALOG
Diagnosis for IN_DIGITAL_H SET_INPUT_MODE DIAGNOSTICS TRUE
Frequency measurement FREQUENCY
Interval measurement 0…30 000 Hz FREQUENCY_PERIOD
Phase measurement PHASE
Interval measurement 0,1...5 000 Hz PERIOD
Period and ratio
0,1...5 000 Hz PERIOD_RATIO
measurement
Counter 0…30 000 Hz FAST_COUNT
0…30 000 Hz INC_ENCODER
I00...I07 Detect encoder
0...5 000 Hz INC_ENCODER_HR
INPUT_ANALOG
I12...I14 IN_NOMODE off MODE 0 0000
SET_INPUT_ANALOG
INPUT_ANALOG
SET_INPUT_ANALOG
INPUT_ANALOG
IN_RESISTANCE 16…30 000  MODE 512 0200
SET_INPUT_ANALOG
INPUT_ANALOG
I15 IN_NOMODE off MODE 0 0000
SET_INPUT_ANALOG
INPUT_ANALOG
SET_INPUT_ANALOG
INPUT_ANALOG
IN_RESISTANCE 3…680  MODE 512 0200
SET_INPUT_ANALOG
241
Set operating modes with the following function block:

INPUT_ANALOG (→ p. 129) analogue input channel: alternatively measurement of...
• current
• voltage
• resistance
>
Outputs: operating modes (standard side) (16 outputs)

15523
Possible operating Value

Outputs Set with function block Function block input
mode dec hex
Q00…Q15 OUT_DIGITAL_H plus SET_OUTPUT_MODE MODE 1 0001
OUT_DIGITAL_L minus SET_OUTPUT_MODE MODE 2 0002
for OUT_DIGITAL_H
Diagnosis SET_OUTPUT_MODE DIAGNOSTICS TRUE
via current measurement
for OUT_DIGITAL_H
Overload protection SET_OUTPUT_MODE PROTECTION TRUE
with current measurement
no current measurement SET_OUTPUT_MODE CURRENT_RANGE 0 00
Current measuring range 2A/3A SET_OUTPUT_MODE CURRENT_RANGE 1 01
4A SET_OUTPUT_MODE CURRENT_RANGE 2 02
Details → chapter Outputs Q00...Q15: permitted operating modes (→ p. 243)

Set operating modes with the following function block:
SET_OUTPUT_MODE (→ p. 157) Sets the operating mode of the selected output channel
242
>
Outputs Q00...Q15: permitted operating modes

15525
Operating mode Q00 Q01 Q02 Q03 Q04 Q05 Q06 Q07
OUT_DIGITAL_H plus X X X X X X X X
OUT_DIGITAL_L minus -- X -- X -- -- -- --
for OUT_DIGITAL_H
Diagnosis X X X X X X X X
for OUT_DIGITAL_H
Overload protection X X X X X X X X
2A X X X X -- -- -- --
Current measuring range 3A -- -- -- -- X X X X
4A X X X X -- -- -- --
PWM X X X X X X X X
PWMi X X X X X X X X
H-bridge -- X -- X -- -- -- --
Operating mode Q08 Q09 Q10 Q11 Q12 Q13 Q14 Q15
OUT_DIGITAL_H plus X X X X X X X X
OUT_DIGITAL_L minus -- X -- X -- -- -- --
for OUT_DIGITAL_H
Diagnosis X X X X X X X X
for OUT_DIGITAL_H
Overload protection X X X X X X X X
2A X X X X -- -- -- --
Current measuring range 3A -- -- -- -- X X X X
4A X X X X -- -- -- --
PWM X X X X X X X X
PWMi X X X X X X X X
H-bridge -- X -- X -- -- -- --
243
7.3 Integrated I/O module: Description

Content
System description I/O module ExB01 .................................................................................................244
Configuration of the I/O module ...........................................................................................................258
Object directory of the integrated I/O module.......................................................................................269
Operation of the I/O module .................................................................................................................303
System flag for the integrated ExB01 I/O module ................................................................................305
Error messages for the I/O module ......................................................................................................306
16418
7.3.1 System description I/O module ExB01

Content
Hardware description I/O module .........................................................................................................245
Interface description I/O module ..........................................................................................................256
16422
244
Hardware description I/O module

Content
Hardware structure I/O module ............................................................................................................245
Status LED I/O module .........................................................................................................................246
Inputs of the integrated I/O module ExB01 ..........................................................................................247
Outputs of the integrated I/O module ExB01........................................................................................253
16423
>
Hardware structure I/O module

16425
Figure: Block diagram of the supply
245
>
Status LED I/O module

16414
The operating states are indicated by the integrated status LED (default setting).
LED colour Display Description
Permanently off No operating voltage
Off
Briefly on Status = INIT

Yellow
Permanently on Status = PRE-OPERATIONAL
Green
Flashing with 2 Hz Status = OPERATIONAL

Green
Flashing as 1 pulse Status = STOP
Green
Permanently on Bug : CAN bus-off
Red
Flashing as 1 pulse EMCY: CAN error warning

Red
Flashing as 2 pulses EMCY: guarding / heartbeat
Red
Flashing as 3 pulses EMCY: synch error
Red
246
Inputs of the integrated I/O module ExB01

Content
Analogue inputs ....................................................................................................................................248
Binary inputs .........................................................................................................................................249
I/O module input group IN00...IN03 ......................................................................................................250
16229
247
>
Analogue inputs
15444
The analogue inputs can be configured via the application program. The measuring range can be set
as follows:
• current input 0...20 mA
• resistance measurement 16...30 000  (measurement to GND)
The voltage measurement can also be carried out ratiometrically (0...1000 ‰, adjustable via function
blocks). This means potentiometers or joysticks can be evaluated without additional reference voltage.
A fluctuation of the supply voltage has no influence on this measured value.
As an alternative, an analogue channel can also be evaluated binarily.
In case of ratiometric measurement the connected sensors should be supplied with VBBs of the
device. So, faulty measurements caused by offset voltage are avoided.
33386
In = pin multifunction input n

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

8972

(CR) = device
(1) = input filter
(4) = voltage
248
>
Binary inputs
1015
28811
The binary input can be operated in following modes:

Depending on the device the binary inputs can configured differently. In addition to the protective
mechanisms against interference, the binary inputs are internally evaluated via an analogue stage.
This enables diagnosis of the input signals. But in the application software the switching signal is
directly available as bit information
In = pin binary-input n
(CR) = device
(1) = input filter
(2a) = input minus switching
(2b) = input plus switching
(3) = voltage
Figure: basic circuit of binary input minus switching / plus switching for negative and positive sensor signals
In = pin binary input n In = pin binary input n

(S) = sensor (S) = sensor
Basic circuit of binary input plus switching (BL) Basic circuit of binary input minus switching (BH)
for positive sensor signal: for negative sensor signal:
Input = open  signal = low (GND) Input = open  signal = high (supply)
For some of these inputs (→ data sheet) the potential can be selected to which it will be switched.
249
>
I/O module input group IN00...IN03

15801

• analogue input 0...20 mA
→ chapter Possible operating modes I/O module (→ p. 266)
All inputs show the same behaviour concerning function and diagnosis.
► Configuration of each input is made via the PLC configuration:
→ chapter Configure inputs of the integrated I/O module (→ p. 261)
> If the analogue inputs are configured for current measurement and if the final value (23 mA for
> 40 ms) is exceeded, the device switches to the safe voltage measuring range (0...32 V DC). In
this case PDO1 sends the message "overcurrent". After about one second the input automatically
switches back to the current measuring range.
>

15803

• input for resistance measurement (e.g. temperature sensors or fuel sensors)
250
>
Resistance measurement
9773
Typical sensors on these inputs:

• tank level
• temperature (PT1000, NTC)
8972

(CR) = device
(1) = input filter
(4) = voltage
8970
The resistance for this device is not linearly dependent on the resistance value, → figure:
Figure: resolution dependent on the

resistance value
(1) = resistance value at the input

(2) = resolution
By how many ohms does the measured value change when the signal of the A/D converter on the input changes by 1?
Examples:
• In the range of 1...100  the resolution is 1.2 .
• In the range of 10 k the resolution is approx. 11 
>

15804

251

>

15805

• fast input for e.g. incremental encoders and frequency or interval measurement
252
Outputs of the integrated I/O module ExB01

Content
E/A-Modul Ausgangsgruppe OUT0, OUT1 ..........................................................................................253
I/O module output group OUT02...OUT07 ...........................................................................................254
16234
>
E/A-Modul Ausgangsgruppe OUT0, OUT1

33409
33409
If the supply voltage VBB1 or VBB2 is not available, all outputs are switched off (OFF).

• binary output, plus switching (BH) with diagnostic function and protection
• analogue current-controlled output (PWMi)
• analogue output with Pulse Width Modulation (PWM)
► Configuration of each output is made via the PLC configuration:
→ chapter Configure outputs of the integrated I/O module (→ p. 263)
► For the limit values please make sure to adhere to the data sheet!
>
Diagnosis: binary outputs (via current and voltage measurement)

19433
19434
The diagnostics of these outputs is made via internal current and voltage measurement in the output:

(1) Output channel
(2a) Read back channel for diagnosis via current measuring
(2b) Read back channel for diagnosis via voltage measuring
(3) Pin output n
(4) Load
>
Diagnosis: overload (via current measurement)

19437
28851

253
>
Diagnosis: wire break (via voltage measurement)

19436
33415
Prerequisite for diagnosis: output = FALSE
the resistor Ru pulls the read back channel to HIGH
Diagnosis = wire break: potential (power supply)
Without the wire break the low-resistance load (RL < 10 kΩ) would force a
LOW (logical 0).
>
Diagnosis: short circuit (via voltage measurement)

28852
Diagnosis = short circuit against GND: the read back channel is pulled to LOW potential (GND)
>
I/O module output group OUT02...OUT07

15808

>
Diagnosis: binary outputs (via voltage measurement)

19403
28859
The diagnostics of these outputs is made via internal voltage measurement in the output:

(1) Output channel
(2) Read back channel for diagnosis
(3) Pin output n
(4) Load
>
Diagnosis: overload
28858
The outputs have no current measuring, no overload detection.
254
>
Diagnosis: wire break (via voltage measurement)

28853
Prerequisite for diagnosis: output = FALSE
the resistor Ru pulls the read back channel to HIGH
Diagnosis = wire break: potential (power supply)
Without the wire break the low-resistance load (RL < 10 kΩ) would force a
LOW (logical 0).
>
Diagnosis: short circuit (via voltage measurement)

28852
Diagnosis = short circuit against GND: the read back channel is pulled to LOW potential (GND)
>

15809

• binary output, plus switching (BH)
• analogue output with Pulse Width Modulation (PWM), voltage-controlled
>

15810

>

15811
These outputs are a group of channels with a single specified function.

These outputs have the following fixed setting:
255
Interface description I/O module

Content
CAN interfaces I/O module ...................................................................................................................256
16426
CAN interfaces I/O module

Content
CAN: Interfaces and protocols: I/O module in CR0133 ........................................................................256
CAN: Interfaces and protocols: I/O module in CR2532 ........................................................................256
Connect integrated I/O module ExB01 as CANopen slave ..................................................................256
16608
>
CAN: Interfaces and protocols: I/O module in CR0133

15833
15835
The following CAN interfaces and CAN protocols are available in the integrated I/O module of the
device:
Default download ID ID 123 ID 122 --- ---
CAN protocols --- CANopen slave --- ---

>
CAN: Interfaces and protocols: I/O module in CR2532

16429
16435
The following CAN interfaces and CAN protocols are available in the integrated I/O module of the
device:
Default download ID ID 125 ID 124 --- ---
CAN protocols --- CANopen slave --- ---

>
Connect integrated I/O module ExB01 as CANopen slave

15829
The integrated I/O module of the device is based on the Smart Controller CR2530:
• This side is preset as CANopen slave ExB01
• Use this side as input/output module.
We recommend the following connection method:
256
 CAN1 of the I/O module exclusively serves as service or maintenance interface!

