Uk

Original programming manual
PDM360 NG 12" / Touch

CR1201
Runtime system V02.03.xx

CODESYS V2.3
7391029_00_UK
2015-08-27
English
ifm Programming manual PDM360 NG 12" / Touch (CR1201) V02.03.xx, CODESYS 2.3
2015-08-27
Contents
Contents
1
About this manual

1.1
1.2
1.3
1.4
1.5
1.6
Copyright ..............................................................................................................................6
Overview: documentation modules for ecomatmobile devices ............................................6
CODESYS programming manual ........................................................................................7
What do the symbols and formats mean? ...........................................................................7
How is this documentation structured? ................................................................................8
History of the instructions .....................................................................................................8
Safety instructions
2.1
2.2
2.3
What previous knowledge is required? ..............................................................................10

Note! ...................................................................................................................................10
Start-up behaviour of the controller....................................................................................11
System description
3.1
3.2
12
Information concering the device .......................................................................................12

Hardware ............................................................................................................................13
3.2.1
3.2.2
3.2.3
3.2.4
3.2.5
3.3
Display elements ........................................................................................................................ 14

Operating elements .................................................................................................................... 15
Limitations for program and data memories ............................................................................... 16
Real-time clock (RTC) ................................................................................................................ 17
Camera visualisation .................................................................................................................. 17
Interfaces ...........................................................................................................................18
3.3.1
3.3.2
3.3.3
3.3.4
3.3.5
3.3.6
3.4
Inputs (technology) ..................................................................................................................... 19

Outputs (technology) .................................................................................................................. 22
CAN ............................................................................................................................................ 22
USB ............................................................................................................................................ 23
Ethernet ...................................................................................................................................... 23
Analogue video input .................................................................................................................. 23
Software description ..........................................................................................................24

3.4.1
3.4.2
3.4.3
3.4.4
Software components ................................................................................................................. 25

Programming system CODESYS 2.3 ......................................................................................... 26
ifm target package for CODESYS .............................................................................................. 26
Operating states ......................................................................................................................... 26
Installation
4.1
4.2
4.3
27
Install the CODESYS programming system ......................................................................28

Install the device-specific target package ..........................................................................28
Update the runtime system of the device ..........................................................................29
4.3.1
4.3.2
4.3.3
4.3.4
4.3.5
Notes .......................................................................................................................................... 30
Enter the recovery mode ............................................................................................................ 31
Update the runtime system......................................................................................................... 31
Configure IP parameter of ethernet interface ............................................................................. 34
Quit the recovery mode .............................................................................................................. 37
Device configuration
5.1
5.2
38
Enter the setup mode .........................................................................................................39

Operating instructions ........................................................................................................40
5.2.1
5.2.2
5.2.3
Key functionality ......................................................................................................................... 41

Navigation key ............................................................................................................................ 46
Touchscreen............................................................................................................................... 46
2015-08-27
Contents
5.2.4
5.3
Setup: Working with enabled password protection ..................................................................... 47
Setup: start screen .............................................................................................................49

5.3.1
5.3.2
5.3.3
5.4
Setup: System settings ............................................................................................................... 50

Setup: Display system information ............................................................................................. 59
Setup: More functions ................................................................................................................ 60
PDF file viewer ...................................................................................................................76

5.4.1
5.4.2
5.4.3
5.4.4
5.5
5.6
5.7
PDF: Navigating in the PDF file .................................................................................................. 77

PDF-Viewer: Display PDF file in full-screen mode ..................................................................... 78
PDF-Viewer: Display extended menu ......................................................................................... 79
PDF-Viewer: Display the tabel of content of the PDF file ........................................................... 80
Setup: Start the application ................................................................................................81

Automatically restore system files......................................................................................82
Exit setup, reboot device ....................................................................................................82
Programming
6.1
83
Set the target system .........................................................................................................84

6.1.1
6.1.2
6.1.3
6.1.4
6.2
Create CODESYS project manually ........................................................................................... 85

Configure the controller .............................................................................................................. 86
Configure CAN interfaces ........................................................................................................... 87
Use access protection ................................................................................................................ 89
First steps ...........................................................................................................................91

6.2.1
6.2.2
6.2.3
6.2.4
6.2.5
6.3
Programming notes for CODESYS projects ............................................................................... 92

Create PLC program ................................................................................................................ 113
Add additional libraries ............................................................................................................. 114
Programming interfaces ........................................................................................................... 115
Save project in the device ........................................................................................................ 121
Configuration of the inputs and outputs ...........................................................................122

6.3.1
6.3.2
6.3.3
6.4
Notes ........................................................................................................................................ 123

Configure input ......................................................................................................................... 123
Configure output ....................................................................................................................... 123
Use visualisations ............................................................................................................124

6.4.1
6.4.2
6.4.3
6.4.4
6.4.5
6.5
Notes on visualisations ............................................................................................................. 125

Create visualisation .................................................................................................................. 131
Configuring functions of operating elements ............................................................................ 132
Use of optical and acustical feedback ...................................................................................... 135
Install fonts (true type fonts) ..................................................................................................... 136
Use of touch screen functions ..........................................................................................138

6.5.1
6.5.2
6.5.3
6.5.4
6.6
General notes ........................................................................................................................... 138

Process touch screen inputs .................................................................................................... 138
Use visual feedback ................................................................................................................. 140
Calibration of the touch screen ................................................................................................. 141
Install and set up mobile camera .....................................................................................142

6.6.1
6.6.2
Setup and operate Ethernet cameras ....................................................................................... 143

Setup and operate analogue cameras ..................................................................................... 147
ifm function elements

7.1
154
ifm libraries for the device CR1201 ..................................................................................155

7.1.1
7.1.2
7.1.3
7.1.4
7.1.5
7.1.6
7.1.7
7.1.8
7.1.9
7.1.10
7.1.11
7.2
Library ifm_CR1201_Vxxyyzz.LIB ............................................................................................ 156

Library ifm_PDMng_util_Vxxyyzz.LIB ....................................................................................... 157
Library ifm_PDM360NG_special_V02yyzz.LIB ........................................................................ 157
Library ifm_PDM360NG_linux_syscall_asynch_V02yyzz.LIB .................................................. 158
Library ifm_PDM360NG_USB_Vxxyyzz.lib .............................................................................. 158
Library ifm_PDM360NG_USB_LL_V02yyzz.LIB ...................................................................... 159
Library ifm_PDM_input_V01yyzz.LIB ....................................................................................... 159
Library ifm_RAWCan_NT_Vxxyyzz.LIB.................................................................................... 160
Library ifm_CANopen_NT_Vxxyyzz.LIB ................................................................................... 161
Library ifm_J1939_NT_Vxxyyzz.LIB ......................................................................................... 162
Library ifm_NetVarLib_NT_Vxxyyzz.LIB................................................................................... 163
ifm function elements for the device CR1201 ..................................................................164

7.2.1
POUs: Setup the device ........................................................................................................... 165
2015-08-27
Contents
7.2.2
7.2.3
7.2.4
7.2.5
7.2.6
7.2.7
7.2.8
7.2.9
7.2.10
7.2.11
POUs: Read device information ............................................................................................... 175

POUs: Adjust analouge and digital values................................................................................ 181
POUs: Manage, read and write the USB memory device ......................................................... 185
Function elements: Control LED + buzzer ................................................................................ 193
POUs: Manage visualisation .................................................................................................... 198
POUs: Use touch screen functions ........................................................................................... 224
POUs: Help functions ............................................................................................................... 226
Function elements: RAW-CAN (Layer 2) .................................................................................. 230
Function elements: CANopen................................................................................................... 258
Function elements: SAE J1939 ................................................................................................ 306
Diagnosis and error handling

8.1
8.2
8.3
342
Diagnosis .........................................................................................................................343
Fault .................................................................................................................................343
Response to system errors ..............................................................................................343
8.3.1
8.4
Example process for response to an error message ................................................................ 343
CAN / CANopen: errors and error handling .....................................................................343
Annex
9.1
9.2
344
Address assignment in Ethernet networks ......................................................................345

System flags.....................................................................................................................346
9.2.1
9.2.2
9.2.3
9.2.4
9.2.5
9.2.6
9.3
9.4
System flags: system ............................................................................................................... 347

System flags: Inputs and Outputs ............................................................................................. 348
System flags: Status LED ......................................................................................................... 348
System flags: function keys ...................................................................................................... 349
System flags: navigation keys .................................................................................................. 350
System flags: error flags ........................................................................................................... 351
Possible operating modes inputs/outputs ........................................................................352

CANopen tables ...............................................................................................................353
9.4.1
9.4.2
9.4.3
9.4.4
Structure of CANopen messages ............................................................................................. 354

Boot-up message ..................................................................................................................... 359
Network management (NMT) ................................................................................................... 360
CANopen error code ................................................................................................................ 365
10
Glossary of Terms
369
11
Index
378
12
Notizen Notes Notes
383
13
ifm weltweit ifm worldwide ifm lchelle internationale
384
About this manual
2015-08-27
Copyright
About this manual
Copyright ..................................................................................................................................................6
Overview: documentation modules for ecomatmobile devices ................................................................6
CODESYS programming manual .............................................................................................................7
What do the symbols and formats mean? ................................................................................................7
How is this documentation structured? ....................................................................................................8
History of the instructions .........................................................................................................................8
202
About this manual
2015-08-27
Copyright
>
1.1
Copyright
6088
All rights reserved by ifm electronic gmbh. No part of this manual may be reproduced and used
without the consent of ifm electronic gmbh.
All product names, pictures, companies or other brands used on our pages are the property of the respective rights owners:
AS-i is the property of the AS-International Association, ( www.as-interface.net)
CAN is the property of the CiA (CAN in Automation e.V.), Germany ( www.can-cia.org)
CODESYS is the property of the 3S Smart Software Solutions GmbH, Germany ( www.codesys.com)
DeviceNet is the property of the ODVA (Open DeviceNet Vendor Association), USA ( www.odva.org)
EtherNet/IP is the property of the ODVA
IO-Link ( www.io-link.com) is the property of the PROFIBUS Nutzerorganisation e.V., Germany
Microsoft is the property of the Microsoft Corporation, USA ( www.microsoft.com)
PROFIBUS is the property of the PROFIBUS Nutzerorganisation e.V., Germany ( www.profibus.com)
PROFINET is the property of the PROFIBUS Nutzerorganisation e.V., Germany
Windows is the property of the Microsoft Corporation, USA
>
1.2
Overview: documentation modules for ecomatmobile devices

17405
The documentation for ecomatmobile devices consists of the following modules:

1.
Data sheet
Contents
Technical data in a table
Source
www.ifm.com > select your country > [Data sheet search] > CR1201 > [Technical data in PDF format]
2.
Installation instructions / operating instructions
Contents
Instructions for installation, electrical installation, (commissioning*), technical data
Source
The instructions are supplied with the device

They are also found on ifm's homepage:
www.ifm.com > select your country > [Data sheet search] > CR1201 > [Operating instructions]
3.
Programming manual + online help
Contents
Description of the configuration and the functions of the device software
Source
4.
System manual "Know-how ecomatmobile"
Contents
Know-how about the following topics:

Overview Templates and demo programs
CAN, CANopen
Control outputs
User flash memory
Visualisations
Overview of the files and libraries used
Source
*) The descriptions in brackets are only included in the instructions of certain devices.
About this manual
2015-08-27
CODESYS programming manual
>
1.3

17542
In the additional "Programming Manual for CODESYS V2.3" you obtain more details about the use of
the programming system.
This manual can be downloaded free of charge from ifm's website:
www.ifm.com > Select your country > [Service] > [Download] > [Systems for mobile machines]
You also find manuals and online help for ecomatmobile at:
ecomatmobile DVD "Software, tools and documentation"
>
1.4
What do the symbols and formats mean?

203
The following symbols or pictograms illustrate the notes in our instructions:
WARNING
Death or serious irreversible injuries may result.
CAUTION
Slight reversible injuries may result.
NOTICE
Property damage is to be expected or may result.
Important notes concerning malfunctions or disturbances
Other remarks
...
Request for action
>
Reaction, result
...
...
"see"
abc
Cross-reference
123
0x123
0b010
Decimal number
Hexadecimal number
Binary number
[...]
Designation of pushbuttons, buttons or indications
2015-08-27
About this manual
How is this documentation structured?
>
1.5
How is this documentation structured?

204
1508
This documentation is a combination of different types of manuals. It is for beginners and also a
reference for advanced users. This document is addressed to the programmers of the applications.
How to use this manual:
Refer to the table of contents to select a specific subject.
Using the index you can also quickly find a term you are looking for.
At the beginning of a chapter we will give you a brief overview of its contents.
Abbreviations and technical terms Annex.

In case of malfunctions or uncertainties please contact the manufacturer at:
www.ifm.com > Select your country > [Contact].
We want to become even better! Each separate section has an identification number in the top right
corner. If you want to inform us about any inconsistencies, indicate this number with the title and the
language of this documentation. Thank you very much for your support!
We reserve the right to make alterations which can result in a change of contents of the
documentation. You can find the current version on ifm's website at:
www.ifm.com > Select country > [Data sheet search] > (Article no.) > [Operating instructions]
>
1.6
History of the instructions

18148
Date
Theme
2015-04-08
New creation of the document
Change
Safety instructions
2015-08-27
History of the instructions
Safety instructions
What previous knowledge is required? ..................................................................................................10

Note! .......................................................................................................................................................10
Start-up behaviour of the controller ........................................................................................................11
213
Safety instructions
2015-08-27
What previous knowledge is required?
>
2.1
What previous knowledge is required?

215
This document is intended for people with knowledge of control technology and PLC programming
with IEC 61131-3.
To program the PLC, the people should also be familiar with the CODESYS software.
The document is intended for specialists. These specialists are people who are qualified by their
training and their experience to see risks and to avoid possible hazards that may be caused during
operation or maintenance of a product. The document contains information about the correct handling
of the product.
Read this document before use to familiarise yourself with operating conditions, installation and
operation. Keep the document during the entire duration of use of the device.
Adhere to the safety instructions.
>
2.2
Note!
7328
11212
No characteristics are warranted with the information, notes and examples provided in this manual.
With the drawings, representations and examples given no responsibility for the system is assumed
and no application-specific particularities are taken into account.
The manufacturer of the machine/equipment is responsible for ensuring the safety of the
machine/equipment.
Follow the national and international regulations of the country in which the machine/installation is
to be placed on the market!
WARNING
Non-observance of these instructions can lead to property damage or personal injury!
ifm electronic gmbh does not assume any liability in this regard.
The acting person must have read and understood the safety instructions and the corresponding
chapters in this manual before working on and with this device.
The acting person must be authorised to work on the machine/equipment.
The acting person must have the qualifications and training required to perform this work.
Adhere to the technical data of the devices!
You can find the current data sheet on ifm's homepage at:
www.ifm.com > Select your country > [Data sheet search] > (article number.) > [Technical data
in PDF format]
Note the installation and wiring information as well as the functions and features of the devices!
supplied installation instructions or on ifm's homepage:
www.ifm.com > Select your country > [Data sheet search] > (article number.) > [Operating
instructions]
Please note the corrections and notes in the release notes for the existing documentation,
available on the ifm website:
www.ifm.com > Select your country > [Data sheet search] > (article number.) > [Operating
instructions]
NOTE
To ensure the protection rating:
- Cover the unused M12 sockets using the protective caps E73004!
- Permissible tightening torque of the protective caps = 0.6...0.8 Nm.
10
Safety instructions
2015-08-27
Start-up behaviour of the controller
NOTICE
Danger of burn-in effects!
If the device is operated with the same visualisation for many hours, the image may be burned into the
screen.
Operate the device with changing visualisations!
>
2.3
Start-up behaviour of the controller

6827
15233
11575
WARNING
Danger due to unintentional and dangerous start of machine or plant sections!
When creating the program, the programmer must ensure that no unintentional and dangerous
start of machines or plant sections after a fault (e.g. e-stop) and the following fault elimination can
occur!
Realise restart inhibit!
In case of an error, set the outputs concerned to FALSE in the program!
A restart can, for example, be caused by:
voltage restoration after power failure
reset after watchdog response because of too long a cycle time
error elimination after an E-stop
To ensure a safe behaviour of the controller:
monitor the voltage supply in the application program.
In case of an error switch off all relevant outputs in the application program.
Additionally monitor relay contacts which can cause hazardous movements in the application
program (feedback).
If necessary, ensure that welded relay contacts in the application project cannot trigger or continue
hazardous movements.
Additionally monitor relay contacts which can cause hazardous movements in the application
program (feedback).
If necessary, ensure that welded relay contacts in the application project cannot trigger or continue
hazardous movements.
11
System description
2015-08-27
Information concering the device
System description
Information concering the device ...........................................................................................................12

Hardware ................................................................................................................................................13
Interfaces ................................................................................................................................................18
Software description ...............................................................................................................................24
975
3.1
Information concering the device

19337
These instructions describe the following models of the device familiy 'PDM360' from ifm electronic
gmbh:
PDM360 NG -12": CR1201
Software release:
Runtime system: V02.03.xx
12
System description
2015-08-27
Hardware
>
3.2
Hardware
Display elements ....................................................................................................................................14

Operating elements ................................................................................................................................15
Limitations for program and data memories ...........................................................................................16
Real-time clock (RTC) ............................................................................................................................17
Camera visualisation ..............................................................................................................................17
17371
13
2015-08-27
System description
Hardware
>
3.2.1
Display elements
19388
The device has the following display elements.

>
Display
1166
Designation
Data
Technology
TFT
Screen diagonal
12" (30,5 cm)
Aspect ratio
15:9
Resolution
1024 x 768 pixels
Colour depth
6 bits per colour channel = 18 bits = 262 144 representable colours

(Create the image as "True Color" with 24 bits)
Background illumination
LED
Photoelectric sensor
Measures the brightness of the environment at the installation location of the device.
Can be used to dim the background illumination and/or the key LEDs.
>
Status-LED
7372
The intergrated status LED indicates the operating states of the device. By default the following colour
codes and flashing frequencies apply:
LED colour
Flashing frequency
Description
Black
Permanently off
no supply voltage
Green
5 Hz
Boot process application programm
2 Hz
Application program running (RUN) or: device in Setup mode
Permanently on
Application programm stopped (STOP) or: no project available
2 Hz
Anwendungsprogramm luft mit Fehler, z.B.:

- ERROR_TEMPERATURE: Device temperature too high / loo low
- ERROR_POWER: Supply voltage too high / too low
5 Hz
System stopped, i.e. Linux watchdog has been triggered
Permanently on
System error (fatal error); device is in RESET mode
Red / orange
2 Hz (alternating)
Error: Temperature too high or too low; Device is in RESET mode until
temperature is back again in normal range
Orange
5 Hz
Boot process Recovery mode
2 Hz
Device is in Recovery mode
Permanently on
System reset
Red
Colour and flashing frequency of the status LED can be programmed in the CODESYS
application.
>
14
System description
2015-08-27
Hardware
Key LEDs
19468
All keys are seperately backlit by LEDs. The LEDs can be programmed in the CODESYS application.
Behaviour in Setup mode: Key functionality ( page 41)
>
Audio signalling device (buzzer)

7367
The audio signalling device integrated into the device can be programmed in the CODESYS
application.
Tone duration (off, permanent tone, key click
Tone pitch (500...5000 Hz)
>
3.2.2
Operating elements
19328
The device has the following operating elements:
Function keys
with pressure point
backlit with programmable LEDs
Navigation key
as a combination of 5 independent keys
backlit with programmable LEDs
Touch screen
Resistive technology,
i.e. display reacts to pressure by fingers (can be also operated when wearing gloves) and
pens
direct selection and activation of GUI elements
15
2015-08-27
System description
Hardware
>
3.2.3
Limitations for program and data memories

7360
Memory area
Size
Total memory space 1
For program code
Data memory /data

Memory for retain data
Memory in the directory /tmp
128/256 Mbytes RAM

128 Mbytes Flash
8 Mbytes
1 024 Mbytes
32 kbytes
Not defined
Memory for bitmap files (80 x 100 pixels each, 24-bit colour depth)
45 Mbytes
Memory for font files
System need
75 Mbytes
legend:
1 ...
2 ...
16
Memory size: data sheet

Retain data Retain variables ( page 94)
The CR1201 does not support online change!

(= option to change the program code online without having to delete the original
program first)
The data memory /data is NOT initialised during the start process any more as
from firmeware V01.05 on. To use the data memory it must be mounted to the file
system of the device in the CODESYS application program by means of the
function block INIT_DATA_MEMORY.
The memory can be extended optionally at the USB interface. The USB memory
device is only for momentary use (e.g. to back up files)!
The USB connectors are not suitable for permanent operation in mobile
applications.
System description
2015-08-27
Hardware
>
3.2.4
Real-time clock (RTC)

7371
The device contains a real-time clock. During the system start the device synchronises the
(secondary) system clock with the (primary) real-time clock. The system clock can be used as follows:
read the current clock time in the application program
time stamp in (automatically generated) event protocols
registration of operating times
Features of the real-time clock:
is battery backed and continues to run in the switched-off device
can be set to different UTC based time zones
device monitors the charging status of the backup battery
The functions from the following libraries control the real-time clock or retrieve the values:
SysLibRtc.lib (3S)
This library offers functions to access the real-time clock of the device:
reading and setting the real-time clock
reading the current display mode
checking the status of the battery
The processing is done synchronously.
SysLibTime.lib (3S)
This library is required for representing the task time evaluation in the task editor of CODESYS.
reading the real-time clock of the device with the function blocks from this library
The processing is done synchronously.
>
3.2.5
Camera visualisation
7366
Interface
Type of signal
Characteristics
Ethernet
Digital
Up to 4 camera images representable at the same time
Colour: 24 bits / greyscale: 8 bits

More than 4 cameras connected to the network can have a strong
impact on the data traffic in the network.
The device supports ifm Ethernet cameras with the firmware
version 5.1001 or higher.
Analogue video input

(FBAS)
Analogue
2 analogue connections
Automatic NTSC / PAL recognition
Only 1 camera image representable at the same time
Switching between 2 cameras possible
17
System description
2015-08-27
Interfaces
Supported analogue cameras

Recommended reference cameras:
ifm electronic: O2M200, O2M201, O2M202, O2M203
Tested cameras from third-party manufacturers:
Motec: MC3100-3R
Vision Techniques: VT70

Use of other cameras without warranty from ifm electronic gmbh
The following applies to all camera interfaces:
Brightness of the camera image 0...100 % adjustable in 1% steps.
Visualisation and camera image representable at the same time (overlaid).
Failure of a camera is signalled.
Cameras can be activated / deactivated separately.
Rotation of the camera image by 0 / 90 / 180 / 270
Scaling of the camera image 0...400 % with unchanged proportion.
>
3.3
Interfaces
14332
The device has the following interfaces.

For location of the connections an and specifications: installation instruction, data
sheetDaten
18
System description
2015-08-27
Interfaces
>
3.3.1
Inputs (technology)
Operating modes ....................................................................................................................................20

Safety instructions about Reed relays ....................................................................................................21
14090
19
2015-08-27
System description
Interfaces
>
Operating modes
19930
The device offers 1 input channel (IN00). It can be operated as:
Binary input ( Binary inputs ( page 20))
Analogue input ( Analogue inputs ( page 21))

For parameter of the input channel: installation instruction, data sheet
>
Binary inputs
7345
The binary input can be operated in following modes:

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

for positive sensor signal:
Input = open signal = low (GND)
20
Basic circuit of binary input minus switching (BH)

for negative sensor signal:
Input = open signal = high (supply)
2015-08-27
System description
Interfaces
>
Analogue inputs
7346
The analogue inputs can be configured via the application program. The measuring range can be set
as follows:
current input 0...20 mA
voltage input 0...10 V
voltage input 0...32 V
If in the operating mode "0...32 V" the supply voltage is read back, the measurement can also be
performed ratiometrically. This means potentiometers or joysticks can be evaluated without additional
reference voltage. A fluctuation of the supply voltage then has no influence on this measured value.
In case of ratiometric measurement the connected sensors should be supplied with VBBS of the
device. So, faulty measurements caused by offset voltage are avoided.
8971
In = pin multifunction input n

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

>
Safety instructions about Reed relays

7348
For use of non-electronic switches please note the following:

Contacts of Reed relays may be clogged (reversibly) if connected to the device inputs without
series resistor.
Remedy: Install a series resistor for the Reed relay:
Series resistor = max. input voltage / permissible current in the Reed relay
Example: 32 V / 500 mA = 64 Ohm
The series resistor must not exceed 5 % of the input resistance RE of the device input data
sheet). Otherwise, the signal will not be detected as TRUE.
Example:
RE = 3 000 Ohm
max. series resistor = 150 Ohm
21
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System description
Interfaces
>
3.3.2
Outputs (technology)
14093
>
Binary output
19931
The device offers 1 output channel (OUT00). It can be operated as a binary, high side output.
Qn = pin binary output n

(L) = Load
Block diagram high side output for positive output signal
For parameter of the output: installation instruction, data sheet
>
3.3.3
CAN
The device has 4 CAN interfaces. They can be used to realize the following functions:
configurable as CAN Layer 2, CANopen Master/Slave, SAE J1939
Available protocols:
CAN interface
Download ID (default)
CAN protocols
22
CAN 1
CAN 2
CAN 3
CAN 4
ID 127
ID 126
ID 125
ID 124
CAN Layer 2
CAN Layer 2
CAN Layer 2
CAN Layer 2
CANopen
CANopen
CANopen
CANopen
SAE J1939
SAE J1939
SAE J1939
SAE J1939
System description
2015-08-27
Interfaces
>
3.3.4
USB
14326
The device offers 2 USB interfaces. They can be used to realize the following functions:
Connect USB memory to the device (supported file systems: FAT16, FAT32, VFAT, EXT2, EXT3)
Connect external devices to the device (keyboard, mouse)
>
3.3.5
Ethernet
14325
The device offers 1 Ethernet interface. It can be used to realize the following functions:
Download a application program from CODESYS to the device (programing interface)
Connect ethernet camera systems to the device
External access to the device:

Telnet/FTP (unencrypted)
SSH/SCP (encrypted)
3.3.6
Analogue video input

11197
The device offers 2 analogue video inputs. They can be used to realize the following functions:
Connect analogue video camera systems to the device
Input signal: S-Video (FBAS); supported signals: PAL, NTSC
23
System description
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Software description
>
3.4
Software components .............................................................................................................................25

Programming system CODESYS 2.3 .....................................................................................................26
Operating states .....................................................................................................................................26
14107
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System description
>
3.4.1
Software components
19091
The device has the following software componentscommunicates with the hardware as below:
Software component
Operating system (Linux derivate)
Runtime system (RTS) 2
Application program
with libraries
Can user change the component?

1
By means of what tool?
No
---
Upgrade yes
Downgrade no
Image file
Yes
CODESYS
Legend:
1 ...
The operating system will be changed partially while updating the runtime system of the device. Therefore, an
downgrade of the runtime system is not possible.
2 ...
The runtime system version number must correspond to the target version number in the CODESYS target system
setting.
>
Runtime system
19093
Basic program in the device, establishes the connection between the hardware of the device and the
application program.
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.
ifm electronic maintains the runtime system and releases update packages. The user can download
the current release from the website of ifm electronic gmbh:
www.ifm.com > Select your country > [Service] > [Download]
>
Application program
15274
14118
Software specific to the application, implemented by the machine manufacturer, generally containing
logic sequences, limits and expressions that control the appropriate inputs, outputs, calculations and
decisions.
8340
WARNING
The user is responsible for the reliable function of the application programs he designed. If necessary,
he must additionally carry out an approval test by corresponding supervisory and test organisations
according to the national regulations.
The visualisati pages and embedded graphics are part of the CODESYS application program.
25
System description
2015-08-27
>
3.4.2
Programming system CODESYS 2.3

17365
The user can create application programs for the CR1201 by using the programming system
CODESYS 2.3. In this manual we refer to the CODESYS version 2.3.9.25.
In the "programming manual CODESYS 2.3" you will find more details about how to use
the programming system "CODESYS for Automation Alliance". This manual can be
downloaded free of charge from ifm's website at:
(www.ifm.com) > Select your country > [Service] > [Download]
3.4.3
ifm target package for CODESYS

7979
ifm electronic provides a device-specific target package for the programming system CODESYS 2.3.
By using the components included in the package the user can easily access the device functions.
The target package contains the following components:
device-specific target file (*.trg)
device configuration (*.cfg)
function libraries for programming according to IEC 61131-3
ifm-specific error messages
ifm-specific task configuration
>
3.4.4
Operating states
7370
For this device we distinguish the following operating states:
Power on
- booting
Normal operation
Power off
- shutoff
- restart
- shutdown
- clamp 15 switch-off
- delayed switch-off
Recovery / update system
26
Installation
2015-08-27
Installation
Install the CODESYS programming system ...........................................................................................28

Install the device-specific target package ...............................................................................................28
Update the runtime system of the device ...............................................................................................29
19339
27
Installation
2015-08-27
Install the CODESYS programming system
>
4.1
Install the CODESYS programming system

19360
Download the installation file for CODESYS 2.3 from the ifm website.
Install the CODESYS 2.3 programming system on the PC/laptop ( CODESYS software manual).
>
4.2
Install the device-specific target package

19360
Detailed information on the device-specific target package: ifm target package for
CODESYS ( page 26)
To install the device-specific target package for the CR1201:
Download the "CR1201 target package" with version V02.03.xx.
Open the ZIP file and unzip the contents of the folder CR1201_V02 into the subdirectory
..\Targets\ifm in the CODESYS programm directory.
> Components of the target file can be used in CODESYS 2.3.
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Update the runtime system of the device
>
4.3
Notes ......................................................................................................................................................30
Enter the recovery mode ........................................................................................................................31
Update the runtime system.....................................................................................................................31
Configure IP parameter of ethernet interface .........................................................................................34
Quit the recovery mode ..........................................................................................................................37
18159
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Installation
2015-08-27
>
4.3.1
Notes
18162
To update the runtime system the device needs to be in recovery mode.