► Only use the shown connection for the standard side of the controller with the integrated I/O
module!
Do NOT use these connections for other purposes!
► For the CAN network in the application only use the interfaces > CAN2 of the standard side!
257
7.3.2 Configuration of the I/O module

Content
Set up the programming system (I/O module) .....................................................................................258
Function configuration of the inputs and outputs in the I/O module .....................................................261
Possible operating modes I/O module .................................................................................................266
16427
Set up the programming system (I/O module)

Content
Set up the programming system manually (I/O module) ....................................................................259
Set up programming system via template (I/O module) .......................................................................260
16609
258
Set up the programming system manually (I/O module)

Content
Integrate the internal I/O module ExB01 ..............................................................................................259
16610
>
Integrate the internal I/O module ExB01

15828
Integrate the internal I/O module of the device as CANopen slave via the CODESYS control
configuration!
For this, the same method is used as for integrating an external I/O module:
► Left clicking on the first line (CR0033 Configuration Vxx) in the CODESYS control configuration
for highlighting.
► A click on the right mouse button opens the context menu.
► Select [Append Subelement] there.
► Select [CANopen master...] in the context menu.
It always makes sense to configure the first CANopen master for CAN1.
► Open the context menu again by right clicking on [CANopen master].
► Select [Append Subelement] there.
► Select the EDS file for the integrated I/O module of the device in the context menu:
[ExB01_Vxxyyzz.EDS].
> Result:
The IEC addresses for CAN-Input and CAN-Output result from the following details:
• type of the device used as CANopen master,
• position of the I/O module behind the CANopen master,
• assigned node ID.
The I/O module uses three consecutive node IDs. Rule:
 [node ID of the following CAN slave] > [node ID of the I/O module] + 3
► Set the CAN parameter:
• node ID
• nodeguarding
• heartbeat settings
► Parameter setting of the inputs and outputs in the I/O module:
→ chapter Object directory of the integrated I/O module (→ p. 269)
259
>
Set up programming system via template (I/O module)

16611
33498
ifm offers ready-to-use templates (program templates), by means of which the programming system
can be set up quickly, easily and completely.
33498
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.
260
Function configuration of the inputs and outputs in the I/O module

Content
Configure inputs of the integrated I/O module......................................................................................261
Configure outputs of the integrated I/O module ...................................................................................263
16430
Configure inputs of the integrated I/O module

Content
Configure software filter of the inputs (I/O module) ..............................................................................261
Analogue inputs: configuration and diagnosis (I/O module ExB01) .....................................................261
Binary inputs: Configuration and diagnosis (I/O module ExB01) .........................................................262
Fast inputs: I/O module ExB01 .............................................................................................................262
16244
>
Configure software filter of the inputs (I/O module)

15898
The software filter is preset and cannot be changed:

Table: limit frequency software low-pass filter on the analogue input
Step response [ms] for ...
FILTER Filter frequency [Hz] Remarks
0…70 % 0…90 % 0…99 %
fixed 10 19 36 72
>
Analogue inputs: configuration and diagnosis (I/O module ExB01)

15894
Configuration of each input is made via the PLC configuration:

• Click on line [ExB01 (EDS)] below [CANopen Master]
• Click on the [Service Data Objects] tab
• Select index / sub-index of the requested parameter
• Click on the existing value in the [Value] column
• Change the value and confirm with [ENTER]
Permissible values → chapter Inputs: operating modes (I/O module) (→ p. 267)
> If the analogue inputs are configured for current measurement and if the final value (23 mA for
> 40 ms) is exceeded, the device switches to the safe voltage measuring range (0...32 V DC). In
this case PDO1 sends the message "overcurrent". After about one second the input automatically
switches back to the current measuring range.
261
>
Binary inputs: Configuration and diagnosis (I/O module ExB01)

15896


connection!
Figure: non-electronic switch S at input Inn
> The result of the diagnosis is PDO 1
>
Fast inputs: I/O module ExB01

15869
The devices dispose of fast counting/pulse inputs for an input frequency up to 30 kHz (→ data sheet).
14677
If, for example, mechanical switches are connected to these inputs, there may be faulty signals in
the controller due to contact bouncing.
Configuration of each input is made via the PLC configuration:
3804
The permissible high input frequencies also ensure the detection of faulty signals, e.g. bouncing
contacts of mechanical switches.
► If required, suppress the faulty signals in the application program!
262
Configure outputs of the integrated I/O module

Content
Configure software filter of the outputs (I/O module) ...........................................................................263
Binary outputs: configuration and diagnosis (I/O module ExB01) ........................................................263
PWM outputs: I/O module ExB01 .........................................................................................................264
16248
>
Configure software filter of the outputs (I/O module)

15900
For the I/O module the following applies:

The software filter is preset and cannot be changed.
Table: limit frequency software low-pass filter on PWM output
Step response [ms] for ...
FILTER Filter frequency [Hz] Remarks
0…90 % 0…95 % 0…99 %
fixed 52 7.2 9.4 14.4
>
Binary outputs: configuration and diagnosis (I/O module ExB01)

15882
33379

33379
WARNING
► Remedy:
263
>
Binary outputs: Configuration (I/O module ExB01)

15887

Permissible values → chapter Outputs: Operating modes (I/O module) (→ p. 267)
>
Binary outputs: Diagnosis (I/O module ExB01)

15889

Activate diagnosis with...
• Mode = 15 (OUT_BINARY_HIGH_DIAG) or
• Mode = 16 (OUT_BINARY_HIGH_DIAG_PROT)
> The result shows PDO 9:
>
PWM outputs: I/O module ExB01

16415
33529
Qn = pin output n
(L) = load

16253
WARNING
Property damage or bodily injury possible due to malfunctions!
For outputs in PWM mode:
• There are no diagnostic functions
264
>
9980
NOTE
PWM outputs must NOT be operated in parallel, e.g. in order to increase the max. output current. The
outputs do not operate synchronously.
Otherwise the entire load current could flow through only one output. The current measurement would
no longer function.
 PWM outputs can be operated with and without current control function.
Current-controlled PWM outputs are mainly used for triggering proportional hydraulic functions.
The medium current across a PWM signal can only be correctly determined if the current
flowing in the switched-on state is within the measuring range.
>
Availability of PWM
16364
of which
Number of available PWM frequency
Device current-controlled
PWM outputs [Hz]
(PWMi)
Integrated I/O module ExB01 12 2 20...250
>
Configure outputs for PWM functions

15888
The following settings are available for the PWM function of the outputs:
• Mode = 4 (OUT_PWM) or
• Mode = 5 (OUT_CURRENT)
>
Current control with PWM (= PWMi)

14722
Current measurement of the coil current can be carried out via the current measurement channels
integrated in the controller. This way, the current can for example be re-adjusted if the coil heats up.
The hydraulic conditions in the system are maintained.
In principle, the current-controlled outputs are protected against short circuit.
265
Possible operating modes I/O module

Content
Overview ...............................................................................................................................................266
Inputs: operating modes (I/O module) ..................................................................................................267
Outputs: Operating modes (I/O module) ..............................................................................................267
16440
>
Overview
15859
For the inputs and outputs the following operating modes are possible (detailed description: → the
following pages):
SDO value Input
Mode Description
dec | hex Output
Input
0 0x00 OFF switched off, without function
Output
binary plus switching, digital detection
1 0x01 IN_BINARY_LOW_DIGITAL Input
(if possible use mode 10 instead!)
binary plus switching:
2 0x02 OUT_BINARY_HIGH Output output = FALSE  0 V
output = TRUE supply voltage of the outputs
3 0x03 IN_VOLTAGE_10V Input analogue voltage measurement in the 10 V measuring range
4 0x04 OUT_PWM Output PWM mode
5 0x05 OUT_CURRENT Output current-controlled
6 0x06 IN_VOLTAGE_RATIO Input analogue voltage measurement, ratiometric with regard to the supply voltage VBBs
7 0x07 IN_CURRENT Input analogue current measurement (up to 23 mA)
8 0x08 --- --- reserved
9 0x09 IN_VOLTAGE_32 Input analogue voltage measurement in the 32 V measuring range
binary plus switching (depending on the supply voltage VBBs)
10 0x0A IN_BINARY_LOW Input
(analogue or digital detection)
binary plus switching with diagnosis (analogue detection)
11 0x0B IN_BINARY_LOW_DIAG Input depending on the supply voltage VBBs
diagnosis of short circuit with VBBs or GND
binary minus switching (analogue detection)
12 0x0C IN_BINARY_HIGH Input
depending on the supply voltage VBBs
13 0x0D --- --- reserved
14 0x0E IN_FREQUENCY Input frequency measurement (digital detection)
output = FALSE  0 V
15 0x0F OUT_BINARY_HIGH_DIAG Output
output = TRUE  supply voltage of the outputs
diagnosis of wire break and short circuit
output = FALSE  0 V
16 0x10 OUT_BINARY_HIGH_DIAG_PROT Output output = TRUE  supply voltage of the outputs
diagnosis of wire break and short circuit
output is switched off in case of short circuit
17 0x11 --- --- reserved
18 0x12 IN_RESISTOR Input resistance measurement (analogue detection)
19 0x13 --- --- reserved
20 0x14 IN_PERIOD_RATIO Input period duration measurement as ratio (digital detection)
21 0x15 --- --- reserved
266
SDO value Input

Mode Description
dec | hex Output
22 0x16 --- --- reserved
23 0x17 --- --- reserved
24 0x18 --- --- reserved
>
Inputs: operating modes (I/O module)

15965

In the object directory Value

Inputs Possible operating mode Sub-Index
Index dec hex
IN00…IN03 off 0x2000 0x01...0x04 0 0x00
voltage input 0…10 000 mV 0x2000 0x01...0x04 3 0x03
voltage input ratiometric 0…1 000 ‰ 0x2000 0x01...0x04 6 0x06

current input 0…20 000 µA 0x2000 0x01...0x04 7 0x07
voltage input 0…32 000 mV 0x2000 0x01...0x04 9 0x09
binary input plus switching 0x2000 0x01...0x04 10 0x0A
binary input with diagnosis
plus switching 0x2000 0x01...0x04 11 0x0B
(Namur)
binary input minus switching 0x2000 0x01...0x04 12 0x0C
IN04…IN05 off 0x2000 0x05...0x06 0 0x00

binary input plus switching 0x2000 0x05...0x06 10 0x0A
plus switching 0x2000 0x05...0x06 11 0x0B
(Namur)
resistance input 16…30 000 Ohm 0x2000 0x05...0x06 18 0x12
IN06…IN11 off 0x2000 0x07...0x0C 0 0x00

binary input plus switching 0x2000 0x07...0x0C 10 0x0A
plus switching 0x2000 0x07...0x0C 11 0x0B
(Namur)
IN12…IN15 off 0x2000 0x0D...0x10 0 0x00

binary input, digital evaluation plus switching 0x2000 0x0D...0x10 1 0x01
frequency measurement 0…30 000 Hz 0x2000 0x0D...0x10 14 0x0E
period duration and ratio
0.1…3 000 Hz 0x2000 0x0D...0x10 20 0x14
measurement
>
Outputs: Operating modes (I/O module)

15966

267

In the object directory Value

Outputs Possible operating mode Sub-Index
Index dec hex
OUT00
off 0x2000 0x11...0x12 0 0x00
…OUT01
binary output highside plus 0x2000 0x11...0x12 2 0x02
analogue output with
0x2000 0x11...0x12 4 0x04
pulse-width modulation
analogue current-controlled
0x2000 0x11...0x12 5 0x05
output
binary output highside with
plus 0x2000 0x11...0x12 15 0x0F
diagnosis
plus 0x2000 0x11...0x12 16 0x10
diagnosis and protection
OUT02
off 0x2000 0x13...0x18 0 0x00
…OUT07
binary output highside plus 0x2000 0x13...0x18 2 0x02
0x2000 0x13...0x18 4 0x04
plus 0x2000 0x13...0x18 15 0x0F
diagnosis
plus 0x2000 0x13...0x18 16 0x10
diagnosis and protection
OUT08
off 0x2000 0x19...0x1A 0 0x00
…OUT09
binary output highside plus 0x2000 0x19...0x1A 2 0x02
0x2000 0x19...0x1A 4 0x04
pulse-width modulation, (at pins 25 + 43) 0x2000 0x19...0x1A 4 0x04
voltage-controlled
OUT10
off 0x2000 0x1B...0x1C 0 0x00
…OUT11
binary output highside plus 0x2000 0x1B...0x1C 2 0x02
0x2000 0x1B...0x1C 4 0x04
OUT12
off 0x2000 0x1D...0x20 0 0x00
…OUT15
binary output highside plus 0x2000 0x1D...0x20 2 0x02
268
7.3.3 Object directory of the integrated I/O module

Content
Object directory parameter tables, overview ........................................................................................270
Object directory parameter tables, details ............................................................................................280
15837
269
Object directory parameter tables, overview

Content
General .................................................................................................................................................270
Data types in the EDS file.....................................................................................................................270
Object directory obligatory objects (index 0x1000…0x1FFF), overview ..............................................271
Object directory optional objects (index 0x1000…0x1FFF), overview .................................................272
Object directory manufacturer-specific objects (index 0x2000...0x6FFF), overview............................279
15977
>
General
15967
► Activate or deactivate the automatic saving of the communication and device parameters via the
entry [Save Parameter] (→ object directory, index 0x1010):
 If SubIndex 0x1 = 0x02:
save all parameters automatically when changed
 If SubIndex 0x1 = 0x00:
do not save the parameters automatically.
Changed parameters are only valid ...
• until the device is switched off
• until the next reset.
► Restore the preset values of the parameters via the function [Restore] (→ object directory,
index 0x1011) (does not apply to baud rate and node ID). These values become valid with the
next power on.
>
Data types in the EDS file

16409
EDS data type IEC 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
0x0005 USINT 0 255 8 bits = 1 byte
0x0003 INT -32 768 32 767 16 bits = 2 bytes
0x0006 UINT 0 65 535 16 bits = 2 bytes
DINT -2 147 483 648 2 147 483 647 32 bits = 4 bytes
0x0007 UDINT 0 4 294 967 295 32 bits = 4 bytes
0x0008 REAL -3.402823466 • 1038 3.402823466 • 1038 32 bits = 4 bytes
ULINT 0 18 446 744 073 709 551 615 64 bits = 8 bytes
0x0009 STRING number of char. + 1
270
>
Object directory obligatory objects (index 0x1000…0x1FFF), overview

15979
Object directory When does the

Preset parameter Change saved
Parameter description Parameter for change become
value automatically?
Index Sub-Idx effective?
0x1000 Device type device 0xF0191 yes at once
(via CAN stack)
0x1001 Error register device --- yes at once
(via CAN stack)
0x1018 Device identification device --- -- --
0x1 Vendor ID device 6907501 yes once when
manufactured
0x2 Product code device 0 yes once when
manufactured
0x3 Revision number device 0 yes once when
manufactured
0x4 Serial number device 0 yes once when
manufactured
271
>
Object directory optional objects (index 0x1000…0x1FFF), overview