>
Download the update file

18165
The user can download the current version of the runtime system from the ifm website.
Access the download from the ifm website.
( www.ifm.com > Select your country > [Service] > [Download] > [Systems for mobile machines])
Download the ZIP archive with the update file and unzip (e.g. V020301_NoWD_PDM360NG.zip).
> The update file is stored on the PC/laptop (e.g. V020301_NoWD_PDM360NG.ifm).
>
Key assignment in recovery mode

18163
In the recovery mode, the following key assignment applies:
>
Components of the runtime system

11649
During the update process the following software compknents of the device will be updated:
1. System software (Linux)
2. Firmware of the keys
3. Firmware of the I/O co-processor
4. Firmware of the watchdog co-processor
30
Installation
2015-08-27
>
4.3.2
Enter the recovery mode

19325
Switch off the device (disconnect device from the mains).

Simultaneously process the following actions:
Press and keep pressed any 3 keys on the device simultaneously.
Switch on the device.
To do so, pin 15 and pin 30 must be connected with plus.
> The device is booting.
Keep the keys pressed until the splash screen appears.
> The ifm recovery screen appears and displays IP configuration of the device's ethernet interface
(IP address, subnet mask and gateway address).
> The device is in recovery mode.
>
4.3.3
Update the runtime system

18161
NOTICE
Risk of data loss!
Interrupting the update process can result in a loss of the user data stored in the device.
Do not interrupt the update process!
The runtime system of the device can only be updated in the recovery mode.
The current version of the runtime system can be downloaded from the ifm electronic website
( Download the update file ( page 30)).
Select one of the following options:
Runtime system update via USB memory device ( page 32)
Runtime system update via web browser ( page 33)
31
Installation
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>
Runtime system update via USB memory device

9382
Download current release of runtime system

Download new release of runtime system from the ifm website ( Download the update file
( page 30)).
Unzip the archive and copy the update file into the root directory of the USB memory.
Only ONE update file is allowed in root directory.
Connect the USB memory with the device

Connect the USB memory with the device ( installation instructions).
3 Enter the recovery mode
Enter the recovery mode ( page 31)
4 Install the runtime system
Use [] / [] to select the [Install from USB] button.
Press [ENTER] to start the update process.
> Software components of the device are updated ( Notes ( page 30)).
Display shows stIf successful:
> Status message appears: Software update successful.atus messages.
The upgrade process may take a few minutes. Do not press any key on the device during the
upgrade process!
5
32
Reboot the device neu starten

Use [] / [] to select the [Reboot] button.
Press [ENTER] to reboot the device.
> The device reboots.
Installation
2015-08-27
>
Runtime system update via web browser

9379
Neues Laufzeitsystem herunterladen

Download new release of runtime system from the ifm website ( Download the update file
( page 30)).
2 Enter the recovery mode
Enter the recovery mode ( page 31)
3 Connect the device with the PC/laptop
Establish an Ethernet network connection between the device and the PC/laptop
( installation instructions).
Optional: Set the IP configuration of the ethernet interface of the PC/laptop to match the IP
configuration of the device.
4 Acitvate the web interface of the device
Start the web browser on the PC/laptop.
Enter the IP address of the device in the address line of the browser and press [ENTER] to
activate the web interface (IP-Adresse: Schritt 2).
> Browser shows web interface of the device.
> Web interface shows content of [Software Upgrade] tab.
5 Install the runtime system
Press the [Select...] button.
> Windows explorer appears.
Select update file (Vxx.yy.zz_PDM360NG.ifm) and press [Open] to proceed.
> [Select image to upload] field shows directory path and file name of the selected update file.
Press [Send] button to start the update process.
> Software components of the device are updated ( Notes ( page 30)).
> Web interface and device display show status messages.
If successful:
> Status message appears: Software update successful.
The upgrade process may take a few minutes. Do not press any key on the device during the
upgrade process!
6
Reboot the device neu starten

Use [] / [] to select the [Reboot] button.
> The device reboots.
33
Installation
2015-08-27
>
4.3.4
Configure IP parameter of ethernet interface

11915
In order to update the runtime system of the CR1201 via a network infrastructure, the device's
ethernet interface needs to be configured. The device provides the following options for configuration
of the ethernet interface:
Manual
The operator sets the interface parameters (IP address, subnet mask,
gateway address) manually.
Automatic
The interface parameters are set automatically by the network's DHCP

server (DHCP = Dynamic Host Configuration Protocol).
To configure the IP parameter of the ethernet interface:

Synchronize the IP parameters with DHCP sever ( page 35)
Configure the IP parameter manually ( page 36)
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Installation
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>
Synchronize the IP parameters with DHCP sever

13375
1
2
Connect device with IP network

Connect ethernet interface of the device with the IP network.
Select menu page
Enter the Recovery mode ( Enter the recovery mode ( page 31)).
Use [] / [] to select the [Network Setup] menu and press [ENTER].
> Menu page displays available configuration options and current values of the IP parameters
([IP-address], [netmask], [gateway])
Set IP parameters
Use [] / [] to select the [DHCP] menu item and press [ENTER].
> Device tries to obtain the IP parameters of the ethernet interface from the DHCP server of the
network.
If successful:
> [Network Setup] menu page appears.
> Information bar shows active values of the IP parameters [IP-address], [netmask] und
[gateway].
> Device can be accessed via the IP network by using the shown parameters.
If not successful:
> Error message is displayed.
Press [ESC] to return to the [Network Setup] menu page.
Remove the error cause and repeat the procedure.
35
Installation
2015-08-27
>
Configure the IP parameter manually

8906
Detailed information about the assignment of IP addresses in Ethernet networks: Address

assignment in Ethernet networks ( page 345).
1
3
4
36
Select menu page

Enter the Recovery mode ( Enter the recovery mode ( page 31)).
Use [] / [] to select the [Network Setup] menu and press [ENTER].
> Menu page displays available configuration options and current values of the IP parameters
([IP-address], [netmask], [gateway])
Use [] / [] to select the [Manual Setup] menu item and press [ENTER].
Menu page displays options for manually setting of the IP parameters of the ethernet interface.
Set IP address
Use [] / [] to select the [IP Address] menu item and press [ENTER].
> Menu page displays [IP address] input boxes.
> Right input box is in edit mode (dark-grey background).
Use [] / [] to increment /decrement the number in the input box until the required value is
set.
> Input box displays the new value.
Use [] / [] to select the next input box and use [] / [] to enter the required number.
Repeat the procedure until the required IP adress is set.
Press [OK] to apply the new values and to return to the previous menu page.
OR
Press [ESC] to cancel to input procedure, to keep the old values and to return to the previous
menu page.
Set subnetmask and gateway addess
Repeat step 1 to set [Network Mask] and [Default Gateway].
Apply new values
Use [] / [] to select [Apply] menu item and press [ENTER].
> New values are applied.
Press [ESC] to return to the [Network Setup] menu page.
> Information bar displays current values of the interface parameters [IP-address], [netmask] und
[gateway].
Installation
2015-08-27
>
4.3.5
Quit the recovery mode

082
Select ifm recovery screen.

Use [] / [] to select the menu item [Reboot] and press [ENTER] to activate it.
The device reboots.
If there is a valid project stored on the device, this project will be startet automatically
after completing the reboot process.
If there is no valid project stored on the device, the CR1201 automatically enters the
setup mode after completing the reboot process.
37
2015-08-27
Enter the setup mode .............................................................................................................................39

Operating instructions .............................................................................................................................40
Setup: start screen .................................................................................................................................49
PDF file viewer .......................................................................................................................................76
Setup: Start the application ....................................................................................................................81
Automatically restore system files ..........................................................................................................82
Exit setup, reboot device ........................................................................................................................82
19278
This chapter describes the configuration of the device in the setup mode.
38
2015-08-27
Enter the setup mode
>
5.1
Enter the setup mode

18152
If no valid application is stored in the device, the device passes automatically in the setup
mode after power on.
Disconnect the device from power supply.
Perform the following actions simultaneously:
Press any 2 keys simultaneously and keep them pressed.
Switch on the device.
Keep both keys pressed until the setup menu appears.
> Device boots and passes into the setup mode.
> The start screen of the setup mode appears.
Select one of the following submenus:

Submenu
Description
[SETUP]
Start setup menu

( Setup: start screen ( page 49))
[PDF-VIEWER]
Start the PDF file viewer

( PDF file viewer ( page 76))
[LOAD APPLICATION]
Load and start the PLC application

( Setup: Start the application ( page 81))
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2015-08-27
Operating instructions
>
5.2
Key functionality .....................................................................................................................................41

Navigation key ........................................................................................................................................46
Touchscreen ...........................................................................................................................................46
Setup: Working with enabled password protection ................................................................................47
18108
In setup mode, the following rules apply:
40
2015-08-27
>
5.2.1
Key functionality
18155
The assignment of the function keys is context sensitive. The function of a key is described by the text
label of the corresponding button on the screen.
Only active function keys have a labeled button.
Only active function keys are backlit by the key LED.
The following table provides an overview of the available key functions:
Button
Description
Example
[SELECT]
Select next GUI element
Select next menu item
[BACKSEL]
Select previous GUI element
Select previous menu item
[ENTER]
Activate function of the selected GUI element
Change to selected menu

Show content of the selected directory
[EXIT]
Change to upper menu level
Leave current menu page and change to upper

menu level
[LOAD]
Load selected GUI element
Load font file in the device memory
[RELOAD]
Update
Update view of current directory
[SAVE]
Save selected file or configuration
Save IP address
[START]
Start process
Start receiving CAN frames
[STOP]
Stop process
Stop receiving CAN frames
[], [],
[], []
move to direction
Select character of on-screen keyboard
Increment/decrement value in selected number

field
41
2015-08-27
>
Operation: Navigate in the setup menu

14674
To navigate in the setup menu:
Use [SELECT] to select the next menu item (forward).

OR:
Use [BACKSEL] tot select the previous menu item (backward).
> The selected menu item has a black frame.
Use [ENTER] to change to the selected menu page.
OR:
Use [EXIT] to change to the higher-level menu.
> The information field shows information about the current menu page (i.e. System settings).
42
2015-08-27
>
Operation: Navigate within a menu screen

14675
To navigate within a menu page:
>
>
Use [SELECT] or [BACKSEL] to select the requested GUI element (i.e. number field, option field).
The selected GUI element has a black frame.
The selected GUI element is activated and can be changed.
Use [ENTER] to activate / deactivate the selected GUI element (i.e. option field)
OR:
Use []/[] to increment/decrement the value of the selected GUI element (i.e. number field).
> The changes are displayed.
Use [SAVE] to confirm and apply the changes.
43
2015-08-27
>
Operation: Navigate in the file directory

14673
To navigate in the file directory:
>
>
>
>
44
Use [SELECT] to select a specific window (i.e. [Name], [Places], [Favorites] and [UP])
The selected window is focused (black frame or dark-grey header).
Use []/[] to select an specific item within the selected window (i.e. file, directory).
The selected item has a light-grey background.
Use [ENTER] to change into the selected directory.
OR
Start action according to key label (i.e. Use [RESTORE] to restore the data saved in the selected
backup file).
Selected action is proceeded.
2015-08-27
>
Operation: Enter a text using the on-screen keyboard

11763
The user interface of the runtime system has an on-screen keyboard. It appears automatically as soon
as the user is expected to enter characters.
The on-screen keyboard shows the German character set (QWERTZ keyboard layout).
To protect sensitive information only the character entered last appears in plain text. All other
characters are replaced by an *.
To enter a text:
>
>
Use [] / [] and [] / [] to select the button of the requested character.

The selected button is highlighted (black frame).
Use [ENTER] to activate the selected button.
The entered character appears in the input box.
Repeat the process for all requested characters.
Use [CONFIRM PASSWD] to confirm the entry
OR:
Use [EXIT] to cancel and return to the previous setup screen .
45
2015-08-27
>
5.2.2
Navigation key
18158
The navigation key consists of the following single keys:
4 direction keys (, , , )
1 function key (center key)
The keys of the navigation key can be used as an alternative as well as an equivalent to function keys.
The following table shows operating elements with the same function:
Navigation key
Function key
Function
[]
Move up
[]
Move left
[BACKSEL]
[]
[SELECT]
[]
[ENTER]
Select previous menu item

Move right
Select next menu item
Move down
Activate menu item / button
>
5.2.3
Touchscreen
18156
In setup mode the touchscreen of the device is enabled.

The operator can execute the functions of the following GUI elements by touching them on the
touchscreen:
Buttons (i.e. [SELECT], [ENTER])
Menu items (i.e. [SYSTEM SETTINGS])
Keys of the on-screen keyboard
Symbols in the file directory and the PDF viewer
Input field (i.e. IP address)
As optical feedback the display shows a red circle at the point of contact.
46
2015-08-27
>
5.2.4
Setup: Working with enabled password protection

11758
If the password protection is enabled, the operator has only accress to the following menu functions:
[SETUP] > [System Information]
[SETUP] > [ACTIONS] > [Keyboard Test]
[SETUP] > [ACTIONS] > [Calibrate Touchscreen]
All other menu functions are disabled.

Additionally, after changing to the setup menu the display shows the following setup start screen:
Setup: Setup menu with restricted access rights ( page 48)
Setup: Enter the password for full access to the setup menu ( page 48)
47
2015-08-27
>
Setup: Setup menu with restricted access rights

11729
Protected setup functions have the following characteristics:
They are disabled in all setup submenus (greyed out).
They cannot be selected with [SELECT] / [BACKSEL].
To call the setup menu with restricted access rights:

1 Select menu page
Navigation path: [SETUP] > [ENTER SETUP [RESTRICTED ACCESS]]
> The setup menu appears
> Disabled functions are greyed out.
2 Select menu item
Use [SELECT] / [BACKSEL] to select the requested menu item .
> The selected menu item has a black frame.
Use [ENTER] to change to the selected setup screen.
OR:
Use [EXIT] return to the previous setup screen.
>
Setup: Enter the password for full access to the setup menu
11759
To enter the password to have full access to the setup menu:

1 Select menu page
Navigation path: [SETUP] > [ENTER PASSWORD FOR FULL ACCESS]
> Display shows on-screen keyboard for entering the password.
2 Enter passwort
Enter the correct password ( Operation: Enter a text using the on-screen keyboard ( page 45)).
Use [CONFIRM PASSWD] to confirm the entry
OR:
Use [EXIT] to cancel and return to the previous setup screen .
> The setup menu appears.
> Information bar displays a confirmation message.
> All setup functions can be selected without any restriction.
Full access to all setup function is only valid until the user exits the setup menu.
When the setup menu is called, enter the password again!
48
2015-08-27
Setup: start screen
>
5.3
Setup: start screen

14556
Select [SETUP] and press [ENTER].

> [SETUP] menu appears:
Select one of the following menu items:

Name
Description
[SYSTEM SETTINGS]
Access system settings

( Setup: System settings ( page 50))
[SYSTEM INFORMATION]:
Display system information:

( Setup: Display system information ( page 59))
[ACTIONS]
Access additional functions

( Setup: More functions ( page 60))
Consider notes regarding the work with enabled password protection!

Setup: Working with enabled password protection ( page 47)
49
2015-08-27
Setup: start screen
>
5.3.1
Setup: System settings

9603
The menu [SETUP] > [SYSTEM SETTINGS] provides access to the following functions:
Menu item
Function
[ETHERNET]
Setup: Configure the IP parameters manually ( page 51)
[CAN]
Setup: Set the CAN interfaces ( page 53)
[RTC]
Setup: Set the real-time clock (RTC) ( page 54)
[BACKLIGHT]
Setup: Set the display brightness ( page 55)
[NETWORK SERVICES]
Setup: Set the network services ( page 56)
[PASSWORD SETTINGS]
Download the update file ( page 30)
50
2015-08-27
Setup: start screen
>
Setup: Configure the Ethernet interface

13857
The device provides the following options for configuration of the Ethernet interface:
Manual
The operator sets the interface parameters (IP address, subnet mask,
gateway address) manually.
Automatic
The interface parameters are set automatically by the network's DHCP

server (DHCP = Dynamic Host Configuration Protocol).
To configure the IP parameter of the ethernet interface:

Synchronize the IP parameters with DHCP sever ( page 35)
Configure the IP parameter manually ( page 36)
>
Setup: Configure the IP parameters manually

7408
IP address (factory settings) = 192.168.82.247
Login data to access the device via Telnet/SSH and FTP/SCP:

USERNAME = root
PASSWORD = pdm360ng
Further information regarding the address assignment in Ethernet networks:

Address assignment in Ethernet networks ( page 345).
To set the IP parameters of the Ethernet interface manually:

1 Select menu page
Navigation path: [SETUP] > [SYSTEM SETTINGS] > [ETHERNET] > [MANUAL]
> Menu page displays the following information:
Name
Description
Possible values
[IP Address]
IP address of the Ethernet interaface of the device
i.e. 192.68.82.247
[Netmask]
Subnetmask of the network segment
i.e. 255.255.255.0
[Gateway]
IP address of the network gateway
i.e. 192.168.82.1
Set IP parameters
Use [SELECT] / [BACKSEL] to select the required number field.
Use [] / [] to increment / decrement the number in the selected number field until the
requested value has been reached.
> Number field shows the required value.
Optional: Repeat the procedure until the values in all number fields are correctly set.
Save changed values
Press [SAVE] to confirm and save the changed values.
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Setup: start screen
>
Setup: Configure the IP parameters automatically

13791
To use DHCP, the device must be connected to a DHCP server via the Ethernet interface.
To set the IP parameters of the Ethernet interface by means of the Dynamic Host Configuration
Protocol (DHCP).
1 Select menu page
Navigation path: [SETUP] > [SYSTEM SETTINGS] > [ETHERNET] > [DHCP]
Bezeichung
Bedeutung
[DHCP Client]
Status of DHCP client of the device
Mgliche Werte
DHCP client disabled
DHCP client enabled
[IP Address]
IP address of the Ethernet interface of the device
i.e. 192.68.82.247
[Netmask]
Subnetmask of the network segment
i.e. 255.255.255.0
[Gateway]
IP address of the network gateway
i.e. 192.68.82.1
Enable DHCP client of the device

Press [ENTER] to enable the [DHCP Client] checkbox.
> The DHCP client tries to obtain valid IP parameters from the DHCP server.
> Status message appears: Trying to get DHCP lease...
If successful:
> [IP Address], [Netmask] and [Gateway] show valid values assigned by the DHCP server.
> Status message appears: DHCP configured successfully
If not successful:
> Status message appears: Failed to get DHCP lease!
Use [EXIT] to stop the configuration process.
Check the connection to the DHCP server!
Repeat the configuration process (s.a.).
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Setup: start screen
>
Setup: Set the CAN interfaces

7413
To set the parameters of the CAN interfaces:

1 Select menu page
Navigation path: [SETUP] > [SYSTEM SETTINGS] > [CAN]
> Menu page displays the following informations:
Name
Description
[CAN Bus 1]
Settings of of CAN interace 1
[CAN Bus 2]
Settings of of CAN interface 2
[CAN Bus 3]
[CAN Bus 4] *
* ... only available at devices with 4 CAN interfaces
Select CAN interface

Use [SELECT] / [BACKSEL] to select the requested CAN interface.
Press [ENTER] to change to the selected menu page.
Name
Description
Possible values
[Baudrate CAN Bus x] *
Baudrate of the selected CAN interface
0 kBit/s
20 kBit/s
50 kBit/s
100 kBit/s
125 kBit/s
250 kBit/s
500 kBit/s
800 kBit/s
1 MBit/s
* ... x = ID of the selected CAN interface
Change baudrate of the CAN interface

Press [ENTER] to change to the selected menu page.
> Menu page displays the current baudrate of the selected CAN interface.
Use [] / [] to set the required value.
Press [EXIT ] to return to the upper next menu level.
> Optional: Repeat steps 2 and 3 to set the values of additional CAN interfaces.
53
2015-08-27
Setup: start screen
>
Setup: Set the real-time clock (RTC)

7414
To set the real-time clock.

1 Select menu page
Navigation path: [SETUP] > [SYSTEM SETTINGS] > [RTC]
54
Name
Description
Possible values
[YYYY]
Year
2000 ... 2100
[MM]
Month
1 ... 12
[DD]
Day
1 ... 31
[hh]
Hour
0 ... 23
[mm]
Minute
0 ... 59
[ss]
Second
0 ... 59
Change date and time of the real-time clock (RTC)

Use [SELECT] / [BACKSEL] to select the required number field.
> Selected number field has focus (black frame).
Optional: Repeat step 2 to set the values of additional number fields.
Save changed values
> Information bar displays acknowledge message.
2015-08-27
Setup: start screen
>
Setup: Set the display brightness

7405
The setup menu is always displayed with a 100 % brightness. The changed brightness
will only become effective outside the setup menu.
So set the display brightness:
1 Select menu page
Navigationspfad: [SETUP] > [SYSTEM SETTINGS] > [BACKLIGHT]
> Men u page displays the following informations:
Name
Description
Possible values
[Brightness in %]
Relative brightness of the display

(values at %)
0
...
100
minimal brightness
maximal brightness
Set brightness level of display

Press and keep pressed the [TEST] button to test the set value.
Save the new value
> Information bar displays acknowledge message.
55
2015-08-27
Setup: start screen
>
Setup: Set the network services

11719
The secure network services Secure Shell (SSH) and Secure Copy (SCP) are always
available. The user can therefore access the device via SSH and SCP if the network
services Telnet and FTP are inactive.
( Access the device with SSH ( page 119), Copy the files with SCP ( page 120)).
To set the Telnet and FTP network services.
1 Select menu page
Navigation path: [SETUP] > [SYSTEM SETTINGS] > [NETWORK SERVICES]
Menu page displays the following informations:
Name
Description
[Telnet]
Enable / Disable the Telnet service of the device
Possible values
Telnet enabled
Telnet disabled
[FTP]
Enable / Disable the FTP service of the device
FTP enabled
FTP disabled
56
Enable / Disable Telnet service

Use [SELECT] / [BACKSEL] to select the [Telnet] check box.
Press [ENTER] to enable / disable the the Telnet service.
> Information bar displays status of the service:
[running] = Telnet service is enabled
[not running] = Telnet service is disabled
Enable / Disabled FTP service
Use [SELECT] / [BACKSEL] to select the [FTP] check box.
Press [ENTER] to enable / disable the the FTP service.
> Information bar displays status of the service:
[running] = FTP service is enabled
[not running] = FTP service is disabled
> Press [EXIT ] to return to the upper next menu level.
2015-08-27
Setup: start screen
>
Setup: Set the password protection

11720
The menu page [SETUP] > [SYSTEM SETTINGS] > [PASSWORD SETTINGS] provides access to the
following options:
Setup: Change the system password ( page 57)
Setup: Enable / Disable password protection ( page 58)
>
Setup: Change the system password

11722
In case of a password loss a recovery update has to be processed.

Update the runtime system of the device ( Update the runtime system of the device ( page
29))
If necessary, restore the saved data ( Restore: Restore the system files ( page 70))
Notes on operation of the on-screen keyboard: Operation: Enter a text using the on-screen
keyboard ( page 45)
To change the system password.
1 Select menu page
Navigationspfad: [SETUP] > [SYSTEM SETTINGS] > [PASSWORD SETTINGS] > [Change
System Password]
> Menu page displays on-screen keyboard.
2 Enter the old password
Enter the old password.
Use [CONFIRM] to confirm the input.
Gibt der Anwender das falsche Passwort ein, erscheint folgende Fehlermeldung: PASSWORD
INCORRECT. PLEASE TRY AGAIN.
Eingabe des Passwort wiederholen!
3
Enter new password

Enter new password.
Use [CONFIRM] to confirm the entered password.
Re-enter the new password and use [CONFIRM] to confirm the entered password.
> Information bar displays acknowledge message: PASSWORD CHANGED.
> New password is applied.
If the operator enters 2 different passwords the following error message appears: PASSWORDS
DON'T MATCH. PLEASE TRY AGAIN!
Re-enter the passwords correctly!
57
2015-08-27
Setup: start screen
>
Setup: Enable / Disable password protection

11418
On delivery the password protection for the setup menu is deactivated.

If the password protection is activated after the first setup, the password set at the factory is
valid: pdm360ng
To ensure effective protection, change the default system password!
The programming software CODESYS can access the IEC project saved on the device even
with activated password protection.
To prevent reading of the IEC project on the device, activate the password protection with
the PLC browser ( Activate the access protection for an IEC project ( page 90)).
If the password protection is enabled the operator has restricted access to the functions of the
setup menu ( Setup: Working with enabled password protection ( page 47)).
To enable / disable the password protection of the device:
1 Select menu page
Navigation path: [SETUP] > [SYSTEM SETTINGS] > [PASSWORD SETTINGS]
> Information bar displays status of the password protection:
[Setup Password is now enabled] = Password protection is enabled
[Setup Password is now disabled] = password protection is disabled
2 Set password protection
Use [SELECT] / [BACKSEL] to select the [Enable Setup Password] / [Disable Setup
Password] button.
Use [ENTER] to press the button.
> Password protection is enabled / disabled.
> Infomation bar displays status of the password protection ( step 1).
The password protection does not become active before the next call of the setup menu.
Use [EXIT] repeatedly to change to the startscreen of the setup mode.
Use [ENTER] to enter the setup menu.
58
2015-08-27
Setup: start screen
>
5.3.2
Setup: Display system information

7407
To display the system information:

1 Select menu page
Navigation path: [SETUP] > [SYSTEM INFORMATION]
Bezeichnung
Bedeutung
[Serial Number]
Serial number of the device
[SW Version]
Software version
[FW Version WD]
Firmware version of the watch-dog component
[FW Version IO]
Firmware version of the I/O interface
[FW Version Keyboard1]
Firmware version of the keyboard 1
[MAC Address]
MAC address of the Ethernet interface
[Supply Voltage]
Value of the supply voltage
[Internal Voltages]
Internal voltage values
[System Temperatures]
Temperatures in the system
[Memory Alloc Sitze/Used]
Memory size / memory used
59
2015-08-27
Setup: start screen
>
5.3.3
Setup: More functions

13863
The submenu [SETUP] > [ACTIONS] provides access to the following functions:
Menu item
Function
[REBOOT]
Setup: Reboot the device ( page 61)
[CAN TEST]
Setup: Test the CAN interfaces ( page 62)
[SPLASH SCREEN]
Setup: Define the splash screen ( page 64)
[KEYBOARD TEST]
Setup: Test input elements ( page 65)
[BACKUP/RESTORE]
Setup: Backup / Restore software components ( page 66)
[USB REMOVE]
Setup: Safely remove the USB device ( page 71)
[FONTS]
Setup: Manage fonts ( page 72)
[FORMAT STORAGE]
Setup: Format the internal storage ( page 74)
[Calibrate Touchscreen]
Setup: Calibrate the touchscreen ( page 75)
60
2015-08-27
Setup: start screen
>
Setup: Reboot the device

7410
To reboot the device:

1 Select menu page
Navigation path: [SETUP] > [ACTIONS] > [REBOOT]
> [Reboot] menu page appears.
2 Reboot the device
> Device reboots.
If a valid project is loaded, this project is started after a reboot.
If no valid project is saved, the setup splash menu appears again after rebooting.
61
2015-08-27
Setup: start screen
>
Setup: Test the CAN interfaces

7411
To test the CAN interfaces of the device, process one of the following functiions:
CAN test: Transmit data ( page 62)
CAN test: Receive data ( page 63)
>
CAN test: Transmit data

9625
To test transmitting CAN messages:

1 Select menu page
Navigation path: [SETUP] > [ACTIONS] > [CAN TEST]
> Menu page [CAN Bus Selection] appears.
2 Select CAN interface
Use [SELECT] / [BACKSEL] to select the requested CAN interface and press [ENTER] to
confirm.
> Menu page [CAN Test Selection] appears.
3 Set test message and sender ID
Use [SELECT] / [BACKSEL] to select the [CAN Transmit Test, Bus x] button and press
[ENTER] to confirm.
> Menu page displays the following information.
Name
Description
Possible values
[Tx Bytes (hex)]
CAN test message (8 bytes)

Every byte can be set seperatly (hexadecimal
number).
byte:
00 = 0
...
FF = 255
[CAN Tx-ID (hex)]
CAN-ID of the sender (hexadecimal number)
00000000
...
FFFFFFFF
[Tx Frame Counter]
Number of transmitted messages
Set the test CAN message to be sent in hex format in [Tx Bytes (hex)].
Set the test CAN message to be sent in hex format in [Tx Bytes (hex)].
4 Transmit test message
Press [START] to start the transmission.
> Device tries to send the test message on the selected CAN interface.
> The number of the CAN messages sent since the beginning of the transfer appears in [Tx
Frame Counter].
If successful:
> Information bar displays confirmation message.
Press [STOP] to finish the cyclic transmission of the test message.
If not successful:
> Information bar displays error message.
Press [STOP] to finish the cyclic transmission of the test message.
Check the CAN interface connection.
Repeat the procedure.
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2015-08-27
Setup: start screen
If no baudrate of the CAN interface was set the test will be processed with 125 Kbits/s.
>
CAN test: Receive data

9627
To test receiving CAN messages:

1 Select menu page
Navigation path: [SETUP] > [ACTIONS] > [CAN TEST]
> [CAN Bus Selection] menu page appears.
2 Select CAN interface
Use [SELECT] / [BACKSEL] to select the requested CAN interface and press [ENTER] to
confirm.
> [CAN Test Selection] menu page appears.
3 Receive CAN message
Use [SELECT] / [BACKSEL] to select the [CAN Receive Test, Bus x] button and press
[ENTER] to confirm.
>
>
>
Name
Description
Possible values
[Rx Bytes (hex)]
Received CAN message (8 bytes);

Each byte containes a hexadecimal value.
byte:
00 = 0
...
FF = 255
[CAN Rx-ID (hex)]
CAN-ID of the receiver (hexadecimal value)
00000000
...
FFFFFFFF
[Rx Frame Counter]
Number of received messages
Press [START] to start receiving messages on the selected CAN interface. ( note)
[Rx Bytes (hex)] displays the content of the received messages (hexadecimal value).
[CAN Rx-Id (hex)] displays CAN ID related to the revceived message (hexadecimal value).
[Rx Frame Counter] displays the number of messages received sicne the start of the
transmission.
If successful:
> [Rx Frame Counter] displays value > 0.
Press [STOP] to finish receiving CAN messages.
If not successful:
> [Rx Frame Counter] displays value 0.
Pres [STOP] to finish receiving CAN messages.
Check the CAN interface connection.
Repeat the procedure.
If no baudrate of the CAN interface was set the test will be processed with 125 Kbits/s.
63
2015-08-27
Setup: start screen
>
Setup: Define the splash screen

9629
Specifications for the image file, which is used as splash screen Visualisation limits ( page
127)
To change the splash screen of the device:
1 Select menu page
Navigation path: [SETUP] > [ACTIONS] > [SPLASH SCREEN]
2 Select source of image file
> Menu page displays the following options:
Name
Description
[Load from USB device]
Load the image file from a USB device
[Load from /tmp]
Load the image file from the directory /tmp of the device
[Load from ...]
Load the image file from a selectable directory
Use [SELECT] / [BACKSEL] to select the requested menu item and press [ENTER] to confirm.
> Menu page displays the selected image source.
Set splash screen
Select the requested image file.
> Selected image file has focus.
Use [LOAD] to save the file in the device and to use the image as splash screen.
>
Specifications of the splash screen image

11643
The user can define a user-defined splash screen. The image file has the following restricitions:
Parameter
Restriction
File type
Bitmap (*.bmp) RLE compressed
File name
Naming convention = 8.3, only small characters
Resolution
1024 x 768 Pixel
Colours
262.144 (18 Bit)
File size
512 kByte
64
2015-08-27
Setup: start screen
>
Setup: Test input elements

13871
To test the function of the keys, the key LEDs and the navigation switch:
1 Select menu page
Navigation path: [SETUP] > [ACTIONS] > [KEYBOARD TEST]
> [Keyboard Test] menu page appears.
2 Test function keys
Press any function key and keep it pressed.
> The key-related area on the screen is displayed brighter.
> The key LED is off.
3 Test navigation switch
Use [OK] or [] / [] to switch between the two input fields of the group [Navigation Switch
Test].
> Selected field gets a black frame.
Use [] / [] to increment / decrement the value displayed in the selected field.
65
2015-08-27
Setup: start screen
Setup: Backup / Restore software components

7412
To backup data stored on the device as well as to restore data to the device, the following options are
available:
Name
Description
[BACKUP SYSTEM INFORMATION]
Save the system information

( Backup: Save the system information ( page 67))
[BACKUP SYSTEM]
Save the system software

( Backup: Save the system files ( page 68))
[RESTORE SYSTEM]
Restore the system software

( Restore: Restore the system files ( page 70))
66
2015-08-27
Setup: start screen
>
Backup: Save the system information

9648
Contents of the file Setup: Display system information ( page 59).
To save the system information:

1 Select menu page
Navigation path: [SETUP] > [ACTIONS] > [BACKUP/RESTORE]
> [System Backup & Restore] menu page appears.
Select [BACKUP SYSTEM INFORMATION] and press [ENTER] to confirm.
2 Select memory location
Bezeichnung
Bedeutung
[Save to USB device]
Save data to a USB device
[Save to /tmp]
Save data to the device directory /tmp
[Save to ...]
Save data to a selectable directory of the device
> Menu page displays the content of the selected memory location.
Save the system information
Select requested directory.
Press [SAVE] to save the system information.
> Devices saves the file containing the system information in the selected directory.
67
2015-08-27
Setup: start screen
>
Backup: Save the system files

9637
WARNING
If the backup and the restore device have different runtime versions, the restoration of a backup file
can lead to an undefinable system behaviour of the PDM360 NG!
The runtime versions on the backup and restore devices must be identical.
Ensure that the runtime systems on the backup and restore device are of the same version!
( Update the runtime system of the device ( page 29))
To save the system files to a selectable location:
1 Select menu page
Select [BACKUP SYSTEM] and press [ENTER] to confirm.
2 Select software components
Name
Description
[Select All]
Enable all software components
[Backup Ethernet Settings]
Settings of the Ethernet network adapter
[Backup Backlight Settings]
Settings of the background illumination
[Backup Splash Screen]
Splash screen
[Backup Retain Data]
Retain data
[Backup User Filesystem (/home)]
User file system
[Backup Internal Mass Storage (/data)]
Mass storage contents
Use [SELECT] / [BACKSEL] to select the required components and press [ENTER] zu enable /
disable.
= Exclude software component from backup file
= Include software component in backup file
Optional: Repeat procedure for additional software components.
Check [Select All] to include all software components in the backup file.
Press [CONFIRM] to confirm the selection.

Select memory location for backup file
Name
Description
[Save to USB device]
Save data to a USB device
[Save to /tmp]
Save data to directory /tmp
[Save to ...]
Save data to a selectable directory
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2015-08-27
Setup: start screen
> Menu page displays content of the selected memory location.

Save backup file
Optional: Select required target directory.
Press [SAVE] to save the selected system files in a backup file (.bup).
> Device saves backup file in selected directory.
If required,press [ABORT] to cancel the backup process.
69
2015-08-27
Setup: start screen
>
Restore: Restore the system files

9636
WARNING
If the backup and the restore device have different runtime versions, the restoration of a backup file
can lead to an undefinable system behaviour of the PDM360 NG!
The runtime versions on the backup and restore devices must be identical.
Ensure that the runtime systems on the backup and restore device are of the same version!
( Update the runtime system of the device ( page 29))
Use the option "Auto Restore" for the automatic restoration of system files from a backup
file ( Automatically restore system files ( page 82)).
To restore the system files from a backup file (*.bup):
1 Select menu page
Select [RESTORE SYSTEM] and press [ENTER] to confirm.
2 Select backup file
Menu page displays the following options:
Name
Description
[Restore from USB device]
Restore data from USB device
[Restore from /tmp]
Restore data from directory /tmp
[Restore from ...]
Restore data from a selectable directory
Use [SELECT] / [BACKSEL] to select the memory location of the backup file and press
[ENTER] to confirm.
> Menu page displays content of selected memory location.
Select backup file.
Press [RESTORE] to load the selected backup file.
Select software components
> Menu page displays list of software components included in the backup file.
Software components not included in the backup file are geyed out!
Use [SELECT] / [BACKSEL] to select the software components to be restored and press
[ENTER] to check / uncheck the option field:
= Exclude software component from restoring process
= Include software component in restoring process
Optional: Repeat procedure for additional software components.
Press [CONFIRM] to confirm the selection.
> Device restores the selected software components.
> Status bar displays progess of restoring process.
If required, press [EXIT] to cancel the restoring process.
>
70
2015-08-27
Setup: start screen
Setup: Safely remove the USB device

9631
NOTICE
Risk of data loss on the USB device!
Unmount USB devices before removing them from the runtime system!
Do not remove the USB device before unmounting has been confirmed!
To safely remove a USB device:
1 Select menu page
Navigation path: [SETUP] > [ACTIONS] > [USB REMOVE]
2 Remove the USB device from runtime system
> Menu page displays directory /media containing all mounted USB devices (grey background).
Use [] / [] to select the requested USB device.
Press [REMOVE] to unmount the selected USB device from the file system.
> USB device is unmounted.
> Informaation bar displays confirmation message.
> Operator can safetly disconnect the USB device from the system.
71
2015-08-27
Setup: start screen
>
Setup: Manage fonts

14372
To manage font files (True Type Fonts) on the device, the following options are available:
Name
Description
[LOAD FONT]
Install font files on the device

( Fonts: Load the font ( page 73))
[REMOVE FONT]
Remove font files stored on the device

( Fonts: Remove the font ( page 73))
72
2015-08-27
Setup: start screen
>
Fonts: Load the font

13866
To install a font file (true type fonts) on the device:

1 Select menu page
Navigation path: [SETUP] > [ACTIONS] > [FONTS] > [LOAD FONT]
2 Select source of the font file
Name
Description
[Load from USB device]
Load font file from USB device
[Load from /tmp]
Load font file from /tmp-directory
[Load from ...]
Load font file from a selectable directory
> Menu page displays selected source.
Install font file
Select the requested font file.
> Selected font file has focus.
Press [LOAD] to save the selected font file on the device.
> After rebooting the device the installed font file can be used in CODESYS projects.
Optional: Repeat steps 2 and 3 to install additional font file on the device.
>
Fonts: Remove the font

14372
To remove font file installed on the device:

1 Select menu page
Navigation path: [SETUP] > [ACTIONS] > [FONTS] > [REMOVE FONT]
> Men page displays installed font files saved in the directory /home/fonts.
2 Remove font files
Use [] / [] to select the requested font file (.ttf).
Press [REMOVE] to remove the selected font file from the device.
> Font file is removed from the device.
Optional: Repeat step 2 to remove additional font files from the device.
73
2015-08-27
Setup: start screen
>
Setup: Format the internal storage

9643
NOTICE
Risk of data loss!
> When this action is confirmed, all user data in the directory /data of the storage medium is
irretrievably deleted!
Save files that you will need to an external medium prior to formatting!
To format the user data of the device:
To format the device-internal storage:
1 Select menu page
Navigation path: [SETUP] > [ACTIONS] > [FORMAT STORAGE]
> [Format internal Mass storage] menu page appears.
2 Speicher formatieren
Press [ENTER] to start the formating process.
> The device-internal user data in directory /data is formated.
> Information bar displays a confirmation message.
74
2015-08-27
Setup: start screen
>
Setup: Calibrate the touchscreen

13867
To calibrate the touchscreen of the device:

1 Select menu page
Navigation path: [SETUP] > [ACTIONS] > [CALIBRATE TOUCHSCREEN]
> Menu page for toruch screen calibration appears.
2 Calibrate touchscreen
> Calibration process starts.
Touch the black cross displayed on the touchscreen.
> Next calibration step appears.
Repeat step until the calibration process is completed.
> If successful, the information bar displays a confirmation message.
Use the backlit function key above the navigation keys to cancel calibration process.
75
2015-08-27
PDF file viewer
>
5.4
PDF file viewer
PDF: Navigating in the PDF file ..............................................................................................................77

PDF-Viewer: Display PDF file in full-screen mode .................................................................................78
PDF-Viewer: Display extended menu ....................................................................................................79
PDF-Viewer: Display the tabel of content of the PDF file .......................................................................80
11416
The setup menu uitlises a PDF file viewer. The operator can use it to display PDF files stored in the
directories /home/pdf and /media.
To display a PDF file:
Enter the setup mode ( Enter the setup mode ( page 39))
Select [PDF-Viewer] menu item.
Use [ENTER] to change to the PDF file viewer.
Choose one of the following options:
76
2015-08-27
PDF file viewer
>
5.4.1
PDF: Navigating in the PDF file

11420
Select requested PDF file and press [ENTER] to open the file ( Operation: Navigate in the file
directory ( page 44)).
> PDF file is loaded.
> Display shows the content of the PDF file:
Use [] / [] to scroll up / down in the document.

Use [ZOOM+] / [ZOOM-] to enlarge / reduce the document view.
Use [PAGE+] / [PAGE-] to select the next / previous page of the PDF file.
Use [] / [] to shift the document view to the right / left.
Use [FULL] to change to the full-screen mode ( PDF-Viewer: Display PDF file in full-screen mode
( page 78)).
Use [EXIT] to change to the extended menu ( PDF-Viewer: Display extended menu ( page 79)).
77
2015-08-27
PDF file viewer
>
5.4.2
PDF-Viewer: Display PDF file in full-screen mode

11422
Load PDF file ( PDF file viewer ( page 76)).

Use [FULL] to change to the full-screen mode.
> Display shows content of PDF file in full-screen mode:
> Use [] / [] to scroll up / down in the document.

Use [+] / [] to enlarge / reduce the document view.
78
Use
/
to select the next / previous page of the PDF file.
Use [>] / [<] to shift the document view to the right / left.
Use
to return to the standard view ( PDF: Navigating in the PDF file ( page 77)).
Use [] to change to the extended menu ( PDF-Viewer: Display extended menu ( page 79)).
2015-08-27
PDF file viewer
>
5.4.3
PDF-Viewer: Display extended menu

11424
Start the PDF viewer ( PDF file viewer ( page 76))

Use [EXIT] to change to the extended menu.
> Menu page displays the extended menu:
Use [SELECT] / [BACKSEL] to select one of the following menu items and press [ENTER]:
[OPEN NEW PDF FILE]
Open new PDF file

PDF file viewer ( page 76)
[SHOW PDF FILE:

/Verzeichnis/Dateiname]
Open the selected PDF file

PDF: Navigating in the PDF file ( page 77)
[SHOW INDEX OF:

/Verzeichnis/Dateiname]
Open index of the selected PDF file

PDF-Viewer: Display the tabel of content of the PDF file ( page 80)
79
2015-08-27
PDF file viewer
>
5.4.4
PDF-Viewer: Display the tabel of content of the PDF file

11431
>
Display PDF file in full-screen mode ( PDF-Viewer: Display PDF file in full-screen mode ( page 78)).
Change to extended menu ( PDF-Viewer: Display extended menu ( page 79)).
Select [SHOW INDEX OF: /Verzeichnis/Dateiname] menu item and press [ENTER].
Menu page displays the tabel of contents of PDF file:
Use [] / [] to select an item in the table of contents.

Use [UNFOLD] to to expand the view of the item.
Use [FOLD] to hide the view of the item.
Use [ENTER] to display the content of the selected item.
Use [EXIT] to return to the extended menu ( PDF-Viewer: Display extended menu ( page 79)).
80
2015-08-27
Setup: Start the application
>
5.5
Setup: Start the application

11438
Select [LOAD APPLICATION] button.
Use [ENTER] to start the application.
If a valid application program is saved:
> The application starts.
> The LED flashes green at 2 Hz ( Status-LED ( page 14)).
If no valid application program is saved:
> A white blank screen appears.
> The LED lights green.
Transfer a valid application to the device via CODESYS
Reboot the device (supply voltage OFF > ON)
81
2015-08-27
Automatically restore system files
>
5.6
Automatically restore system files

14065
The function "Auto Restore" automatically identifies backup files saved in the root directory of a USB
memory device (*.bup) and restores their contents. Several devices can be easily and time-savingly
provided with the same software configuration (e.g. install a backup on controllers of the same type in
several vehicles).
1 Create a backup file
Enter the setup modus ( Enter the setup mode ( page 39))
Create backup of device configuration of the master device and store the backup file on an
USB memory device ( Backup: Save the system files ( page 68)).
The device only recognises backup files in the root directory of the USB memory device.
Save the master backup file in the root directory of the USB memory device!
2
Automatically install the system files on the device

Only one backup file may be in the root directory of the USB memory device. If there
are several backup files in the root directory, the automatic restore process will be
stopped. An error message appears.
Delete unneeded backup files in the root directory of the USB memory device!
Connect the USB memory device with the master backup file with the target device
Select [SETUP] and press [ENTER] to change in the setup menu.
> The setup automatically recognises the structure and contents of the backup file.
> The menu screen shows the system components contained in the backup file.
Press [START] to start the restore process.
> The selected system components are transferred to the device.
If successful:
> The menu screen shows the completion message.
3 Reboot the device
Press [REBOOT] to reboot the device.
> Device reboots.
> If a valid project is loaded, this project is started after rebooting.
If no valid project is loaded, the device enters the setup mode after rebooting.
>
5.7
Exit setup, reboot device

7416
Setup: Reboot the device ( page 61)
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Exit setup, reboot device
Programming
Set the target system ..............................................................................................................................84

First steps ...............................................................................................................................................91
Configuration of the inputs and outputs ................................................................................................122
Use visualisations .................................................................................................................................124
Use of touch screen functions ..............................................................................................................138
Install and set up mobile camera ..........................................................................................................142
19324
This chapter describes the programming of the device with CODESYS 2.3.
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Set the target system
>
6.1
Create CODESYS project manually .......................................................................................................85

Configure the controller ..........................................................................................................................86
Configure CAN interfaces .......................................................................................................................87
Use access protection ............................................................................................................................89
19340
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>
6.1.1
Create CODESYS project manually

19341
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 V2.3\Projects\Template_DVD_Vx.y
Open the requested template in CODESYS via:
[Datei] > [Neu aus Vorlage]
> CODESYS creates a new project which shows the basic program structure. It is strongly
recommended to follow the shown procedure.
1
Start CODESYS
Double click on the program symbol "CoDeSys V2.3" on the Windows desktop
OR:
Activate [Start] > [All Programs] > [ifm electronic] > [CoDeSys V2.3] > [CoDeSys V2.3].
> The CODESYS programming environment appears.
Create a new project with CR1201
Select [File] > [New].
> The window [Target Settings] appears.
In the list [Configuration] select CR1201 and press [OK] to apply the selection.
When selecting the target system make sure that the target version matches the
version of the runtime system installed on the device!
> The window with the configuration options of the target system appears.
Press [OK] to apply the basic settings.
Select the programming language
> The window [New POU] appears.
Select type and programming language of the POU PLC_PRG and press [OK] to confirm.
> From the target file, CODESYS loads the description of the device hardware, the default
configuration of the device and the standard libraries with important basic functions.
> The program editor appears with the opened POU PLC_PRG.
Save the project
Save the project with [File] > [Save as ...].
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>
6.1.2
Configure the controller

19897
In the PLC configuration the programmer can configure the target system.
To access the PLC configuration:
In the project organizer select the tab [Ressourcen]:
In the resources tree: double click on [PLC Configuration]

> The editor window shows the current PLC configuration of the device.
Via the PLC configuration the programmer has easy access to the following components:
System and error flags

Depending on the application and the application program, these flags must be processed and
evaluated. Access is made via their symbolic names.
Structure of the inputs and outputs

These can directly be designated symbolically (highly recommended!) in the nodes [Inputs Binary]
and [Outputs Binary] and are available in the whole project as global variables.
The programmer configures the input of the device directly in the PLC application!
( Configuration of the inputs and outputs ( page 122))
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>
6.1.3
Configure CAN interfaces

19898
The CR1201 is designed as a display for representing process data. It is thus conditionally
real-time capable. Computationally intensive processes can cause long cycle times!
Avoid computationally intensive functions (controller, encoder, control of diesel engines,
operation as CANopen master)!
Monitor the cycle time during the runtime of the PLC program! Cycle times in the range
from 5 ... 10 ms are no problem.
The device can be configured either as CANopen master or CanSlave. The configuration is carried out
in the PLC configuration (. Configure the controller ( page 86)).
>
Configure the device as CANopen master

19899
To operate the device as CANopen master:

1 Open the system configuration
In the object organizer select the tab [Ressources].
Double click on the node [PLC Configuration]
> The editor window shows the PLC configuration of the device
2 Attach CANopen master
Select [CR1201 Configuration V2] > [Local CAN Communication[FIX]].
> The editor window shows the available CAN interfaces.
Select the requested CAN interface.
Right mouse click on [CANopen Interface[FIX]]
> Context menu appears
In the context menu select [Append subelement] > [CANopen Master ...].
> CANopen master is integrated into the PLC configuration.
> The editor window shows the tab [CAN parameters].
3 Configure the CANopen master
In the tab [CAN parameters] set the parameters of the CANopen master.
Information on the configuration options: System manual, chapter Using CAN description
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>
Configure the device as CanSlave

19900
To operate the device as CanSlave in a CAN network:

1 Open the system configuration
In the object organizer select the tab [Ressources].
Double click on the node [PLC Configuration]
> The editor window shows the PLC configuration of the device
2 Attach the CANopen slave
Select [CR1201 Configuration V02] > [Local CAN Communication[FIX]].
> The editor window shows the available CAN interfaces.
Select the requested CAN interface.
Right mouse click on [CANopen Interface[FIX]]
In the context menu select [Append subelement] > [CanSlave ...].
> The CANopen slave is integrated into the PLC configuration.
> The editor window shows the tab [CAN parameters].
3 Configure the CANopen slave
In the tab [CAN parameters] set the parameters of the CANopen slave.
Information on the configuration options: System manual, chapter Using CAN description
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>
6.1.4
Use access protection

14490
The device has a 3-step access protection.

Target of the protective measure
Characteristics
Linux runtime system
Method: Password protection
protects against unauthorised access to the Linux runtime system via

Telnet/SSH and FTP/SCP
cannot be deactivated
Restricts the access to functions of the setup menu
Can be activated/deactivated via the setup menu

( Download the update file ( page 30))
Setup menu
The passwords to protect the setup menu and the Linux runtime system are
identical!
IEC project
Prevents reading/copying and unintentional overwritnig of the IEC project on

the device with CODESYS
Can be activated/deactivated via the PLC browser in CODESYS

( Activate the access protection for an IEC project ( page 90))
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>
Activate the access protection for an IEC project

14491
The access protection for the IEC project is set/changed in CODESYS via the PLC browser.
The password to protect the IEC project does not have to be identical with the password to
protect the Linux runtime system.
Additional information about the command setpwd and to delete the password for the
protection of the IEC project: CODESYS help function.
1
90
Load CODESYS project

Open the project to be protected in CODESYS.
> Project window appears.
Set password
In the project window, select the [Resources] tab.
Double click on [PLC-Browser].
> The PLC browser appears
Enter the following command in the window [PLC browser]:

setpwd <passwort> 1
(e.g. setpwd pwCR1082 1)
Use [ENTER] to confirm.
Download password protected project to the device
Save the project and download it to the device.
> The IEC project cannot be read.
Programming
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First steps
>
6.2
First steps
Programming notes for CODESYS projects ...........................................................................................92

Create PLC program ............................................................................................................................113
Add additional libraries .........................................................................................................................114
Programming interfaces .......................................................................................................................115
Save project in the device ....................................................................................................................121
3044
Setup the device configuration ( Device configuration ( page 38)).

Activate the programming system ( Set the target system ( page 84)).
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>
6.2.1
Programming notes for CODESYS projects
FB, FUN, PRG in CODESYS .................................................................................................................93

Variables .................................................................................................................................................94
Libraries ................................................................................................................................................110
Note the cycle time! ..............................................................................................................................110
Watchdog behaviour .............................................................................................................................111
Operating sequence .............................................................................................................................111
Creating application program ...............................................................................................................112
7426
Here you receive tips how to program the device.

See the notes in the CODESYS programming manual
ecomatmobile DVD "Software, tools and documentation".
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>
FB, FUN, PRG in CODESYS

8473
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.
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>
Variables
11739
>
Supported types of variables

14486
The device supports the following types of variables:

Variable
Declaration place
Validity area
Memory behaviour
local
in the declaration part of the function

element (POU)
Only valid in the function element

(POU) where it was configured.
volatile
In [Resources] > [Global Variables] >

[Globale_Variables]:
Valid in all function elements of this

CODESYS project.
volatile
Values are available to all CODESYS

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

declaration list
local retain
global
global retain
Network
Network retain
nonvolatile
nonvolatile
nonvolatile

>
Retain variables
3131
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.
14166
Typical applications for retain variables are for example:

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

3139
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.
A distinction is made between export and import variables:
Export variables originate from the local project.

Their values can be influenced locally.
It is also to be possible to use the variables in one or more other projects, but only with read
access. To do so, these variables must be exported (provided) from the local project.
Import variables do not originate from the local project but from another project.
Their values cannot be influenced locally.
The variables are used with read access in the local project (and possibly also in several other
projects). To do so, these variables must be imported into the corresponding local project.
To export or import, the global network variables must be combined in lists. You can assign an
EXP file to every global variable list.
In this example each project has 3 lists of global network variables:
- 1 list with export variables (with local data for reading in other controllers) and
- 2 lists with import variables (with data of the other controllers for local reading).
When you create a global variable list please note:
By selecting [Export before compile] in the window [Properties] CoDeSys updates the
corresponding EXP file (e.g. ExportProj1.exp) when the project is compiled.
By selecting [Import before compile] in the window [Properties], CoDeSys refers to the
corresponding EXP file (e.g. ExportProj1.exp) when the project is compiled, and updates
the list.
UDP (User Datagram Protocol) is a minimal connectionless network protocol belonging to the
transport layer of the internet protocol family. The task of UDP is to pass data which is transmitted via
the internet to the right application.
Example:
Information is to be exchanged between 3 devices (controller/PDM) and 1 PC. This is done by means
of the "global network variables" ( figure below). The example only shows the variables x1, x2 and
x3 in the global network variable lists of the corresponding projects.
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First steps
The project "DemoProj1" contains the global network variable list "Global_Variables_Export_Proj1".
In the properties of this list enter the file ExportProj1.exp.
Activate [Export before compile].
> When this project is compiled, ExportProj1.exp is updated.
The project "DemoProj2" contains the global network variable list "Global_Variables_Import_Proj1".
In the properties of this list enter the file ExportProj1.exp.
Activate [Import before compile].
> When compilation of this project starts, the list "Globale_Variablen_Import_Proj1" is updated by
means of the file ExportProj.exp and then used for the compilation.
NOTE
If a project with variables to be exported is changed, all projects which import these global network
variable lists must then be rebuilt to update the lists:
Menu [Project] > [Rebuild all]
Menu [Online] > [Create boot project]
> The boot project is saved in the controller/PDM.
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To work with network variables the following steps are required:

Step 1
Connect devices via Ethernet
Step 2
Set IP addresses and subnet mask
Step 3
Select first target system and create project ( page 98)
Step 4
Set communication parameters ( page 99)
Step 5
Activate network variable support ( page 100)
Step 6
Integrate libraries ( page 101)
Step 7
Complete and transmit the project (global network variables) ( page 101)
Step 8
Write projects for more devices ( page 105)
Step 9
Transmit projects ( page 107)
Step 10
Test transmission of the global network variables ( page 108)
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>
Select first target system and create project

3620
When a new project is created in CoDeSys the target file corresponding to the controller must be
loaded. It is selected in the dialogue window for every hardware and acts as an interface to the
hardware for the programming system.
Graphics: target system settings
Select a suitable target and confirm with [OK].

Confirm the following window with [OK].
> The window [New POU] appears:
Setting: language of the POU = FBD.

Confirm with [OK].
> The following window appears:
Add the entries shown on the following screenshot to the program POU PLC_PRG:
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First steps
With [File] > [Save as ...] save the project in the requested directory.
Here: filename = "DemoProj1" (for the first device in the network)
>
Set communication parameters

3625
The same communication parameters must be set for the PC, the device (controller/PDM) and the
project.
Open the following dialogue with [Online] > [Communication Parameters...].
Click [New]
Select the entry "Tcp/Ip(Level 2 Route)".
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First steps
Confirm with [OK].

Enter the corresponding IP address of the controller (compare with step 2).
applies only to the following devices:
- PDM360: CR1050, CR1051
- PDM360compact: CR1052, CR1053, CR1055, CR1056:
Set [Motorola byteorder] = YES.
Confirm with [OK].
>
Activate network variable support

3630
Click on the tab [Resources] in CoDeSys.

Double-click on [Target Settings].
Click on the tab [Network functionality].

Activate the field [Support network variables].
[Names of supported network interfaces] = UDP ( window).
Confirm with [OK].
> The data can now be exchanged via global network variables.
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>
Integrate libraries
3633
Menu [Window] > [Library Manager]

> Display of the libraries already loaded:
Menu [Insert] > [Additional Library... Ins] or: Key [Ins]

Insert the following libraries:
- SysLibSockets.lib (3S library)
- SysLibCallback.lib (3S library)
> The library manager should look like this or similar (the sequence is not relevant):
>
Complete and transmit the project (global network variables)

3637
To demonstrate the exchange of data via global network variables, write one project each for all three
devices. These projects are suitable for this purpose mainly because of the contained global variable
lists.
The example shows the project for device 1.
101
Programming
Click on the tab [Resources] in CoDeSys.

Select (= click) the entry [Global Variables]:
Menu [Project] > [Object] > [Add] ( screenshot):
>
Display of the window "Properties":
Enter the name of the global variable list as shown above.

Confirm with [OK].
Enter the variable x1 in the window that appears ( screenshot):
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Right-click on the resource element [Global_Variablen_Export_Proj1].

Click on [Object Properties...] ( screenshot):
>
The following window appears:
Click on [Add network].

>
The window becomes larger ( window):
Adopt the properties of the list similarly as shown here, but:

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Programming
For export list: Activate [Export before compile] and [Write]!

For import list: Activate [Import before compile] and [Read]!
The entered [Minimum gap] or the [Interval] depends on the application.
2015-08-27
First steps
NOTE
In the field [Link to file] > [Filename] it is expected to indicate an EXP file. (After [Project] > [Rebuild
all]) this external file contains the list of global network variables of this project to be exported, but is
NOT saved together with the project. ( CoDeSys online help).
We recommend another method which integrates the lists of global network variables in the project:
Write projects for more devices ( page 105) > create import lists.
Excursus: variable list identification (COB ID)

Here we work with variable lists which are exported from one device and imported to one or more
devices. This assignment of the variable lists is identified by a COB ID. The relationship is shown in
the following figure:
Here you see that the COB ID = 51 was assigned to the export variables of DemoProj1 in device 1
and that these variables can be found again with the COB ID = 51 in DemoProj2 and DemoProj3 in
device 2 and device 3. In this example we have used this procedure for the definition of the COB IDs.
NOTE
For the selection of the COB IDs observe the following:
The export list and its corresponding import lists must be assigned to the same COB ID.
In the whole network each COB ID may only be assigned to one export list.
End of excursus: variable list identification (COB ID)
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Continuation "Complete project"

In the window [Properties] of the global variable list click on the button [Settings...] beside
[Network type].
As broadcast address enter the IP address of device 1, but:

In the last group replace the value by "255".
Confirm with [OK].
Do not forget: Menu [File] > [Save as...] > indicate directory and filename.
Confirm with [OK].
>
Write projects for more devices

3647
Also create export lists for the projects DemoProj2 and DemoProj3.
Now create corresponding projects with export lists for the two other devices: DemoProj2.pro and
DemoProj3.pro. These files are necessary for the following steps.
Filenames and entries following table:
>
Device
Project filename
Global variable list to be exported
COB ID
Global variable
DemoProj1.pro
Globale_Variablen_Export_Proj1
51
x1:INT
DemoProj2.pro
52
x2:INT
DemoProj3.pro
53
x3:INT
Export lists must now be created for all 3 devices.
Create import lists for the project DemoProj1.

For the project DemoProj1.pro in device 1 we have so far only created the "global network variables"
to be exported.
We now create two lists of global network variables to be imported which are imported from
DemoProj1.pro. Requirement: all 3 projects are available locally or in the LAN.
Open the project DemoProj1.pro in CoDeSys.
Click the tab [Resources].
Select (click) the entry [Global Variables].
Menu [Project] > [Merge].
Select the project DemoProj2.pro.
105
Programming
Confirm with [OK].

Reduce the selection to the requested list:
Confirm with [OK].
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From the menu "[Project] > [Merge]" repeat the process with DemoProj3.pro and its export list.
> The resources in DemoProj1.pro are now as follows:
Adapt PLC_PRG in all projects.

So far we have "only" organised the data management. Now the executable parts of the projects will
be dealt with.
For each project only one function element is written which increases the contents of the
corresponding variables (x1, x2 or x3, table at the top) by 1 in each PLC cycle. In our example the
function element PLC_PRG for DemoProj1.pro is shown ( screenshot):
Create this program for each of the 3 devices:

DemoProj1.pro: global variable x1,
DemoProj2.pro: global variable x2,
DemoProj3.pro: global variable x3.
>
Transmit projects
3654
Check whether all 3 devices together with the PC are available with their corresponding IP
addresses in the LAN.
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Transmit the 3 created projects DemoProj1...3 to the corresponding devices.

Start these projects there.
>
Test transmission of the global network variables

3656
Check the behaviour of the data transmission by looking at the corresponding global variable lists.
If, for example, in the project DemoProj1.pro you open the variable list
"Globale_Variablen_Import_Proj2", you should note that the value of x2 is increasing.
Also check the other projects and make sure that the transmission of the global variables in the
network functions.
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>
System flags
18107
System flags are factory set global variables. System flags are mapped to IEC addresses (%Ixx,
%Qxx). The programmer can access the following elemnts by using symbol names in the program
code:
Inputs and outputs
Functions of the input elements
Functions of the display elements
States of system components and characteristic values

Further infomration about system flags of the device: System flags ( page 346)
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>
Libraries
7425
ifm electronic provides the following device-specific function libraries for programming the CR1201
using CODESYS 2.3:
Library
Description
ifm_CR1201_Vxxyyzz.lib
Device-specific functions
ifm_PDMng_util_Vxxyyzz.lib
Help functions
ifm_PDM360NG_USB_Vxxyyzz.lib
Maintain devices connected to the USB interface
ifm_PDM360NG_USB_LL_Vxxyyzz.lib
Help library for ifm_PDM360NG_USB_Vxxyyzz.lib
ifm_PDM360NG_linux_syscall_asynch_Vxxyyzz.lib
Send Linux commands to the system
ifm_RAWCan_NT_Vxxyyzz.lib
Functions for CAN layer 2
ifm_CANopen_NT_Vxxyyzz.lib
Functions for CANopen
ifm_J1939_NT_Vxxyyzz.lib
CAN functions for drive control
ifm_NetVarLib_NT_Vxxyyzz.lib
Maintain network variables for CANopen
Further information about the ifm function libraries: ifm libraries for the device CR1201 ( page
155)
To add additional libraries to a CODESYS project: Add additional libraries ( page 114)
>
Note the cycle time!

8006
For the programmable devices from the controller family ecomatmobile numerous functions are
available which enable use of the devices in a wide range of applications.
As these units use more or fewer system resources depending on their complexity it is not always
possible to use all units at the same time and several times.
NOTICE
Risk that the device acts too slowly!
Cycle time must not become too long!
When designing the application program the above-mentioned recommendations must be
complied with and tested.
If necessary, the cycle time must be optimised by restructuring the software and the system
set-up.
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>
Watchdog behaviour
11789
In this device a watchdog monitors the runtime of system processes, including the process of the
CODESYS application. Each process has to call the wathcdog monitor within a defined time intervall.
If the maximum watchdog time is exceeded:
> all processes are stopped (reset)
> all outputs are switched off
> the screen goes black
> the status LED flashes red at 5 Hz
A process needs a certain time to proceed reset and initialisation routines (watchdog reset).
The following tabel shows the watchdog times for each process:
Prozess
Chain-ID
Watchdog-Timeout [ms]
Watchdog-Reset [ms]
ppc-plclinux
10
1 000
500
eplc main
20
10 000
500
eplc overlay
21
10 000
500
keyboard-service
40
2 000
500
io-coproc-service
50
2 000
500
wd-coproc-service
60
2 000
500
Eliminate the fault:

Reboot the device via voltage on/off plus.
>
Operating sequence
7427
In principle, there are two options to create a project for display devices:
Sequence
Advantages
Disadvantages
Visualisation first, then the

PLC program.
In the program it is possible to

cross-reference to the finished images.
The PLC parameters and variables required in the

images have not yet been defined.
When the PLC program is tested the

images already exist.
PLC program first, then the

visualisation
All parameters and variables are defined in

the PLC program before they are referred
to in the visualisations.
The parameters from the images (image

number, key, LED, etc.) must be found
elsewhere.
The PLC program can only be tested after

creation of the visualisation.
In both cases we urgently recommend to design a precise structure of the visualisation and its
contents before starting.
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>
Creating application program

8007
The application program is generated by the CODESYS programming system and loaded in the
controller several times during the program development for testing:
In CODESYS: [Online] > [Login] > load the new program.
For each such download via CODESYS the source code is translated again. The result is that each
time a new checksum is formed in the controller memory. This process is also permissible for safety
controllers until the release of the software.
Graphics: Creation and distribution of the software
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>
6.2.2
Create PLC program

7351
Only some networks are necessary for an executable program. You do not need any special function
block to be able to use important device functions. All monitor functions you can control via system
variables in the PLC configuration ( System flags ( page 346)).
Familiarise yourself with the programming system CODESYS 2.3!
Familiarise yourself with the programming according to IEC 61131-3!
To create a PLC application.
In the Object Organizer, select the [POUs] tab:
Double click on [PLC_PRG].

> Editor window displays input mask of teh selected programming language.
Enter program code.
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>
6.2.3
Add additional libraries

7432
For the CR1201, ifm electronic provides additional CODESYS libraries, that contain device-specific
functions. The libraries will be installed together with the target package of the device ( ifm libraries
for the device CR1201 ( page 155)).
The following libraries needs to be installed in order to program the device:
LinuxSystemLib.Lib
Standard library Standard.Lib from \CoDeSys\Library\
Device library CR1201_Vxxyyzz.Lib aus
\CoDeSys\Targets\ifm\Library\ifm_CR1201\
If not already installed, add the libraries one by one to the project!
The release numbers of the libraries and the target package must be equal.
V
xx: 00...99
yy: 00...99
zz: 00...99
version
target version number
release number
patch number
The basic file name (e.g. "CR1201") and the software version number "xx" (e.g. "04") 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.
To add additional libraries to the project:
1 Start library manager
Click on the [Resources] tab in CODESYS:
Double-click on [Library Manager] in the left column.

> The window [Library Manager] appears listing the installed libraries.
Add additional libraries
Select [Insert] > [Additional library...].
> File explorer appears displaying the CODESYS library directory.
Select the requested library and press [Open] to load it.
Optional: repeat step 2 to install additional libraries.
The functions libraries are stored in the following directories:
Device library: Targets\ifm\Library\ifm_CR1201
Help library: Targets\ifm\Library
CANopen library: Targets\ifm\Library\ifm_CANopen
RAWCan library: Targets\ifm\Library\ifm_RAWCan
J1939 library: Targets\ifm\Library\ifm_J1939
114
Save CODESYS project

Use [File] > [Save] to save the changes in the project.
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First steps
>
6.2.4
Programming interfaces
Setting-up the programming interface ..................................................................................................116

Access to the Linux runtime system .....................................................................................................118
7310
For programming of the device only the following interface is available:
Ethernet interface
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First steps
>
Setting-up the programming interface

7417
The device can be programmed over the Ethernet interface (Position of the connectors: Installation
instrcution).
Device and CODESYS pc/laptop can be connected directly oder via a ethernet network.
Only use recommended accessories! ( Installation instruction)
For the connection in the network an experienced user or system administrator should set
up the network addresses and do the configuration.
To configure the programming interface:
1 Connect device and CODESYS pc /laptop
Connect the Ethernet interface of the device with Ethernet interface of the CODESYS
pc/laptop ( Installation instruction)
2 Set the IP parameters of the Ethernet interfaces
Set the IP parameters of the Ethernet interface of the device ( Setup: Configure the Ethernet
interface ( page 51))
Set the TCP/IP settings of the Ethernet interface of the CODESYS pc/laptop.
The device and the pc/laptop need to belong to the same ip address space.
Note the settings of the IP address and the subnet mask! ( Address assignment in Ethernet
networks ( page 345))
3
116
Test Ethernet connection

Check the correct cable connection between both devices.
> OK if the orange LED beside the network connector lights or flickers.
Test Ethernet connection (i.e. using PING command at the Windows command line).
Set parameters of communication path between CODESYS and the device
In CODESYS click on [Online] > [Communication Parameters...].
Click on [New...]
> The window "Communication Parameters: New Channel" appears.
Programming
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First steps
Enter a self-explanatory name, e.g. "PDM_TCP/IP".

Select the entry "Tcp/Ip (Level 2 Route)" ( screenshot):
Use [OK] to adopt new parameters.

Enter the following communication parameters for the new channel ( screenshot below):
- [Address] = e.g. 192.168.82.247 (enter here the actual IP address of the device)
- [Motorola byteorder] = yes
(Double-click to change the value step by step)
Use [OK] to adopt communication parameters.

> CODESYS and the device should now be able to communicate via the Ethernet interface.
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First steps
>
Access to the Linux runtime system

Access the device with Telnet ..............................................................................................................119
Access the device with SSH .................................................................................................................119
Copy files with FTP ...............................................................................................................................120
Copy the files with SCP ........................................................................................................................120
14529
To access the Linux runtime system of the device directly via the Ethernet inerface, use one of the
following options.
118
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First steps
>
Access the device with Telnet

7424
Download the Telnet client and install it on the PC (e.g. PuTTY the operating system of the
Telnet client
Start the Telnet client
> The program window appears
Use the following parameters to create a new connection profile:
- PC name/IP address: 192.168.82.247
- Port: 23
- Transfer protocol: Telnet
Establish a connection to the device with the created connection profile
> The program window with a prompt appears.
Enter the following details and confirm with [ENTER]
- User name/login: root
- Password: pdm360ng
> The prompt of the root directory # appears
Enter the requested command
When done, enter exit in the prompt and confirm with [ENTER]
> The program window is closed
>
Access the device with SSH

12101
To establish a secure terminal connection between the PC and the device, proceed as follows:
Download the SSH client and install it on the PC (e.g. PuTTY ( www.putty.org))
Establish an Ethernet connection between the PC and the device.
If necessary, adapt the IP network settings of the PC and/or the device.
Help function of the PC operating system
Start the SSH client
- IP address = 192.168.82.247
- Connection type = SSH
- Port number = 22
Save the connection profile
Establish a secure connection between the PC and the device with the saved connection profile
> A safety note appears
Confirm the safety note
> The terminal window appears
Enter the following details and confirm with [Enter]:
- login as: = root
- root@192.168.82.247' password: pdm360ng
> The success message Welcome using SSH/SCP on IFM PDM360NG ! appears
Execute the requested commands in the command line
Help function of the SSH client
When done, separate the secure connection with [Shift]+[Strg]+[D]
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First steps
>
Copy files with FTP

9763
For some purposes an FTP connection between the PC and the device can be useful:
- Quick data transmission
- Connection also possible via the internet
- If no access to the USB port is possible
In case of doubt or problems please contact your system administrator.
The PC and the device must have compatible IP addresses and the same subnet mask.
Setup: Configure the IP parameters manually ( page 51).
Start the file manager on the PC.
Enter the IP address of the device and, if needed, the requested directory as target address
following "ftp://", e.g.
ftp://192.168.82.247/home (default IP address in the device)
After a right-click in the right space of the file manager click [Login as...] in the context menu.
> The dialogue [Login as...] opens.
Enter the following:
- User name = root
- Password = pdm360ng
Connect with the device with mouse click on [Login]
Copy the requested files
Close the file manager to disconnect the FTP connection.
>
Copy the files with SCP

7319
To transfer files via a secure SCP connection (Secure CoPy) between the device and the PC, proceed
as follows:
Download the SCP client and install it on the PC (e.g. WinSCP ( www.winscp.net))
If necessary, adapt the IP network settings of the PC and/or the device.
Help function of the PC operating system
Start the SCP client
- IP address = 192.168.82.247
- Connection type = SCP
- Port number = 22
- User name/Login = root
- Password = pdm360ng
Save the connection profile
Establish a secure connection between the PC and the device with the saved connection profile
> The program windows with the file systems of the PC and the device appear
Copy the requested files
Help function of the SCP client
When done, separate the secure connection
End the SCP client
>
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6.2.5
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First steps
Save project in the device

14427
Requirements:
Device and CODESYS pc/laptop are connected via ethernet interfaces.
Programming interface is set.
1 Compile project
Use [Project] > [Rebuild All] to compile the program code for the device.
> After all libraries and variables have been inserted and parameterised as described, no error
messages should appear.
If a project was changed (or a new one created) it must be cleaned before transferring it to the
device. Without cleaning, the program can become unstable due to memory overflow.
Use [Project] > [Clean all] to clean the project.
> During cleaning, all program elements are reorganised and combined thus reducing the
volume.
Use [Project] > [Save] to save the project.