15980

0x1003 0x1…0x5 Predefined error field CANopen 0 yes at once
Basic configuration (via CAN stack)
0x1005 COB ID synch message CANopen 0x80 yes at once
Basic configuration (via CAN stack)
0x1006 Communication cycle period CANopen 0 yes at once
Basic configuration
0x1008 Manufacturer device name CANopen ExB01 yes at once
Basic configuration
0x1009 Manufacturer hardware version CANopen V00.00.00 yes at once
Basic configuration
0x100A Manufacturer software version CANopen V00.00.00 yes at once
Basic configuration
0x100C Guard time CANopen 0 yes at once
Basic configuration
0x100D Lifetime factor CANopen 0 yes at once
Basic configuration
0x1010 Store parameters CANopen yes at once
Basic configuration
0x1 Save all parameters CANopen 1 yes at once
Basic configuration
0x1011 Restore default parameters CANopen no after reset
Basic configuration
0x1 Restore all default parameters CANopen 1 no after reset
Basic configuration
0x1014 COB ID emergency CANopen 0x80 + node ID yes at once
Basic configuration
0x1016 Consumer heartbeat times CANopen -- --
Basic configuration
0x1 Consumer heartbeat time CANopen 0 yes at once
Basic configuration
0 1017 Producer heartbeat time CANopen 0 yes at once
Basic configuration
0 1400 Receive PDO communication Configuration -- --

parameter Receive PDO 1
0x1 COB ID used by PDO Configuration 0x0200 + node ID yes after PreOp
Receive PDO 1
0x2 transmission type Configuration 1 yes at once
Receive PDO 1
0x1401 Receive PDO communication Configuration -- --
Receive PDO 2
Receive PDO 2
Receive PDO 3
272

Receive PDO 3
Receive PDO 4
Receive PDO 4
0x1600 Receive PDO mapping Mapping yes after PreOp

Receive PDO 1
0x1 PDO mapping Mapping 0x6200 0108 yes after PreOp
Receive PDO 1
Receive PDO 1
Receive PDO 2
Receive PDO 2
Receive PDO 2
Receive PDO 2
Receive PDO 2
Receive PDO 3
Receive PDO 3
Receive PDO 3
Receive PDO 3
Receive PDO 3
Receive PDO 4
Receive PDO 4
0x2 PDO mapping Mapping 0x6414 0A10 yes after PreOp
Receive PDO 4
0x3 PDO mapping Mapping 0x6414 0B10 yes after PreOp
Receive PDO 4
0x4 PDO mapping Mapping 0x6414 0C10 yes after PreOp
Receive PDO 4
0x5 PDO mapping Mapping 0x00 yes after PreOp
Receive PDO 4
0x1800 Transmit PDO communication Configuration -- --

parameter Transmit PDO 1
0x1 COB ID used by PDO Configuration 0x180 + node ID -- --
Transmit PDO 1
273

Transmit PDO 1
0x3 inhibit time Configuration 0 yes at once
Transmit PDO 1
0x4 reserved Configuration 0 no --
Transmit PDO 1
0x5 event time Configuration 0 yes at ance
Transmit PDO 1
Transmit PDO 2
Transmit PDO 2
Transmit PDO 2
Transmit PDO 2
0x5 event time Configuration 0 yes at once
Transmit PDO 2
Transmit PDO 3
Transmit PDO 3
Transmit PDO 3
Transmit PDO 3
Transmit PDO 3
Transmit PDO 4
Transmit PDO 4
Transmit PDO 4
Transmit PDO 4
Transmit PDO 4
Transmit PDO 5
Transmit PDO 5
274

Transmit PDO 5
Transmit PDO 5
Transmit PDO 5
Transmit PDO 6
Transmit PDO 6
Transmit PDO 6
Transmit PDO 6
Transmit PDO 6
Transmit PDO 7
Transmit PDO 7
Transmit PDO 7
Transmit PDO 7
Transmit PDO 7
Transmit PDO 8
Transmit PDO 8
Transmit PDO 8
Transmit PDO 8
Transmit PDO 8
Transmit PDO 9
Transmit PDO 9
Transmit PDO 9
275

Transmit PDO 9
Transmit PDO 9
Transmit PDO 10
Transmit PDO 10
Transmit PDO 10
Transmit PDO 10
Transmit PDO 10
0x1A00 Transmit PDO mapping Mapping yes after PreOp

Transmit PDO 1
Transmit PDO 1
Transmit PDO 1
Transmit PDO 1
Transmit PDO 1
Transmit PDO 1
Transmit PDO 1
Transmit PDO 1
Transmit PDO 2
Transmit PDO 2
Transmit PDO 2
Transmit PDO 2
Transmit PDO 2
Transmit PDO 3
Transmit PDO 3
Transmit PDO 3
Transmit PDO 3
276

Transmit PDO 3
0x5 PDO mapping Mapping 0 yes after PreOp
Transmit PDO 3
Transmit PDO 4
Transmit PDO 4
Transmit PDO 4
Transmit PDO 4
Transmit PDO 5
Transmit PDO 5
Transmit PDO 5
Transmit PDO 5
Transmit PDO 6
Transmit PDO 6
Transmit PDO 6
Transmit PDO 6
Transmit PDO 6
Transmit PDO 6
Transmit PDO 7
Transmit PDO 7
Transmit PDO 7
Transmit PDO 7
Transmit PDO 8
Transmit PDO 8
Transmit PDO 8
Transmit PDO 8
Transmit PDO 9
277

Transmit PDO 9
Transmit PDO 9
Transmit PDO 9
Transmit PDO 9
Transmit PDO 10
Transmit PDO 10
Transmit PDO 10
Transmit PDO 10
Transmit PDO 10
Transmit PDO 10
The life time factor 0 is interpreted as 1.

The first guard protocol is interpreted as "start guarding" even if guarding is not yet active at that time
(guard time =0).
278
>
Object directory manufacturer-specific objects (index 0x2000...0x6FFF), overview

15978
When does the

Object directory Preset parameter Change saved
Index value automatically?
effective?
0x2000 I/O configuration IN00…IN11 10 yes after PreOp
IN12…IN15 01
0x2001 PWM frequency OUT00…OUT11 100 yes after PreOp
0x2002 Current value OUT00…OUT01 0 yes after PreOp
0x2004 P-value OUT00…OUT01 30 yes after PreOp
0x2005 I-value OUT00…OUT01 20 yes after PreOp
0x2006 PWM dither frequency OUT00…OUT11 0 yes after PreOp
0x2007 PWM dither value OUT00…OUT11 0 yes after PreOp
0x2012 Input period duration IN12…IN15 0 yes after PreOp
0x2013 Number of periods IN12…IN15 0 yes after PreOp
0x2014 Period ratio value IN12…IN15 0 yes after PreOp
0x2015 Input frequency IN12…IN15 0.0 yes after PreOp
0x2016 Timebase frequency IN12…IN15 50 yes after PreOp
0x2020 Input short to VBBS IN00…IN11 0 yes after PreOp
0x2021 Input wire break IN00…IN11 0 yes after PreOp
0x2022 Output short circuit OUT00…OUT07 0 yes after PreOp
0x2023 Output open circuit OUT00…OUT07 0 yes after PreOp
0x2024 Output overload OUT00…OUT01 0 yes after PreOp
0x2025 Input overcurrent IN00…IN03 0 yes after PreOp
0x2030 Input resistance IN04…IN05 0 yes after PreOp
0x2040 Supply voltage VBBS 0 yes after PreOp
0x2041 Supply voltage VBB1, VBB2 0 yes after PreOp
0x2050 Device temperature device 0 yes after PreOp
0x20F0 != 0x20F1 *) Node ID device 124 if both are identical after reset
0x20F2 != 0x20F3 *) Baud rate device 3 if both are identical after reset
0x20F4 Autostart device 0 yes at once
0x6000 Binary inputs IN00…IN07 0 yes after PreOp
IN08…IN15
0x6200 Binary output OUT00…OUT07 0 yes after PreOp
OUT08…OUT15
0x6404 Analogue inputs IN00…IN03 --- --- ---
0x6414 Analogue outputs OUT00…OUT11 --- --- ---
*) values must be identical!
279
Object directory parameter tables, details

Content
Object directory obligatory objects (index 0x1000…0x1FFF), details ..................................................280
Object directory optional objects (index 0x1000…0x10FFF), details ...................................................281
Object directory optional objects (index 0x1400…0x14FF), details .....................................................283
Object directory optional objects (index 0x1A00…0x1AFF), details ....................................................292
Object directory manufacturer-specific objects (index 0x2000...0x6FFF), details ...............................295
15982
>
Object directory obligatory objects (index 0x1000…0x1FFF), details

15985
Index S-Idx Parameter name Data type Default Details

0x1000 Device type ro UDINT 0x000F 0191 Device type
0x1001 Error register ro USINT 0 Error register bitcoded to profile 301
permissible values =
0b0000 0000 = no error
0b0000 0001 = generic error
0b0001 0000 = communication error
0b1000 0000 = manufacturer specific
0x1018 0x0 Device identification ro USINT 0x04 Device identification
Number of entries
0x1 Vendor ID ro UDINT 0x0690 7501 Vendor ID of the device according to CiA specification
0x2 Product code ro STRING 0 Product code of the device
0x3 Revision number ro UDINT 0 Revision number of the device
0x4 Serial number ro UDINT 0 Serial number of the device
Legend:
Data type: ro = read only / rw = read and write / wo = write only
280
>
Object directory optional objects (index 0x1000…0x10FFF), details

16603

0x1003 0x0 Predefined error field rw UDINT 0 An error list with 4 entries is supported
Number of entries
0x1 Error history ro UDINT 0 Error occurred, coded according to EMCY list
The last error is indicated in the sub-index 1
0x1005 COB-ID synch message rw UDINT 0x0000 0080 identifier of the synch message
Bit 30 = 0  device generates no synch message
Bit 30 = 1  device generates a synch message
Bit 29 = 0  11-bit ID
Bit 29 = 1  ID = 0x80 + node ID
0x1006 Communication cycle period rw UDINT 0 Max. time between 2 synch. objects in [µs]
Control resolution = 1 ms
0x1008 Manufacturer device name ro STRING EXB01 Device designation
0x1009 Manufacturer hardware version ro STRING V00.00.00 Hardware version
0x100A Manufacturer software version ro STRING V00.00.00 Software version
0x100C Guard time rw UINT 0 Within this time in [ms] the device expects a "node
guarding" of the master of the system.
0 = this function is not supported.
The monitoring of the node with "node guarding" or
"heartbeat" is only possible as an alternative.
0x100D Lifetime factor rw USINT 0 If for "guard time" • "lifetime" no "node guarding" was
received, the device switches off the outputs. The device
changes the CANopen status to PREOP.
Default: "guard time" • "lifetime" = 0...65535
0x1010 0x0 Store parameters ro USINT 0x01 Number of "save options"
Largest sub-index supported
0x1 Save all parameters rw UDINT 2 automatic saving of all parameters changed
0 = AutoSave OFF
2 = AutoSave ON
0x1011 0x0 Restore default parameters ro USINT 0x01 Number of "restore options"
Largest sub-index supported
0x1 Restore all default parameters rw UDINT 0x01 If the string "load" is entered here, the default parameters
set at the factory are restored and become valid after the
next reset.
0x1014 COBId Emergency rw UDINT 0x80 Bit 31 = 0  EMCY is valid
+ node ID Bit 31 = 1 EMCY is not valid
Bit 29 = 0  11-bit ID
Bit 29 = 1  ID = 0x80 + node ID
CAN identifier can be changed by the user.
0x1016 0x0 Consumer heartbeat times ro USINT 0x01 Heartbeat monitoring time for the node
Nums consumer heartbeat time Number of devices monitored = 1
281

0x1 Consumer heartbeat time rw UDINT 0 Heartbeat monitoring time for the node
Format: 0x0nntttt
tttt = monitoring time [ms]
nn = node number
if nn=0 or tttt=0  no monitoring
The monitoring of the node with "node guarding" or
"heartbeat" is only possible as an alternative.
0x1017 producer heartbeat time rw UINT 0 Time interval [ms] during which the device generates a
producer heartbeat
Legend:
282
>
Object directory optional objects (index 0x1400…0x14FF), details

16604
Receive PDO communication parameters

0x1400 0x0 Receive PDO Communication ro USINT 0x02 Receive PDO 1: binary outputs
Parameter number of entries = 2
Number of entries
0x1 COBID used by PDO rw UDINT 0x200 CAN-ID of the first read PDO
+ node ID Bit 31 = 0  PDO is valid
Bit 31 = 1  PDO is not valid
0x2 transmission type rw USINT 0x01 0x00 = synch acyclic
0x01...0xF0 = synch cyclic; outputs are only updated after
"n" synch objects.
n = 1…240 = 0x01...0xF0
0xFC/0xFD not implemented
0xFE = asynch man. spec. event;
outputs are updated immediately
0xFF = asynch device profile event;
0x1401 0x0 Receive PDO Communication ro USINT 0x02 Receive PDO 2: PWM outputs
Number of entries
"n" synch objects.
n = 1…240 = 0x01...0xF0
Number of entries
"n" synch objects.
n = 1…240 = 0x01...0xF0
Number of entries
283

"n" synch objects.
n = 1…240 = 0x01...0xF0
Legend:
284
>

16605
Receive PDO mapping

0x1600 0x0 Receive PDO mapping rw USINT 0x02 Mapping read PDO 1: binary outputs
Number of mapped objects in number of integrated application objects = 2
PDO
0x1 PDO mapping ro UDINT 0x6200 0108 1 byte in index 0x6200, SubIndex 01
Binary inputs IN00…IN07
0b---- ---X = IN00
0b---- --X- = IN01
0b---- -X-- = IN02
0b---- X--- = IN03
0b---X ---- = IN04
0b--X- ---- = IN05
0b-X-- ---- = IN06
0bX--- ---- = IN07
0x2 PDO mapping ro UDINT 0x6200 0208 1 byte in index 0x6200, SubIndex 02
Binary inputs IN08…IN15
0b---- ---X = IN08
0b---- --X- = IN09
0b---- -X-- = IN10
0b---- X--- = IN11
0b---X ---- = IN12
0b--X- ---- = IN13
0b-X-- ---- = IN14
0bX--- ---- = IN15
0x1601 0x0 Receive PDO mapping rw USINT 0x04 Mapping read PDO 2:
Number of mapped objects in PWM outputs OUT00…OUT03
PDO number of integrated application objects = 4
0x1 PDO mapping rw UDINT 0x6414 0110 PWM output OUT00
Index 0x6414, SubIndex 0x1 contains the preset value of
the PWM output OUT00, the value is interpreted as duty
cycle in ‰ or as target current value (depending on the
configuration index 0x2000).
285