Download the project to the device
Use [Online] > [Login] to set up a logic connection to the device.
> Confimation message appears:
"The program has changed. Download the new program?"
Press [Yes] to confirm.
> The compiled project (including the visualisation) is transferred to the device.
The program code is saved on the device in the directory /home/projects. With another
download project files already on the device are not loaded again.
To delete the project files in the directory /home/projects, use [Online] > [Reset
(source)].
Create boot project

Use [Online] > [Create boot project] to create a boot project in the device.
> The project ist stored in the remanent memory of the device.
> After rebooting the device the project starts automatically.
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Configuration of the inputs and outputs
>
6.3
Notes ....................................................................................................................................................123
Configure input .....................................................................................................................................123
Configure output ...................................................................................................................................123
7308
1394
For some devices of the ecomatmobile controller family, additional diagnostic functions can be
activated for the inputs and outputs. So, the corresponding input and output signal can be monitored
and the application program can react in case of a fault.
Depending on the input and output, certain marginal conditions must be taken into account when
using the diagnosis:
It must be checked by means of the data sheet if the device used has the described input and
output groups ( data sheet).
122
Constants are predefined (e.g. IN_DIGITAL_H) in the device libraries (ifm_CR1201_Vxxyyzz.LIB

) for the configuration of the inputs and outputs.
For details Possible operating modes inputs/outputs ( page 352).
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>
6.3.1
Notes
19934
>
Presets
13348
All inputs and outputs are factory set to binary, plus switching (BH).
The diagnostics function is disabled.
The overload protection is enabled.
>
Display the I/O configuration

7353
The active configuration of the inputs and outputs can be displayed via the system flags IN00 and
OUT00.
Detailed information on the system flags: System flags: Inputs and Outputs ( page 348)
>
6.3.2
Configure input
7350
The inputs are configured usign teh function block INPUT in the application program.
Detailed information on the function block: INPUT ( page 166)
Possible operating mode: Possible operating modes inputs/outputs ( page 352)
>
6.3.3
Configure output
7347
The operting mode of the output is fixed (binary, plus switching (BH)).
123
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Use visualisations
>
6.4
Use visualisations
Notes on visualisations .........................................................................................................................125

Create visualisation ..............................................................................................................................131
Configuring functions of operating elements ........................................................................................132
Use of optical and acustical feedback ..................................................................................................135
Install fonts (true type fonts) .................................................................................................................136
19911
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Use visualisations
>
6.4.1
Notes on visualisations
19914
Familiarize yourself with the CODESYS visualisation editor!

CODESYS-Online-Hilfe!
ifm electronic provides various components for CODESYS 2.3 supporting the
praogramming of visualisations.
POUs: Manage visualisation ( page 198)
>
Drawing area
YS_OBJECTID>
The drawing area is equal to the resolution of the display.
The left upper corner marks the home position (0,0) of the virtual and physical drawing area.
Virtual drawing area = 2560 x 1536 pixels

(enlarges the physical drawing area)
All elements in and outside the virtual drawing area are calculated.
The images used in the project can be larger than the given drawing area. In this case only a
selectable part of the image will be displayed.
>
Resample / scale image

3117
If an image is loaded in the device which does not meet the requirements for size or colour, it is
resized before it is displayed and the colours used are "checked".
Each time the image is opened, it must be resampled. This often leads to much longer times to
change from one image to the other. Corrective measures:
First carry out all transformations of the bitmap or the image in an image processing program on
your computer.
Only for BasicDisplay: The colour palette is adapted when the image is integrated into the project
by CODESYS. On the device itself no adaptations will be made (size, scaling, colour).
Only save the suitably transformed images in the visualisation of the device.
>
Texts
7428
The smallest font size which is clearly visible on the device is 8 points.
Permissible fonts (true type fonts):

- Arial (standard)
- Courier New
- Times New Roman
- ifm ISO symbols
- Loadable fonts
Install all required fonts on the PC!
Permissible font size:

- Standard = 10 pixels
- Max. = 72 Pixels
- Permissible nuances = 1 pixel
125
Programming
Permissible font weights:

- Normal (standard)
- Italic
- Bold
- Bold cursive
Permissible effects:
- None (standard)
- Underlined
- Crossed out
The following text scripts are accepted:

- Western (standard)
- Other scripts on request
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Use visualisations
Programming
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Use visualisations
>
Visualisation limits
Limitations for visualisations .................................................................................................................128
CODESYS visualisation elements ........................................................................................................129
Movement of elements .........................................................................................................................130
7382
When using visualisations the following estrictions apply:
127
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Programming
Use visualisations
>
Limitations for visualisations

19100
Designation
Limitation
Length of character strings
< 255 Zeichen
Length of path names
< 255 Zeichen
Number of graphical objects per visualisati page
< 2000
Number of bitmapst1 per project

Number of character sets per project
No indication possible. These

elements uses the same memmory
area.
Number of POUs2 per project
8000
Legend:
1
2
...
...
128
Specifications of the splash screen: Setup: Define the splash screen ( page 64)
POU (Program Organization Unit) = function, function block or program
Programming
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Use visualisations
>
CODESYS visualisation elements

7388
Visualisation element
Functional safety for the PDM
Polyline
A polyline is to consist of maximum 99 anchor points.

A polyline is not to enclose any area.
Curve
A curve is to consist of maximum 99 anchor points.

A curve is not to enclose any area.
Rectangle
No problems known
Rounded rectangle
Only for very restricted use, slows down the system very much
Circle, ellipse
Polygon
A polygon is to consist of maximum 100 anchor points.
Pie chart
Visualisation
Possible but too many elements on one page slow down the system
Button
No problems known
Table
dynamically indexed variables are not supported
Trend curve
Supported from firmware V01.05 on; not all CODESYS functions are
available on embedded devices
Alarm table
Not supported
Scales
Possible but too many elements on one page slow down the system
the following note.
Pointer instrument
Permissible pointer type

- normal arrow
- thin arrow
- wide arrow
- thin needle
Permissible angle indication:
Start and end angle in [degrees]
Bargraph
Can be represented using the following diagram types:

- scale at the bar
- scale in the bar
- bar in the scale
Permissible orientation:
- horizontal
- vertical
Histogram
Graphic file
Graphics scaling mode
ActiveX element
No problems known
- BMP
- BMP RLE compressed
- WMF (not recommended)
- JPG
No problems known:
The mode can be executed as follows:
- isotropic (uniform scaling of height / width)
- anisotropic (non-uniform scaling of height / width)
- fixed (without scaling)
Not supported
Legend:
+ ...
o ...
....
can be used without problem

can be used with restrictions
cannot be used
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Use visualisations
To avoid too long image loading times please note:
It is allowed to save colour bitmaps with a colour depth of 18 bits (max. 24 bits).
Some visualisations with the CODESYS options are not very satisfactory, e.g. round scales.
Solution:
Integrate the requested elements as (an externally generated) BMP graphic. It is then sufficient to
turn an arrow in the visualisation depending on values which could change its colour if limit values
are exceeded.
>
Movement of elements
7392
Image and text elements can be moved on the display in a defined manner.
Element movement
Description
Rotate
Rotate the element around a defined pivot point

Indicate the angle of rotation
Shift
Relative shifting of
rectangle
ellipse / circle
angle of rotation in [degree]
positive value = rotation clockwise
negative value = rotation anticlockwise
Shifting of the element:
horizontal
vertical
only within the drawing area
max. until leaving the drawing area
Each edge of the element can be shifted by a specified number of pixels via an
INT type variable:
basic position of the 4 edges = zero
new value shifts this edge by the specified value
Shift direction for value > 0:
horizontal edge down
vertical edge to the right
Shift direction for value < 0:
130
horizontal edge up
vertical edge to the left
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Use visualisations
>
6.4.2
Create visualisation
3100
Select visualisation directory

In the Object Organizer, select the [Visualizations] tab.
> Object Organizer displays visualisation objects of the project.
Create visualisation object
Right-click on [Visualizations] symbol
Select [Add object ...]

> The [New Visualization] window appears.
After [Name of the new Visualization] enter the name of the first visualisation object and press
[OK] to confirm.
> CODESYS creates visualisation object in the visualisation directory.
> Visualisation editor appears.
Create visualisation element
Create requested visualisation elements in the drawing area of the visualisation editor:
:: The drawing field corresponds to the size of the LCD display.

Notes on use of visualisations Notes on visualisations ( page 125)
Use [File] > [Save] to save the created visualisation.
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Programming
Use visualisations
>
6.4.3
Configuring functions of operating elements

10160
The signals of the navigation key are evaluated independently of the signals of the
function keys and the touch screen.
The device detects several simultaneously pressed function keys and evaluates them.
When the function key is permanently activated, the device generates a key pulse
sequence (after an adjustable waiting time).
>
Processing user input

14485
The following tasks have to be solved in the visualisations of the application program:
jump to the visualisati pages,
change parameter values in the input fields,
confirm messages.
To do so, the ecomatmobile PDM devices provide a number of operating elements.
For the devices of the PDM families you can assign functions to certain operating elements or signals.
There are several ways to do so which can also be combined in some cases:
System variables in the PLC configuration

Use edit controls ( page 133)
Library ifm_PDM_INPUT_Vxxyyzz.lib (contains FBs to manage input fields)

POUs: Manage visualisation ( page 198)
CODESYS dialogue [Elements configuration]

CODESYS user manual
Functions and function elements created by the user
>
Numbering of the operating elements

7338
The operating elements of the device are systematically numbered internally. In order to read or to
change the states of the input elements, the user can easily use symbol names in the programming
code of CODESYS.
The following figure shows the assignment of the individual operating elements with system flags:
Function keys:
>
132
Navigation key:
2015-08-27
Programming
Use visualisations
Numbering of the operating elements

14297
For each key of the device the system detects the following events. Using the results of this detection,
the system generates signals and maps them to system flags:
Event type
Events
Reference
State
key pressed
System flags: function keys ( page 349)
key released
System flags: navigation keys ( page 350)
key hold down (continuous operation)
pressing key (positive edge)
releasing key (negative edge)
Change of state
>
Use edit controls

10158
ifm provides the programmer with "edit controls". You can link functions to operating elements using
system variables in the PLC configuration.
For normal mode:
MD_KEYx_y
Assignment of key y in the group of keys x (preset)
For the edit mode:

ME_KEYx_y
Assignment of key y in the group of keys x (Edit mode)
As STRING a key must be assigned a keyword ( next chapter).

Key groups Numbering of the operating elements ( page 132)
System variable System flags ( page 346)
>
Keywords for edit controls

10163
Keyword
Meaning in MAPPING
Meaning in EDIT MODE
DOWN
---
Decrement the value
ESC
ESCAPE
Quit the EDIT MODE
Quit the EDIT MODE
LEFT
---
Cursor by 1 position to the left
RIGHT
---
Cursor by 1 position to the right
SHIFT_TAB
Jump to the previous element
---
SPACE
Change the element to the EDIT MODE
Confirm the value
TAB
Jump to the next element
---
UP
---
Increment the value
>
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Use visualisations
Example: edit controls in CR1081

10165
IF Init =TRUE
THEN
(* Default Mapping ( MD ) *)
MD_KEY3_right:= 'TAB'; (* jump to next element foreward *)
MD_KEY3_left:='SHIFT_TAB';
(* jump to next element backwards *)
MD_KEY3_push:='SPACE'; (* select the element *)
(* Edit Mapping/ Edit mode ( ME )*)
ME_KEY3_UP:='UP';
(* Increment value *)
ME_KEY3_DOWN:='DOWN';
(* Decrement value *)
ME_KEY3_LEFT:='LEFT';
(* Move left on the value position *)
ME_KEY3_RIGHT:='RIGHT'; (* Move right on the value position *)
ME_KEY3_PUSH:='SPACE'; (* Take over value *)
ME_KEY1_5:= 'ESCAPE';
(* Exit edit mode *)
END_IF
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Programming
Use visualisations
>
6.4.4
Use of optical and acustical feedback

4300
All operating elements are backlit withLEDs. The LEDs can be controlledin the application
program.
Only switch those key LEDs in the program which can be sensibly actuated in the
current screen.
For all keys currently without function:

Switch off keys LEDs in the program.
Request to press a certain key:

Programm the key LED so that it flashes.
Night design of the operating elements:

The LEDs for alle operating elements are dimmable.
For operating at night the LEDs have ONE adjustable basic brightness for all operating
elements. So the operating elements are also backlit if the key LEDs were not switched
on.
>
Control status LED and key LEDs

19917
To generate an optical feedback indicating, which key can be used for user input, the programmer can
use the key LEDs. The following options are available:
Option
Functions
Reference
System flags
seperately enable/disable key LEDs
System flags: function keys ( page 349)
set night mode for key LEDs
System flags: navigation keys ( page 350)
set brightness of key LEDs in night mode
System flags: Status LED ( page 348)
set colour of status LED
set flashing frequency of status LED
>
Control buzzer
11543
To generate an acoustical feedback indicating user inputs, the programmer can use the
device-internal buzzer. The following options are available:
Option
Functions
Reference
ifm POUs
set tone pitch of the buzzer signal
genrate continuous tone
Function elements: Control LED + buzzer

( page 193)
generate click on key contact
135
Programming
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Use visualisations
>
6.4.5
Install fonts (true type fonts)

10072
The character sets supplied by the factory (fonts) are not sufficient for all applications. Here we show
you the example "Cyrillic" to learn how to add more character sets.
NOTICE
If after the installation of large fonts (e.g. Chinese fonts) a device with a CODESYS application is
restarted, the watchdog may be activated!
Reason: It takes some seconds until the new font is initialised.
Start the device once in the setup mode ( Enter the setup mode ( page 39)).
The CR1201 only supports true type fonts!
Install new font on the PC/laptop ( Operating instructions operating system).

Install new font on the device ( Fonts: Load the font ( page 73)).
All font files must have the file attribute "executable". This can normally be carried out with the
FTP programs.
Reboot the device to activate a new font
In CODESYS use the corresponding font as shown below:
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Use visualisations
>
Symbol files
14522
The unit is factory preset with the ISO symbols. An overview and explanations of the installed symbols
is given in the file ifm_iso-documentation.pdf ( ecomatmobile DVD "Software, tools and
documentation" or on your hard disk in the CODESYS installation directory
Targets\ifm\Library\Fonts\ifm_ISO.
Example: ifm_iso_f.ttf
137
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Programming
Use of touch screen functions
>
6.5

14046
>
6.5.1
General notes
14047
Note the following for the programming of touch screen functions.
The sensitivity of the touch screen is reduced towards the edges.

Position the graphical operating elements as central as possible on the touch screen!
The device has no multitouch function!
The use of touch operating elements is not suitable for the control of critical functions
(e.g. motor start/stop).
Use the mechanical keys for the implementation of critical functions!
The touch screen provides no mechanical feedback when a graphical operating element
has been activated (e.g. button). Therefore, the operator might not know if his input has
been successful.
Use visual feedback for graphical operating elements ( Use visual feedback ( page
140))!
Unfavourable light incidence and soiling of the screen surface might affect the
perceptibility of the graphical operating elements.
Touch operating elements must be sufficiently dimensioned!
Use a clearly readable font in a sufficient font size for labelling the touch operating
elements.
>
6.5.2
Process touch screen inputs

14050
Operation of the touch screen can be programmed in CODESYS with standard input functions or via
PLC code.
The following table compares the two methods.
Criterion
Control of the touch screen operation via

CODESYS standard input function
PLC code
Flexibility
Programmer is bound to defined functions
Flexible interaction between user interface and

application program possible
Response time to input
Fast reaction of the visualisation because

event-based processing irrespective of the PLC
cycle
Response time bound to PLC cycle
Programming
complexity
Low; simple creation of user interfaces
Increased programming complexity
suitable for
All groups of users
Experienced programmers
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Programming
>
Input functions for touch screens

14054
CODESYS offers different input functions to define how elements of the graphical user interface (e.g.
buttons) react to actuation of the touch screen.
To access the input functions in CODESYS:
1 Preperations
Create/open CODESYS project.
Create new visualisation and create a new object ( Create visualisation ( page 131))
2 Configure input function
Selelct created object.
Select [Extras] > [Configure].
> The [Regular Element Configuration] window appears.
Select the [Input] item in the [Category] field.
> [Input] group shows options for input configuration:
Option
Description
[Toggle variable]
The state of the Boolean variable is

changed when the visualisation object is
touched (= switch mode)
= function disabled
The state of the Boolean variable is

changed when the visualisation object is
touched. When releasing the
visualisation object, the variable changes
to it's former state (= momentary switch
mode)
= function disabled
Define value of the boolean variable

when object is touched
= positive edge (FALSE TRUE)
[Tap variable]
[Tap FALSE]
Possible values
= function enabled
= function enabled
= negative edge (TRUE FALSE)

[Zoom to vis.]
[Execute program]
[Text input of variable

'Textdisplay']
List
The application changes to the indicated

visualisation when the visualisation
object is touched.
= function disabled
An indicated command / indicated

command sequence is carried out when
the visualisation object is touched
= function disabled
The element activated in the list box

appears when the visualisation object is
touched. The value will be written into the
varibale defined in the category
[Variables] > [Textdisplay]
= function disabled
Selection of input element
= function enabled
= function enabled
= function enabled
[Text]
= input field
[Numpad]
= Number pad
[Keypad]
= On-screen keyboard (German key

assignment)
Detailed information about configuration options: CODESYS documentation
Enable reuqested functions.

Use [OK] to confirm the input and close the window.
>
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Characteristics of the pressure point

14431
To get an feedback from the system in case the display is getting touched, the programmer can use
the global data structure PointOfContact. It provides the following functions:
Variable
Funktion
PointOfContact.AfterGlow
Show/hide pressure point
PointOfContact.X
Show X coordinate of the current pressure point
PointOfContact.Y
Show Y coordinate of the current pressure point
PointOfContact.ImagePath
Link pressure point to an image file
PointOfContact.Overlap
Set the behaviour of pressure point and mouse pointer
Detailed information: PointOfContact ( page 225)
>
6.5.3
Use visual feedback

14051
CODESYS offers the following options to create visual feedback for graphical operating elements:
Option
Description
Input element "button"
The appearance of the button automatically changes when the button is activated or
deactivated. The programmer does not have to make additional settings.
Change between two bitmaps
2 different bitmaps exist for each condition (activated, deactivated) of an input element.
Both graphics are positioned congruently on 2 visualisation levels. When the operating
element is activated, the bitmap graphics is switched to invisible for the inactive
condition.
Touch event on bitmap
A touch event triggers a reaction when the input element is activated.
Change of the frame colour
The input element has a frame. When deactivated, the frame is colourless or in neutral
colours. The frame colour changes when the frame is activated.
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>
6.5.4
Calibration of the touch screen

14432
To be able to calibrate the touch screen from a PLC application, carry out the following changes in the
CODESYS project:
1 Create visualisati page
Open / Create a project.
Create an empty visualisati page with the designation TOUCHCALIBRATION ( Create
visualisation ( page 131))
2 Insert control code in PLC application
Define a condition for access to the visualisati page TOUCHCALIBRATION.
Define the visualisati page which will be opened after successful calibration.
Define the condition for the cancellation of the calibration process (e.g. change to the
visualisati page y when the function x is pressed)
Notes on use:
The calibration process is automatically started when the operator opens the visualisati page
TOUCHCALIBRATION.
Follow the instructions on the screen ( Setup: Calibrate the touchscreen ( page 75))!
> When the calibration process is cancelled: The values of the last successful calibration apply.
> When the calibration process has been successfully completed: The touch screen is
recalibrated.
The calibration process can only be cancelled as long as the operator has not yet touched the
last cross in the centre of the screen!
The new values apply immediately upon completion of the calibration process! It is not
necessary to reboot the device.
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Install and set up mobile camera
>
6.6
Setup and operate Ethernet cameras ..................................................................................................143

Setup and operate analogue cameras .................................................................................................147
14479
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Programming
>
6.6.1
Setup and operate Ethernet cameras

9320
>
Insert an Ethernet camera image in a CODESYS project

9321
Open CODESYS project.
In the Object Organizer, select the [Visualizations] tab
Create a new visualisation object.
> The drawing area appears.
Insert placeholder for camera image
Select [Insert] > [Bitmap].
Drag out the contour of the planned camera image on the drawing area.
> The [Open] window appears.
Select the file camera.bmp in the subdirectory ..\targets\ifm\library\bmp_ng.
> The placeholder graphic is inserted into the drawing area.
> Press [OK] to close the window.
Set size and position of the camera image
Select [Extras] > [Elementlist...].
> [Element list] window appears.
Select the requested image.
Under [Position] enter the following values:
Parameter
Description
Possible values
X coordinate of the upper left corner of the image
i.e. 290
Y coordinate of the upper left corner of the image
i.e. 220
Width
Width of the displayed image (in pixels)
recommended: 320
max.: 640
Height
Height of the displayed image (in pixels)
recommended: 240
max: 480
Image resolutions that are in the range between recommended and maximum image
resolution or above the maximum image resolution, cause a high CPU load.
Avoid to set such values!
Only the visible area of the display can be used for the camera image ( datasheet,
resoltution of the display). Images outside this area (in the non-visible area) are ignored.
Instead the image is represented at the last valid position. If there was no valid position, NO
image is represented.
Press [OK] to apply the entered values and close the window.
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Programming
>
Configure the camera bitmap in the dialogue [Bitmap Configuration]

9600
To configure the created camera image:

>
Open the configuration dialogue

Open the visualisati page with placeholder graphic.
Double click on placeholder graphic
> The window [Bitmap Configuration] appears.
To configure the camera image, set the following variables and parameters as requested.
The variables entered must be declared. Afterwards they can be used for programming
the application.
Set the IP address of the Ethernet camera

In the category [Text] set the following parameters as requested:
Parameter
Description / data type
Possible values
[Content]
IP address of the Ethernet camera

Operating instructions of the
camera
e.g. 192.168.83.83
>
Rotate the camera image

In the category [Motion absolute] set the following parameter as requested:
Parameter
Possible values
[Angle]
e.g. PLC_PRG.camangle
INT type variable

(input)
0 = no rotation *
90 = rotate by 90
180 = rotate by 180
270 = rotate by 270
* ... default value which is also applied in case of a not defined variable
>
Indicate the failure of an Ethernet camera

In the category [Variables] set the following parameter as requested:
Parameter
Possible values
[Input disable]
Display status message of the

Ethernet camera
e.g. PLC_PRG.connect
boolean type variable (output)
FALSE = Ethernet camera failure

TRUE = Ethernet camera active
>
Switch between colour and greyscale representation

Parameter
Possible values
[Change color]
e.g. PLC_PRG.grey
Switching between colour and

greyscale representation of the
camera image
FALSE = 8 bit greyscale

TRUE = RGB555 *
Boolean type variable (input)
>
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Programming
Mirror the camera image at its horizontal axis

In the category [Variablen] set the following parameter as requested:
Parameter
Possible values
[Umrechnungsbasis]
Mirror the camera at its

horizontal axis
e.g. PLC_PRG.mirror
Boolean type variable

(input)
FALSE = do not mirror the image *

TRUE = mirror the image
>
Switch the camera on/off

Parameter
Possible values
[Conversion factor]
Program the switching on and

off of the camera
e.g. PLG_PRG.enable
FALSE = switch off the camera

TRUE = switch on the camera
Observe the note!

Use of the Ethernet camera image in CODESYS ( page 146)
>
Provide error messages of the camera

Parameter
[Tooltipdisplay]
>
Possible values
Providing error messages of the e.g. PLG_PRG.ErrorMessage

connected camera
possible error messages: Table
STRING type variable (output)
The following error messages may occur:

Error message
Cause
Remedy
camera not found
The IP address of the camera is

not correct
Check the settings of the camera

Set the IP address of the Ethernet camera ( page
144)
camera not found
No connection between the

camera and the device
Check the connection between the camera and

the device
: If there is already a connection between the
camera and the device, a connection loss via the
variable in the field [Eingabe deaktivieren] is
displayed
Indicate the failure of an Ethernet camera ( page
144)
invalid target area
The camera image is not

completely in the visible area of
the display

Insert an Ethernet camera image in a CODESYS
project ( page 143)
invalid rotation angle
The indicated angle of rotation is

invalid

Rotate the camera image ( page 144)
valid angles: 0, 90, 180 and 270
framebuffer error or
plane already used
exclusively
During the setup of the Ethernet

camera an analogue camera is
already running in the overlay
mode (the Ethernet camera is not
switched on)
Set the boolean variable for switching the

Ethernet camera on and off to FALSE
Switch the camera on/off ( page 145)
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>
Save changed values

>
Use of the Ethernet camera image in CODESYS

9585
Switch-off the camera at page change:

Manually:
Switch off cameras in the visualisation BEFORE a page switch is started. Otherwise, the
old camera image stays visible in the new page.
Do not switch on the requested cameras until the new visualisation is displayed.
Automatic:
Use globale variable CamsOffOnPageSwitch to autoatically switch off the camera when a
page switch is started ( CamsOffOnPageSwitch ( page 173)).
resoltution of the display). Images outside this area (in the non-visible area) are ignored.
Instead the image is represented at the last valid position. If there was no valid position, NO
image is represented.
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Programming
>
6.6.2
Setup and operate analogue cameras

9588
>
Display options for analogue cameras

11733
Analogue cameras provide the following features:

System standard
Number of image lines
Number of image colums
Aspect ratio
PAL
720
576
5:4
NTSC
720
480
3:2
The CR1201 supports the following display modes for analog cameras:
Description
Capture mode
Overlay mode
The image can only be represented as a

whole.
A section of the image can be represented up to

max. 100 % of the original image.
The centre of the image section is identical with the

centre of the original image.
Scalability
Any scaling of the image is possible.
The image cannot be scaled.
Scaling behaviour
Any scaling of the aspect ratio is

possible.
The image representation may be
distorted.
The image is represented in the original aspect ratio.
Frame rate
Low frame rate

Reason: long processing time!
High frame rate
Place the camera image only in the visible area of the display (datasheet, display resolution)!
Images outside the visible area will be ignored.
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>
Example: Capture mode

9589
The original image can only be scaled in any manner as full-size image, also asymmetrically.
Original image:
Compressed image:
148
Streched image:
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>
Example: Overlay mode

9560
The image cannot be scaled.

The centre of the image section is identical with the centre of the original image.
Original image:
Image section 1:
Image section 2:
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Programming
>
Insert an analogue camera image in a CODESYS project

9601
Open CODESYS project.
In the Object Organizer, select the [Visualizations] tab
Create a new visualisation object.
> The drawing area appears.
Insert placeholder for camera image
Select [Insert] > [Bitmap].
Drag out the contour of the planned camera image on the drawing area.
> The [Open] window appears.
Select the file camera.bmp in the subdirectory ..\targets\ifm\library\bmp_ng.
> The placeholder graphic is inserted into the drawing area.
> Press [OK] to close the window.
Set size and position of the camera image
Select [Extras] > [Elementlist...].
> [Element list] window appears.
Select the requested image.
Under [Position] enter the following values:
Parameter
Description
Possible values
X coordinate of the upper left corner of the image
e.g. 290
Y coordinate of the upper left corner of the image
e.g. 220
Width
Width of the displayed image (in pixels)
recommended (PAL): 360

max.: 720
Height
Height of the displayed image (in pixels)
recommended (PAL): 288

max: 576
Image resolutions that are in the range between recommended and maximum image
resolution or above the maximum image resolution, cause a high CPU load.
Avoid to set such values!
resoltution of the display). Positions outside this area (in the non-visible area) are ignored.
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Programming
>
Configure camera image

8653
To configure the created camera image:

>
Open the configuration dialogue

Open the visualisati page with placeholder graphic.
Double click on placeholder graphic
> The window [Bitmap Configuration] appears.
To configure the camera image, set the following variables and parameters as requested.
The variables entered must be declared. Afterwards they can be used for programming
the application.
>
Select analogue camera

In the category [Text] set the following parameters as requested:
Parameter
Possible values
[Content]
Select camera
Camera0 = 1st analogue camera

Camera1 = 2nd analogue camera
Use lower-case and upper-case letters when entering the parameter values!
Set the display mode

Parameter
Possible values
[Change color]
Switching between capture

mode and detail mode
e.g. PLC_PRG.CamMode
FALSE = capture mode

TRUE = overlay mode
>
Mirror the camera image at its horizontal axis

Parameter
Possible values
[Coversion base]
Mirror the camera at its

horizontal axis
e.g. PLC_PRG.mirror
FALSE = do not mirror the image *

TRUE = mirror the image
Parameter only available in the capture mode!
>
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Programming

In the category [Motion absolute] set the following parameter as requested:
Parameter
Possible values
[Angle]
e.g. PLC_PRG.camangle
INT type variable (input)
0 = no rotation *
90 = rotate by 90
180 = rotate by 180
270 = rotate by 270
The rotation function is only available in the capture mode!

The rotation of the camera image causes a high CPU load which leads to a lower frame rate
and a poorer image quality.
>
Provide error messages of the camera

Parameter
[Tooltipdisplay]
>
Possible values
Providing error messages of the e.g. PLG_PRG.ErrorMessage

connected camera
possible error messages: Table
STRING type variable
(output)
The following error messages may occur:

Error message
Cause
invalid target area
The camera image is not completely Check the settings of the camera
in the visible area of the display
Insert an analogue camera image in a CODESYS
project ( page 150)
invalid rotation angle
The indicated angle of rotation is

invalid
framebuffer or plane
can't be used
exclusively
Remedy

Rotate the camera image ( page 151)
valid angles: 0, 90, 180 and 270
During setup of the analogue

Set the boolean variable for switching the analogue
camera an Ethernet camera is
camera on and off to FALSE
already running in the overlay mode Switch the camera on/off ( page 145)
(the analogue camera is not
switched on)
>
152
Save changed values

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>
Use the analogue camera image in CODESYS

9738
Switch-off the camera at page change:

Manually:
Switch off cameras in the visualisation BEFORE a page switch is started. Otherwise, the
old camera image stays visible in the new page.
Do not switch on the requested cameras until the new visualisation is displayed.
Automatic:
Use globale variable CamsOffOnPageSwitch to autoatically switch off the camera when a
page switch is started ( CamsOffOnPageSwitch ( page 173)).
resoltution of the display). Positions outside this area (in the non-visible area) are ignored.
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ifm libraries for the device CR1201 ......................................................................................................155

ifm function elements for the device CR1201.......................................................................................164
18588
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.
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ifm libraries for the device CR1201
>
7.1
Library ifm_CR1201_Vxxyyzz.LIB ........................................................................................................156

Library ifm_PDMng_util_Vxxyyzz.LIB ..................................................................................................157
Library ifm_PDM360NG_special_V02yyzz.LIB ....................................................................................157
Library ifm_PDM360NG_linux_syscall_asynch_V02yyzz.LIB .............................................................158
Library ifm_PDM360NG_USB_Vxxyyzz.lib ..........................................................................................158
Library ifm_PDM360NG_USB_LL_V02yyzz.LIB ..................................................................................159
Library ifm_PDM_input_V01yyzz.LIB ...................................................................................................159
Library ifm_RAWCan_NT_Vxxyyzz.LIB ...............................................................................................160
Library ifm_CANopen_NT_Vxxyyzz.LIB ...............................................................................................161
Library ifm_J1939_NT_Vxxyyzz.LIB ....................................................................................................162
Library ifm_NetVarLib_NT_Vxxyyzz.LIB ..............................................................................................163
14235
Legend for ..._Vxxyyzz.LIB:

V
xx: 00...99
yy: 00...99
zz: 00...99
version
target version number
release number
patch number
Here you will find a list of the ifm function elements matching this device, sorted according to the
CODESYS libraries.
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7.1.1
Library ifm_CR1201_Vxxyyzz.LIB
18536
This is the device library.

This ifm library contains the following elements:
Element
Type
Short description
FOCUSED_ELEMENT ( page
200)
GV
contains the ID of the visualisation object, that has the focus
CURSOR_POSITION ( page 201) GV
contains position of the cursor in alphanumerical input elements (e.g. numpad )
FocusFrameImagePath ( page
202)
GV
contains the directora path to the user-defined focus frame image
OverlayVisu ( page 205)
GV
contains the designation of the defined overlay visu page
CurrentVisuDisplayed ( page
206)
GV
contains the designation of the currently displayed visu page
PointOfContact ( page 225)
GV
contains the coordinates of the pressure point on the touch screen and
configuration options for visual feedback
TouchScreenDisable ( page
172)
GV
enables/disables the touch screen function of the device
CamsOffOnPageSwitch ( page
173)
GV
enables/disables the automatic switch off of the camera at page switch
KEY_MAPPING ( page 174)
GV
contains key assignment of system flags with character strings
BUZZER_CLICK ( page 194)
FUN
generate acoustic signal using device-internal buzzer
BUZZER_ON ( page 195)
FB
generate tone using devcie-internal buzzer
GET_DEVICE_SERIAL ( page
176)
FB
read serial number of the device
GET_ETHERNET ( page 177)
FB
read IP parameters of the Ethernet interface
GET_VERSIONS ( page 179)
FB
read release numbers of the software components of the device
INPUT ( page 166)
FB
set the operating mode of the input channel
KEY_CLICK ( page 196)
FB
generate click when key is pressed
LOAD_SPLASH_SCREEN ( page
171)
FB
define splash screen image
SET_BOOTUP_BACKLIGHT
( page 170)
FUN
set brightness of the display
SET_ETHERNET ( page 168)
FB
set IP parameters of the Ethernet interface
Legend:
GV ...
FB ...
FUN ...
PRG ...
156
Global variable
Function block
Function
Program
2015-08-27
>
7.1.2
Library ifm_PDMng_util_Vxxyyzz.LIB
15819

Element
Type
Short description
SPEED_UP_VISU_TASK ( page
199)
FB
accelerates the visualisation process of the device
NORM_DINT ( page 182)
FB
normalises a value within defined limits to a value with new limits
NORM_REAL ( page 183)
FB
normalises a value within defined limits to a value with new limits
TOGGLE ( page 184)
FB
enables the setting and resetting of a Boolean variable via only one input bit
INIT_DATA_MEMORY
FB
mounts the NAND flash memory into the file system of the device
PDM_PAGECONTROL
PRG
controls the opening of certain visualisati pages
VERSION ( page 227)
PRG
indicates the version and history of the library in the comment of the function
element
Legend:
GV ...
FB ...
FUN ...
PRG ...
7.1.3
Global variable
Function block
Function
Program
Library ifm_PDM360NG_special_V02yyzz.LIB
18577

Element
Type
Short description
EXITPLC_START_APPLICATION
( page 228)
FUN
calls the appliclation indicated at input APPLICATION directly from the running
control program
Legend:
GV ...
FB ...
FUN ...
PRG ...
Global variable
Function block
Function
Program
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>
7.1.4
Library ifm_PDM360NG_linux_syscall_asynch_V02yyzz.LIB
18579

Element
Type
Short description
SYSTEM_ASYNCH ( page 229)
FB
sends any command to the Linux operating system (max. 255 characters)
Legend:
GV ...
FB ...
FUN ...
PRG ...
Global variable
Function block
Function
Program
>
7.1.5
Library ifm_PDM360NG_USB_Vxxyyzz.lib
19936

Element
Type
Short description
USB_STORAGE_MANAGER
( page 186)
FB
manages USB memory connected to USB interface of the device
USB_STORAGE_REMOVE ( page FUN

188)
umounts an USB memory from the device
COPY_PDM_TO_USB ( page
189)
PRG
copies a file from the device to the connected USB memory
COPY_USB_TO_PDM ( page
190)
PRG
copies a file from the connected USB memory to the device
USB_STORAGE_HANDLER
( page 191)
PRG
manages a USB memory
Legend:
GV ...
FB ...
FUN ...
PRG ...
158
Global variable
Function block
Function
Program
2015-08-27
>
7.1.6
Library ifm_PDM360NG_USB_LL_V02yyzz.LIB
18578
ifm_PDM360NG_USB_LL_Vxxyyzz.LIB is an internal library. The librarys functions can only

be accressed indirectly through other CODESYS functions!
Don't use the functions of the library in a IEC application!
>
7.1.7
Library ifm_PDM_input_V01yyzz.LIB
19920

Element
Type
Short description
INIT_VAR_RETAIN_DINT ( page
218)
FB
initialises the array of DINT with remanent input values
INIT_VAR_RETAIN_INT ( page
220)
FB
initialises the array of INT with remanent input values
INIT_VAR_RETAIN_REAL ( page
222)
FB
initialises the array of REAL with remanent input values
INPUT_DINT ( page 207)
FB
input box for DINT values
INPUT_INT ( page 210)
FB
input box for INT values
INPUT_REAL ( page 215)
FB
input box for REAL values
Legend:
GV ...
FB ...
FUN ...
PRG ...
Global variable
Function block
Function
Program
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>
7.1.8
Library ifm_RAWCan_NT_Vxxyyzz.LIB
14715
This ifm library contains the following function blocks:

Function element
Short description
CAN_ENABLE ( page 232)
Initialises the indicated CAN interface

Configures the CAN baud rate
CAN_RECOVER ( page 233)
Activate / deactivate the automatic bus off handling

Restart the CAN interface in case of bus off
CAN_REMOTE_REQUEST ( page 254)
Send a corresponding request and return the response of the other device as a result
CAN_REMOTE_RESPONSE ( page 256)
Provides data to the CAN controller in the device which is automatically sent as a response to
the request of a remote message
CAN_RX ( page 238)
Configures a data receive object and reads out the receive buffer of the data object
CAN_RX_ENH ( page 239)
Frame type and mask can be selected
CAN_RX_ENH_FIFO ( page 241)
Several CAN messages per cycle possible
CAN_RX_RANGE ( page 243)
Configures a range of data receive objects and reads out the receive buffer of the data objects
CAN_RX_RANGE_FIFO ( page 245)
Configures a range of data receive objects and reads out the receive buffer of the data objects
Several CAN messages per cycle possible
CAN_SETDOWNLOADID ( page 234)
= Set CAN download ID

Sets the download identifier for the CAN interface
CAN_STATUS ( page 235)
Get status information on the CAN bus selected:

BAUDRATE, DOWNLOAD_ID, BUSOFF, WARNING_RX, WARNING_TX, VERSION,
BUSLOAD
and reset if required: BUSOFF, WARNING_RX, WARNING_TX
CAN_TX ( page 248)
Transfers a CAN data object (message) to the configured CAN interface for transmission at each
call
CAN_TX_ENH ( page 249)
Transfers a CAN data object (message) to the configured CAN interface for transmission at each
call
CAN-specific characteristics can be set
CAN_TX_ENH_CYCLIC ( page 251)
Cyclically transfers a CAN data object (message) to the configured CAN interface for
transmission
CAN-specific characteristics can be set
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>
7.1.9
Library ifm_CANopen_NT_Vxxyyzz.LIB
14914

Function element
Short description
CANOPEN_ENABLE ( page 260)
Initialises the indicated CANopen master interface

Configures the CAN baud rate
CANOPEN_GETBUFFERFLAGS ( page 262)
= CANopen get buffer flags

Provides information on the buffer flags
The flags can be reset via the optional inputs.
CANOPEN_GETEMCYMESSAGES ( page 300)
= Get CANopen emergency messages

Lists all emergency messages that have been received by the controller from other nodes in the
network since the last deletion of messages
The list can be reset by setting the according input.
CANOPEN_GETERRORREGISTER ( page 302)
= Get CANopen error register

Reads the error registers 0x1001 and 0x1003 from the controller
The registers can be reset by setting the respective inputs.
CANOPEN_GETGUARDHBERRLIST ( page 295)
= get CANopen guard and heartbeat error list

Lists all nodes in an array for which the master has detected an error:
guarding error, heartbeat error
The list can be reset by setting the according input.
CANOPEN_GETGUARDHBSTATSLV ( page 297)
= CANopen slave get guard and heartbeat state

Signals the following states to the controller in slave operation:
node guarding monitoring, heartbeat monitoring
The signalled errors can be reset by setting the respective input.
CANOPEN_GETNMTSTATESLAVE ( page 269)
= CANopen slave get network management state

Signals the network operating status of the node
CANOPEN_GETODCHANGEDFLAG ( page 273)
= Get object directory changed flag

Reports any change of value for a particular object directory entry
CANOPEN_GETSTATE ( page 264)
= CANopen set state

Request the parameters of the master, a slave device or a specific node in the network
CANOPEN_GETSYNCSTATE ( page 291)
= CANopen get SYNC state

Reads the setting of the SYNC functionality (active / not active),
reads the error state of the SYNC functionality (SyncError)
CANOPEN_NMTSERVICES ( page 270)
= CANopen network management services

Updates the internal node status
and, depending on the NMT command entries:
triggers an NMT command or
triggers the initialisation of a node
CANOPEN_READOBJECTDICT ( page 274)
= CANopen read object directory

Reads configuration data from the object directory of the device
CANOPEN_SDOREAD ( page 278)
= CANopen read SDO

Reads an "Expedited SDO" = Expedited Service Data Object
CANOPEN_SDOREADBLOCK ( page 280)
= CANopen read SDO block

Reads the indicated entry in the object directory of a node in the network via SDO block transfer
CANOPEN_SDOREADMULTI ( page 282)
= CANopen read SDO multi

Reads the indicated entry in the object directory of a node in the network
CANOPEN_SDOWRITE ( page 284)
= SDO write
Writes an "Expedited SDO" = Expedited Service Data Object
CANOPEN_SDOWRITEBLOCK ( page 286)
= CANopen write SDO block

Writes in the indicated entry in the object directory of a node in the network via SDO block
transfer
CANOPEN_SDOWRITEMULTI ( page 288)
= CANopen write SDO multi

Writes in the indicated entry in the object directory of a node in the network
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Function element
Short description
CANOPEN_SENDEMCYMESSAGE ( page 304)
= CANopen send emergency message

Sends an EMCY message. The message is assembled from the according parameters and
entered in register 0x1003
CANOPEN_SETSTATE ( page 266)
= CANopen set state

Set the parameters of the master, a slave device or a specific node in the network
CANOPEN_SETSYNCSTATE ( page 293)
= CANopen set SYNC state

Switch the SYNC functionality on and off
CANOPEN_WRITEOBJECTDICT ( page 275)
= CANopen write object directory

Writes configuration data into the object directory of the device
>
7.1.10
Library ifm_J1939_NT_Vxxyyzz.LIB
14912

Function element
Short description
J1939_DM1RX ( page 334)
J1939 Diagnostic Message 1 RX

Receives diagnostic messages DM1 or DM2 from other ECUs
J1939_DM1TX ( page 336)
J1939 Diagnostic Message 1 TX

Transmit an active error message to the CAN stack
J1939_DM1TX_CFG ( page 339)
J1939 Diagnostic Message 1 TX configurable

CAN stack does not send cyclic DM1 "zero active faults" messages
J1939_DM3TX ( page 341)
J1939 Diagnostic Message 3 TX

Deletes inactive DTCs (DM2) on a device
J1939_ENABLE ( page 308)
Initialises the J1939 stack
J1939_GETDABYNAME ( page 310)
= Get destination arbitrary name

Determine the target address of one or several participants by means of the name information
J1939_NAME ( page 312)
Give the device a name for identification in the network
J1939_RX ( page 321)
Receives a single frame message

Shows the message last read on the CAN bus
J1939_RX_FIFO ( page 322)
= J1939 RX with FIFO

Receives all specific messages and successively reads them from a FiFo
J1939_RX_MULTI ( page 324)
= J1939 RX multiframe message

Receives multiframe messages
J1939_SPEC_REQ ( page 316)
= J1939 specific request

Requests and receives a specific message from another controller
J1939_SPEC_REQ_MULTI ( page 318)
= J1939 specific request multiframe message

Requests and receives a specific multiframe message from another controller
J1939_STATUS ( page 314)
Shows relevant information on the J1939 stack
J1939_TX ( page 326)
Sends individual single frame messages
J1939_TX_ENH ( page 327)
= J1939 TX enhanced
Sends individual single frame messages
Can also be set: transmission priority, data length
J1939_TX_ENH_CYCLIC ( page 329)
= J1939 TX enhanced cyclic

Cyclically sends single frame messages
Can also be set: transmission priority, data length, period
J1939_TX_ENH_MULTI ( page 331)
= J1939 TX enhanced Multiframe Message

Sends individual multiframe messages
>
162
7.1.11
2015-08-27
Library ifm_NetVarLib_NT_Vxxyyzz.LIB
14915
ifm_NetVarLib_NT_Vxxyyzz.LIB is an internal library. The librarys functions can only be

accressed indirectly through other CODESYS functions!
Don't use the functions of the library in a IEC application!
163
2015-08-27
ifm function elements for the device CR1201
>
7.2
POUs: Setup the device .......................................................................................................................165

POUs: Read device information ...........................................................................................................175
POUs: Adjust analouge and digital values ...........................................................................................181
POUs: Manage, read and write the USB memory device ....................................................................185
Function elements: Control LED + buzzer ...........................................................................................193
POUs: Manage visualisation ................................................................................................................198
POUs: Use touch screen functions ......................................................................................................224
POUs: Help functions ...........................................................................................................................226
Function elements: RAW-CAN (Layer 2) .............................................................................................230
Function elements: CANopen ..............................................................................................................258
Function elements: SAE J1939 ............................................................................................................306
13988
3826
Here you will find the description of the ifm function elements suitable for this device, sorted by topic.
164
2015-08-27
>
7.2.1
POUs: Setup the device
INPUT ...................................................................................................................................................166
SET_ETHERNET .................................................................................................................................168
SET_BOOTUP_BACKLIGHT ...............................................................................................................170
LOAD_SPLASH_SCREEN...................................................................................................................171
TouchScreenDisable ............................................................................................................................172
CamsOffOnPageSwitch........................................................................................................................173
KEY_MAPPING ....................................................................................................................................174
8566
Here you find units for the setup of the device from a CODESYS application.
165
2015-08-27
>
INPUT
9673
Unit type = function block (FB)

Unit is contained in the library ifm_CR1201_Vxxyyzz.LIB
Symbol in CODESYS:
>
Description
14351
INPUT enables determining the state at the input channels ( data sheet). The FB provides the
current state at the selected channel.
The measurement and the output value result from the operating mode indicated via MODE
binary input plus switching (BL) for positive sensor signal (with/without diagnosis)
binary input minus switching (BH) for negative sensor signal
analogue input 0...20 mA
analogue input 0...10 V
analogue input ratiometric 0...32 V
Do not change the operating mode during operation!
The analogue values are provided as standardised values.

>
Parameters of the inputs

9675
Parameter
Data type
Description
ENABLE
BOOL
TRUE:
execute this function element
FALSE:
unit is not executed

> Function block inputs are not active
> Function block outputs are not specified
MODE
166
INPUT_ANALOG_MODE
S
mode of the input channel

chapter Possible operating modes inputs/outputs ( page
352)
2015-08-27
>
Parameters of the outputs

9677
Parameter
Data type
Description
VALUE
WORD
current value or status of the input channel
RESULT
INT
feedback of the function block

(possible messages following table)
Possible results for RESULT:

Value
dec | hex
Description
00
FB is inactive
01
function block is active
242
F2
Error: setting is not possible
If the value 1 or 242 is provided at output RESULT, reset the input ENABLE (ENABLE =
FALSE)!
167
2015-08-27
>
SET_ETHERNET
11681

Symbol in CODESYS:
>
Description
11682
SET_ETHERNET sets the
IP address
subnet mask and
gateway address
of the device. If input ENABLE is set to TRUE, the values on the inputs IP_ADDRESS, NETMASK and
GATEWAY are written.
>

11683
Parameter
Data type
Description
ENABLE
BOOL
TRUE:
FALSE:

IP ADDRESS
STRING(15)
IP address of the device

(e.g. 192.168.82.247)
NETMASK
STRING(15)
Network mask of the TCP/IP network

(e.g. 255.255.255.0)
GATEWAY
STRING(15)
Gateway address of the TCP/IP network

(e.g. 192.168.82.1)
168
2015-08-27
>

11684
Parameter
Data type
Description
RESULT
INT


Value
dec | hex
Description
00
FB is inactive
01
function block execution completed without error
08
function block not yet executed
64
40
Error: Execution failed; FB is active
65
41
Error: more than one FB instance active
80
50
Error: invalid IP address
81
51
Error: invalid network mask
82
52
Error: invalid gateway address
If the value 1, 64, 65, 80, 81 or82 is provided at output RESULT, reset input ENABLE (ENABLE
= FALSE)!
169
2015-08-27
>
9681
Unit type = function (FUN) of type INT

Symbol in CODESYS:
>
Description
9683
With the function SET_BOOTUP_BACKLIGHT the brightness of the display can be set.
NOTICE
When functions are called too frequently (FUN) the Flash memory may be destroyed.
Call functions only if absolutely necessary!
>

9684
Parameter
Data type
Description
BACKLIGHT
BYTE
Display brightness (0...100 %)
>

9686
Parameter
Data type
Description
INT
Return value of the function
Possible values for the function's reply:

Value
dec | hex
Description
001
01
Brightness of the display set successfully
242
F2
170
2015-08-27
>
LOAD_SPLASH_SCREEN
14531

Unit is contained in the library ifm_CRnnn_Vxxyyzz.LIB
Symbol in CODESYS:
>
Description
14533
LOAD_SPLASH_SCREEN loads an image file from a selectable location and saves it in the flash
memory of the device. The image file will be used as splash screen after the next reboot of the device.
NOTE
Each call of the FB executes a write operation on the flash memory of the device.
Do not call the function block cyclically in the program code!
Only one instance of the FB may be active at a time.
Observe the characteristics of the splash screen chapter Visualisation limits ( page 127)
>

14534
Parameter
Data type
Description
ENABLE
BOOL
TRUE:
FALSE:
PATH_TO_SPLASH
STRING (255)
Path of the directory in which the image file is stored
>
Output parameters
19879
Parameter
Data type
Description
RESULT
INT


Value
dec | hex
Description
00
FB is inactive
01
242
F2
If the value 1 or 242 is provided at the RESULT output, reset the ENABLE input (ENABLE =
FALSE)!
>
171
2015-08-27
>
TouchScreenDisable
18884
Unit type = global variable (GV)of data type BOOL

>
Description
18901
TouchScreenDisable activates/deactivates the touch screen function of screen.

Parameter
Data type
Possible values
TouchScreenDisable
BOOL
FALSE
Touch screen function is enabled (default setting).
TRUE
Touch screen function is disabled.
172
2015-08-27
>
CamsOffOnPageSwitch
18888
Unit type = global variable (GV)of data type BOOL

>
Description
18894
CamsOffOnPageSwitch controls the behaviour of connected cameras in case of a visualisati page

switch.
Parameter
Datentyp
Mgliche Werte
CamsOffOnPageSwitch
BOOL
FALSE = The connected cameras stay switched on.

TRUE* =
The connected cameras will be switched off.
* ... Default value
173
2015-08-27
>
KEY_MAPPING
8959
Unit type = global variable (GV)of data type KM

>
Description
8960
KEY_MAPPING contains the current key assignment with constant character strings.
174
2015-08-27
>
7.2.2
POUs: Read device information
GET_DEVICE_SERIAL ........................................................................................................................176
GET_ETHERNET .................................................................................................................................177
GET_VERSIONS ..................................................................................................................................179
19614
175
2015-08-27
>
GET_DEVICE_SERIAL
11695

Symbol in CODESYS:
>
Description
11696
GET_DEVICE_SERIAL reads the serial number from the device. The current value is provided at
output SERIAL as long as the input ENABLE is set to TRUE. RESULT provides the return value of the
FB.
>

11697
Parameter
Data type
Description
ENABLE
BOOL
TRUE:
FALSE:

>

1698
Parameter
Data type
Description
SERIAL
STRING(14)
Serial number of the device (e.g.: "0412AB055")
RESULT
INT


Value
dec | hex
Description
00
FB is inactive
01
08
FB is active no data was received
64
40
Error: Execution failed; FB is active
65
41
Error: more than one FB instance active
If the value 1, 64 or 65 is provided at output RESULT, reset input ENABLE (ENABLE =

FALSE)!
The valied serial number is provided at output SERIAL until the output RESULT has the value
1.
176
2015-08-27
>
GET_ETHERNET
11673

Symbol in CODESYS:
>
Description
11674
GET_ETHERNET reads
the IP address of the sensor
the network mask of the TCP/IP network and
the IP address of the gateway

and transfers them to the FB outputs IP_ADDRESS, NETMASK und GATEWAY.
>

11675
Parameter
Data type
Description
ENABLE
BOOL
TRUE:
FALSE:
177
2015-08-27
>

11676
Parameter
Data type
Description
IP ADDRESS
STRING(15)
IP address of the device

(e.g. 192.168.82.247)
NETMASK
STRING(15)
Network mask of the TCP/IP network

(e.g. 255.255.255.0)
GATEWAY
STRING(15)
Gateway address of the TCP/IP network

(e.g. 192.168.82.1)
RESULT
INT


Value
dec | hex
Description
00
FB is inactive
01
FB is active: Function successfully executed
08
FB is active: Data is read
64
40
FB is active: reading of data failed
65
41
FB is active: more than one instance of the FB active

FALSE)!
There are valid values at the outputs IP-ADDRESS, NETMASK and GATEWAY as long as
output RESULT has the value 1.
178
2015-08-27
>
GET_VERSIONS
14360

Symbol in CODESYS:
>
Description
14362
GET_VERSIONS provides the version numbers of the following software components:

Runtime system of the device
Firmware of the hardware used in the device
>

14363
Parameter
Data type
Description
ENABLE
BOOL
TRUE:
FALSE:
179
2015-08-27
>

14264
Parameter
Data type
Description
SW_VERSION
STRING(80)
Version of the runtime system
FW_VERSION_IO
STRING(80)
Firmware version input/output co-processor
FW_VERSION_WD
STRING(80)
Firmware version watchdog co-processor
KBD1_VERSION
STRING(80)
Firmware version keyboard 1
KBD2_VERSION
STRING(80)
KBD3_VERSION
STRING(80)
RESULT
INT
Feedback of the function block


Value
dec | hex
Description
00
FB is inactive
01
FB is active: Function successfully executed
08
FB is active: Data is read
64
40
FB is active: reading of data failed
65
41
FB is active: more than one instance of the FB active

FALSE)!
Valid values are provided at the outputs SW_VERSION, FW_VERSION_IO,
FW_VERSION_WD, KBD1_VERSION, KBD2_VERSION and KBD3_VERSION until output
RESULT has the value 1.
180
2015-08-27
>
7.2.3
POUs: Adjust analouge and digital values
NORM_DINT ........................................................................................................................................182
NORM_REAL .......................................................................................................................................183
TOGGLE ...............................................................................................................................................184
19615
181
2015-08-27
>
NORM_DINT
13238

Unit is contained in the library ifm_PDMng_UTIL_Vxxyyzz.LIB
Symbol in CODESYS:
>
Description
3307
NORM_DINT normalises a value within defined limits to a value with new limits.
The FB normalises a value of type DINT, which is within the limits of XH and XL, to an output value
within the limits of YH and YL. This FB is for example used to generate PWM values from analogue
input values.
NOTE
The value for X must be in the defined input range between XL and XH!
There is no internal plausibility check of the value X.
Outside this value range the output X_OUT_OF_RANGE is set.
The result of the calculation (XH-XL)(YH-YL) must remain in the value range of data type DINT
(-2 147 483 648...2 147 483 647)!
> Due to rounding errors the normalised value can deviate by 1.
> If the limits (XH/XL or YH/YL) are defined in an inverted manner, normalisation is also done in an
inverted manner.
>

3308
Parameter
Data type
Description
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
>

3309
Parameter
Data type
Description
DINT
output value
X_OUT_OF_RANGE
BOOL
Error: X is beyond the limits of XH and XL
182
2015-08-27
>
NORM_REAL
13243

Symbol in CODESYS:
>
Description
3310
NORM_REAL normalises a value within defined limits to a value with new limits.
The FB normalises a value of type REAL, which is within the limits of XH and XL, to an output value
within the limits of YH and YL. This FB is for example used to generate PWM values from analogue
input values.
NOTE
The value for X must be in the defined input range between XL and XH!
There is no internal plausibility check of the value X.
Outside this value range the output X_OUT_OF_RANGE is set.
The result of the calculation (XH-XL)(YH-YL) must remain in the value range of data type REAL
(-3,4028234661038...3,4028234661038)!
> 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.
>

3311
Parameter
Data type
Description
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
>

3312
Parameter
Data type
Description
REAL
Output value
X_OUT_OF_RANGE
BOOL
Error: X is beyond the limits of XH and XL
183
2015-08-27
>
TOGGLE
13247

Symbol in CODESYS:
>
Description
3304
TOGGLE enables the setting and resetting of a Boolean variable via only one input bit.
The first rising edge on the input IN sets the output OUT to 'TRUE'.
The next rising edge resets the output back to 'FALSE'.
etc.
>

3305
Parameter
Data type
Description
IN
BOOL
edge FALSE TRUE:

setting / resetting of the output
>

3306
Parameter
Data type
Description
OUT
BOOL
1st edge on IN TRUE

2nd edge on IN FALSE
3rd edge on IN TRUE ...
184
2015-08-27
>
7.2.4
POUs: Manage, read and write the USB memory device

19599
File functions POUs: File functions
185
2015-08-27
>
USB_STORAGE_MANAGER
9691

Unit is contained in the library ifm_PDM360NG_USB_Vxxyyzz.Lib
Symbol in CODESYS:
>
Description
9708
USB_STORAGE_MANAGER manages USB memory devices connected to USB interface of the

device.
The FB must called only once in a application program!
The FB detects the following events:

- a USB memory device was connected
- a USB-memory device was disconnected
- Index of the detected USB memory device
The FB utilizes the variable USB_STORAGE_MANAGER_LL.
>

9709
Parameter
Data type
Description
ENABLE
BOOL
TRUE:
FALSE:

186
2015-08-27
>

710
Parameter
Data type
Description
CHANGED
BOOL
An USB memory has been connected or disconnected
INSERTED
BOOL
An USB memory has been connected
REMOVED
BOOL
An USB memory has been disconnected
INDEX
BYTE
Index of the detected USB memory
RESULT
INT


Value
dec | hex
Description
00
FB is inactive
001
01
FB is active: change is detected
008
08
FB is active: USB memory is monitored
064
40
FB is active: internal fault
065
41
FB is active: FB is not executed, because another instance of this FB

is busy
187
2015-08-27
>
USB_STORAGE_REMOVE
9711

Symbol in CODESYS:
>
Description
9713
USB_STORAGE_REMOVE safely unmounts the USB memory from the system.

Monitor the return value of the function call by using the FB USB_STORAGE_MANAGER ( page
186).
If there is no value returned, the unmounting process was not successful and needs to be
repeated.
>

9714
Parameter
Data type
Description
INDEX
BYTE
Index of the USB memory, which is to be dismount from

the system on a safety way
>

9715
Parameter
Data type
Description
USB_STORAGE_REMOVE
INT
Result of the function

Value
dec | hex
Description
001
01
The dismount command is successfull sent to the USB subsystem
242
F2
Error: the setting is invalid

The dismount command is not sent
188
2015-08-27
>
COPY_PDM_TO_USB
10098
Unit type = program (PRG)

Symbol in CODESYS:
>
Description
10100
COPY_PDM_TO_USB copies a file from the memory of the PDM to a connected USB memory device.
>

10101
Parameter
Data type
Description
ENABLE
BOOL
TRUE:
FALSE:

TRUE:
rising edge of the press of a key

starts the copy process
FALSE:
function element is not executed
COPY
BOOL
USB_PATH
STRING (80)
USB path; is provided by USB_STORAGE_HANDLER

( page 191)
LOCAL_PATH
STRING (80)
Path in the PDM memory

Typical: /home or /data
LOCAL_FILE
STRING (80)
Filename of the file to be copied

(wildcards ? and * also allowed)
>

10105
Parameter
Data type
Description
COMMAND
STRING (80)
Full Linux command (for control purposes)
DONE
BOOL
Copy process was successful
RET_VALUE
INT
Linux return value (for control purposes)
189
2015-08-27
>
COPY_USB_TO_PDM
10107

Symbol in CODESYS:
>
Description
10109
COPY_USB_TO_PDM copies a file from a connected USB memory device to the device.
>

10110
Parameter
Data type
Description
ENABLE
BOOL
TRUE:
FALSE:

TRUE:
rising edge of the press of a key

starts the copy process
FALSE:
COPY
BOOL
USB_PATH
STRING (80)
USB path; is provided by USB_STORAGE_HANDLER

( page 191)
LOCAL_PATH
STRING (80)
Path in the PDM memory

Typical: /home or /data
USB_FILE
STRING (80)
Filename of the file to be copied

(wildcards ? and * also allowed)
>

10105
Parameter
Data type
Description
COMMAND
STRING (80)
Full Linux command (for control purposes)
DONE
BOOL
Copy process was successful
RET_VALUE
INT
Linux return value (for control purposes)
190
2015-08-27
>
USB_STORAGE_HANDLER
10090

Symbol in CODESYS:
>
Description
10092
USB_STORAGE_HANDLER is the main program for handling USB memory devices.

The function element can manage up to 16 USB memory devices.
>

10093
Parameter
Data type
Description
REMOVE
BOOL
FALSE TRUE (edge):

prepares the active USB device for removal
FALSE:
SCROLL_UP
BOOL
FALSE TRUE (edge):

switches to the USB device with the next higher
index
FALSE:
SCROLL_DOWN
BOOL
FALSE TRUE (edge):

switches to the USB device with the next lower
index
FALSE:
191
2015-08-27
>

10094
Parameter
Data type
Description
USB_PATH
STRING (80)
Path of the active USB device
USB_IDX
BYTE
Index of the active USB device (1...16)
NUMBER_USB_DEVICES
WORD
Number of all connected USB devices
SELECTED_DEVICE
WORD
Index of the selected USB device
REMOVE_RESULT
INT
Result of the command "remove USB device"

( following table)
USB_INSERTED
BOOL
TRUE:
> 1 USB device connected
FALSE:
no USB device connected
Possible results for REMOVE_RESULT:

Value
dec | hex
Description
001
01
FB execution was finished without error - USB device is removed
242
F2
Error: Removing is not possible

Possible cause: file still open
192
2015-08-27
>
7.2.5
Function elements: Control LED + buzzer
BUZZER_CLICK ...................................................................................................................................194
BUZZER_ON ........................................................................................................................................195
KEY_CLICK ..........................................................................................................................................196
8650
Here we show you functions to control the LED and the buzzer in this device.
193
2015-08-27
>
BUZZER_CLICK
9651

Symbol in CODESYS:
>
Description
9654
With BUZZER_CLICK the integrated buzzer of the device generates a click signal as soon as the
function is called. Adjustable features:
- click repetition time in [ms],
- tone pitch in [Hz].
>

9655
Parameter
Data type
Description
FREQUENCY
WORD
Tone pitch in [Hz]

Permissible = 500...5 000 = 0x01F4...0x1388
DURATION
TIME
Click repetition time in [ms]

Permissible values: 1...10 ms
>

9656
Parameter
Data type
Description
BUZZER_CLICK
INT
Return value of the function

Value
dec | hex
Description
001
01
Parameters are OK
242
F2
194
2015-08-27
>
BUZZER_ON
9658

Symbol in CODESYS:
>
Description
9660
With BUZZER_ON the integrated buzzer of the device generates an adjustable tone:
- The tone duration is determined by the duration of the ENABLE signal.
- The tone pitch results from the parameter FREQUENCY.
>

9655
Parameter
Data type
Description
ENABLE
BOOL
TRUE:
FALSE:

FREQUENCY
WORD
Tone pitch in [Hz]

Permissible = 500...5 000 = 0x01F4...0x1388
>

9664
Parameter
Data type
Description
RESULT
INT


Value
dec | hex
Description
00
FB is inactive
01
242
F2
FALSE)!
195
2015-08-27
>
KEY_CLICK
9667

Symbol in CODESYS:
>
Description
9669
With KEY_CLICK the integrated buzzer of the device generates an adjustable click tone as soon as
one of the keys is pressed:
- The tone pitch results from the parameter FREQUENCY.
- The click repetition time results from the parameter DURATION.
Do not use the FB KEY_CLICK simultaneously with the autorepeat function ( System flags
( page 346)).
Otherwise, the device will produce disagreeable noises.
>

9670
Parameter
Data type
Description
ENABLE
BOOL
TRUE:
FALSE:

FREQUENCY
WORD
DURATION
TIME
196
Tone pitch in [Hz]

Permissible = 500...5 000 = 0x01F4...0x1388
Click repetition time in [ms]
Permissible values: 1...10 ms
2015-08-27
>

9664
Parameter
Data type
Description
RESULT
INT


Value
dec | hex
Description
00
FB is inactive
01
242
F2
FALSE)!
197
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>
7.2.6
POUs: Manage visualisation
SPEED_UP_VISU_TASK.....................................................................................................................199
FOCUSED_ELEMENT .........................................................................................................................200
CURSOR_POSITION ...........................................................................................................................201
FocusFrameImagePath ........................................................................................................................202
PDM_PAGECONTROL ........................................................................................................................203
OverlayVisu ..........................................................................................................................................205
CurrentVisuDisplayed ...........................................................................................................................206
INPUT_DINT ........................................................................................................................................207
INPUT_INT ...........................................................................................................................................210
INPUT_REAL .......................................................................................................................................215
INIT_VAR_RETAIN_DINT ....................................................................................................................218
INIT_VAR_RETAIN_INT ......................................................................................................................220
INIT_VAR_RETAIN_REAL ...................................................................................................................222
8617
Here we show you function to manage visualisations.
198
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>
SPEED_UP_VISU_TASK
11711

Symbol in CODESYS:
>
Description
11712
SPEED_UP_VISU_TASK accelerates the visualisation process of the PDM. This leads to a faster
change to the next page.
During the execution of the application program the FB can be activated or deactivated at any time.
The FB assigns additional CPU processing times to the visualisatoin process. Therefore there
are fewer resources available to other processes (e.g. CAN_communication, control process).
Before the FB is used, test thoroughly if the change has any negative effects on the correct
execution of the application program!
>

11713
Parameter
Data type
Description
FAST
BOOL
TRUE:
FALSE:
>

11714
Parameter
Data type
Description
FAST_VISU
BOOL
Feedback if change was successful

TRUE:
FALSE:
Acceleration mode active

Acceleration mode not active
199
2015-08-27
>
FOCUSED_ELEMENT
18891
Unit type = global variable (GV)of data type DINT

>
Description
8897
FOCUSED_ELEMENT contains the ID of the visualisation objetc, which currently has the focus.
Parameter
Data type
Possible objects
FOCUSED_ELEMENT
DINT
depending on used visualisation objects
200
2015-08-27
>
CURSOR_POSITION
18890
Unit type = global variable (GV)of data type DINT

>
Description
18896
CURSOR_POSITION contains the current position of the cursor when entering alphanumerical
charachters (e.g. numpad, on-screen keyboard).
Parameter
Data type
CURSOR_POSITION
DINT
Possible values
201
2015-08-27
>
FocusFrameImagePath
18892
Unit type = global variable (GV)of data type GV

>
Description
18898
FocusFrameImagePath contains the path of the directory where the image file of the user-specific
focus frame is stored.
Parameter
Data type
Possible values
FocusFrameImagePath
STRING[255]
Directory path (max. 255 characters)

e.g. '/home/project/my_frame.png'
The image file of the focus frame must have the following characteristics:
File format: PNG
Transparency: The area within the frame must be saved as transparent.
202
2015-08-27
>
PDM_PAGECONTROL
18886
Unit type = global variable (GV)of data type GV

>
Description
3294
PDM_PAGECONTROL controls the opening of certain visualisati pages. In CoDeSys the

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

3293
Parameter
Data type
Description
INIT
BOOL
TRUE (only for 1 cycle):

Display is initialised with the initisalisation indicated in
INIT_PAGE.
FALSE:
during further processing of the program
INIT_PAGE
WORD
visualisation number which is to be called with INIT
PAGE_UP
BOOL
edge FALSE TRUE:

increments the visualisation number
PAGE_DOWN
BOOL
edge FALSE TRUE:

decrements the visualisation number
PAGE_EXTERN
WORD
The indicated visualisati page is directly opened (independent of

PAGE_UP / PAGE_DOWN).
if PAGE_EXTERN = ACT_PAGE, then PAGE_EXTERN is
reset "0"!
PAGE_MAX
WORD
maximum number of selectable visualisati pages
BASENAME
STRING [35]
Common part of the name of the visualisati page

Visualisati pages are numbered by their names: eg. P00001. The
following applies:
"P" = BASENAME (only capital letters!)
"00001" = visualisation number (5 digits!)
203
2015-08-27
>

3295
Parameter
Data type
Description
ACT_PAGE
WORD
current visualisation number
204
2015-08-27
>
OverlayVisu
18887
Unit type = global variable (GV)of data type STRING[40]

>
Description
18889
OverlayVisu contains the name of the visualisati page which is used as overlay visualisation. An
overlay visualisation overlays the active visualisati page.
Parameter
Data type
Possible values
OverlayVisu
STRING[40]
Designation (max. 40 characters)

e.g. "OverlayPage"
205
2015-08-27
>
CurrentVisuDisplayed
18889
Unit type = global variable (GV)of data type STRING[40]

>
Description
18895
CurrentVisuDisplayed conatins the designation of the visualisati page currently displayed.