0x5 PDO mapping rw UDINT 0 reserve
0x2 PDO mapping rw UDINT 0x6414 0A10 PWM output OUT09
Index 0x6414, SubIndex 0xA contains the preset value of
0x3 PDO mapping rw UDINT 0x6414 0B10 PWM output OUT10
Index 0x6414, SubIndex 0xB contains the preset value of
0x4 PDO mapping rw UDINT 0x6414 0C10 PWM output OUT11
Index 0x6414, SubIndex 0xC contains the preset value of
Legend:
286
>

16606
Transmit PDO communication parameters

0x1800 0x0 Transmit PDO Communication ro USINT 0x05 configuration transmit PDO 1
Number of entries
0x1 COBID used by PDO rw UDINT 0x180 CAN ID of the transmit PDO 1
0x01...0xF0 = synch cyclic; values are only transmitted after
"n" synch objects
n = 1…240 = 0x01...0xF0
Values are immediately transferred
Values are immediately transferred
0x3 inhibit time rw UINT 0 delay time in the transmission type "asynch" before the
PDO is transmitted again at the earliest.
(0...65535 • 100 µs)
0x4 reserved rw USINT 0 reserve
0x5 event time rw UINT 0 max. transfer break in the transmission type "asynch"
(0...65535 ms)
When this time has elapsed, the PDO is transferred even if
the appl. event has not occurred.
Number of entries
"n" synch objects
n = 1…240 = 0x01...0xF0
values are immediately transferred
(0...65535 • 100 µs)
(0...65535 ms)
Number of entries
287

"n" synch objects
n = 1…240 = 0x01...0xF0
(0...65535 • 100 µs)
(0...65535 ms)
Number of entries
"n" synch objects
n = 1…240 = 0x01...0xF0
(0...65535 • 100 µs)
(0...65535 ms)
Number of entries
"n" synch objects
n = 1…240 = 0x01...0xF0
288

(0...65535 • 100 µs)
(0...65535 ms)
Number of entries
"n" synch objects
n = 1…240 = 0x01...0xF0
(0...65535 • 100 µs)
(0...65535 ms)
Number of entries
"n" synch objects
n = 1…240 = 0x01...0xF0
(0...65535 • 100 µs)
(0...65535 ms)
289

Number of entries
"n" synch objects
n = 1…240 = 0x01...0xF0
(0...65535 • 100 µs)
(0...65535 ms)
Number of entries
"n" synch objects
n = 1…240 = 0x01...0xF0
(0...65535 • 100 µs)
(0...65535 ms)
Number of entries
290

"n" synch objects
n = 1…240 = 0x01...0xF0
(0...65535 • 100 µs)
(0...65535 ms)
Legend:
291
>
Object directory optional objects (index 0x1A00…0x1AFF), details

16607
Transmit PDO mapping

0x1A00 0x0 Transmit PDO mapping rw USINT 0x07 mapping transmit PDO 1
PDO
0x1 PDO mapping rw UDINT 0x6000 0108 Index 0x6000, SubIndex 0x1
binary inputs 00...07: actual values (bit coded)
binary inputs 08...15: actual values (bit coded)
inputs 00...07: flag "short circuit" (bit coded)
inputs 08...11: flag "short circuit" (bit coded)
inputs 00...07: flag "wire break" (bit coded)
inputs 08...11: flag "wire break" (bit coded)
inputs 00...03: flag "overload" (bit coded)
0x1A01 0x0 Transmit PDO mapping rw USINT 0x04 mapping transmit PDO 2 (analogue inputs)
PDO
analogue input 00: actual value
(depending on the configuration 0x2000)
0x1A02 0x0 Transmit PDO mapping rw USINT 0x04 mapping transmit PDO 3
PDO
input 04: actual resistor value
input 05: actual resistor value
output 00: actual current value
output 01: actual current value
0x1A03 0x0 Transmit PDO mapping rw USINT 0x02 mapping transmit PDO 4 (period time IN12...IN13)
PDO
frequency input 12: period time of the signal
292

0x1A04 0x0 Transmit PDO mapping rw USINT 0x02 mapping transmit PDO 5 (period time IN14...IN15)
PDO
0x1A05 0x0 Transmit PDO mapping rw USINT 0x04 mapping transmit PDO 6 (duty cycle of the signal on the
Number of mapped objects in frequency input IN12...IN15)
frequency input 12: duty cycle of the signal in ‰
0x1A06 0x0 Transmit PDO mapping rw USINT 0x02 mapping transmit PDO 7 (frequency on IN12...IN13)
PDO
frequency input 12: frequency value of the signal in Hz
0x1A07 0x0 Transmit PDO mapping rw USINT 0x02 mapping transmit PDO 8 (frequency on IN14...IN15)
PDO
0x1A08 0x0 Transmit PDO mapping rw USINT 0x03 mapping transmit PDO 9 (error flag OUT00...OUT07)
PDO
OUT00...OUT07: flag "short circuit" (bit coded)
OUT00...OUT07: flag "wire break" (bit coded)
OUT00...OUT01: flag "overload" (bit coded)
0x1A09 0x0 Transmit PDO mapping rw USINT 0x04 mapping transmit PDO 10 (system flag)
PDO
293

supply voltage of the system VBBS
output supply voltage VBB1
output supply voltage VBB2
system temperature in °C
Legend:
294
>
Object directory manufacturer-specific objects (index 0x2000...0x6FFF), details

15983

0x2000 0x0 IO configuration ro USINT 32 configuration inputs/outputs
Largest sub-index supported largest supported sub-index = 32
0x1 Configuration IN00 rw USINT 10 0 = 0x00 off Input IN00
3 = 0x03 0...10 000 mV
6 = 0x06 ratiometric 0...1000 ‰
7 = 0x07 0...20 000 µA
9 = 0x09 0...32 000 mV
10 = 0x0A binary plus switched
11 = 0x0B binary plus switched with diagnosis
12 = 0x0C binary minus switched
3 = 0x03 0...10 000 mV
6 = 0x06 ratiometric 0...1000 ‰
7 = 0x07 0...20 000 µA
9 = 0x09 0...32 000 mV
3 = 0x03 0...10 000 mV
6 = 0x06 ratiometric 0...1000 ‰
7 = 0x07 0...20 000 µA
9 = 0x09 0...32 000 mV
3 = 0x03 0...10 000 mV
6 = 0x06 ratiometric 0...1000 ‰
7 = 0x07 0...20 000 µA
9 = 0x09 0...32 000 mV
0x2000 0x5 Configuration IN04 rw USINT 10 0 = 0x00 off Input IN04
18 = 0x12 16…30 000 Ohm
18 = 0x12 16…30 000 Ohm
0x2000 0x7 Configuration IN06 rw USINT 10 0 = 0x00 off Input IN06
0xA Configuration IN09 rw USINT 10 0 = 0x00 off Input IN09
0xB Configuration IN10 rw USINT 10 0 = 0x00 off Input IN10
295

0xC Configuration IN11 rw USINT 10 0 = 0x00 off Input IN11
0x2000 0xD Configuration IN12 rw USINT 1 0 = 0x00 off Input IN12
1 = 0x01 binary plus switched, digitally monitored
14 = 0x0E frequency 0…30 000 Hz
19 = 0x13 period duration
20 = 0x14 period duration as ratio 0…1 000 ‰
21 = 0x15 counting up
22 = 0x16 counting down
23 = 0x17 incremental encoder
0xE Configuration IN13 rw USINT 1 0 = 0x00 off Input IN13
0xF Configuration IN14 rw USINT 1 0 = 0x00 off Input IN14
0x2000 0x11 Configuration OUT00 rw USINT 2 0 = 0x00 off Input OUT00

2 = 0x02 binary plus switched
4 = 0x04 PWM output
5 = 0x05 current control
15 = 0x0F binary plus switched with diagnosis
16 = 0x10 binary plus switched with diagnosis + protection
0x12 Configuration OUT01 rw USINT 2 0 = 0x00 off Input OUT01
4 = 0x04 PWM output
5 = 0x05 current control
4 = 0x04 PWM output
4 = 0x04 PWM output
4 = 0x04 PWM output
296

4 = 0x04 PWM output
4 = 0x04 PWM output
4 = 0x04 PWM output
4 = 0x04 PWM output + PWM output, voltage controlled
0x1A Configuration OUT09 rw USINT 2 0 = 0x00 off Input OUT09
4 = 0x04 PWM output + PWM output, voltage controlled
0x2000 0x1B Configuration OUT10 rw USINT 2 0 = 0x00 off Input OUT10
4 = 0x04 PWM output
0x1C Configuration OUT11 rw USINT 2 0 = 0x00 off Input OUT11
4 = 0x04 PWM output
0x2000 0x1D Configuration OUT12 rw USINT 2 0 = 0x00 off Input OUT12
0x1E Configuration OUT13 rw USINT 2 0 = 0x00 off Input OUT13
0x1F Configuration OUT14 rw USINT 2 0 = 0x00 off Input OUT14
0x2001 0x0 PWM frequency ro USINT 12 Largest sub-index supported
0x1 PWM frequency OUT00 rw UINT 100 20…250 OUT00 PWM frequency [Hz]
0xA PWM frequency OUT09 rw UINT 100 20…250 OUT09 PWM frequency [Hz]
0xB PWM frequency OUT10 rw UINT 100 20…250 OUT10 PWM frequency [Hz]
0xC PWM frequency OUT11 rw UINT 100 20…250 OUT11 PWM frequency [Hz]
0x2002 0x0 Current value ro USINT 2 Largest sub-index supported
0x1 Current value OUT00 ro UINT 0 0…2 000 OUT00 output current [mA]
0x2 Current value OUT01 ro UINT 0 0…2 000 OUT01 output current [mA]
0x2004 0x0 P-value ro USINT 2 Largest sub-index supported
297

0x1 P-value OUT00 rw USINT 30 0…255 OUT00 P-value for current control
0x2 P-value OUT01 rw USINT 30 0…255 OUT01 P-value for current control
0x2005 0x0 I-value ro USINT 2 Largest sub-index supported
0x1 I-value OUT00 rw USINT 20 0…255 OUT00 I-value for current control
0x2 I-value OUT01 rw USINT 20 0…255 OUT01 I-value for current control
0x2006 0x0 PWM dither frequency ro USINT 12 Largest sub-index supported
0x1 PWM dither frequency OUT00 rw UINT 0 0…PWMfreq / 2 OUT00 PWM dither frequency [Hz]
0xA PWM dither frequency OUT09 rw UINT 0 0…PWMfreq / 2 OUT09 PWM dither frequency [Hz]
0xB PWM dither frequency OUT10 rw UINT 0 0…PWMfreq / 2 OUT10 PWM dither frequency [Hz]
0xC PWM dither frequency OUT11 rw UINT 0 0…PWMfreq / 2 OUT11 PWM dither frequency [Hz]
0x2007 0x0 PWM dither value ro USINT 12 Largest sub-index supported
0x1 PWM dither value OUT00 rw UINT 0 0…1 000 OUT00 PWM dither value [‰]
0xA PWM dither value OUT09 rw UINT 0 0…1 000 OUT09 PWM dither value [‰]
0xB PWM dither value OUT10 rw UINT 0 0…1 000 OUT10 PWM dither value [‰]
0xC PWM dither value OUT11 rw UINT 0 0…1 000 OUT11 PWM dither value [‰]
0x2012 0x0 Period input ro USINT 4 Largest sub-index supported

0x1 Period duration IN12 ro UDINT 0 IN12 period duration [µs]
0x2013 0x0 Period input ro USINT 4 Largest sub-index supported
number of periods for average
0x1 Number of periods IN12 rw USINT 4 1…255 IN12 number of periods
298

0x2014 0x0 Period input – ratio value ro USINT 4 Largest sub-index supported
0x1 Period ratio value IN12 ro UINT 0 0…1 000 IN12 mark-to-space ratio [‰]
0x2015 0x0 Frequency input ro USINT 4 Largest sub-index supported
0x1 Frequency IN12 ro REAL 1 0…30 000 IN12 frequency [Hz]
0x2016 0x0 Timebase ro USINT 4 Largest sub-index supported
0x1 Timebase IN12 rw UINT 50 0…2 000 IN12 timebase [ms]
0x2020 0x0 Input – short to supply voltage ro USINT 2 Largest sub-index supported
0x1 Short to supply voltage ro USINT 0 0 = normal channels (bit coded)
IN00...IN07 1 = short circuit 0b---- ---X = IN00
0b---- --X- = IN01
0b---- -X-- = IN02
0b---- X--- = IN03
0b---X ---- = IN04
0b--X- ---- = IN05
0b-X-- ---- = IN06
0bX--- ---- = IN07
IN08…IN11 1 = short circuit 0b---- ---X = IN08
0b---- --X- = IN09
0b---- -X-- = IN10
0b---- X--- = IN11
0b---X ---- = IN12
0b--X- ---- = IN13
0b-X-- ---- = IN14
0bX--- ---- = IN15
0x2021 0x0 Input – wire break ro USINT 2 Largest sub-index supported
0x1 Wire break IN00...IN07 ro USINT 0 0 = normal channels (bit coded)
1 = wire break 0b---- ---X = IN00
0b---- --X- = IN01
0b---- -X-- = IN02
0b---- X--- = IN03
0b---X ---- = IN04
0b--X- ---- = IN05
0b-X-- ---- = IN06
0bX--- ---- = IN07
0x2 Wire break IN08…IN11 ro USINT 0 0 = normal channels (bit coded)
1 = wire break 0b---- ---X = IN08
0b---- --X- = IN09
0b---- -X-- = IN10
0b---- X--- = IN11
0b---X ---- = IN12
0b--X- ---- = IN13
0b-X-- ---- = IN14
0bX--- ---- = IN15
0x2022 0x0 Output – short circuit ro USINT 1 Largest sub-index supported
299