Parameter
Data type
Possible values
CurrentVisuDisplayed
STRING[40]
designation of the visualisati page (max. 40 characters)
206
2015-08-27
>
INPUT_DINT
3223

Unit is contained in the library ifm_PDM_INPUT_Vxxyyzz.Lib
Symbol in CODESYS:
>
Description
3333
INPUT_DINT supports up to 6 input fields which can be assigned to 6 different objects in the
visualisation. The input objects are parameterised with the internal variables FIELD1...FIELD6,
COLOR_FIELD1...COLOR_FIELD6 and VALUE_FIELD1...VALUE_FIELD6.
The FB is an alternative to the input function integrated in CoDeSys and more flexible compared to the
CoDeSys input function.
The FB contains no visualisation elements.
>

3334
Parameter
Data type
Description
INIT
BOOL

Sets the focus to the first input field
ENABLE
BOOL
FALSE:
TRUE:
FALSE:

INIT_VALUE
ARRAY [1..6] OF DINT
initialisation values for the input fields for the first call
NO_OF_FIELDS
BYTE
number of required input fields:

value range = 1...6
MIN_MAX_ARRAY
defines input limits

index 1 = min. value field 1
index 2 = max. value field 1
index 4 = max. value field 2 etc.
ESC
BOOL
TRUE:
resets the input value to the last valid value
FALSE:
INCREMENT
BOOL
edge FALSE TRUE:

Increments the input value by the value in
INCREMENT_VALUE (or
INCREMENT_VALUE2)
207
2015-08-27
Parameter
Data type
Description
DECREMENT
BOOL
edge FALSE TRUE:

Decrements the input value by the value in
INCREMENT_VALUE (or
INCREMENT_VALUE2)
ENTER
BOOL
1st edge FALSE TRUE:

> activates input mode for the input field
> changes field colour (only color device)
> cursor flashes
2nd edge FALSE TRUE:
> resets input mode for the input field
> writes edited values to the output variables
VALUE_FIELD1...VALUE_FIELD6
INCREMENT_VALUE
DINT
if KEY_INCREMENT_VALUE2 = FALSE:
The value is changed by this amount in the active input
field for INCREMENT / DECREMENT.
KEY_INCREMENT_VALUE2
BOOL
TRUE: The value in the active input field is changed by

the
amount in INCREMENT_VALUE2 for
INCREMENT /
DECREMENT.
FALSE: The value in the active input field is changed by
the
amount in INCREMENT_VALUE for
INCREMENT /
DECREMENT.
INCREMENT_VALUE2
DINT
if KEY_INCREMENT_VALUE2 = TRUE:
CLEAR_ALL_VALUE
BOOL
TRUE:
set all internal and external input values to 0
FALSE:
>

3335
Parameter
Data type
Description
INPUT_ACTIV
BOOL
FIELDCOUNTER
BYTE
number of selected input field
VALUE_FIELD1
DINT
...
DINT
VALUE_FIELD6
DINT
208
external input value, is only adopted with the 2nd rising

edge of ENTER
2015-08-27
>
Internal parameters
3336
Parameter
Data type
Description
FIELD1
DINT
Sets the focus for the selected input field.
...
DINT
FIELD6
DINT
Any visualisation object can be used as a focus. The

variable FIELDx must be assigned to this object in the
visualisation. If the input is active, FIELDx is pulsed.
COLOR_FIELD1
DINT
...
DINT
COLOR_FIELD6
DINT
VALUE_FIELD_1
DINT
...
DINT
Internal input value which is immediately visible during

the input and transferred to VALUE_FIELDx on the
second rising edge of ENTER.
VALUE_FIELD_6
DINT
The variable must be assigned in the visualisation.
Sets the alarm colour of the input object (only PDM color).
>
209
2015-08-27
>
INPUT_INT
3220

Symbol in CODESYS:
>
Description
3328
INPUT_INT supports up to 6 input fields which can be assigned to 6 different objects in the
210
2015-08-27
>

3329
Parameter
Data type
Description
INIT
BOOL

sets the focus to the first input field
ENABLE
BOOL
FALSE:
TRUE:
FALSE:

INIT_VALUE
ARRAY [1..6] OF INT
NO_OF_FIELDS
BYTE

value range = 1...6
MIN_MAX_ARRAY
ARRAY [1..12] OF INT
0defines input limits

ESC
BOOL
TRUE:
FALSE:
INCREMENT
BOOL
edge FALSE TRUE:

increments the input value by the value in
INCREMENT_VALUE (or
INCREMENT_VALUE2)
DECREMENT
BOOL
edge FALSE TRUE:

decrements the input value by the value in
INCREMENT_VALUE (or
INCREMENT_VALUE2)
ENTER
BOOL

> cursor flashes
INCREMENT_VALUE
INT
BOOL

the
INCREMENT /
DECREMENT.
the
INCREMENT /
DECREMENT.
INCREMENT_VALUE2
INT
CLEAR_ALL_VALUE
BOOL
TRUE:
FALSE:
211
2015-08-27
>

3330
Parameter
Data type
Description
INPUT_ACTIV
BOOL
FIELDCOUNTER
BYTE
VALUE_FIELD1
INT
...
INT
VALUE_FIELD6
INT

edge of ENTER
>
Internal parameters
3331
Parameter
Data type
Description
FIELD1
INT
...
INT
FIELD6
INT

COLOR_FIELD1
INT
...
INT
COLOR_FIELD6
INT
VALUE_FIELD_1
INT
...
INT

VALUE_FIELD_6
INT
>
212
2015-08-27
Example: INPUT_INT with 3 input elements

3332
Integrate the requested function block into the application program and link the inputs and outputs
to the parameters and variables:
Create the requested visualisati page. In the example the three right elements are intended for
the input of the values:
When the input elements are configured with the internal parameters FIELD1...FIELD3 a frame is
shown for the selected input object (FIELDn = TRUE, alarm colour frame = black). For the other
objects it is not visible.
213
2015-08-27
Select the internal variable VALUE_FIELD_n as text output variable.

> When the application is running the selected input field is indicated by the frame.
> After first edge FALSE TRUE on FB-input ENTER:
the object frame flashes and the input value can be edited.
> After second edge FALSE TRUE on FB-input ENTER:
the value is adopted and the frame is shown again statically.
214
2015-08-27
>
INPUT_REAL
3225

Symbol in CODESYS:
>
Description
3337
INPUT_REAL supports up to 6 input fields which can be assigned to 6 different objects in the
215
2015-08-27
>

3338
Parameter
Data type
Description
INIT
BOOL

Sets the focus to the first input field
ENABLE
BOOL
FALSE:
TRUE:
FALSE:

INIT_VALUE
ARRAY [1..6] OF REAL
NO_OF_FIELDS
BYTE

value range 1...6
MIN_MAX_ARRAY
defines input limits

ESC
BOOL
TRUE:
FALSE:
INCREMENT
BOOL
edge FALSE TRUE:

increments the input value by the value in
INCREMENT_VALUE (or
INCREMENT_VALUE2)
DECREMENT
BOOL
edge FALSE TRUE:

decrements the input value by the value in
INCREMENT_VALUE (or
INCREMENT_VALUE2)
ENTER:
BOOL

> cursor flashes
INCREMENT_VALUE
REAL
BOOL

the
INCREMENT /
DECREMENT.
the
INCREMENT /
DECREMENT.
INCREMENT_VALUE2
REAL
CLEAR_ALL_VALUE
BOOL
TRUE:
FALSE:
216
2015-08-27
>

3339
Parameter
Data type
Description
INPUT_ACTIV
BOOL
FIELDCOUNTER
BYTE
VALUE_FIELD1
REAL
...
REAL
VALUE_FIELD6
REAL

edge of ENTER
>
Internal parameters
3340
Parameter
Data type
Description
FIELD1
REAL
...
REAL
FIELD6
REAL

COLOR_FIELD1
REAL
...
REAL
COLOR_FIELD6
REAL
VALUE_FIELD_1
REAL
...
REAL

VALUE_FIELD_6
REAL
217
2015-08-27
>
INIT_VAR_RETAIN_DINT
3232

Symbol in CODESYS:
>
Description
3344
INIT_VAR_RETAIN_DINT initialises the array of INPUT_DINT ( page 207) indicated on the input
INIT_VALUE with remanent input values.
If input values are to be saved permanently, the values must be initialised after switching on the
display, otherwise they are overwritten in the first cycle. The FB initialises the array INIT_VALUE of
INPUT_DINT with remanent input values.
The function element compares the values of VALUE1...VALUE6 with the values of INIT_VALUE:
> If the contents of VALUE1...VALUE6 = 0, VALUE1...VALUE6 are written to the array INIT_VALUE.
>
218
If the contents of VALUE1...VALUE6 0, the elements of the array INIT_VALUE are written to
VALUE1...VALUE6.
>
2015-08-27
The following INPUT function block is then initialised with INIT_VALUE in the first cycle.
Example with INIT_VAR_RETAIN_INT and INPUT_INT

>

3345
Parameter
Data type
VALUE1
DINT
...
DINT
VALUE6
DINT
INIT_VALUE
Description
The variables VALUE_FIELDx of INPUT_DINT ( page
207) declared as retain must be indicated on this input.
If the contents of VALUE1...VALUE6 0, the elements of
the array INIT_VALUE are written to VALUE1...VALUE6.
>

3346
Parameter
Data type
Description
INIT_VALUE
If the contents of VALUE1...VALUE6 = 0,

VALUE1...VALUE6 are written to the array INIT_VALUE.
219
2015-08-27
>
INIT_VAR_RETAIN_INT
3229

Symbol in CODESYS:
>
Description
3341
INIT_VAR_RETAIN_INT initialises the array of INPUT_INT ( page 210) indicated on the input
INPUT_INT with the remanent input values.
>
220
VALUE1...VALUE6.
>
2015-08-27

>

3342
Parameter
Data type
VALUE1
INT
...
INT
VALUE6
INT
INIT_VALUE
ARRAY [1..6] OF INT
Description
The variables VALUE_FIELDx of INPUT_INT ( page 210)
declared as retain must be indicated on this input.
If the contents of VALUE1...VALUE6 0, the elements of
the array INIT_VALUE are written to VALUE1...VALUE6.
>

3343
Parameter
Data type
Description
INIT_VALUE
ARRAY [1..6] OF INT

221
2015-08-27
>
INIT_VAR_RETAIN_REAL
3235

Symbol in CODESYS:
>
Description
3347
INIT_VAR_RETAIN_REAL initialises the array of INPUT_REAL ( page 215) indicated on the input
INPUT_INT with the remanent input values.
>
222
VALUE1...VALUE6.
>
2015-08-27

>

3348
Parameter
Data type
VALUE1
REAL
...
REAL
VALUE6
REAL
INIT_VALUE
Description
The variables VALUE_FIELDx declared as retain have to
be indicated to the FB INPUT_REAL.INPUT_REAL
( page 215)
If the contents of VALUE1...VALUE6 is not 0, the
elements of the array INIT_VALUE are written to
VALUE1...VALUE6.
>

3349
Parameter
Data type
Description
INIT_VALUE

>
223
7.2.7
2015-08-27
POUs: Use touch screen functions
PointOfContact .....................................................................................................................................225
19928
224
2015-08-27
>
PointOfContact
18885
Unit type = global variable (GV)of data type POC

>
Description
18900
PointOfContact is a structured variable. It provides information about the point of contact of the
touchscreen and gives access to configuration options for visual feedback. The following table shows
details regarding the different structure variables.
Variable
Data type
Description
PointOfContact
POC
Structured variable
INT
Display of pressure point and afterglow time (in milliseconds) *

Mgliche Werte:
PointOfContact.AfterGlow
PointOfContact.X
PointOfContact.Y
PointOfContact.ImagePath
INT
INT
STRING
-1
Display of the pressure point deactivated (default setting)
Display of the pressure point activated, without afterglow
>0
Display of the pressure point activated, afterglow time in

milliseconds (maximum afterglow time: 5000 ms)
X coordinate of the pressure point **

Possible values:
-1
Touch screen not pressed
X coordinate of the pressure point

(value range: 0 < X < max. horizontal resolution of display)
Y coordinate of the pressure point **

Possible values:
-1
Touch screen not pressed
Y coordinate of the pressure point

(value range: 0 < Y < max. vertical resolution of display)
Directory path to the memory location of the image file, containing the
user-specific pressure point image *
Possible values:
Standard screen is used (blue square, 30x30 pixels) (default
setting)
'path'
Directory path to the memory location of the image file on the

device, permitted image formats: .jpg, .png, .bmp, .tiff; size:
30x30 pixels
The standard screen is displayed if problems occur with the
image file in the indicated directory!
PointOfContact.Overlap
BOOL
Overlap of mouse pointer and pressure point *

Possible values:
FALS
E
Pressure point and mouse pointer are independent of each other

(default setting)
Mouse pointer only visible if a USB mouse has been
detected!
TRUE
Pressure point and mouse pointer match.
Legend:
* ...
** ...
Read and write access

Read access
225
2015-08-27
>
7.2.8
POUs: Help functions

8365
226
2015-08-27
>
VERSION
9688

Symbol in CODESYS:
>
Description
9698
The program VERSION indicates the version and history of the library in the comment of the function
element.
227
2015-08-27
>
EXITPLC_START_APPLICATION
11702

Unit is contained in the library ifm_PDM360NG_special_Vxxyyzz.LIB
Symbol in CODESYS:
>
Description
11705
EXITPLC_START_APPLICATION calls the appliclation indicated at input APPLICATION directly from

the running control program. As an option, the directory path and the name of the PDF file to be
opened can be enterd at input APP_PARAM1.
When the application is called with EXITPLC_START_APPLICATION, the runtime system of the
PDM including the active visualisation is terminated. When the application has been exited,
the runtime system starts again.
>

11706
Parameter
Data type
Description
APPLICATION
STRING(80)
Name of the application to be called

Permissible indications:
'app-chooser': calls the splalsh screen of the
PDM
'pdf-viewer': calls the PDF file viewer
APP_PARAM1
STRING(255)
Directory path and name of the PDF file to open

(e.g. '/home/pdf/example.pdf')
If no indication is made, the PDF-Viewer starts with the
menu screen to select the PDF file.
>

11707
Parameter
Data type
Description
RESULT
INT


Value
dec | hex
Description
01
242
F2
228
2015-08-27
>
SYSTEM_ASYNCH
9693

Unit is contained in the library ifm_PDM360NG_linux_syscall_asynch_Vxxyyzz.Lib
Symbol in CODESYS:
>
Description
9700
SYSTEM_ASYNCH sends any command (max. 255 characters) to the Linux operating system. The
command is processed asynchronously in the background.
The function block must be executed (EXECUTE = TRUE) until the FB output DONE = TRUE.
Proper Linux knowledge is required to use the function element!
Monitor the function element using timeout functions!
>

9701
Parameter
Data type
Description
EXECUTE
BOOL
FALSE TRUE (edge):

starts the command execution
COMMAND
STRING (255)
Linux command line
>

9702
Parameter
Data type
Description
DONE
BOOL

FB is completely processed
FALSE:
BUSY
BOOL
TRUE = system is active (action has not yet been

finished)
ERROR
BOOL
TRUE (only 1 cycle):

Command failed
RET_VAL
WORD
FALSE:
Return value of the Linux command
229
2015-08-27
>
7.2.9
Function elements: RAW-CAN (Layer 2)
Function elements: RAW-CAN status ..................................................................................................231

Function elements: receive RAW-CAN data ........................................................................................237
Function elements: transmit RAW-CAN data .......................................................................................247
Function elements: RAW-CAN remote.................................................................................................253
15051
Here we describe the RAW-CAN function blocks (CAN Layer 2) of ifm electronic to be used in the
230
2015-08-27
>
Function elements: RAW-CAN status

CAN_ENABLE ......................................................................................................................................232
CAN_RECOVER ..................................................................................................................................233
CAN_SETDOWNLOADID ....................................................................................................................234
CAN_STATUS ......................................................................................................................................235
15049
231
2015-08-27
>
CAN_ENABLE
7492

Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB
Symbol in CODESYS:
>
Description
7494
With CAN_ENABLE the CAN hardware is initialised. Without this call no other calls are possible in
RAW-CAN or they return an error.
In order to change the baud rate the following procedure is required:
Maintain the function block on ENABLE=FALSE for the duration of one cycle.
> All protocols are reset.
> Re-initialisation of the CAN interface and the CAN protocols running on it. Any information
available for cyclical transmission is lost as well and must be newly created.
> At renewed ENABLE=TRUE, the new baud rate is adopted.
>

7495
Parameter
Data type
Description
ENABLE
BOOL := FALSE
TRUE:
enable CAN interface
FALSE:
disable CAN interface
CHANNEL
BYTE
CAN interface (1...n) depending on the device
BAUDRATE
WORD := 250
Baudrate [kbits/s]
Permissible = 20, 50, 100, 125, 250, 500, 1000
>

8530
Parameter
Data type
Description
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
FB execution completed without error data is valid
08
09
CAN is not active
242
F2
232
2015-08-27
>
CAN_RECOVER
7512

Symbol in CODESYS:
>
Description
7513
CAN_RECOVER has the following tasks:
to activate / deactivate the automatic bus off handling
>
to restart the CAN interface in case of bus off

In case of bus off: CAN Controller deletes all buffers (including the buffers of the other protocols).
If CAN_RECOVER is not used (ENABLE=FALSE):

> in case of a bus off a recovery attempt is automatically made after 1 s.
> after 4 failed recovery attempts in a row the affected CAN interface is deactivated.
>

7514
Parameter
Data type
Description
ENABLE
BOOL := FALSE
TRUE:
No automatic recovery after CAN bus off
FALSE:
Automatic recovery after CAN bus off
CHANNEL
BYTE
RECOVER_EXECUTE
BOOL

restart of CAN interface
remedy bus off condition
FALSE:
InhibitTime
(optional use of the parameter)
TIME := T#1s
Waiting time between bus off and restart of the CAN interface
233
2015-08-27
>
CAN_SETDOWNLOADID
7516
= Set download ID
Symbol in CODESYS:
>
Description
7517
The download ID is required for data exchange when connecting the runtime system and the
CODESYS development environment. When the device is started the download ID is set with the
default value from the hardware configuration.
With CAN_SETDOWNLOADID this value can be set in the PLC program (e.g. using certain inputs).
The changed ID is also written into the hardware configuration.
>

7519
Parameter
Data type
Description
EXECUTE
BOOL := FALSE
FALSE TRUE (edge):

execute function element once
otherwise: function element is not active
A function element already started is processed.
CHANNEL
BYTE
DOWNLOAD_ID
BYTE
1...127 = set download ID

0 = read download ID
>

7520
Parameter
Data type
Description
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
08
242
F2
234
2015-08-27
>
CAN_STATUS
7499

Symbol in CODESYS:
>
Description
7501
CAN_STATUS provides information on the chosen CAN bus.

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

7502
Parameter
Data type
Description
ENABLE
BOOL := FALSE
TRUE:
FALSE:

CHANNEL
BYTE
CLEAR
BOOL := FALSE
TRUE:
Reset the following flags:

WARNING_RX
WARNING_TX
BUSOFF
FALSE:
235
2015-08-27
>

7504
Parameter
Data type
Description
BAUDRATE
WORD
current baudrate of the CANopen node in [kBaud]
DOWNLOAD_ID
BYTE
current download ID
BUSOFF
BOOL
Error CAN BUS OFF at the interface
WARNING_RX
BOOL
Warning threshold for receiving is exceeded at the interface
WARNING_TX
BOOL
Warning threshold for transmitting is exceeded at the interface
VERSION
DWORD
Version of the ifm CAN stack library
BUSLOAD
BYTE
Current bus load in [%]
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
08
09
CAN is not active
242
F2
236
2015-08-27
>
Function elements: receive RAW-CAN data

CAN_RX ...............................................................................................................................................238
CAN_RX_ENH .....................................................................................................................................239
CAN_RX_ENH_FIFO ...........................................................................................................................241
CAN_RX_RANGE ................................................................................................................................243
CAN_RX_RANGE_FIFO ......................................................................................................................245
15050
237
2015-08-27
>
CAN_RX
7586

Symbol in CODESYS:
>
Description
7588
CAN_RX is used for receiving a message.

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

7589
Parameter
Data type
Description
ENABLE
BOOL
TRUE:
FALSE:

CHANNEL
BYTE
ID
DWORD
Number of the data object identifier:

normal frame (211 IDs):
0...2 047 = 0x0000 0000...0x0000 07FF
extended Frame (229 IDs):
2 048...536 870 911 = 0x0000 0800...0x1FFF FFFF
>

7590
Parameter
Data type
Description
DATA
ARRAY [0..7] OF BYTE
received data, (1...8 bytes)
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
05
FB is being processed still receiving
09
CAN is not active
242
F2
238
2015-08-27
>
CAN_RX_ENH
7606
= CAN RX enhanced
Symbol in CODESYS:
>
Description
7608
In addition, CAN_RX_ENH provides the following possibilities (as opposed to CAN_RX ( page 238)):
select the frame type (11 or 29 bits),
define a mask for the evaluation of the CAN ID.
Bit comparison of
ID and mask:
If ID_MASK-Bit = 0, then CAN-ID-Bit may be = 0 or 1.

If ID_MASK-Bit = 1, then CAN-ID-Bit must be = ID-Bit.
With the mask several identifiers can be defined as filters.

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

7609
Parameter
Data type
Description
ENABLE
BOOL
TRUE:
FALSE:

CHANNEL
BYTE
ID
DWORD

0...2 047 = 0x0000 0000...0x0000 07FF
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
Extended
BOOL := FALSE
TRUE:
extended Frame (ID = 0...229-1)
FALSE:
normal Frame (ID = 0...211-1)
ID_Mask
DWORD := 0
filter mask for the identifier:

if ID_MASK bit = 0, CAN ID bit may be = 0 or 1
if ID_MASK bit = 1, CAN ID bit must be = ID bit
239
2015-08-27
>

7613
Parameter
Data type
Description
MATCHED_ID
DWORD
number of the data object identifier
DATALENGTHCOUNT
BYTE
= Data Length Count

number of the data bytes received
DATA
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
05
09
CAN is not active
242
F2
240
2015-08-27
>
CAN_RX_ENH_FIFO
7615
= CAN RX enhanced with FiFo

Symbol in CODESYS:
>
Description
7616
In addition, CAN_RX_ENH_FIFO provides a FiFo for the received data (as opposed to CAN_RX_ENH
( page 239)). Thus several CAN messages can be received in one cycle.
No overwriting takes place when the FiFo is full. Inbound messages will be lost.
In this event:
Deactivate and reactive the FB via ENABLE.
> The FiFo is deleted and can be newly filled.
>

7609
Parameter
Data type
Description
ENABLE
BOOL
TRUE:
FALSE:

CHANNEL
BYTE
ID
DWORD

0...2 047 = 0x0000 0000...0x0000 07FF
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
Extended
BOOL := FALSE
TRUE:
FALSE:
ID_Mask
DWORD := 0
filter mask for the identifier:

if ID_MASK bit = 0, CAN ID bit may be = 0 or 1
if ID_MASK bit = 1, CAN ID bit must be = ID bit
241
2015-08-27
>

7617
Parameter
Data type
Description
MATCHED_ID
DWORD
number of the data object identifier
DATALENGTHCOUNT
BYTE
= Data Length Count

DATA
MORE_DATA_AVAILABLE
BOOL
TRUE:
further received data available in the FiFo
FALSE:
no further data available in the FiFo
RESULT
BYTE

Value
dec | hex
Description
00
FB is inactive
01
05
09
CAN is not active
242
F2
250
FA
Error: FiFo is full data was lost
242

2015-08-27
>
CAN_RX_RANGE
7592

Symbol in CODESYS:
>
Description
7594
CAN_RX_RANGE provides the following settings:
select the message type (11 or 29 bits),
define an identifier range.

CAN_RX filters for the set identifier. If several CAN messages with the same identifier are received in
one cycle, only the last / latest message is available.
>

7595
Parameter
Data type
Description
ENABLE
BOOL
TRUE:
FALSE:

CHANNEL
BYTE
ID_START
DWORD
start number of the data object identifier range:

normal frame (211):
0...2 047 = 0x0000 0000...0x0000 07FF
extended frame (229):
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
ID_STOP
DWORD
end number of the data object identifier range:

normal frame (211):
0...2 047 = 0x0000 0000...0x0000 07FF
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
Extended
BOOL := FALSE
TRUE:
FALSE:
243
2015-08-27
>

7598
Parameter
Data type
Description
ID
DWORD

0...2 047 = 0x0000 0000...0x0000 07FF
2 048...536 870 911 = 0x0000 0800...0x1FFF FFFF
DATALENGTHCOUNT
BYTE
= Data Length Count

DATA
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
05
09
CAN is not active
242
F2
244
2015-08-27
>
CAN_RX_RANGE_FIFO
7601
= CAN RX range with FiFo

Symbol in CODESYS:
>
Description
7603
CAN_RX_RANGE_FIFO basically works like CAN_RX_RANGE ( page 243).

In addition, CAN_RX_RANGE_FIFO provides a FiFo for the received data. Thus several CAN
messages can be received in one cycle.
No overwriting takes place when the FiFo is full. Inbound messages will be lost.
In this event:
Use ENABLE to deactivate and reactivate the function.
> The FiFo is deleted and can be newly filled.
>

7595
Parameter
Data type
Description
ENABLE
BOOL
TRUE:
FALSE:

CHANNEL
BYTE
ID_START
DWORD
start number of the data object identifier range:

normal frame (211):
0...2 047 = 0x0000 0000...0x0000 07FF
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
ID_STOP
DWORD
end number of the data object identifier range:

normal frame (211):
0...2 047 = 0x0000 0000...0x0000 07FF
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
Extended
BOOL := FALSE
TRUE:
FALSE:
245
2015-08-27
>

7604
Parameter
Data type
Description
ID
DWORD

0...2 047 = 0x0000 0000...0x0000 07FF
2 048...536 870 911 = 0x0000 0800...0x1FFF FFFF
DATALENGTHCOUNT
BYTE
= Data Length Count

DATA
MORE_DATA_AVAILABLE
BOOL
TRUE:
FALSE:
RESULT
BYTE

Value
dec | hex
Description
00
FB is inactive
01
05
09
CAN is not active
242
F2
250
FA
246

2015-08-27
>
Function elements: transmit RAW-CAN data

CAN_TX................................................................................................................................................248
CAN_TX_ENH ......................................................................................................................................249
CAN_TX_ENH_CYCLIC.......................................................................................................................251
15055
247
2015-08-27
>
CAN_TX
7522

Symbol in CODESYS:
>
Description
7523
CAN_TX sends a standard message per cycle.

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

7524
Parameter
Data type
Description
ENABLE
BOOL
TRUE:
FALSE:

CHANNEL
BYTE
ID
DWORD

0...2 047 = 0x0000 0000...0x0000 07FF
2 048...536 870 911 = 0x0000 0800...0x1FFF FFFF
DATA
data to be sent (1...8 bytes)
>

7527
Parameter
Data type
Description
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
242
F2
250
FA
>
248
2015-08-27
>
CAN_TX_ENH
7558
= CAN TX enhanced
Symbol in CODESYS:
>
Description
7559
Additional setting options are offered through CAN_TX_ENH (for: enhanced). Here, all CAN specific
characteristics can be set individually, e.g.:
Is it an 11 or a 29 bit identifier?
>
The additional inputs can be preset so that CAN_TX ( page 248) is not required.
If an instance of this FB is called several times during a cycle, the data is also sent several times.
>

7634
Parameter
Data type
Description
ENABLE
BOOL
FALSE TRUE (edge):

Initialise block (only 1 cycle)
> Read block inputs
TRUE:
FALSE:

CHANNEL
BYTE
ID
DWORD

0...2 047 = 0x0000 0000...0x0000 07FF
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
Extended
BOOL := FALSE
TRUE:
FALSE:
DATALENGTHCODE
BYTE
= Data Length Code

number of the data bytes to be sent (0...8)
DATA
249
2015-08-27
>

7527
Parameter
Data type
Description
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
242
F2
250
FA
250
2015-08-27
>
CAN_TX_ENH_CYCLIC
7568
= CAN TX enhanced cyclic

Symbol in CODESYS:
>
Description
7569
CAN_TX_ENH_CYCLIC serves for cyclical transmitting of CAN messages.

Otherwise, the FB corresponds to CAN_TX_ENH ( page 249).
Set the period duration via the parameter PERIOD.
If a period is too short, this could lead to a high bus load which could affect the performance of the
complete system.
>

7582
Parameter
Data type
Description
ENABLE
BOOL
TRUE:
FALSE:

CHANNEL
BYTE
ID
DWORD

0...2 047 = 0x0000 0000...0x0000 07FF
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
Extended
BOOL := FALSE
TRUE:
FALSE:
DataLengthCode
BYTE := 8
length of the data to be sent (0...8 bytes)
DATA
PERIOD
TIME
period duration
251
2015-08-27
>

7510
Parameter
Data type
Description
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
08
09
CAN is not active
250
FA
252
2015-08-27
>
Function elements: RAW-CAN remote

CAN_REMOTE_REQUEST .................................................................................................................254
CAN_REMOTE_RESPONSE...............................................................................................................256
15057
253
2015-08-27
>
CAN_REMOTE_REQUEST
7625

Symbol in CODESYS:
>
Description
7627
In order to request a remote message, an according requirement is dispatched via

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

7628
Parameter
Data type
Description
EXECUTE
BOOL := FALSE
FALSE TRUE (edge):

CHANNEL
BYTE
ID
DWORD

0...2 047 = 0x0000 0000...0x0000 07FF
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
Extended
BOOL := FALSE
TRUE:
FALSE:
>

7629
Parameter
Data type
Description
DATALENGTHCOUNT
BYTE
= Data Length Count

DATA
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
05
09
CAN is not active
242
F2
254
2015-08-27
>
255
2015-08-27
>
CAN_REMOTE_RESPONSE
7631

Symbol in CODESYS:
>
Description
7633
CAN_REMOTE_RESPONSE provides data to the CAN controller in the device which is automatically
sent upon the request of a remote message.
This FB strongly depends on the device type. Only a limited number of remote messages can be set
up:
BasicController: CR040n, CR041n, CR043n
BasicDisplay: CR045n
max. 40 remote messages
PDM360 NG: CR108n, CR120n
max. 100 remote messages
>

7634
Parameter
Data type
Description
ENABLE
BOOL
FALSE TRUE (edge):

Initialise block (only 1 cycle)
> Read block inputs
TRUE:
FALSE:

CHANNEL
BYTE
ID
DWORD

0...2 047 = 0x0000 0000...0x0000 07FF
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
Extended
BOOL := FALSE
TRUE:
FALSE:
DATALENGTHCODE
BYTE
= Data Length Code

number of the data bytes to be sent (0...8)
DATA
256
2015-08-27
>

7636
Parameter
Data type
Description
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
06
FB is being processed remote for ID not active
07
FB is being processed remote for ID active
257
2015-08-27
>
7.2.10
Function elements: CANopen
Function elements: CANopen status ....................................................................................................259

Function elements: CANopen network management ...........................................................................268
Function elements: CANopen object directory .....................................................................................272
Function elements: CANopen SDOs ....................................................................................................277
Function elements: CANopen SYNC ...................................................................................................290
Function elements: CANopen guarding ...............................................................................................294
Function elements: CANopen emergency............................................................................................299
15059
For CANopen, ifm electronic provides a number of function elements which will be explained in the
following.
258
2015-08-27
>
Function elements: CANopen status

CANOPEN_ENABLE ............................................................................................................................260
CANOPEN_GETBUFFERFLAGS ........................................................................................................262
CANOPEN_GETSTATE .......................................................................................................................264
CANOPEN_SETSTATE .......................................................................................................................266
15061
259
2015-08-27
>
CANOPEN_ENABLE
7785

Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB
Symbol in CODESYS:
>
Description
7787
CANOPEN_ENABLE allows to switch the CANopen master on or off.
In the application program always call an own instance of the FB CANOPEN_ENABLE ( page
260) for every CAN interface!
To avoid guarding or heartbeat errors the nodes must be "shut down" via an appropriate sequence
first.
If the master is restarted after a stop, all other connected nodes also have to be re-initialised.
Without CANOPEN_ENABLE, the CANopen master is started automatically, as far as this has been
selected in the configuration.
The configured baud rate is only adopted if CAN_ENABLE ( page 232) has not been activated before.
>

7788
Parameter
Data type
Description
ENABLE
BOOL := TRUE
TRUE:
Enable CANopen for the selected channel
Start CANopen manager or CANopen device
according to the configuration settings
FALSE:
Disable CANopen for the selected channel
Terminate CANopen manager or CANopen device
CHANNEL
BYTE
Baud rate
WORD := 0
Baud rate [kbits/s]

permissible values = 20, 50, 100, 125, 250, 500, 800, 1 000
0 = use setting from the PLC configuration
260
2015-08-27
>

7789
Parameters
Data type
Description
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
14
0E
FB is active
CANopen manager configures devices and sends SDOs
15
0F
FB is active
CANopen manager is started
238
EE
Error: CANopen configuration is too large and cannot be started
239
EF
Error: CANopen manager could not be started
242
F2
261
2015-08-27
>
CANOPEN_GETBUFFERFLAGS
7890
= Get buffer flags

Symbol in CODESYS:
>
Description
7892
CANOPEN_GETBUFFERFLAGS supplies information on the buffer flags.