0x1 Short circuit OUT00…OUT07 ro USINT 0 0 = normal channels (bit coded)
1 = short circuit 0b---- ---X = OUT00
0b---- --X- = OUT01
0b---- -X-- = OUT02
0b---- X--- = OUT03
0b---X ---- = OUT04
0b--X- ---- = OUT05
0b-X-- ---- = OUT06
0bX--- ---- = OUT07
0x2023 0x0 Output – open circuit ro USINT 1 Largest sub-index supported
0x1 Open circuit OUT00…OUT07 ro USINT 0 0 = normal channels (bit coded)
1 = open circuit 0b---- ---X = OUT00
0b---- --X- = OUT01
0b---- -X-- = OUT02
0b---- X--- = OUT03
0b---X ---- = OUT04
0b--X- ---- = OUT05
0b-X-- ---- = OUT06
0bX--- ---- = OUT07
0x2024 0x0 Output – overload ro USINT 1 Largest sub-index supported
0x1 Overload OUT00…OUT01 ro USINT 0 0 = normal channels (bit coded)
1 = overload 0b---- ---X = OUT00
0b---- --X- = OUT01
0x2025 0x0 Input analog – overcurrent ro USINT 1 Largest sub-index supported
0x1 Overcurrent IN00…IN03 ro USINT 0 0 = normal channels (bit coded)
1 = overcurrent 0b---- ---X = IN00
0b---- --X- = IN01
0b---- -X-- = IN02
0b---- X--- = IN03
0x2030 0x0 Input resistor ro USINT 2 Largest sub-index supported
0x1 Resistance IN04 ro UINT 0 0…30 000 IN04 resistance [Ohms]
0x2 Resistance IN05 ro UINT 0 0…30 000 IN05 resistance [Ohms]
0x2040 0x0 System supply voltage VBBS ro USINT 1 Largest sub-index supported
0x1 VBBS ro USINT 0 VBBS voltage [mV]
0x2041 0x0 Output supply voltage ro USINT 2 Largest sub-index supported
0x1 VBB1 ro UINT 0 VBB1 voltage [mV]
0x2 VBB2 ro UINT 0 VBB2 voltage [mV]
0x2050 Device temperature ro INT 0 temperature [°C]
0x20F0 Node ID rw USINT 124 1…125 node ID
[!] value(0x20F0) != value(20F1)
0x20F1 Node ID rw USINT 124 1…125 node ID
0x20F2 Baud rate rw USINT – baud rate
0x20F3 Baud rate rw USINT – baud rate
0x20F4 Autostart rw UINT 0 not used
0x6000 0x0 Binary input ro USINT 0x02 binary inputs 00...07

300

0x1 Binary inputs IN00 - IN07 ro USINT 0 Binary inputs IN00…IN07
0b---- ---X = IN00
0b---- --X- = IN01
0b---- -X-- = IN02
0b---- X--- = IN03
0b---X ---- = IN04
0b--X- ---- = IN05
0b-X-- ---- = IN06
0bX--- ---- = IN07
0x2 Binary inputs IN08 - IN15 ro USINT 0 Binary inputs IN08…IN15
0b---- ---X = IN08
0b---- --X- = IN09
0b---- -X-- = IN10
0b---- X--- = IN11
0b---X ---- = IN12
0b--X- ---- = IN13
0b-X-- ---- = IN14
0bX--- ---- = IN15
0x6200 0x0 Binary output ro USINT 0x02 binary outputs
0x1 Binary outputs OUT00 - OUT07 wo USINT 0 binary outputs OUT00…OUT07
0b---- ---X = OUT00
0b---- --X- = OUT01
0b---- -X-- = OUT02
0b---- X--- = OUT03
0b---X ---- = OUT04
0b--X- ---- = OUT05
0b-X-- ---- = OUT06
0bX--- ---- = OUT07
0x2 Binary outputs OUT08 - OUT15 wo USINT 0 binary outputs OUT08…OUT15
0b---- ---X = OUT08
0b---- --X- = OUT09
0b---- -X-- = OUT10
0b---- X--- = OUT11
0b---X ---- = OUT12
0b--X- ---- = OUT13
0b-X-- ---- = OUT14
0bX--- ---- = OUT15
0x6404 0x0 Analogue input ro USINT 0x04 analogue inputs
0x1 Analogue input IN00 ro UINT -- analogue value of input IN00
0x6414 0x0 PWM output ro USINT 0x12 PWM outputs
0x1 PWM output OUT00 wo UINT -- value for PWM output OUT00
301

0xA PWM output OUT09 wo UINT -- value for PWM output OUT09
0xB PWM output OUT10 wo UINT -- value for PWM output OUT10
0xC PWM output OUT11 wo UINT -- value for PWM output OUT11
Legend:
302
7.3.4 Operation of the I/O module

Content
Inputs: PDO mapping (I/O module) ......................................................................................................303
Outputs: PDO mapping (I/O module) ...................................................................................................304
16433
>
Inputs: PDO mapping (I/O module)

15968
The following table contains the following entries from the control configuration:
• CAN input
• transmit PDO mapping
Bit coding:
0b---- ---X = IN00 (IN08)
...
0bX--- ---- = IN07 (IN15)
COB ID =
TX-PDO Variable type Comment
node ID + ...
1 USINT 0x180 Input byte 0 (IN00…IN07)
1 USINT 0x180 Input byte 1 (IN08…IN15)
1 USINT 0x180 Short circuit between VBBS and the input (IN00...IN07)
1 USINT 0x180 Short circuit between VBBS and the input (IN08…IN15)
1 USINT 0x180 Wire break on input (IN00…IN07)
1 USINT 0x180 Wire break on input (IN08…IN15)
1 USINT 0x180 Overcurrent on input (IN00...IN03)
2 UINT 0x280 Analogue input IN00

3 UINT 0x380 Resistance measurement input IN04

3 UINT 0x380 Resistance measurement input IN05
3 UINT 0x380 Output current on OUT00
3 UINT 0x380 Output current on OUT01
4 UDINT 0x480 Period in [µs] on IN12


6 UINT 0x281 Mark-to-space ratio in [‰] on N12

7 USINT 0x381 Frequency in [Hz] on IN12

7 REAL 0x381 Frequency in [Hz] on IN13
303
COB ID =
TX-PDO Variable type Comment
node ID + ...

9 USINT 0x182 Short circuit on output (OUT00…OUT07)

9 USINT 0x182 Wire break on output (OUT00…OUT07)
9 USINT 0x182 Overcurrent on output (OUT00…OUT01)
10 UINT 0x282 Supply voltage on VBBS in [mV]

10 UINT 0x282 Supply voltage on VBB1 in [mV]
10 UINT 0x282 Supply voltage on VBB2 in [mV]
10 UINT 0x282 Temperature in the device
>
Outputs: PDO mapping (I/O module)

15969
The following table contains the following entries from the control configuration:
• CAN output
• Receive PDO mapping
Bit coding:
0b---- ---X = OUT00 (OUT08)
...
0bX--- ---- = OUT07 (OUT15)
COB ID =
RX-PDO Variable type Comment
node ID + ...
1 USINT 0x200 Output byte 0 (OUT00…OUT07)
1 USINT 0x200 Output byte 1 (OUT08…OUT15)
2 UINT 0x300 PWM output OUT00

304
7.3.5 System flag for the integrated ExB01 I/O module

Content
System flag (ExB01 I/O module) ..........................................................................................................305
16270
>
System flag (ExB01 I/O module)

15957
There are no system flags for the integrated I/O module of the device.
Feedback is given for Process Data Objects (PDOs) via the EDS file.
→ Chapter Inputs: PDO mapping (I/O module) (→ p. 303)
305
7.3.6 Error messages for the I/O module

Content
EMCY objects .......................................................................................................................................306
SDOs error messages ..........................................................................................................................307
15891
>
EMCY objects
15981
The following error codes according to DSP-401 or DSP-301 are supported:

EMCY code Error reg Additional code Description
0x6100 0x11 0x00 Internal software
Overflow of an Rx queue
e.g. frequency of the Rx PDOs is too high
Reset only externally via entry in the index 0x1003 SubIdx 00
0x6101 0x11 0x00 Internal software
Overflow of a Tx queue
e.g. device does not communicate with the bus
Reset only externally via entry in the index 0x1003 SubIdx 00
0x8100 0x11 0x00 Monitoring (Guarding Error)
No guard object is received for "guard time" x " life time factor"
Reset with the next communication.
0x8200 0x11 0x00 Monitoring (Synch Error)
For "communication cycle" no sync object is received
Only in OPERATIONAL
Reset with the next sync OBJ or PREOP
CANopen does not provide for two identical EMCY objects to be sent consecutively.
306
>
SDOs error messages

15951
The following messages are created in case of an error:

Index SubIdx Parameter name Data type Default Details
0x1001 Error register ro USINT 0 Error register bitcoded to profile 301
permissible values =
0b0000 0000 = no error
0b0000 0001 = generic error
0b0001 0000 = communication error
0b1000 0000 = manufacturer specific
0x1003 0x0 Predefined error field rw UDINT 0 An error list with 4 entries is supported
Number of entries
0x1 Error history ro UDINT 0 Error occurred; coded according to EMCY list
The last error is indicated in the sub-index 1
0x2 Error history ro UDINT 0 Error occurred; coded according to EMCY list
0x2020 0x0 Input – short to supply voltage ro USINT 2 Largest sub-index supported
IN00...IN07 1 = short circuit 0b---- ---X = IN00
0b---- --X- = IN01
0b---- -X-- = IN02
0b---- X--- = IN03
0b---X ---- = IN04
0b--X- ---- = IN05
0b-X-- ---- = IN06
0bX--- ---- = IN07
IN08…IN11 1 = short circuit 0b---- ---X = IN08
0b---- --X- = IN09
0b---- -X-- = IN10
0b---- X--- = IN11
0b---X ---- = IN12
0b--X- ---- = IN13
0b-X-- ---- = IN14
0bX--- ---- = IN15
0x2021 0x0 Input – wire break ro USINT 2 Largest sub-index supported
0x1 Wire break IN00...IN07 ro USINT 0 0 = normal channels (bit coded)
1 = wire break 0b---- ---X = IN00
0b---- --X- = IN01
0b---- -X-- = IN02
0b---- X--- = IN03
0b---X ---- = IN04
0b--X- ---- = IN05
0b-X-- ---- = IN06
0bX--- ---- = IN07
0x2 Wire break IN08…IN11 ro USINT 0 0 = normal channels (bit coded)
1 = wire break 0b---- ---X = IN08
0b---- --X- = IN09
0b---- -X-- = IN10
0b---- X--- = IN11
0b---X ---- = IN12
0b--X- ---- = IN13
0b-X-- ---- = IN14
0bX--- ---- = IN15
0x2022 0x0 Output – short circuit ro USINT 1 Largest sub-index supported
307
Index SubIdx Parameter name Data type Default Details

0x1 Short circuit OUT00…OUT07 ro USINT 0 0 = normal channels (bit coded)
1 = short circuit 0b---- ---X = OUT00
0b---- --X- = OUT01
0b---- -X-- = OUT02
0b---- X--- = OUT03
0b---X ---- = OUT04
0b--X- ---- = OUT05
0b-X-- ---- = OUT06
0bX--- ---- = OUT07
0x2023 0x0 Output – open circuit ro USINT 1 Largest sub-index supported
0x1 Open circuit OUT00…OUT07 ro USINT 0 0 = normal channels (bit coded)
1 = open circuit 0b---- ---X = OUT00
0b---- --X- = OUT01
0b---- -X-- = OUT02
0b---- X--- = OUT03
0b---X ---- = OUT04
0b--X- ---- = OUT05
0b-X-- ---- = OUT06
0bX--- ---- = OUT07
0x2024 0x0 Output – overload ro USINT 1 Largest sub-index supported
0x1 Overload OUT00…OUT01 ro USINT 0 0 = normal channels (bit coded)
1 = overload 0b---- ---X = OUT00
0b---- --X- = OUT01
0x2025 0x0 Input analog – overcurrent ro USINT 1 Largest sub-index supported
0x1 Overcurrent IN00…IN03 ro USINT 0 0 = normal channels (bit coded)
1 = overcurrent 0b---- ---X = IN00
0b---- --X- = IN01
0b---- -X-- = IN02
0b---- X--- = IN03
Legend
308
7.4 Error tables

Content
Error codes ...........................................................................................................................................310
Error flags .............................................................................................................................................316
Errors: CAN / CANopen........................................................................................................................316
28817
309
7.4.1 Error codes

Content
Error cause (1st byte) ...........................................................................................................................311
Error source (2nd byte) .........................................................................................................................312
Application-specific error code (3rd byte) .............................................................................................313
Error class (4th byte) ............................................................................................................................313
Error codes: Examples .........................................................................................................................314
12334
Overview of the error codes output by some of the function blocks.

310
>
Error cause (1st byte)

19273
Value
Description
dec | hex
No error cause
0 00
or: application-specific error
1 01 Break
2 02 Short
4 04 Overload
5 05 Undervoltage
6 06 Overvoltage
7 07 Current control
24 18 Temperature
26 20 Memory test
27 21 Memory test
51 33 Integer overflow or: division by zero
56 38 FPU underflow
57 39 FPU overflow
58 3A FPU division by zero
59 3B FPU unspecific error
128 80 CRC
129 81 Corrupt data
130 82 Memory protection
131 83 No data
144 90 Watchdog
145 91 Trap
147 93 Assertion failed
194 C2 CAN bus-off
224 E0 Board link warning (ExtendedController)

225 E1 Board link error (ExtendedController)
240 F0 Serial number

241 F1 Runtime system expired
248 F8 Wrong parameter
311
>
Error source (2nd byte)

18660
Value
Description
dec | hex
No error source
0 00
or: application-specific error
1 01 CPU
2 02 Peripheral processor
3 03 Coprocessor
8 08 Floating point unit
16...31 10...1F Input 0...15 (standard side)

32...63 20...3F Input 0...31 (extended side)
64...79 40...4F Output 0...15 (standard side)
80..111 50...6F Output 0...31 (extended side)
128...131 80...83 CAN 1...4
144 90 Relay voltage VBBo (standard side)
145 91 Relay voltage VBBr (standard side)
146 92 VBBo (standard side)

147 93 VBBr (standard side)
148 94 VBBs (standard side)
149 95 clamp 15
150 96 Relay voltage VBB1 (extended side)
154 9A VBBrel (extended side)
155 9B VBB1 (extended side)
156 9C VBB2 (extended side)
157 9D VBB3 (extended side)
158 9E VBB4 (extended side)
160 A0 Analogue multiplexer

161 A1 Analogue reference
176 B0 Internal flash

177 B1 External flash
178 B2 Internal RAM
179 B3 External RAM
192 C0 Code Startupper

193 C1 Code Bootloader
194 C2 Code runtime system
196 C4 Boot project

197 C5 Code application program
312
Value
Description
dec | hex
198 C6 Scratchpad RAM
224 E0 System data

225 E1 System settings
226 E2 System information
227 E3 Calibration data
228 E4 FRAM / MRAM (user's area)
>
Application-specific error code (3rd byte)

12338
In case of an application-specific error, it is requested that:

ERRORCODE byte 1 = error cause = 0x00
ERRORCODE byte 2 = error source = 0x00
► Signal application-specific errors to the controller using ERROR_REPORT (→ p. 220).
Value
Description
dec | hex
0 00 No application-specific error
>0 > 00 Application-specific error
>
Error class (4th byte)

19271
This information only applies of input TEST = FALSE.
Value
Description
dec | hex
0 00 No error
General error, not relevant to safety
1 01 > Error flag, error code
> Error reset possible
ERROR STOP
> Error code
3 03 > Application program aborted
> Safe state
 Power-off-on reset is required
Fatal error
> Error code
4 04 > Application program aborted
> Safe state
> Device restarts again (soft-reset)
14025
Fatal errors and ERROR STOP are only visible in the application if the TEST input was already
active when the error occurred.
If TEST input = FALSE:
• an ERROR STOP causes the controller to STOP
• an fatal error causes the controller to reboot
313
>
Error codes: Examples

19274
Byte 2  Byte 1 
Error source [hex] Error cause [hex] Description Function block
10...1F 01 Wire break Ixx INPUT_ANALOG
20...3F (Ex) 01 Wire break Ixx_E INPUT_ANALOG_E
40...4F 01 Wire break Qxx
50...6F (Ex) 01 Wire break Qxx_E
10...1F 02 Short circuit Ixx INPUT_ANALOG
20...3F (Ex) 02 Short circuit Ixx_E INPUT_ANALOG_E
40...4F 02 Short circuit Qxx
50...6F (Ex) 02 Short circuit Qxx_E
10...1F 04 Overcurrent Ixx INPUT_ANALOG
20...3F (Ex) 04 Overcurrent Ixx_E INPUT_ANALOG_E
40...4F 04 Overload Qxx
50...6F (Ex) 04 Overload Qxx_E
90 05 Undervoltage relay voltage VBBs
91 05 Undervoltage relay voltage VBBr
92 05 Undervoltage VBBo
93 05 Undervoltage VBBr
94 05 Undervoltage VBBs
95 05 Undervoltage clamp 15
96...99 (Ex) 05 Undervoltage relay voltage VBBx
9A (Ex) 05 Undervoltage VBBrel
9B...9E (Ex) 05 Undervoltage VBBx
90 06 Overvoltage relay voltage VBBs
91 06 Overvoltage relay voltage VBBr
92 06 Overvoltage VBBo
93 06 Overvoltage VBBr
94 06 Overvoltage VBBs > 32 V
94 06 Overvoltage VBBs > 34 V
95 06 Overvoltage clamp 15
96...99 (Ex) 06 Overvoltage relay voltage VBBx
9A (Ex) 06 Overvoltage VBBrel
9B...9E (Ex) 06 Overvoltage VBBx
40...4F 07 Current control Qxx
50...6F (Ex) 07 Current control Qxx_E
10...1F 08 (safe) Safety diagnostics on the current input
10...1F 09 (safe) Safety diagnostics on the voltage input
40...4F 0A (safe) Safety diagnostics on the activated output (stuck at 1, cross fault)
10...17 0B (safe) Safety diagnostics on the SafetySwitch SAFETY_SWITCH
A0 0C (safe) Analogue values monitoring/multiplexer SAFETY_SWITCH
314
Byte 2  Byte 1 
Error source [hex] Error cause [hex] Description Function block
40...4F 0D (safe) Safety diagnostics on the deactivated output (stuck at 1)
00 18 Temperature error
90...91 19 (safe) Contact fault relays VBBo / VBBr
B3 20 RAM memory test failed
E4 20 FRAM/MRAM memory test failed
B3 21 (safe) RAM address test failed
01 30 (safe) Incorrect / missing interrupt
01 31 (safe) Error time base CPU
08 39 Floating-Point Overflow
08 3A Floating-point division by 0
08 3B Unspecified floating-point error
C2 80 Checksum error in the runtime system code (ifm code)
C3 (safe) 80 Checksum error in the PCP data RAM
C4 80 Checksum error in the boot project
C5 80 Checksum error in the application program code
C6 80 Checksum error in the SP-RAM
C7 (safe) 80 Checksum error in the PCP code RAM
E0 80 Checksum error in the system data
E1 80 Checksum error in the system variables
E2 80 Checksum error in the system parameters
E3 80 Checksum error in the calibration data
B3 81 Corrupt data in the RAM
E3 83 Corrupt calibration data
04 92 (safe) Safety core stopped
05 92 (safe) Error safety code
80...83 C1 CANx warning
80...83 C2 CANx Busoff
80...83 C3 (safe) CANsafety reception error
80...83 C4 (safe) CANsafety transmission error
80, 82 C5 (safe) CANsafety configuration corrupt
00 (Ex) E1 Board link error
00 F0 Serial number error
00 F1 Runtime system expired
00 F8 Parameter error All FBs with ERROR output
INPUT_ANALOG
10...1F F8 Parameter error Ixx
SET_INPUT_MODE
INPUT_ANALOG_E
20...3F (Ex) F8 Parameter error Ixx_E
SET_INPUT_MODE_E
40...4F F8
Parameter error Qxx SET_OUTPUT_MODE

50...6F ( Ex) F8
Parameter error Qxx_E SET_OUTPUT_MODE_E
05 (safe) ErrorCode Safety code error

06 (safe) TrapID Safety code trap error
315
Legend:
(Ex) = applies to ExtendedController only
(safe) = applies to SafetyController only
The resulting error class (= byte 4) results from the context of the situation and the parameter setting.
Here, byte 3 (application-specific error code) is always = 0.
>
7.4.2 Error flags

28818
→ chapter System flags (→ p. 230)

>
7.4.3 Errors: CAN / CANopen

19610
28819

→ chapter CAN / CANopen: errors and error handling
>
EMCY codes: CANx

28825
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)
316
>
EMCY codes: I/Os, system (standard side)

2668
The following EMCY messages are sent automatically in the following cases:
• as CANopen master: if CANx_MASTER_EMCY_HANDLER (→ p. 84) is called cyclically
• as CANopen slave: if CANx_SLAVE_EMCY_HANDLER (→ p. 94) is called cyclically
EMCY code Object
Manufactor specific information
object 0x1003 0x1001
Byte 0 Byte 1 Byte 2
Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Description
[hex] [hex] [hex]
00 21 03 I07...I00 I15...I08 Inputs interruption

08 21 03 I07...I00 I15...I08 Inputs short circuit
10 21 03 I07...I00 I15...I08 Overcurrent 0…20 mA
00 23 03 Q07…Q00 Q15…Q08 Outputs interruption
08 23 03 Q07…Q00 Q15…Q08 Outputs short circuit
00 31 05 Terminal voltage VBBs
00 33 05 Terminal voltage VBBo
08 33 05 Terminal voltage VBBr
00 42 09 Excess temperature
317
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.
318
>
CiA
CiA = CAN in Automation e.V.
User and manufacturer organisation in Germany / Erlangen. Definition and control body for CAN and
CAN-based network protocols.
Homepage → www.can-cia.org
>
CiA DS 304
DS = Draft Standard
CANopen device profile for safety communication
>
CiA DS 401
DS = Draft Standard
CANopen device profile for binary and analogue I/O modules
>
CiA DS 402
DS = Draft Standard
CANopen device profile for drives
>
CiA DS 403
DS = Draft Standard
CANopen device profile for HMI
>
CiA DS 404
DS = Draft Standard
CANopen device profile for measurement and control technology
>
CiA DS 405
DS = Draft Standard
CANopen specification of the interface to programmable controllers (IEC 61131-3)
>
CiA DS 406
DS = Draft Standard
CANopen device profile for encoders
>
CiA DS 407
DS = Draft Standard
CANopen application profile for local public transport
>
Clamp 15
In vehicles clamp 15 is the plus cable switched by the ignition lock.
>
COB ID
COB = Communication Object
ID = Identifier
ID of a CANopen communication object
Corresponds to the identifier of the CAN message with which the communication project is sent via the
CAN bus.
319
>
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
This results in the following CSV file:

value 1.0;value 1.1;value 1.2;value 1.3
.
>
Cycle time
This is the time for a cycle. The PLC program performs one complete run.
Depending on event-controlled branchings in the program this can take longer or shorter.
>
D
Data type
Depending on the data type, values of different sizes can be stored.
Data type min. value max. value size in the memory
BOOL FALSE TRUE 8 bits = 1 byte
BYTE 0 255 8 bits = 1 byte
WORD 0 65 535 16 bits = 2 bytes
DWORD 0 4 294 967 295 32 bits = 4 bytes
SINT -128 127 8 bits = 1 byte
USINT 0 255 8 bits = 1 byte
INT -32 768 32 767 16 bits = 2 bytes
UINT 0 65 535 16 bits = 2 bytes
DINT -2 147 483 648 2 147 483 647 32 bits = 4 bytes
UDINT 0 4 294 967 295 32 bits = 4 bytes
REAL -3.402823466 • 1038 3.402823466 • 1038 32 bits = 4 bytes
ULINT 0 18 446 744 073 709 551 615 64 Bit = 8 Bytes
STRING number of char. + 1
>
DC
Direct Current
320
>
Diagnosis
During the diagnosis, the "state of health" of the device is checked. It is to be found out if and what
→faults are given in the device.
Depending on the device, the inputs and outputs can also be monitored for their correct function.
- wire break,
- short circuit,
- value outside range.
For diagnosis, configuration and log data can be used, created during the "normal" operation of the
device.
The correct start of the system components is monitored during the initialisation and start phase.
Errors are recorded in the log file.
For further diagnosis, self-tests can also be carried out.
>
Dither
Dither is a component of the →PWM signals to control hydraulic valves. It has shown for
electromagnetic drives of hydraulic valves that it is much easier for controlling the valves if the control
signal (PWM pulse) is superimposed by a certain frequency of the PWM frequency. This dither
frequency must be an integer part of the PWM frequency.
>
DLC
Data Length Code = in CANopen the number of the data bytes in a message.
For →SDO: DLC = 8
>
DRAM
DRAM = Dynamic Random Access Memory.
Technology for an electronic memory module with random access (Random Access Memory, RAM).
The memory element is a capacitor which is either charged or discharged. It becomes accessible via a
switching transistor and is either read or overwritten with new contents. The memory contents are
volatile: the stored information is lost in case of lacking operating voltage or too late restart.
>
DTC
DTC = Diagnostic Trouble Code = error code
In the protocol J1939 faults and errors well be managed and reported via assigned numbers – the
DTCs.
>
E
ECU
(1) Electronic Control Unit = control unit or microcontroller
(2) Engine Control Unit = control device of a engine
>
EDS-file
EDS = Electronic Data Sheet, e.g. for:
• File for the object directory in the CANopen master,
• CANopen device descriptions.
Via EDS devices and programs can exchange their specifications and consider them in a simplified
way.
321
>
Embedded software
System software, basic program in the device, virtually the →runtime system.
The firmware establishes the connection between the hardware of the device and the application
program. The firmware is provided by the manufacturer of the controller as a part of the system and
cannot be changed by the user.
>
EMC
EMC = Electro Magnetic Compatibility.
According to the EC directive (2004/108/EEC) concerning electromagnetic compatibility (in short EMC
directive) requirements are made for electrical and electronic apparatus, equipment, systems or
components to operate satisfactorily in the existing electromagnetic environment. The devices must
not interfere with their environment and must not be adversely influenced by external electromagnetic
interference.
>
EMCY
Abbreviation for emergency
Message in the CANopen protocol with which errors are signalled.
>
Ethernet
Ethernet is a widely used, manufacturer-independent technology which enables data transmission in
the network at a speed of 10...10 000 million bits per second (Mbps). Ethernet belongs to the family of
so-called "optimum data transmission" on a non exclusive transmission medium. The concept was
developed in 1972 and specified as IEEE 802.3 in 1985.
>
EUC
EUC = Equipment Under Control.
EUC is equipment, machinery, apparatus or plant used for manufacturing, process, transportation,
medical or other activities (→ IEC 61508-4, section 3.2.3). Therefore, the EUC is the set of all
equipment, machinery, apparatus or plant that gives rise to hazards for which the safety-related
system is required.
If any reasonably foreseeable action or inaction leads to →hazards with an intolerable risk arising from
the EUC, then safety functions are necessary to achieve or maintain a safe state for the EUC. These
safety functions are performed by one or more safety-related systems.
>
F
FiFo
FIFO (First In, First Out) = Operating principle of the stack memory: The data packet that was written
into the stack memory first, will also be read first. Each identifier has such a buffer (queue).
322
>
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
>
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
323
>
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
>
ISO 16845
Standard: Road vehicles – Controller area network (CAN) – Conformance test plan
>
J
J1939
→ SAE J1939
324
>
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. 323)
>
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
325
>
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.
>
Operational
Operating state of a CANopen participant. In this mode →SDOs, →NMT commands and →PDOs can
be transferred.
>
P
PC card
→PCMCIA card
326
>
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.
>
Pictogram
Pictograms are figurative symbols which convey information by a simplified graphic representation.
(→ chapter What do the symbols and formats mean? (→ p. 7))
>
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).
327
>
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
>
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.
328
>
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
→ chapter Software modules for the device (→ p. 38)
>
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
>
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.
329
>
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. 7))
>
System variable
Variable to which access can be made via IEC address or symbol name from the PLC.
>
T
Target
The target contains the hardware description of the target device for CODESYS, e.g.: inputs and
outputs, memory, file locations.
Corresponds to an electronic data sheet.
>
TCP
The Transmission Control Protocol is part of the TCP/IP protocol family. Each TCP/IP data connection
has a transmitter and a receiver. This principle is a connection-oriented data transmission. In the
TCP/IP protocol family the TCP as the connection-oriented protocol assumes the task of data
protection, data flow control and takes measures in the event of data loss. (compare: →UDP)
>
Template
A template can be filled with content.
Here: A structure of pre-configured software elements as basis for an application program.
>
U
UDP
UDP (User Datagram Protocol) is a minimal connectionless network protocol which belongs to the
transport layer of the internet protocol family. The task of UDP is to ensure that data which is
transmitted via the internet is passed to the right application.
At present network variables based on →CAN and UDP are implemented. The values of the variables
are automatically exchanged on the basis of broadcast messages. In UDP they are implemented as
broadcast messages, in CAN as →PDOs.
According to the protocol, these services are unconfirmed data transmission: it is not checked whether
the receiver receives the message. Exchange of network variables corresponds to a "1 to
n connection" (1 transmitter to n receivers).
330
>
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.
331
CANx_SDO_WRITE ............................................................................104
9 Index CANx_SLAVE_EMCY_HANDLER ........................................................94
CANx_SLAVE_NODEID........................................................................95
A CANx_SLAVE_SEND_EMERGENCY ..................................................96
CANx_SLAVE_SET_PREOP ................................................................98
About this manual ....................................................................................5
CANx_SLAVE_STATUS .......................................................................99
Activate the PLC configuration (e.g. CR0033) ......................................54
CANx_TRANSMIT .................................................................................82
Address ................................................................................................318
CHECK_DATA.....................................................................................213
Address assignment and I/O operating modes ...................................237
CiA .......................................................................................................319
Addresses / variables of the I/Os ........................................................237
CiA DS 304 ..........................................................................................319
Analogue inputs .............................................................................23, 248
configuration and diagnosis .......................................................................... 59
CiA DS 401 ..........................................................................................319
configuration and diagnosis (I/O module ExB01) ....................................... 261 CiA DS 402 ..........................................................................................319
Appendix ..............................................................................................230 CiA DS 403 ..........................................................................................319
Application program ...............................................................................39 CiA DS 404 ..........................................................................................319
Application software.............................................................................318 CiA DS 405 ..........................................................................................319
Application-specific error code (3rd byte) ............................................313 CiA DS 406 ..........................................................................................319
Architecture..........................................................................................318 CiA DS 407 ..........................................................................................319
Automatic data backup ........................................................................202 Clamp 15..............................................................................................319
Availability of PWM ........................................................................65, 265 COB ID.................................................................................................319
Available memory ..................................................................................15 CODESYS ...........................................................................................320
CODESYS functions..............................................................................49
B Configuration of the I/O module ..........................................................258
Baud.....................................................................................................318 Configuration of the inputs and outputs (default setting) ......................56
Binary inputs ..................................................................................24, 249 Configurations........................................................................................50
configuration and diagnosis .......................................................................... 60 Configure inputs.....................................................................................58
Configuration and diagnosis (I/O module ExB01) ...................................... 262 Configure inputs of the integrated I/O module ....................................261
Binary outputs ........................................................................................28 Configure outputs ..................................................................................63
configuration .................................................................................................. 64 Configure outputs for PWM functions..................................................265
Configuration (I/O module ExB01) .............................................................. 264 Configure outputs of the integrated I/O module ..................................263
configuration and diagnosis .......................................................................... 64 Configure software filter of the inputs (I/O module) ............................261
configuration and diagnosis (I/O module ExB01) ....................................... 263 Configure software filter of the outputs (I/O module) ..........................263
Diagnosis (I/O module ExB01).................................................................... 264
Configure the hardware filter .................................................................62
Diagnostics .................................................................................................... 64
Configure the software filters of the inputs ............................................59
Boot loader ..........................................................................................318
Configure the software filters of the outputs ..........................................63
Bootloader..............................................................................................38
Connect integrated I/O module ExB01 as CANopen slave.................256
Bootloader state.....................................................................................46
Connect terminal VBB15 to the ignition switch .....................................17
Bus .......................................................................................................318
Control the LED in the application program ..........................................35
C CONTROL_OCC .................................................................................172
Copyright..................................................................................................5
Calculations and conversions in the application program .....................41 Creating application program ................................................................42
CAN .....................................................................................................318 CSV file ................................................................................................320
interfaces and protocols ................................................................................ 37
Current control with PWM (= PWMi) .............................................66, 265
Interfaces and protocols
Cycle time ............................................................................................320
I/O module in CR0133........................................................................ 256
I/O module in CR2532........................................................................ 256
D
CAN / CANopen
errors and error handling............................................................................. 229 Damping of overshoot .........................................................................186
CAN interfaces.......................................................................................37 Data type..............................................................................................320
CAN interfaces I/O module ..................................................................256 Data types in the EDS file....................................................................270
CAN stack ............................................................................................318 DC ........................................................................................................320
CANx......................................................................................................75 DEBUG mode ........................................................................................49
CANx_BAUDRATE ................................................................................76 Definition
CANx_BUSLOAD ..................................................................................77 overload ......................................................................................................... 28
CANx_DOWNLOADID ..........................................................................78 short circuit .................................................................................................... 29
CANx_ERRORHANDLER .....................................................................79 DELAY .................................................................................................187
CANx_MASTER_EMCY_HANDLER ....................................................84 Description ...... 75, 76, 77, 78, 79, 80, 82, 84, 85, 87, 94, 95, 96, 98, 99,
102, 104, 107, 108, 110, 112, 114, 116, 119, 120, 121, 122, 124, 126,
CANx_MASTER_SEND_EMERGENCY ...............................................85
129, 132, 135, 137, 138, 140, 142, 144, 146, 148, 150, 152, 154, 157,
CANx_MASTER_STATUS ....................................................................87 161, 165, 166, 169, 172, 174, 177, 181, 184, 187, 188, 190, 192, 194,
CANx_RECEIVE....................................................................................80 196, 197, 199, 203, 205, 206, 208, 209, 210, 211, 213, 215, 216, 217,
CANx_SDO_READ..............................................................................102 218, 220, 222, 224, 225, 226
332
Diagnosis .............................................................................................227 FLASHREAD .......................................................................................205

binary outputs (via current and voltage measurement) .............................. 253 FLASH-Speicher ....................................................................................15
binary outputs (via current measurement) .................................................... 31 FLASHWRITE......................................................................................206
binary outputs (via voltage measurement) ................................................. 254 FRAM .............................................................................................16, 323
overload ....................................................................................................... 254
FRAM memory.....................................................................................200
overload (via current measurement) ..................................................... 31, 253
FRAMREAD.........................................................................................208
short circuit (via current measurement) ........................................................ 31
short circuit (via voltage measurement) .............................................. 254, 255 FRAMWRITE .......................................................................................209
wire break (via current measurement) .......................................................... 31 FREQUENCY ......................................................................................142
wire break (via voltage measurement) ............................................... 254, 255 FREQUENCY_PERIOD ......................................................................144
Diagnosis .............................................................................................321 Function configuration in general ..........................................................56
Diagnosis and error handling...............................................................227 Function configuration of the inputs and outputs ..................................57
Dither ...................................................................................................321 Function configuration of the inputs and outputs in the I/O module....261
DLC ......................................................................................................321 Function elements
DRAM ..................................................................................................321 adapting analogue values ........................................................................... 134
DTC......................................................................................................321 administer error messages.......................................................................... 219
CAN layer 2 ................................................................................................... 74
E CANopen master ........................................................................................... 83
CANopen SDOs .......................................................................................... 101
E/A-Modul Ausgangsgruppe OUT0, OUT1 .........................................253 CANopen slave.............................................................................................. 93
ECU .....................................................................................................321 controllers .................................................................................................... 186
EDS-file ................................................................................................321 counter functions for frequency and period measurement ......................... 139
Embedded software .............................................................................322 data access and data check ....................................................................... 212
EMC .....................................................................................................322 device temperature...................................................................................... 198
EMCY...................................................................................................322 hydraulic control .......................................................................................... 171
measuring / setting of time .......................................................................... 195
EMCY codes
Optimising the PLC cycle via processing interrupts ................................... 123
CANx ........................................................................................................... 316
output functions in general .......................................................................... 156
I/Os, system (standard side) ....................................................................... 317
processing input values ............................................................................... 128
EMCY objects ......................................................................................306
PWM functions ............................................................................................ 160
Error cause (1st byte) ..........................................................................311 SAE J1939 ................................................................................................... 106
Error class (4th byte) ...........................................................................313 saving, reading and converting data in the memory .................................. 200
Error codes ..........................................................................................310 serial interface ............................................................................................. 118
Examples ..................................................................................................... 314 software reset .............................................................................................. 193
Error flags ............................................................................................316
Error messages for the I/O module .....................................................306 G
Error source (2nd byte)........................................................................312 General ................................................................................................270
Error tables ..........................................................................................309 GET_IDENTITY ...................................................................................215
ERROR_REPORT ...............................................................................220
ERROR_RESET ..................................................................................222 H
Errors Hardware description.............................................................................14
CAN / CANopen .......................................................................................... 316
Hardware description I/O module ........................................................245
Ethernet ...............................................................................................322
Hardware structure ................................................................................14
EUC .....................................................................................................322
Hardware structure I/O module ...........................................................245
Example
Heartbeat .............................................................................................323
CANx_MASTER_SEND_EMERGENCY ...................................................... 86
History of the instructions (CR0033 + CR0133)....................................8
CANx_MASTER_STATUS ........................................................................... 91
CANx_SLAVE_SEND_EMERGENCY ......................................................... 97
HMI ......................................................................................................323
CHECK_DATA ............................................................................................ 214 How is this documentation structured? ...................................................8
ERROR_RESET ......................................................................................... 223
NORM (1) .................................................................................................... 136 I
NORM (2) .................................................................................................... 136 I/O module input group IN00...IN03.....................................................250
NORM_HYDRAULIC .................................................................................. 185
I/O module input group IN04...IN05.....................................................250
F I/O module input group IN06...IN11.....................................................251
I/O module input group IN12...IN15.....................................................252
Fast inputs .............................................................................................61 I/O module output group OUT02...OUT07 ..........................................254
I/O module ExB01 ....................................................................................... 262 I/O module output group OUT08...OUT09 ..........................................255
FAST_COUNT .....................................................................................140 I/O module output group OUT10...OUT11 ..........................................255
Fault .....................................................................................................227 I/O module output group OUT12...OUT15 ..........................................255
FB, FUN, PRG in CODESYS ................................................................40 ID .........................................................................................................323
FBs for PWM functions ..........................................................................65 IEC 61131 ............................................................................................323
Feedback in case of externally supplied outputs ..................................33 IEC user cycle ......................................................................................324
FiFo ......................................................................................................322 ifm function elements.............................................................................69
File system ...........................................................................................201 ifm function elements for the device CR0033 .......................................74
Flash memory ............................................................................. 200, 323
333
ifm libraries for the device CR0033 .......................................................69 Misuse..................................................................................................325