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

7893
Parameter
Data type
Description
EXECUTE
BOOL := FALSE
FALSE TRUE (edge):

CHANNEL
BYTE
ResetRXFlags
BOOL := FALSE
TRUE:
Provide fag status at the output and then reset
FALSE:
ResetTXFlags
BOOL := FALSE
TRUE:
Provide flag status at the output and then reset
FALSE:
262
2015-08-27
>

7894
Parameter
Data type
Description
RXOVFL
BOOL
condition of the RX overflow flag
RXWARN
BOOL
TXOVFL
BOOL
TXWARN
BOOL
RESULT
BYTE
TRUE:
overflow in the receive buffer
FALSE:
no overflow in receive buffer
condition of the RX overflow warning flag

TRUE:
level in the receive buffer is critical
FALSE:
level in the input buffer is uncritical
condition of the TX overflow flag

TRUE:
overflow in the transmit buffer
FALSE:
no overflow in transmit buffer
Condition of the TX overflow warning flag

TRUE:
Level in the transmit buffer is critical
FALSE:
Level in the transmit buffer is uncritical


Value
dec | hex
Description
00
FB is inactive
01
08
242
F2
263
2015-08-27
>
CANOPEN_GETSTATE
7865
= Get state
Symbol in CODESYS:
>
Description
7867
Via CANOPEN_GETSTATE, parameters of the master, a slave device or a specific node in the
network can be set.
>

7868
Parameter
Data type
Description
EXECUTE
BOOL := FALSE
FALSE TRUE (edge):

CHANNEL
BYTE
NODE
BYTE
Node ID = ID of the node (0...127)

Device as CANopen master:
Value = 0:
Only the status information of the device itself is returned at the
outputs. The outputs with information on the nodes are invalid.
Value not 0:
Node ID of a node in the network. For this one as well as for the
device the states are returned at the outputs.
Device as CANopen slave:
Value = 0 (preset):
The status information of the slave is returned at the outputs.
Value not 0:
no action
264
2015-08-27
>

7869
Parameter
Data type
Description
MASTERSTATE
BYTE
Master state = internal state of the master:

0 = 0x00 = master starts up
4 = 0x04 = node configuration running
5 = 0x05 = normal operating state of the master
255 = 0xFF = PLC running as slave
PLCNODEID
BYTE
PLC node ID = node ID of the PLC the program is running on

Value = 0...127 = 0x00...0x7F
PLCBAUDRATE
DWORD
Baudrate of the PLC
PLCVERSION
DWORD
PLC version
CANSTATE
BYTE
Status of the CANopen network

Device operated as master:
Node ID = 0 (device as such):
0 = 0x00 = OK
128 = 0x80 = BUSOFF
Node ID 0 (node):
0 = 0x00 = OK
1 = 0x01 = guard or heartbeat error on node
128 = 0x80 = BUSOFF
Device operated as slave:
0 = 0x00 = OK
1 = 0x01 = guard or heartbeat error
128 = 0x80 = BUSOFF
NODESTATE
BYTE
Node state = internal node state of a slave seen from the master's
perspective. The input NODEID identifies the node.
-1 = 0xFF = reset after ResetNode
1 = 0x01 = waiting for BOOTUP
2 = 0x02 = after receipt of the BOOTUP message
3 = 0x03 = not yet configured: STOPPED
4 = 0x04 = after configuration with SDOs: PRE-OPERATIONAL
5 = 0x05 = after starting the node: OPERATIONAL
97 = 0x61 = optional node
98 = 0x62 = other device type configured than in 0x1000
99 = 0x63 = node guarding
LASTNODESTATE
BYTE
Last Node State

Node state according to CANopen (with these values the status is also
coded in the corresponding messages with regard to the node).
RESULT
BYTE
0x00
BOOTUP
0x04
STOPPED
0x05
OPERATIONAL
127
0x7F
PRE-OPERATIONAL


Value
dec | hex
Description
00
FB is inactive
01
08
FB is active not yet processed
242
F2
265
2015-08-27
>
CANOPEN_SETSTATE
7858
= Set state
Symbol in CODESYS:
>
Description
7860
Via CANOPEN_SETSTATE, parameters of the master, a slave device or a node in the network can be
set.
The treatment of the NMT state of master, node or device is carried out in the CAN stack or via the
commands of the FB CANOPEN_NMTSERVICES ( page 270). At the same time admissibility checks are
carried out. For reasons of consistency no inputs are provided for this purpose.
266
2015-08-27
>

7861
Parameter
Data type
Description
EXECUTE
BOOL := FALSE
FALSE TRUE (edge):

CHANNEL
BYTE
NODE
BYTE
Node ID = ID of the node (0...127)

Device as CANopen master:
Value = 0:
The changes only refer to the device itself.
Value not 0:
Node ID of a node in the network the parameters of which are to be
changed. The established settings are only adopted for this node (not
for the device).
Device as CANopen slave:
In slave mode, the node ID of the slave can be set via this input.
Value = 0:
no action
Value not 0:
The function block adopts this value as the new node ID of the device.
GlobalStart
CfgTimeout
BOOL := TRUE
TIME := T#0ms
Requirement: FB must be called immediately after starting the IEC

program. This setting overwrites the setting of the configuration.
TRUE:
Start all participants simultaneously
FALSE:
Start all participants one after the other
set configuration timeout for a node:

Value = 0:
no action retain configuration data
Value not 0:
overwrite data from the configuration with the new value
InitNoSdos
BOOL := FALSE
To the node indicated in NODE, during initialisation,...

TRUE:
do not send configuration data
FALSE:
send configured SDOs
>

7862
Parameter
Data type
Description
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
08
242
F2
267
2015-08-27
>
Function elements: CANopen network management

CANOPEN_GETNMTSTATESLAVE ...................................................................................................269
CANOPEN_NMTSERVICES ................................................................................................................270
15063
268
2015-08-27
>
CANOPEN_GETNMTSTATESLAVE
7851
= Get network management state slave

Symbol in CODESYS:
>
Description
7853
Only use the FB if the device is operated as CANopen slave!

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

7854
Parameter
Data type
Description
EXECUTE
BOOL := FALSE
FALSE TRUE (edge):

CHANNEL
BYTE
>

7855
Parameter
Data type
Description
NMTSTATE
BYTE
Network operating status of the node

0 = INIT
1 = OPERATIONAL
2 = PRE-OPERATIONAL
3 = STOPPED
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
08
242
F2
269
2015-08-27
>
CANOPEN_NMTSERVICES
7843
= Network management services

Symbol in CODESYS:
>
Description
7844
Depending on its NMT command entries, CANOPEN_NMTSERVICES either triggers an NMT

command or the initialisation of a node.
NMT = Network-ManagemenT
The function block updates the internal node status. If a state transition to CANopen ( system
manual "Know-How ecomatmobile" > NMT state ( page 361)) should not be permitted, the command
is not executed.
A CANopen device can automatically change its CANopen state by means of the FB:
preoperational operational
>

7847
Parameter
Data type
Description
EXECUTE
BOOL := FALSE
FALSE TRUE (edge):

CHANNEL
BYTE
NODE
BYTE
CANopen ID of the node

permissible = 1...127 = 0x00...0x7F
NODE = 0:
command applies to all nodes in the network
NODE = Node ID of the device:
command applies to the device as such
NMTSERVICE
BYTE
network command
0 = init node (except master)
1 = enter PRE-OPERATIONAL
2 = start node
3 = reset node
4 = reset communication
5 = stop node
Timeout
TIME := T#0ms
waiting time of the FB for the initialisation

when the time has elapsed, the FB stops waiting.
0 = use value from the configuration
270
2015-08-27
>

7848
Parameter
Data type
Description
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
08
35
23
at least 1 SDO of the configuration was not successful
36
24
node was already initialised
37
25
when initialisation was requested the node was not in the

PRE-OPERATIONAL mode
043
2B
master / slave is not initialised
241
F1
Error: CANopen state transition is not permitted
242
F2
271
2015-08-27
>
Function elements: CANopen object directory

CANOPEN_GETODCHANGEDFLAG .................................................................................................273
CANOPEN_READOBJECTDICT .........................................................................................................274
CANOPEN_WRITEOBJECTDICT .......................................................................................................275
15065
272
2015-08-27
>
CANOPEN_GETODCHANGEDFLAG
7927
= Get object directory changed flag

Symbol in CODESYS:
>
Description
7928
CANOPEN_GETODCHANGEDFLAG reports any change of value for a particular object directory

entry.
>

7930
Parameter
Data type
Description
EXECUTE
BOOL := FALSE
FALSE TRUE (edge):

CHANNEL
BYTE
IDX
WORD
index in object directory
SUBIDX
BYTE
sub-index referred to the index in the object directory
>

7931
Parameter
Data type
Description
DATA
DWORD
parameter value
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
08
242
F2
273
2015-08-27
>
CANOPEN_READOBJECTDICT
7933
= Read object directory

Symbol in CODESYS:
>
Description
7935
CANOPEN_READOBJECTDICT reads up to 4 bytes of configuration data from the object directory of

the device for use in the application program.
>

7936
Parameter
Data type
Description
EXECUTE
BOOL := FALSE
FALSE TRUE (edge):

CHANNEL
BYTE
IDX
WORD
SUBIDX
BYTE
>

7937
Parameter
Data type
Description
DATA
DWORD
parameter value
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
08
40
28
object directory entry is invalid
242
F2
274
2015-08-27
>
CANOPEN_WRITEOBJECTDICT
7940
= Write object directory

Symbol in CODESYS:
>
Description
7942
CANOPEN_WRITEOBJECTDICT writes configuration data to the object directory of the controller.
NOTICE
This could lead to falsification of important system settings, e.g.:
- guarding times
- heartbeat times
Carefully verify input parameters!
>

7943
Parameter
Data type
Description
EXECUTE
BOOL := FALSE
FALSE TRUE (edge):

CHANNEL
BYTE
IDX
WORD
SUBIDX
BYTE
DATA
DWORD
parameter value
275
2015-08-27
>

7945
Parameter
Data type
Description
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
08
40
28
object directory entry is invalid
242
F2
276
2015-08-27
>
Function elements: CANopen SDOs

CANOPEN_SDOREAD ........................................................................................................................278
CANOPEN_SDOREADBLOCK ............................................................................................................280
CANOPEN_SDOREADMULTI .............................................................................................................282
CANOPEN_SDOWRITE ......................................................................................................................284
CANOPEN_SDOWRITEBLOCK ..........................................................................................................286
CANOPEN_SDOWRITEMULTI ...........................................................................................................288
2071
Here you will find ifm function elements for CANopen handling of Service Data Objects (SDOs).
277
2015-08-27
>
CANOPEN_SDOREAD
7791
= SDO read
Symbol in CODESYS:
>
Description
7793
CANOPEN_SDOREAD is an easy function block for editing "Expedited SDOs", i.e. SDOs with max.
4 bytes of user data. This type usually represents the bigger part of the SDO communication.
Expedited SDO = Expedited Service Data Object
A considerable amount of memory space can be saved due to the limitation of the data volume to
max. 4 bytes of user data, as this FB only needs to reserve 4 bytes as buffer storage and does not
create a large data array itself.
>

7794
Parameter
Data type
Description
EXECUTE
BOOL := FALSE
FALSE TRUE (edge):

CHANNEL
BYTE
NODE
BYTE
ID of the node
permissible values = 1...127 = 0x01...0x7F
IDX
WORD
SUBIDX
BYTE
Timeout
TIME := T#10ms
waiting time of the FB for the response

value = 0: use value from the configuration
278
2015-08-27
>

7795
Parameter
Data type
Description
LEN
BYTE
number of the bytes received (1...4)
DATA
DWORD
the received data value
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
05
FB is active no data received yet
32
20
SDO transmission aborted by client or server

(SDO abort code 0x80)
33
21
TIMEOUT elapsed
242
F2
255
FF
buffer overflow too many data bytes were received
279
2015-08-27
>
CANOPEN_SDOREADBLOCK
14942
= SDO Read Block

Symbol in CODESYS:
>
Description
14943
CANOPEN_SDOREADBLOCK reads the indicated entry in the object directory of a node in the
network via SDO block transfer.
> If the node doesn't support block transfer, the FB automatically changes to "segmented transfer".
You can also directly change to "segmented transfer" via the input.
> The COB ID for the SDO is calculated from the transmitted node ID.
The length of multiframe SDOs is generally not limited.
For systems without a file system (e.g. BasicController CR04nn) the following applies:
transmit an address to the FB which is accessed by the pointer for writing. The memory area
determined by the start address DATA and the amount of data MAX_LEN must be available!
> If the amount of data is greater than indicated, the transfer is stopped and signalled via RESULT.
For systems with a file system (e.g. PDM360NG CR108n) the following applies:
transmit the path and name of a file to the FB, in which the data is to be saved in binary format.
> The output RESULT provides information on the status of the SDO transmission.
280
2015-08-27
>

14945
Parameter
Data type
Description
EXECUTE
BOOL := FALSE
FALSE TRUE (edge):

CHANNEL
BYTE
NODE
BYTE
(Node ID) ID of the node

allowed = 1...127 = 0x01...0x7F
The COB ID of the SDO is calculated from the node ID + 0x600
IDX
WORD
SUBIDX
BYTE
DATA
DWORD
Address of the data zone for storage of the received data

Input is without function for devices with file system (Linux).
FILE
STRING(80)
Path and file name for storage of the received data in binary format
Input without function for device without file system
(BasicSystem).
MAX_LEN
DWORD
Maximum permitted number of bytes which may be received
SegmentedTransfer
BOOL := FALSE
TRUE:
Segmented SDO transfer
FALSE:
SDO block transfer
Timeout
TIME := T#10ms

>

14951
Parameter
Data type
Description
LEN
DWORD
number of received data bytes
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
16
10
Transmission is active as a segmented download
17
11
Transmission is active as a block download
32
20

33
21
TIMEOUT elapsed
64
40
Error: Write pointer outside admissible data range
65
41
Error: File could not be opened
66
42
Error when writing to file
242
F2
>
281
2015-08-27
>
CANOPEN_SDOREADMULTI
7806
= SDO read multi

Symbol in CODESYS:
>
Description
7808
CANOPEN_SDOREADMULTI reads the indicated entry in the object directory of a node in the
network. The COB ID for the SDO is calculated from the transmitted node ID according to CANopen
convention.
>

7809
Parameter
Data type
Description
EXECUTE
BOOL := FALSE
FALSE TRUE (edge):

CHANNEL
BYTE
NODE
BYTE

allowed = 1...127 = 0x01...0x7F
IDX
WORD
SUBIDX
BYTE
Timeout
TIME := T#10ms

282
2015-08-27
>

7810
Parameter
Data type
Description
LEN
DWORD
number of the bytes received

permissible values = 1...2 048 = 0x0000 0001...0x0000 0800
DATA
ARRAY [0..SDOMAXDATA] OF buffer memory for user data of the SDO data transmission
BYTE
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
05
32
20

33
21
TIMEOUT elapsed
242
F2
255
FF
Error: not enough memory available for the consuming multiframe
283
2015-08-27
>
CANOPEN_SDOWRITE
7825
= SDO write
Symbol in CODESYS:
>
Description
7826
CANOPEN_SDOWRITE is an easy function block for editing "Expedited SDOs", i.e. SDOs with max.
4 bytes user data. This type usually represents the bigger part of the SDO communication.
Expedited SDO = expedited service data object
A considerable amount of memory space can be saved due to the limitation of the data volume to
max. 4 bytes of user data because this FB only needs to reserve 4 bytes as buffer storage and does
not create a large data array itself.
>

7828
Parameter
Data type
Description
EXECUTE
BOOL := FALSE
FALSE TRUE (edge):

CHANNEL
BYTE
NODE
BYTE
ID of the node
IDX
WORD
SUBIDX
BYTE
LEN
BYTE
number of the data bytes to be transmitted

permissible values = 1...4 = 0x01...0x04
DATA
data area (1...4 bytes)
Timeout
TIME := T#10ms

284
2015-08-27
>

7829
Parameter
Data type
Description
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
08
32
20

33
21
TIMEOUT elapsed
242
F2
285
2015-08-27
>
CANOPEN_SDOWRITEBLOCK
14961
= SDO Write Block

Symbol in CODESYS:
>
Description
14963
CANOPEN _SDOWRITEBLOCK writes in the indicated entry in the object directory of a node in the
network via SDO block transfer.
You can change to segmented transfer via the FB input if required.
> The COB ID for the SDO is calculated from the transmitted node ID.
> The output RESULT provides information on the status of the SDO transmission.
The length of multiframe SDOs is generally not limited.
For systems without a file system (e.g. BasicController CR04nn) the following applies:
transmit an address to the FB which is accessed by the pointer for reading.
For systems with a file system (e.g. PDM360NG CR108n) the following applies:
Transmit the path and name of a file to the FB, from which the data is to be read in binary format.
286
2015-08-27
>

14964
Parameter
Data type
Description
EXECUTE
BOOL := FALSE
FALSE TRUE (edge):

CHANNEL
BYTE
NODE
BYTE

allowed = 1...127 = 0x01...0x7F
IDX
WORD
SUBIDX
BYTE
LEN
DWORD
number of data bytes to be transmitted in DATA

allowed = 1...2 048 = 0x0000 0001...0x0000 0800
DATA
DWORD
Address of the data zone for reading of the data to be transmitted

Input is without function for devices with file system (Linux).
FILE
STRING(80)
Path and file name for reading of the data to be transmitted in binary
format
Input without function for device without file system
(BasicSystem).
SegmentedTransfer
BOOL := FALSE
Timeout
TIME := T#10ms
TRUE:
Segmented SDO transfer
FALSE:
SDO block transfer

>

14968
Parameter
Data type
Description
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
16
10
Transmission is active as a segmented download
17
11
Transmission is active as a block download
32
20

33
21
TIMEOUT elapsed
65
41
Error: File could not be opened
242
F2
287
2015-08-27
>
CANOPEN_SDOWRITEMULTI
7832
= SDO write multi

Symbol in CODESYS:
>
Description
7834
CANOPEN_SDOWRITEMULTI writes the indicated entry in the object directory of a node in the
network. The COB ID for the SDO is calculated from the transmitted node ID according to CANopen
convention.
>

7835
Parameter
Data type
Description
EXECUTE
BOOL := FALSE
FALSE TRUE (edge):

CHANNEL
BYTE
NODE
BYTE
ID of the node
IDX
WORD
SUBIDX
BYTE
LEN
DWORD
number of the data bytes to be transmitted

permissible values = 1...2 048 = 0x0000 0001...0x0000 0800
DATA
ARRAY [0..SDOMAXDATA] OF buffer memory for user data of the SDO data transmission
BYTE
Timeout
TIME := T#10ms

288
2015-08-27
>

7836
Parameter
Data type
Description
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
08
32
20

33
21
TIMEOUT elapsed
242
F2
289
2015-08-27
>
Function elements: CANopen SYNC

CANOPEN_GETSYNCSTATE .............................................................................................................291
CANOPEN_SETSYNCSTATE .............................................................................................................293
15069
290
2015-08-27
>
CANOPEN_GETSYNCSTATE
7871
= Get SYNC state

Symbol in CODESYS:
>
Description
7872
CANOPEN_GETSYNCSTATE reads...
the setting of the SYNC functionality (active / not active),
the error state of the SYNC functionality (SyncError).
If the PLC CAN runs as CANopen slave, it is signalled via this FB whether SYNC signals are absent or
appear regularly.
Synchronous PDOS etc. are handled in the CAN stack. CANOPEN_GETSYNCSTATE, however,
provides the error state so that the application program can react accordingly.
>

7874
Parameter
Data type
Description
EXECUTE
BOOL := FALSE
FALSE TRUE (edge):

CHANNEL
BYTE
291
2015-08-27
>

7875
Parameter
Data type
Description
SYNC
BOOL
status of the SYNC functionality

TRUE:
SYNC is activated:
In the master mode SYNC telegrams are generated according to the

settings in the configuration, and synchronous PDOs are transmitted
and received.
In the slave mode SYNC telegrams are received and accordingly
processed.
FALSE:
SYNC is not active
SYNCERROR
BYTE
(sync error) SYNC error message

0 = no error
>0 = SYNC error (slave mode)
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
08
242
F2
292
2015-08-27
>
CANOPEN_SETSYNCSTATE
7883
= Set SYNC state

Symbol in CODESYS:
>
Description
7884
With CANOPEN_SETSYNCSTATE, the SYNC functionality is switched on and off.

>

7886
Parameter
Data type
Description
EXECUTE
BOOL := FALSE
FALSE TRUE (edge):

CHANNEL
BYTE
SYNC
BOOL
status of the SYNC functionality

TRUE:
SYNC is activated:
In the master mode SYNC telegrams are generated according to the

settings in the configuration, and synchronous PDOs are transmitted
and received.
In the slave mode SYNC telegrams are received and accordingly
processed.
FALSE:
SYNC is not active
>

7887
Parameter
Data type
Description
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
08
38
26
SYNC could not be activated
242
F2
293
2015-08-27
>
Function elements: CANopen guarding

CANOPEN_GETGUARDHBERRLIST .................................................................................................295
CANOPEN_GETGUARDHBSTATSLV ................................................................................................297
15071
294
2015-08-27
>
CANOPEN_GETGUARDHBERRLIST
7896
= Get guard and heartbeat error list

Symbol in CODESYS:
>
Description
7898
CANOPEN_GETGUARDHBERRLIST lists all nodes in an array for which the master has detected an
error:
guarding error
heartbeat error
>

7899
Parameter
Data type
Description
EXECUTE
BOOL := FALSE
FALSE TRUE (edge):

CHANNEL
BYTE
ResetList
BOOL := FALSE
Reset error list

TRUE:
Provide the error list as well as number of faulty

nodes at the output and then reset.
FALSE:
295
2015-08-27
>

7900
Parameter
Data type
Description
N_NODES
WORD
Number of nodes with heartbeat or guarding error

0 = none of the nodes has a guarding or heartbeat error
NODEID
ARRAY
[0..MAXGUARDERROR] OF
BYTE
List of node IDs with heartbeat or guarding error.

The most recent entry is in index 0.
MAXGUARDERROR depends on device
chapter Performance limits of the devices (CANopen)
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
08
242
F2
296
2015-08-27
>
CANOPEN_GETGUARDHBSTATSLV
7902
= Get guard and heartbeat state slave

Symbol in CODESYS:
>
Description
7904
CANOPEN_GETGUARDANDHBSTATESLAVE reports the following states to the controller in slave

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

7905
Parameter
Data type
Description
EXECUTE
BOOL := FALSE
FALSE TRUE (edge):

CHANNEL
BYTE
Reset
BOOL := FALSE
TRUE:
Provide the current states at the outputs

and then reset to "No error"
FALSE:
297
2015-08-27
>

7906
Parameter
Data type
Description
GUARDSTATE
BYTE
Status of node guarding:

0 = 0x00 = no error (or: not active)
1 = 0x01 = timeout (configuration)
127 = 0x7F = no guarding message received
PROD_HBSTATE
BYTE
controller as heartbeat producer:

0 = 0x00 = inactive
1 = 0x01 = active
CONS_HBSTATE
BYTE
controller as heartbeat consumer:

0 = 0x00 = no fault
1 = 0x01 = timeout (configuration)
127 = 0x7F = no heartbeat message received yet
CONS_HBCOBID
WORD
COB-ID of the heartbeat message the consumer heartbeat of the

controller is reacting to (configuration)
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
08
242
F2
298
2015-08-27
>
Function elements: CANopen emergency

CANOPEN_GETEMCYMESSAGES ....................................................................................................300
CANOPEN_GETERRORREGISTER ...................................................................................................302
CANOPEN_SENDEMCYMESSAGE ...................................................................................................304
15073
299
2015-08-27
>
CANOPEN_GETEMCYMESSAGES
7921
= Get emergency messages

Symbol in CODESYS:
>
Description
7923
CANOPEN_GETEMCYMESSAGES returns all emergency messages that have been received by the
controller from other nodes in the network since the last deletion of messages.
The list can be reset by setting the according input. A maximum of MAXEMCYMSGS messages is
stored. Each message contains information from which the node it was sent. The most recent
message is in index 0.
>

7924
Parameter
Data type
Description
EXECUTE
BOOL := FALSE
FALSE TRUE (edge):

CHANNEL
BYTE
RstList
BOOL := FALSE
TRUE:
Provide list with accumulated CAN messages

at the output and then delete
FALSE:
300
2015-08-27
>

7925
Parameter
Data type
Description
N_MSGS
DWORD
Number of accumulated messages
EMCY
ARRAY [0..MAXEMCYMSGS]
OF T_EMCY
Emergency messages
The most recent entry is in index 0.
Structure of T_EMCY:
.NODEID
ID of the node from which the message came
.EEC
Emergency Error Code
.ER
Error register
.MSEF
Manufacturer Specific Error Code
MAXEMCYMSG = 10
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
08
242
F2
301
2015-08-27
>
CANOPEN_GETERRORREGISTER
7915
= Get error register

Symbol in CODESYS:
>
Description
7917
CANOPEN_GETERRORREGISTER reads the error registers 0x1001 and 0x1003 from the controller.
>

7918
Parameter
Data type
Description
EXECUTE
BOOL := FALSE
FALSE TRUE (edge):

CHANNEL
BYTE
Reset_1001
BOOL := FALSE
TRUE:
Reset error register 0x1001
FALSE:
Reset_1003
BOOL := FALSE
TRUE:
Reset error register 0x1003

Set number of entries to 0
FALSE:

The inputs remain unchanged.
302
2015-08-27
>

7919
Parameter
Data type
Description
ER
BYTE
Content of the error register 0x1001
ERROR_FIELD
ARRAY [0..MAXERR] OF
DWORD
Content of the error register 0x1003

Index 0 = number of the stored errors
Index 1...MAXERR = stored errors
The most recent error is in index 1
Preset: MAXERR = 5
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
08
242
F2
303
2015-08-27
>
CANOPEN_SENDEMCYMESSAGE
7908
= Send emergency message

Symbol in CODESYS:
>
Description
7910
CANOPEN_SENDEMCYMESSAGE sends an EMCY message. The message is assembled from the

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

7911
Parameter
Data type
Description
EXECUTE
BOOL := FALSE
FALSE TRUE (edge):

CHANNEL
BYTE
ERRORACTIVE
BOOL
FALSE TRUE (edge):

sends the next error code
TRUE FALSE (edge):
If the error is no longer given, a
message that there is no error is sent
after a delay of 1 s.
EEC
WORD
EEC = Emergency Error Code
ER
BYTE := 0
0 = use value from error register 0x1001
MSEF
MSEF = Manufacturer Specific Error Code =

Additional error code which is defined by the manufacturer.
Value comes from the application.
Write1003
BOOL := FALSE
TRUE:
Enter this EMCY message in object 0x1003
FALSE:
SendSysStatus
BOOL := FALSE
304
Send system status

TRUE:
The system status is checked and in case of an

error state this is transmitted to the network.
FALSE:
2015-08-27
>

7912
Parameter
Data type
Description
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
08
39
27
no object 100116 in the configuration
242
F2
305
2015-08-27
>
7.2.11
Function elements: SAE J1939
Function elements: SAE J1939 status .................................................................................................307

Function elements: SAE J1939 request ...............................................................................................315
Function elements: receive SAE J1939 ...............................................................................................320
Function elements: transmit SAE J1939 ..............................................................................................325
Function elements: SAE J1939 diagnosis ............................................................................................333
2273
For SAE J1939, ifm electronic provides a number of function elements which will be explained in the
following.
306
2015-08-27
>
Function elements: SAE J1939 status

J1939_ENABLE ....................................................................................................................................308
J1939_GETDABYNAME ......................................................................................................................310
J1939_NAME .......................................................................................................................................312
J1939_STATUS ....................................................................................................................................314
15077
307
2015-08-27
>
J1939_ENABLE
7641

Unit is contained in the library ifm_J1939_NT_Vxxyyzz.LIB
Symbol in CODESYS:
>
Description
7642
For initialisation of the J1939 stack, J1939_ENABLE is set to TRUE=1.

> This FB also causes booting of the soft I/Os of the CFG file.
> A different baud rate is only adopted if CAN_ENABLE has not been activated before.
ACE = Address Claiming Enable:
If an ifm controller communicates with only one engine controller via J1939:
set ACE = FALSE.
If however several engine controllers are working on the same bus:

set ACE = TRUE.
In this case the engine controllers must support the address claiming!
Otherwise you will risk an overlapping of addresses with subsequent system failure.
>

7643
Parameter
Data type
Description
ENABLE
BOOL := FALSE
TRUE:
Enable J1939 channel

Ace=TRUE: Address claiming effected
FALSE:
Block J1939 channel
CHANNEL
BYTE
Baud rate
WORD := 250
Baud rate [Kbits/s]

permissible values: 20, 50, 100, 125, 250, 500, 800, 1 000
PreferredAddress
BYTE = 252
preferred source address
Ace
BOOL := TRUE
Address Claiming Enable
308
TRUE:
Address claiming enabled

(control unit is self-configuring)
FALSE:
No address claiming
2015-08-27
>

8542
Parameter
Data type
Description
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
08
09
CAN is not active
242
F2
309
2015-08-27
>
J1939_GETDABYNAME
7664
= get destination arbitrary name

Symbol in CODESYS:
>
Description
7665
Via J1939_GETDABYNAME, the target address of one or several participants can be determined by
means of the name information.
If a specific value is set on the optional inputs:

the result list will only show the participants with this specific value.
If no value or the default value is set on the optional inputs:

this entry is not taken into account during filtration of the list.
310
2015-08-27
>

7667
Parameter
Data type
Description
ENABLE
BOOL
TRUE:
FALSE:

CHANNEL
BYTE
IndustryGroup
BYTE = 0xFF
industry group = industry group of the device

permissible values = 0...7
255 = 0xFF = filter for all
VehicleSystemInstance
BYTE := 0xFF
instance of the vehicle system

VehicleSystem
BYTE := 0xFF
vehicle system
nFunction
WORD := 0xFFFF
function of the device

permissible values = 0...255 = 0x0000...0x00FF
65 535 = 0xFFFF = filter for all
FunctionInstance
BYTE := 0xFF
instance of the function

ECUInstance
BYTE := 0xFF
instance of the control device

ManufacturerCode
WORD := 0xFFFF
manufacturer code (must be requested from SAE)

permissible values = 0...2047 (211-1) = 0x0000...0x07FF
IdentityNumber
DWORD := 0xFFFF FFFF
serial number of the device (should not be overwritten)

permissible values = 0...2047 (211-1))
4 294 967 295 = 0xFFFF FFFF = filter for all
>

7668
Parameter
Data type
Description
DA
List of found participants

255 = no participant found with this number
NUMBER
BYTE
Number of found bus participants.
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
08
242
F2
311
2015-08-27
>
J1939_NAME
7646

Symbol in CODESYS:
>
Description
7648
Via J1939_NAME, the device can be given a name for identification in the network.
By default the name of ifm is used.
The user has the following options to change the name of the device:
use the information from the CFG file or
overwrite the requested data via J1939_NAME.
> If no value or a default value is set at the optional inputs:
the preset value is not overwritten.
The following list shows the composition of the 64 bit NAME information according to SAE J1939-81:
Parameter
Data type
Description
arbitrary address capable
1 bit
any desired address available
industry group
3 bits
industry group of the device
vehicle system instance
4 bits
vehicle system
7 bits
vehicle system
reserved
1 bit
reserved
function
8 bits
function instance
5 bits
ECU instance
3 bits
instance of the controller
manufacturer code
11 bits
manufacturer code (must be applied for at SAE)
identify number
21 bits
Table: Composition of the 64 bit NAME information according to SAE J1939-81
312
2015-08-27
>

7652
Parameter
Data type
Description
ENABLE
BOOL := FALSE
TRUE:
Any desired address available
FALSE:
Fixed address
CHANNEL
BYTE
IndustryGroup
BYTE = 0xFF
industry group = industry group of the device

VehicleSystemInstance
BYTE := 0xFF

VehicleSystem
BYTE := 0xFF
vehicle system
nFunction
WORD := 0xFFFF

permissible values = 0...255 = 0x0000...0x00FF
FunctionInstance
BYTE := 0xFF

ECUInstance
BYTE := 0xFF
instance of the control device

ManufacturerCode
WORD := 0xFFFF
manufacturer code (must be requested from SAE)

permissible values = 0...2047 (211-1) = 0x0000...0x07FF
IdentityNumber
DWORD := 0xFFFF FFFF

permissible values = 0...2047 (211-1))
4 294 967 295 = 0xFFFF FFFF = filter for all
>

7661
Parameter
Data type
Description
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
08
242
F2
313
2015-08-27
>
J1939_STATUS
7670

Symbol in CODESYS:
>
Description
7672
Via J1939_STATUS, relevant information can be read back to the J1939 stack.
>

7673
Parameter
Data type
Description
ENABLE
BOOL
TRUE:
FALSE:

CHANNEL
BYTE
>

7674
Parameter
Data type
Description
SA
BYTE
current source address

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


Value
dec | hex
Description
00
FB is inactive
01
Protocol is active
02
Protocol is not active
03
Source address requested
04
Address lost
242
F2
>
314
2015-08-27
>
Function elements: SAE J1939 request

J1939_SPEC_REQ ..............................................................................................................................316
J1939_SPEC_REQ_MULTI .................................................................................................................318
15079
315
2015-08-27
>
J1939_SPEC_REQ
15023
= J1939 Specific Request

Symbol in CODESYS:
>
Description
15026
J1939_SPECIFIC_REQUEST requests and receives a specific message from another controller.

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

15028
Parameter
Data type
Description
EXECUTE
BOOL := FALSE
FALSE TRUE (edge):

CHANNEL
BYTE
PGN
DWORD
PGN = Parameter Group Number

Permissible = 0...262 143 = 0x00000000...0x0003FFFF
DA
BYTE
J1939 address of the requested device
316
2015-08-27
>

15029
Parameter
Data type
Description
PRIO
BYTE
message priority (07)
LEN
WORD
DATA
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
05
64
40
Error: receive multiframe
242
F2
317
2015-08-27
>
J1939_SPEC_REQ_MULTI
15033
= J1939 Specific Request Multiframe Message

Symbol in CODESYS:
>
Description
15036
J1939_SPECIFIC_REQUEST requests and receives a specific multiframe message from another

controller.
>

15037
Parameter
Data type
Description
EXECUTE
BOOL := FALSE
FALSE TRUE (edge):

CHANNEL
BYTE
PGN
DWORD

DA
BYTE
J1939 address of the requested device
318
2015-08-27
>

15038
Parameter
Data type
Description
PRIO
BYTE
LEN
WORD
number of data bytes to be transmitted

allowed = 1...1 785 = 0x0001...0x06F9
DATA
Received data (1...1785 bytes)
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
05
242
F2
319
2015-08-27
>
Function elements: receive SAE J1939

J1939_RX .............................................................................................................................................321
J1939_RX_FIFO ...................................................................................................................................322
J1939_RX_MULTI ................................................................................................................................324
15081
320
2015-08-27
>
J1939_RX
7724

Symbol in CODESYS:
>
Description
7725
J1939_RX is the easiest method for receiving single frame messages. The message read last on the
CAN bus is returned.
>

7726
Parameter
Data type
Description
ENABLE
BOOL
TRUE:
FALSE:

CHANNEL
BYTE
PGN
DWORD

The PGN = 0 is not used.