INC_ENCODER...................................................................................146 MMI ......................................................................................................325
INC_ENCODER_HR ...........................................................................148 Monitoring concept ................................................................................19
Information concerning the device ........................................................13 Monitoring of the supply voltages VBBx ................................................19
INIT state (Reset) ..................................................................................47 MRAM ..................................................................................................325
Input group I00...I11...............................................................................25 MSB .....................................................................................................325
Input group I12...I15...............................................................................26
INPUT_ANALOG .................................................................................129 N
Inputs Network variables ..................................................................................68
addresses and variables (standard side) (16 inputs) ................................. 237 NMT .....................................................................................................326
operating modes (I/O module) .................................................................... 267
Node ....................................................................................................326
operating modes (standard side) (16 inputs) .............................................. 241
Node Guarding ....................................................................................326
PDO mapping (I/O module) ........................................................................ 303
NORM ..................................................................................................135
Inputs (preset)........................................................................................56
NORM_DINT .......................................................................................137
Inputs (technology) ................................................................................23
NORM_HYDRAULIC ...........................................................................184
Inputs of the integrated I/O module ExB01 .........................................247
NORM_REAL ......................................................................................138
Instructions ..........................................................................................324
Note on wiring ........................................................................................32
Integrate the internal I/O module ExB01 .............................................259
Note the cycle time! ...............................................................................41
Integrated I/O module
Notes
Description ................................................................................................... 244
serial number ................................................................................................. 12
Intended use ........................................................................................324
TEST inputs ............................................................................................. 12, 48
Interface description ..............................................................................36
Interface description I/O module .........................................................256 O
Internal structure parameters ................................................................89
Obj / object...........................................................................................326
IP address............................................................................................324
Object directory....................................................................................326
ISO 11898 ............................................................................................324
Object directory manufacturer-specific objects (index 0x2000...0x6FFF),
ISO 11992 ............................................................................................324
details...................................................................................................295
ISO 16845 ............................................................................................324
Object directory manufacturer-specific objects (index 0x2000...0x6FFF),
overview ...............................................................................................279
J Object directory obligatory objects (index 0x1000…0x1FFF), details 280
J1939 ...................................................................................................324 Object directory obligatory objects (index 0x1000…0x1FFF), overview
J1939_x ...............................................................................................107 .............................................................................................................271
J1939_x_GLOBAL_REQUEST ...........................................................108 Object directory of the integrated I/O module .....................................269
J1939_x_RECEIVE .............................................................................110 Object directory optional objects (index 0x1000…0x10FFF), details .281
J1939_x_RESPONSE .........................................................................112 Object directory optional objects (index 0x1000…0x1FFF), overview272
J1939_x_SPECIFIC_REQUEST .........................................................114 Object directory optional objects (index 0x1400…0x14FF), details....283
J1939_x_TRANSMIT...........................................................................116 Object directory optional objects (index 0x1600…0x16FF), details....285
JOYSTICK_0 .......................................................................................174 Object directory optional objects (index 0x1800…0x18FF), details....287
JOYSTICK_1 .......................................................................................177 Object directory optional objects (index 0x1A00…0x1AFF), details ...292
JOYSTICK_2 .......................................................................................181 Object directory parameter tables, details ...........................................280
Object directory parameter tables, overview .......................................270
L OBV .....................................................................................................326
Latching .................................................................................................17 OPC .....................................................................................................326
LED ......................................................................................................325 Operating modes ...................................................................................48
Libraries .................................................................................................39 Operating principle of the delayed switch-off ........................................17
Library ifm_CR0033_CANopenxMaster_Vxxyyzz.LIB ..........................71 Operating principle of the monitoring concept.......................................21
Library ifm_CR0033_CANopenxSlave_Vxxyyzz.LIB ............................72 Operating states ....................................................................................44
Library ifm_CR0033_J1939_Vxxyyzz.LIB .............................................72 application program is available.................................................................... 46
application program is not available ............................................................. 45
Library ifm_CR0033_V02yyzz.LIB ........................................................69
runtime system is not available ..................................................................... 44
Library ifm_hydraulic_32bit_Vxxyyzz.LIB ..............................................73
Operation of the I/O module ................................................................303
Link ......................................................................................................325
Operational ..........................................................................................326
LSB ......................................................................................................325
Output group Q00...Q15 ........................................................................30
M OUTPUT_BRIDGE ..............................................................................161
OUTPUT_CURRENT ..........................................................................165
MAC-ID ................................................................................................325 OUTPUT_CURRENT_CONTROL ......................................................166
Manual data storage ............................................................................204 Outputs
Master ..................................................................................................325 addresses and variables (standard side) (16 outputs) ............................... 239
MEMCPY .............................................................................................210 Operating modes (I/O module) ................................................................... 267
MEMORY_RETAIN_PARAM ..............................................................203 operating modes (standard side) (16 outputs) ........................................... 242
MEMSET..............................................................................................211 PDO mapping (I/O module) ........................................................................ 304
334
Outputs (technology) .............................................................................28 Recommended setting.........................................................................191

Outputs of the integrated I/O module ExB01 ......................................253 Recommended settings .......................................................................189
Outputs Q00...Q15 Reference voltage output ......................................................................22
permitted operating modes ......................................................................... 243 Reinstall the runtime system .................................................................51
Outputs with current measurement (default setting) .............................56 Relay
Outputs without current measurement (default setting) ........................56 important notes! ........................................................................................... 228
Overview ..............................................................................................266 Relays ....................................................................................................14
documentation modules for CR0033 .............................................................. 6 important notes! ............................................................................................. 18
remanent..............................................................................................328
P Resistance measurement ..............................................................27, 251
PACK_ERRORCODE .........................................................................224 Response to system errors..................................................................228
Parameters of the inputs ...75, 76, 77, 78, 79, 81, 82, 84, 85, 88, 94, 95, Retain variables .....................................................................................67
96, 98, 99, 102, 105, 107, 109, 111, 112, 115, 117, 120, 121, 122, 125, ro ..........................................................................................................329
127, 130, 133, 135, 137, 138, 141, 143, 145, 147, 149, 151, 153, 155, RTC......................................................................................................329
158, 164, 165, 168, 170, 173, 176, 179, 182, 185, 187, 188, 191, 192,
RUN state ..............................................................................................47
194, 199, 203, 205, 207, 208, 209, 210, 211, 213, 215, 216, 217, 218,
220, 223, 224, 225, 226 Runtime system .............................................................................39, 329
Parameters of the outputs ..... 77, 81, 82, 84, 89, 94, 100, 103, 105, 109, rw .........................................................................................................329
111, 113, 115, 117, 119, 120, 131, 133, 135, 137, 138, 141, 143, 145,
147, 149, 151, 153, 155, 159, 164, 165, 168, 173, 176, 180, 183, 185, S
187, 188, 191, 192, 196, 197, 199, 213, 215, 221, 223, 224, 225, 226
SAE J1939 ...........................................................................................329
PC card ................................................................................................326
Safety instructions .................................................................................10
PCMCIA card .......................................................................................327
Safety instructions about Reed relays .............................................32, 58
PDM .....................................................................................................327
Save boot project ...................................................................................43
PDO .....................................................................................................327
SD card ................................................................................................329
PDU .....................................................................................................327
SDO .....................................................................................................329
Performance limits of the device ...........................................................49
SDOs error messages .........................................................................307
PERIOD ...............................................................................................150
Self-protection of the output ..................................................................29
PERIOD_RATIO ..................................................................................152
Self-test ................................................................................................330
PES ......................................................................................................327
Serial interface .......................................................................................36
PGN .....................................................................................................327
SERIAL_MODE .....................................................................................49
PHASE .................................................................................................154
SERIAL_PENDING..............................................................................119
Pictogram .............................................................................................327
SERIAL_RX .........................................................................................120
PID controller .......................................................................................327
SERIAL_SETUP ..................................................................................121
PID1 .....................................................................................................188
SERIAL_TX .........................................................................................122
PID2 .....................................................................................................190
Set up programming system via template (I/O module)......................260
PLC configuration ................................................................................328
Set up the programming system ...........................................................53
Please note! ...........................................................................................10
Set up the programming system (I/O module) ....................................258
Possible operating modes I/O module ................................................266
Set up the programming system manually ............................................53
Possible operating modes inputs/outputs ...........................................241
Set up the programming system manually (I/O module) ..................259
Pre-Op .................................................................................................328
Set up the programming system via templates .....................................55
Principle block diagram .........................................................................15
Set up the runtime system .....................................................................51
Principle of the H-bridge ......................................................................162
Set up the target ....................................................................................53
Process image .....................................................................................328
SET_DEBUG .......................................................................................216
Program example to CAN1_MASTER_STATUS ..................................91
SET_IDENTITY ...................................................................................217
Programming notes for CODESYS projects .........................................40
SET_INPUT_MODE ............................................................................132
Protective functions of the outputs ........................................................28
SET_INTERRUPT_I ............................................................................124
PT1 ......................................................................................................192
SET_INTERRUPT_XMS .....................................................................126
PWM ....................................................................................................328
SET_OUTPUT_MODE ........................................................................157
PWM outputs ...................................................................................28, 65
SET_PASSWORD ...............................................................................218
I/O module ExB01 ....................................................................................... 264
Setting control ......................................................................................186
PWM1000 ............................................................................................169
Setting rule for a controller ..................................................................186
R SHOW_ERROR_LIST .........................................................................225
Slave ....................................................................................................330
ratiometric ............................................................................................328
Slave information ...................................................................................91
RAW-CAN ............................................................................................328
SOFTRESET .......................................................................................194
Reaction according to the operating mode of the output ......................29
Software description ..............................................................................38
Reaction for outputs with current feedback ...........................................30
Software modules for the device ...........................................................38
Reaction in case of an error ................................................................228
SRAM.....................................................................................................15
Reaction of the outputs to overload or short circuit ...............................29
Start conditions ......................................................................................14
Reaction when PWM1000, OUTPUT_CURRENT_CONTROL,
Start-up behaviour of the controller .......................................................11
OUTPUT_BRIDGE is/are used .............................................................29
Status LED.............................................................................................34
335
Status LED I/O module ........................................................................246

STOP state ............................................................................................47
stopped ................................................................................................330
Storage types for data backup ............................................................200
Structure Emergency_Message ............................................................92
Structure node status ............................................................................92
Structure of CANx_EMERGENCY_MESSAGE ....................................89
Structure of CANx_NODE_STATE .......................................................90
Symbols ...............................................................................................330
System description ................................................................................13
System description I/O module ExB01 ................................................244
System flag (ExB01 I/O module) .........................................................305
System flag for the integrated ExB01 I/O module ...............................305
System flags ........................................................................................230
16 inputs and 16 outputs (standard side) ................................................... 236
CAN ............................................................................................................. 231
error flags (standard side) ........................................................................... 233
SAE-J1939 .................................................................................................. 232
status LED (standard side) ......................................................................... 234
voltages (standard side) .............................................................................. 235
SYSTEM STOP state ............................................................................47
System variable ...................................................................................330
System variables ...................................................................................56
T
Target...................................................................................................330
TCP ......................................................................................................330
TEMPERATURE..................................................................................199
Template ..............................................................................................330
Terminal voltage VBBs falls below the limit value of 10 V ....................20
Terminal voltage VBBx falls below the limit value of 5.25 V .................19
TEST mode............................................................................................48
TIMER_READ......................................................................................196
TIMER_READ_US...............................................................................197
U
UDP .....................................................................................................330
UNPACK_ERRORCODE ....................................................................226
Update the runtime system....................................................................52
USB interface.........................................................................................36
Use as binary inputs ..............................................................................62
Use, intended.......................................................................................331
Using ifm downloader ............................................................................43
Using ifm maintenance tool ...................................................................43
V
Variables ................................................................................................67
Verify the installation .............................................................................52
W
Watchdog .............................................................................................331
Watchdog behaviour..............................................................................49
What do the symbols and formats mean? ...............................................7
What previous knowledge is required? .................................................11
336

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Runtime system V02.00.03

1 About this manual 5

4.5.2 Network variables ....................................................................................................................... 68

5 ifm function elements 69

6 Diagnosis and error handling 227

7.4.2 Error flags ................................................................................................................................. 316

8 Terms and abbreviations 318

1 About this manual

1.2 Overview: documentation modules for CR0033

The documentation for this devices consists of the following modules:

Data sheet Technical data in a table

1.3 What do the symbols and formats mean?

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

1.4 How is this documentation structured?

1.5 History of the instructions (CR0033 + CR0133)

What has been changed in this manual? An overview:

2013-06-24 various new document structure

Date Theme Change

2.1 Please note!

2.2 What previous knowledge is required?

2.3 Start-up behaviour of the controller

A restart can, for example, be caused by:

2.4 Notes: serial number

2.5 Notes: TEST inputs

3.1 Information concerning the device

3.2 Hardware description

3.2.1 Hardware structure

Principle block diagram

Figure: principle block diagram of supply and relays

FLASH memory (non-volatile, slow memory) 2 176 kByte

SRAM (volatile, fast memory) 2 216 kByte

FRAM (non-volatile, fast memory) 128 kByte

3.2.2 Operating principle of the delayed switch-off

Connect terminal VBB15 to the ignition switch

Power-on of the controller:

3.2.3 Relays: important notes!

Assignment relays – potentials: → data sheet

3.2.4 Monitoring concept

Monitoring of the supply voltages VBBx

In case of a fault we differentiate 2 scenarios:

Terminal voltage VBBx falls below the limit value of 5.25 V

Terminal voltage VBBs falls below the limit value of 10 V

Below 10 V no retain data is saved. → flag RETAIN_WARNING

Operating principle of the monitoring concept

Manual setting of a flag bit ERROR_VBB... has NO effects on the relays!

If a watchdog error occurs, ...

Reference voltage output

Via the binary system variables REFERENCE_VOLTAGE_5 or REFERENCE_VOLTAGE_10 the

► If reference voltage = 10 V selected:

3.2.5 Inputs (technology)

In = pin multifunction input n

Figure: principle block diagram multifunction input

Figure: block diagram of the resistor survey input

In = pin resistor survey input n

The binary input can be operated in following modes:

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

Input group I00...I11

These inputs are a group of multifunction channels.