>

7727
Parameter
Data type
Description
SA
BYTE
Source address of the transmitter
PRIO
BYTE
LEN
WORD
DATA
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
05
09
CAN is not active
242
F2
321
2015-08-27
>
J1939_RX_FIFO
7732
= J1939 RX with FIFO

Symbol in CODESYS:
>
Description
7733
J1939_RX_FIFO enables receipt of all specified messages and their successive reading from a FIFO.
>

7734
Parameter
Data type
Description
ENABLE
BOOL
TRUE:
FALSE:

CHANNEL
BYTE
PGN
DWORD

322
2015-08-27
>

7735
Parameter
Data type
Description
SA
BYTE
PRIO
BYTE
LEN
BYTE
DATA
MORE_DATA_AVAILABLE
BOOL
TRUE:
FALSE:
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
05
242
F2
250
FA
323
2015-08-27
>
J1939_RX_MULTI
7736
= J1939 RX multiframe message

Symbol in CODESYS:
>
Description
7741
J1939_RX_MULTI enables receipt of multi-frame messages.

>

7743
Parameter
Data type
Description
EXECUTE
BOOL := FALSE
FALSE TRUE (edge):

CHANNEL
BYTE
PGN
DWORD


>

7744
Parameter
Data type
Description
SA
BYTE
PRIO
BYTE
LEN
WORD
number of the bytes received

permissible values = 0...1 785 = 0x0000 0000...0x0000 06F9
DATA
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
05
242
F2
324
2015-08-27
>
Function elements: transmit SAE J1939

J1939_TX .............................................................................................................................................326
J1939_TX_ENH ....................................................................................................................................327
J1939_TX_ENH_CYCLIC ....................................................................................................................329
J1939_TX_ENH_MULTI .......................................................................................................................331
15083
325
2015-08-27
>
J1939_TX
7688

Symbol in CODESYS:
>
Description
7689
J1939_TX is the easiest method for transmitting single frame messages.

>

7690
Parameter
Data type
Description
ENABLE
BOOL
TRUE:
FALSE:

CHANNEL
BYTE
DA
BYTE := 249
DA = Destination Address of the ECU

PGN > 61139: parameter DA is ignored
PGN
DWORD

DATA
>

7693
Parameter
Data type
Description
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
242
F2
250
FA
326
2015-08-27
>
J1939_TX_ENH
7696
= J1939 TX enhanced
Symbol in CODESYS:
>
Description
7697
Additional setting options are provided by J1939_TX_ENH (for: enhanced) for single frame messages:
transmitting priority
data length
Multi frame messages J1939_TX_ENH_MULTI ( page 331).

>

7702
Parameter
Data type
Description
ENABLE
BOOL
TRUE:
FALSE:

CHANNEL
BYTE
DA
BYTE := 249

Prio
BYTE := 3
message priority
permissible values = 07
PGN
DWORD

Len
BYTE := 8
number of the bytes to be transmitted

DATA
327
2015-08-27
>

7969
Parameter
Data type
Description
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
242
F2
250
FA
328
2015-08-27
>
J1939_TX_ENH_CYCLIC
7716
= J1939 TX enhanced cyclic

Symbol in CODESYS:
>
Description
7718
J1939_TX_ENH_CYCLIC serves for cyclic transmitting of CAN messages.

Otherwise, the FB corresponds to J1939_TX_ENH ( page 327).
Set the period duration via the parameter PERIOD.
If a period is too short, this could lead to a high bus load!
The bus load can affect the performance of the complete system.
>

7719
Parameter
Data type
Description
ENABLE
BOOL
TRUE:
FALSE:

CHANNEL
BYTE
DA
BYTE := 249

Prio
BYTE := 3
message priority
PGN
DWORD

Len
BYTE := 8

DATA
PERIOD
TIME
period duration
329
2015-08-27
>

7720
Parameter
Data type
Description
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
08
242
F2
330
2015-08-27
>
J1939_TX_ENH_MULTI
7699
= J1939 TX enhanced multiframe message

Symbol in CODESYS:
>
Description
7705
The transmission of multi-frame messages is carried out via J1939_TX_ENH_MULTI.

The FB corresponds to J1939_TX_ENH ( page 327). In addition, it can be determined whether the
transmission shall be executed as BAM (Broadcast Announce Message).
>

7712
Parameter
Data type
Description
EXECUTE
BOOL := FALSE
FALSE TRUE (edge):

CHANNEL
BYTE
DA
BYTE := 249

Prio
BYTE := 3
message priority
PGN
DWORD

Len
BYTE := 8

DATA
Bam
BOOL := FALSE
BAM = Broadcast Announce Message = message to all participants

TRUE:
multi-frame transmission as BAM

message to all participants
FALSE:
automatic; message only to target address
331
2015-08-27
>

7714
Parameter
Data type
Description
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
08
65
41
Error: transmission is not possible
242
F2
332
2015-08-27
>
Function elements: SAE J1939 diagnosis

J1939_DM1RX .....................................................................................................................................334
J1939_DM1TX ......................................................................................................................................336
J1939_DM1TX_CFG ............................................................................................................................339
J1939_DM3TX ......................................................................................................................................341
15085
333
2015-08-27
>
J1939_DM1RX
14977
= J1939 Diagnostic Message 1 RX

Symbol in CODESYS:
>
Description
7761
J1939_RX_DM1 receives diagnostic messages DM1 or DM2 from other ECUs.

>

14979
Parameter
Data type
Description
ENABLE
BOOL := FALSE
TRUE:
FALSE:

CHANNEL
BYTE
DA
BYTE
DA = Destination Address of the ECU from where the DTCs are to be

retrieved.
ACTIVE
BOOL
DA = 254: read DTCs from the device itself
334
TRUE:
Read active DTCs (DM1)
FALSE:
Read previously active DTCs (DM2)
2015-08-27
>

14980
Parameter
Data type
Description
REDSTOPLAMP
BOOL
red stop lamp (for older projects only)

TRUE:
FALSE:
AMBERWARNINGLAMP
BOOL
Amber warning lamp (for older projects only)

TRUE:
FALSE:
PROTECTLAMP
BOOL
ON
OFF
ON
OFF
protect lamp (for older projects only)

TRUE:
FALSE:
ON
OFF
NUMBER
BYTE
number of the DTCs received (0...8)
SPN
WORD
Suspect Parameter Number
FMI
BYTE
Failure Mode Indicator

SPN_CM
BOOL
conversion method
OC
BYTE
occurrence count
RESULT
BYTE

MIL_FC
BYTE
Status of the electronic component:

Malfunction indicatation light status and flash code:
0 = off
1 = on
2 = flash slowly
3 = flash quickly
REDSTOPLAMP_FC
BYTE

red stop light status and flash code:
0 = off
1 = on
2 = flash slowly
3 = flash quickly
AMBERWARNINGLAMP_FC
BYTE

Yellow warning light status and flash code:
0 = off
1 = on
2 = flash slowly
3 = flash quickly
PROTECTLAMP_FC
BYTE

protection light status and flash mode:
0 = off
1 = on
2 = flash slowly
3 = flash quickly

Value
dec | hex
Description
00
FB is inactive
01
08
FB is active no data was received
242
F2
335
2015-08-27
>
J1939_DM1TX
14993
= J1939 Diagnostic Message 1 TX

Symbol in CODESYS:
>
Description
7747
With J1939_TX_DM1 (DM = Diagnostic Message) the controller can only transmit an active error
message to the CAN stack.
> This message is stored in the hardware configuration.
> The message is marked "active" and transmitted once per second as DM1.
> If the error has already occurred, the event counter is incremented.
The event counter is managed by the CAN stack.
> A disjunction of all bits of the trouble codes is executed. As soon as a bit is set in one of the
trouble codes, it is equally set in the lamp state.
Upon arrival of a request at DM2, the CAN stack can read the according information from the
hardware configuration and transmit it.
> When a DM3 message arrives, all inactive errors are deleted in the error memory in the hardware
configuration.
336
2015-08-27
>

14995
Parameter
Data type
Description
EXECUTE
BOOL := FALSE
FALSE TRUE (edge):

CHANNEL
BYTE
ACTIVE
BOOL
TRUE:
DTC is active
Cyclically transmitted (1x per second) as DM1
FALSE:
DTC is no longer active

Saved in the hardware configuration
Transmitted as DM2 when requested
REDSTOPLAMP
BOOL
red stop lamp (for older projects only)

TRUE:
FALSE:
AMBERWARNINGLAMP
BOOL
Amber warning lamp (for older projects only)

TRUE:
FALSE:
PROTECTLAMP
BOOL
ON
OFF
ON
OFF
protect lamp (for older projects only)

TRUE:
FALSE:
ON
OFF
SPN
WORD
Suspect Parameter Number
FMI
BYTE
Failure Mode Indicator

SPN_CM
BOOL
conversion method
MIL_FC
BYTE

Malfunction indicatation light status and flash code:
0 = off
1 = on
2 = flash slowly
3 = flash quickly
REDSTOPLAMP_FC
BYTE

red stop light status and flash code:
0 = off
1 = on
2 = flash slowly
3 = flash quickly
AMBERWARNINGLAMP_FC
BYTE

Yellow warning light status and flash code:
0 = off
1 = on
2 = flash slowly
3 = flash quickly
PROTECTLAMP_FC
BYTE

protection light status and flash mode:
0 = off
1 = on
2 = flash slowly
3 = flash quickly
337
2015-08-27
>

7750
Parameter
Data type
Description
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
data was marked "active" in the error memory
242
F2
338
2015-08-27
>
J1939_DM1TX_CFG
15424
= J1939 Diagnostic Message 1 TX configurable

Unit is contained in the library ifm_J1939_NT_V02.00.02.LIB or higher
Symbol in CODESYS:
>
Description
15426
As from runtime system V03.00.03 the CAN stack automatically sends a DM1 message every second
as soon as the FB J1939_ENABLE ( page 308) is called for the corresponding CAN interface.
Use the FB J1939_DM1TX_CFG if you do not want the CAN stack to automatically and cyclically
transmit DM1 messages.
The FB offers the following modes for cyclic transmission of DM1 messages:
MODE = 0
(preset)
The CAN stack sends DM1 "zero active faults" messages in compliance with standards every second.
A manual transmission of DM1 messages via the FB J1939_DM1TX ( page 336)is possible.
MODE = 1
The CAN stack does not send DM1 "zero active faults" messages.
DM2 requests are answered automatically.
A manual transmission of DM1 messages via the FBJ1939_DM1TX ( page 336) is possible.
MODE = 2
The CAN stack does not send cyclic DM1 "zero active faults" messages
Nor does the CAN stack automatically reply to DM2 requests.
>

15427
Parameter
Data type
Description
ENABLE
BOOL
TRUE:
FALSE:

CHANNEL
BYTE
MODE
BYTE := 0
Operating mode of the function block

allowed = 0...2 ( Description of the FB)
339
2015-08-27
>

15429
Parameter
Data type
Description
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
242
F2
340
2015-08-27
>
J1939_DM3TX
15002
= J1939 Diagnostic Message 3 TX

Symbol in CODESYS:
>
Description
15004
With J1939_DM3TX (DM = Diagnostic Message) you can delete the inactive DTCs on another device.
> As soon as a DM3 message is received, all inactive errors in the error memory are deleted in the
hardware configuration.
>

15006
Parameter
Data type
Description
EXECUTE
BOOL := FALSE
FALSE TRUE (edge):

CHANNEL
BYTE
DA
BYTE
DA = Destination Address of the ECU on which the DTCs are to be

deteled.
DA = 254: delete DTCs (DM2) in the device itself
>

15008
Parameter
Data type
Description
RESULT
BYTE


Value
dec | hex
Description
00
FB is inactive
01
242
F2
341
2015-08-27
Diagnosis ..............................................................................................................................................343
Fault ......................................................................................................................................................343
Response to system errors...................................................................................................................343
CAN / CANopen: errors and error handling..........................................................................................343
19598
The runtime-system (RTS) checks the device by internal error checks:

during the boot phase (reset phase)
during executing the application program
chapter Operating states ( page 26)
In so doing a high operating reliability is provided, as much as possible.
342
2015-08-27
Diagnosis
>
8.1
Diagnosis
19601
During the diagnosis, the "state of health" of the device is checked. It is to be found out if and what
faults are given in the device.
Depending on the device, the inputs and outputs can also be monitored for their correct function.
- wire break,
- short circuit,
- value outside range.
For diagnosis, configuration and log data can be used, created during the "normal" operation of the
device.
The correct start of the system components is monitored during the initialisation and start phase.
Errors are recorded in the log file.
For further diagnosis, self-tests can also be carried out.
>
8.2
Fault
19602
A fault is the state of an item characterized by the inability to perform the requested function, excluding
the inability during preventive maintenance or other planned actions, or due to lack of external
resources.
A fault is often the result of a failure of the item itself, but may exist without prior failure.
In ISO 13849-1 "fault" means "random fault".
>
8.3
Response to system errors

8504
In principle, the programmer is responsible to react to the error messages in the application program.
An error description is provided via the error message.
> The system resets the error message as soon as the error causing state is not present anymore.
>
8.3.1
Example process for response to an error message

8505
The runtime system cyclically writes the system flag TEMPERATURE.

The application program detects the device temperature by retrieving the INT variable.
If permissible values for the application are exceeded or not reached:
> The application program deactivates the outputs.
Rectify the cause of the error.
> The application program detects the temperature value which has returned to normal:
The machine / system can be restarted or operation can be continued.
>
8.4
CAN / CANopen: errors and error handling

19604
System manual "Know-How ecomatmobile"

chapter CAN / CANopen: errors and error handling
343
Annex
2015-08-27
CAN / CANopen: errors and error handling
Annex
Address assignment in Ethernet networks ...........................................................................................345

System flags .........................................................................................................................................346
Possible operating modes inputs/outputs .............................................................................................352
CANopen tables ...................................................................................................................................353
1664
Additionally to the indications in the data sheets you find summary tables in the annex.
344
2015-08-27
Annex
Address assignment in Ethernet networks
>
9.1
Address assignment in Ethernet networks

14436
NOTE
In the Ethernet network every IP address MUST be unique.
The following IP addresses are reserved for network-internal purposes and are therefore not allowed
as an address for participants: nnn.nnn.nnn.0 | nnn.nnn.nnn.255.
Only network participants whose subnet mask is identical and whose IP addresses are identical with
respect to the subnet mask can communicate with each other.
Rule:
If part of the subnet mask = 255, the corresponding IP address parts must be identical.
If part of the subnet mask = 0, the corresponding IP address parts must be different.
If the subnet mask = 255.255.255.0, 254 participants communicating with each other are possible in
the network.
If the subnet mask = 255.255.0.0, 256x254 = 65 024 participants communicating with each other are
possible in the network.
In the same physical network different subnet masks of the participants are allowed. They form
different groups of participants which cannot communicate with groups of participants having other
subnet masks.
In case of doubt or problems please contact your system administrator.
Examples:
Participant A
IP address
Participant A
Subnet mask
Participant B
IP address
Participant B
Subnet mask
Communication of
participants possible?
192.168.82.247
255.255.255.0
192.168.82.10
255.255.255.0
Yes, 254 participants possible
192.168.82.247
255.255.255.0
192.168.82.247
255.255.255.0
No (same IP address)
192.168.82.247
255.255.255.0
192.168.82.10
255.255.0.0
No (different subnet mask)
192.168.82.247
255.255.255.0
192.168.116.10
255.255.255.0
No (different IP address
range:
82 vs. 116)
192.168.222.213
255.255.0.0
192.168.222.123
255.255.0.0
Yes, 65 024 participants

possible
192.168.111.213
255.255.0.0
192.168.222.123
255.255.0.0
Yes, 65 024 participants

possible
192.168.82.247
255.255.255.0
192.168.82.0
255.255.255.0
no; the whole network is

disturbed because the IP
address xxx.xxx.xxx.0 is not
allowed
345
Annex
2015-08-27
System flags
>
9.2
System flags
System flags: system ............................................................................................................................347

System flags: Inputs and Outputs ........................................................................................................348
System flags: Status LED .....................................................................................................................348
System flags: function keys ..................................................................................................................349
System flags: navigation keys ..............................................................................................................350
System flags: error flags .......................................................................................................................351
7958
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!
346
2015-08-27
Annex
System flags
>
9.2.1
System flags: system

19907
System flag (symbol name)
Data type
Access
Description
LIGHT_SENSOR
BYTE
light sensor 0...255
SUPPLY_VOLTAGE
WORD
Supply voltage applied to VBBs in [mV]
CLAMP_15_VOLTAGE
BOOL
Voltage monitoring on clamp 15
TEMPERATURE1
INT
Temperature 1 in the device [C]
TEMPERATURE2
INT
Temperature 2 in the device [C]
BACKLIGHT
BYTE
r/w
Display brightness 0...100 %
SUPPLY_SWITCH
BOOL
r/w
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:
FALSE:
CLAMP_15_SWITCHING_THRESHO
LD
WORD
r/w
Supply of the device via VBBS is active

Supply of the device via VBBS is deactivated
Switching threshold for clamp 15
Legend:
r ...
r/w ...
read only
read and write
347
2015-08-27
Annex
System flags
>
9.2.2
System flags: Inputs and Outputs

1693
Data type
IN00
BOOL
Access
r
Description
Status on binary input 00
Requirement: input is configured as binary input
(MODE = IN_DIGITAL_H)
TRUE:
FALSE:
OUT00
BOOL
r/w
Voltage on binary input > 70 % of VBBS

Voltage on binary input < 30 % of VBBS
or: not configured as binary input
or: wrong configuration
Status on binary output 00:

TRUE:
FALSE:
output activated
output deactivated
Legend:
r ...
r/w ...
read only
read and write
>
9.2.3
System flags: Status LED

14390
Data type
LED
INT
r/w
LED color for "LED on"
LED_X
INT
r/w
LED color for "LED off"
LED_MODE
INT
r/w
LED flashing frequency
Legend:
r ...
r/w ...
348
read only
read and write
Access
Description
Annex
2015-08-27
System flags
>
9.2.4
System flags: function keys

19903
The operating elements of the device are systematically numbered. Numbering of the operating
elements ( page 132)
Data type
Access
Description
KEY_PRESSED
BOOL
A button was pressed
KEY_CHANGED
BOOL
Pulse: Key status changed

(= a button was pressed or released)
EDIT_MODE_ACTIVE
BOOL
Status of the edit mode

TRUE
= edit mode active
FALSE = edit mode inactive
KEYx_KEYCODE
WORD
Bit pattern of all keys of the group x
KEYx_y
BOOL
Key y in the group of keys x pressed

(e.g. KEY1_2 = key F2 in the group of keys 1)
RT_KEYx_y
BOOL
Pulse (rising trigger):

Key y in the group of keys x pressed
FT_KEYx_y
BOOL
Pulse (falling trigger)

Key y in the group of keys x released
AR_KEYx_y
BOOL
Signal (auto repeat)

Pulse repetition if the y-key in the group of keys x is
pressed
MD_KEYx_y
STRING(31)
r/w
Assignment of key y in the group of keys x

(preset)
ME_KEYx_y
STRING(31)
r/w
Assignment of key y in the group of keys x

(Edit mode)
LED_KEYx_y
BOOL
r/w
LED for key y in the group of keys x

(e.g. LED_KEY1_2 = LED in key F2 in the group of keys 1)
TRUE
= LED on
FALSE = LED off
KEY_AUTOREPEAT_DELAY
TIME
r/w
Delay time until the pulse starts when the key remains
pressed
KEY_AUTOREPEAT_PERIOD
TIME
r/w
Repetition rate of the pulse when the key remains pressed
LED_MAX_VALUE
BYTE
r/w
max. brightness of the key LEDs (0...100 %)
LED_NIGHT
BOOL
r/w
TRUE = night brightness of the key LEDs active

FALSE = night brigtness of the key LEDS inactive
LED_NIGHT_VALUE
BYTE
r/w
Night brightness of the key LEDs (0...100%)
Legend:
x ...
y ...
r ...
r/w ...
1, 3 (ID of the group of keys Numbering of the operating elements ( page 132))
1...7 (ID of the function key within the group of keys Numbering of the operating elements ( page 132))
read only
read and write
349
Annex
2015-08-27
System flags
>
9.2.5
System flags: navigation keys

19905
The operating elements of the device are systematically numbered. Numbering of the operating
elements ( page 132)
Data type
KEY3_LEFT
BOOL
Navigation key: Key [] pressed
KEY3_RIGHT
BOOL
KEY3_UP
BOOL
KEY3_DOWN
BOOL
KEY3_PUSH
BOOL
Navigation key: Center key pressed
RT_KEY3_LEFT
BOOL
Pulse (rising trigger)

RT_KEY3_RIGHT
BOOL

RT_KEY3_UP
BOOL
Pulse (rising trigger):

RT_KEY3_DOWN
BOOL

RT_KEY3_PUSH
BOOL

Navigation key: Center key pressed
FT_KEY3_LEFT
BOOL

Navigation key: Key [] released
FT_KEY3_RIGHT
BOOL

FT_KEY3_UP
BOOL

FT_KEY3_DOWN
BOOL

FT_KEY3_PUSH
BOOL

Navigation key: Center key released
AR_KEY3_LEFT
BOOL
Pulse repetition when the navigation key [] is kept

pressed
AR_KEY3_RIGHT
BOOL

pressed
AR_KEY3_UP
BOOL

pressed
AR_KEY3_DOWN
BOOL

pressed
AR_KEY3_PUSH
BOOL
Pulse repetition when the center key of the navigation key

is kept pressed
MD_KEY3_LEFT
STRING(31)
r/w
Navigation key: Assignment [] key

(preset)
MD_KEY3_RIGHT
STRING(31)
r/w

(preset)
MD_KEY3_UP
STRING(31)
r/w

(preset)
350
Access
Description
2015-08-27
Annex
System flags
Data type
Access
Description
MD_KEY3_DOWN
STRING(31)
r/w

(preset)
MD_KEY3_PUSH
STRING(31)
r/w
Navigation key: Assignment center key pressed

(preset)
ME_KEY3_LEFT
STRING(31)
r/w

(edit mode)
ME_KEY3_RIGHT
STRING(31)
r/w

(edit mode)
ME_KEY3_UP
STRING(31)
r/w

(edit mode)
ME_KEY3_DOWN
STRING(31)
r/w

(edit mode)
ME_KEY3_PUSH
STRING(31)
r/w
Navigation key: Assignment center key pressed

(edit mode)
LED_NAVIGATION_SWITCH
BOOL
r/w
LED for navigation key

TRUE
= LED on
FALSE = LED off
Legend:
r ...
r/w ...
read only
read and write
>
9.2.6
System flags: error flags

11545
Data type
ERROR_TEMPERATURE
BOOL
Access
r
Description
Temperature error
TRUE:
FALSE:
ERROR_POWER
BOOL
Value out of range

> general error
Value OK
Voltage error for VBBS / clamp 15:

TRUE:
FALSE:
Value out of range

or: difference (VBB15 - VBBS) too great
> general error
Value OK
Legend:
r ...
r/w ...
read only
read and write
351
2015-08-27
Annex
9.3
Possible operating modes inputs/outputs
Possible operating modes inputs/outputs

9736
Possible configuration combinations (where permissible) are created by adding the configuration
values.
Inputs
IN00
Operating mode of the

inputs
Outputs
hex
dec
IN_DIGITAL_H (plus)
IN_DIGITAL_L (minus)
IN_CURRENT
IN VOLTAGE10
IN_VOLTAGE30
10
16
IN_RATIO
20
32
= this configuration value is default
352
Config. value
OUT00
Operating mode of the

outputs
OUT_DIGITAL_H (plus)
Config. value
hex
dec
Annex
2015-08-27
CANopen tables
>
9.4
CANopen tables
Structure of CANopen messages .........................................................................................................354

Boot-up message .................................................................................................................................359
Network management (NMT) ...............................................................................................................360
CANopen error code .............................................................................................................................365
9941
The following tables will inform you about important values and settings of the CANopen interfaces.
353
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>
9.4.1
Structure of CANopen messages
Structure of the COB ID........................................................................................................................355

Function code / Predefined Connectionset ..........................................................................................356
SDO command bytes ...........................................................................................................................357
SDO abort code ....................................................................................................................................358
9971
A CANopen message consists of the COB ID and up to 8-byte data:

COB ID
X
DLC
X
Byte 1
X
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Details are given in the following chapters.

Please note the reversed byte order! ( Little Endian or Intel format)
Examples:
Value [hex]
Data type
12
BYTE
1234
WORD
12345678
DWORD
354
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
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>
Structure of the COB ID

9972
The first part of a message is the COB ID. Structure of the 11-bit COB ID:
Nibble 0
11
10
--
Nibble 1
Nibble 2
function code
--
node ID
The COB ID consists of the Function code / Predefined Connectionset ( page 356) and the node ID.
Example:
Communication object = TPDO1 (TX)
Node number of the device = 0x020 = 32
Calculation:
Function code for the communication object TPDO1 = 0x03
Significance of the function code in the 11-bit COB ID = 0x03 0x80 = 0x180
Add the node number (0x020) the COB ID is: 0x1A0
1
--
0x03 = 3
0x020 = 32
355
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>
Function code / Predefined Connectionset

9966
In the "CANopen Predefined Connectionset" some function codes are predefined.

When using the predefined connectionset you can operate a CANopen network of up to
127 participants without the risk of a double assignment of COB IDs.
Broadcast or multicast messages:
Function code
[hex]
COB ID [hex]
NMT
000
SYNC
080
1005, 1006, 1007, 1028
TIME
100
1012, 1013
Function code
[hex]
COB ID [hex]
Related parameter objects [hex]
EMERGENCY
080 + node ID
1014, 1015
TPDO1 (TX)
180 + node ID
1800
RPDO1 (RX)
20016 + node ID
1400
TPDO2 (TX)
280 + node ID
1801
RPDO2 (RX)
30016 + node ID
1401
TPDO3 (TX)
380 + node ID
1802
RPDO3 (RX)
400 + node ID
1402
TPDO4 (TX)
480 + node ID
1803
RPDO4 (RX)
500 + node ID
1403
Default SSDO (TX)
58016 + node ID
1200
Default CSDO (RX)
60016 + node ID
1280
NMT Error Control
70016 + node ID
1016, 1017
Communication object
Related parameter objects [hex]
Point-to-point messages:
Communication object
TX = slave sends to master

RX = slave receives from master
356
SSDO = server SDO

CSDO = client SDO
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>
SDO command bytes

9968
Structure of an SDO message:

COB-ID
DLC
Byte 1
XXX
Command
Byte 2
Byte 3
Index
Byte 4
Byte 5
Sub index
Byte 6
Byte 7
Byte 8
Data
depending on the data to be transmitted
An SDO COB ID consists of:
CANopen
Node ID
COB ID SDO
TX: 0x580 + node ID
1127
RX: 0x600 + node ID

TX = slave sends to master
RX = slave receives from master
DLC = Data Length Code = in CANopen the number of the data bytes in a message.
For SDO: DLC = 8
SDO command bytes:
Command
hex | dec
Message
21
33
request
more than 4 bytes
send data to slave
22
34
request
14 bytes
send data to slave
23
35
request
4 bytes
send data to slave
27
39
request
3 bytes
send data to slave
2B
43
request
2 bytes
send data to slave
2F
47
request
1 byte
send data to slave
40
64
request
---
42
66
response
14 bytes
send data from slave to master
43
67
response
4 bytes
47
71
response
3 bytes
4B
75
response
2 bytes
4F
79
response
1 byte
60
96
response
---
80
128
response
4 bytes
Data length
Description
request data from slave
data transfer ok:

send confirmation of receipt from slave to master
data transfer failed
send abort message from slave to master
chapter SDO abort code ( page 358)
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>
SDO abort code

9970
The SDO abort code is NOT part of the emergency message!

Abord code
[hex]
Description
0503 0000
toggle bit not alternated
0504 0000
SDO protocol timed out
0504 0001
client/server command specifier not valid or unknown
0504 0002
invalid block size (block mode only)
0504 0003
invalid sequence number (block mode only)
0504 0004
CRC error (block mode only)
0504 0005
out of memory
0601 0000
unsupported access to an object
0601 0001
attempt to read a write only object
0601 0002
attempt to write a read only object
0602 0000
object does not exist in the object dictionary
0604 0041
object cannot be mapped to the PDO
0604 0042
the number and length of the objects to be mapped would exceed PDO length
0604 0043
general parameter incompatibility reason
0604 0047
general internal incompatibility in the device
0606 0000
access failed due to an hardware error
0607 0010
data type does not match, length of service parameter does not match
0607 0012
data type does not match, length of service parameter too high
0607 0013
data type does not match, length of service parameter too low
0609 0011
sub-index does not exist
0609 0030
value range of parameter exceeded (only for write access)
0609 0031
value of parameter written too high
0609 0032
value of parameter written too low
0609 0036
maximum value is less than minimum value
0800 0000
general error
0800 0020
data cannot be transferred or stored to the application
0800 0021
data cannot be transferred or stored to the application because of local control
0800 0022
data cannot be transferred or stored to the application because of the present device state
0800 0023
object dictionary dynamic generation fails or no object dictionary is present

(e.g. object dictionary is generated from file and generation fails because of an file error)
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>
9.4.2
Boot-up message
9961
After booting, the CAN participate sends the boot-up message once:
COB ID
DLC
Byte 1
hex
0x700 + node ID
0x1
0x00
dec
1 792 + node ID
The participant is now capable of communicating in the CAN network.

DLC = Data Length Code = in CANopen the number of the data bytes in a message.
For SDO: DLC = 8
Example:
The node ID of the participant is 0x7D = 125.
The COP ID of the boot-up message is: 0x77D = 1 917
Deviation:
There are devices that cannot send a [0x700 + Node ID] (these are devices that were built before
version 4 of the CANopen specification).
These devices send the following boot-up message and without status instead:
COB ID
DLC
hex
0x080 + node ID
0x0
dec
128 + node ID
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>
9.4.3
Network management (NMT)
Network management commands ........................................................................................................361

NMT state .............................................................................................................................................361
9974
360
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>
Network management commands

9962
With the following network management commands the user can influence the operating mode of
individual or all CAN participants. Structure:
COB ID
DLC
Byte 1
Byte 2
0x000
Command
Node ID
Node ID = 00 command valid for all nodes in the network at the same time
COB ID
NMT command
Description
0x000
0x01 = 01
Node ID
start_remode_node
Set the node to the "operational" state
0x000
0x02 = 02
Node ID
stop_remode_node
Set the node to the "STOPPED" state
0x000
0x80 = 128
Node ID
enter_pre-operational
Set the node to the "PRE-OPERATIONAL" state
0x000
0x81 = 129
Node ID
reset_node
Node reset
0x000
0x82 = 130
Node ID
reset_communication
Reset the CAN communication of the node
>
NMT state
9963
The status byte informs about the state of the CAN participant.
Permitted transitions:
(1) State is automatically reached at power on
(2) Internal initialisation completed node
automatically goes to PRE-OPERATIONAL
(3) NMT service "Start Remote Node"
(4) + (7) NMT service "Enter PRE-OPERATIONAL"
(5) + (8) NMT service "Stop Remote Node"
(6) NMT service "Start Remote Node"
(9)...(11) NMT service "Reset Node"
(12)...(14) NMT service "Reset Communication"
Graphics: state transitions under CANopen
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>
NMT state for CANopen master

9964
These statuses show the internal status of the CANopen master stack.
They are not defined by the CANopen specification.
State
hex | dec
Description
00
not defined
01
Master waits for a boot-up message of the node.

OR: Master waits for the expiry of the given guard time.
02
03
The master configures its slaves. To do so, all SDOs generated by the configurator are transmitted to the
slaves one after the other. Then the master changes to status 5.
05
After transmission of all SDOs to the slaves the master goes to state 5 and remains in this state. State 5 is the
normal operating state for the master.
Master waits for 300 ms.

Master requests the object 0x1000.
Then the state is set to 3.
To read the node state out of the FB:

Used function block
Node state is found here
CANx_MASTER_STATUS
output NODE_STATE
CANOPEN_GETSTATE
output MASTERSTATE
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>
NMT state for CANopen slave

9965
State
hex | dec
Description
FF
-1
The slave is reset by the NMT message "Reset Node" and automatically goes to state 1.
00
not defined
01
state = waiting for BOOTUP

After max. 2 s or immediately on reception of its boot up message the slave goes to state 2.
02
state = BOOTUP
After a delay of 0.5 s the slave automatically goes to state 3.
state = PREPARED
The slave is configured in state 3. The slave remains in state 3 as long as it has received all SDOs generated
by the configurator. It is not important whether during the slave configuration the response to SDO transfers is
abort (error) or whether the response to all SDO transfers is no error. Only the response as such received by
the slave is important not its contents.
03
If in the configurator the option "Reset node" has been activated, a new reset of the node is carried out after
transmitting the object 0x1011 sub-index 1 which then contains the value "load". The slave is then polled again
with the upload of the object 0x1000.
Slaves with a problem during the configuration phase remain in state 3 or directly go to an error state
(state > 5) after the configuration phase.
state = PRE-OPERATIONAL
A node always goes to state 4 except for the following cases:
04
it is an "optional" slave and it was detected as non available on the bus (polling for object 0x1000) OR:
the slave is present but reacted to the polling for object 0x1000 with a type in the lower 16 bits other than
expected by the configurator.
state = OPERATIONAL
State 5 is the normal operating state of the slave: [Normal Operation].
05
If the master was configured to [Automatic startup], the slave starts in state 4 (i.e. a "start node" NMT message
is generated) and the slave goes automatically to state 5.
If the flag GLOBAL_START was set, the master waits until all slaves are in state 4. All slaves are then started
with the NMT command [Start All Nodes].
61
97
62
98
A node goes to state 97 if it is optional (optional device in the CAN configuration) and has not reacted to the
SDO polling for object 0x1000.
If the slave is connected to the network and detected at a later point in time, it is automatically started. To do
so, you must have selected the option [Automatic startup] in the CAN parameters of the master.
A node goes to state 98 if the device type (object 0x1000) does not correspond to the configured type.
In case of a nodeguarding timeout the slave is set to state 99.
63
99
As soon as the slave reacts again to nodeguard requests and the option [Automatic startup] is activated, it is
automatically started by the master. Depending on the status contained in the response to the nodeguard
requests, the node is newly configured or only started.
To start the slave manually it is sufficient to use the method [NodeStart].
Nodeguard messages are transmitted to the slave ...

if the slave is in state 4 or higher AND
if nodeguarding was configured.
To read the node state out of the FB:
Used function block
Node state is found here
CANx_MASTER_STATUS
CANx_SLAVE_STATUS
output NODE_STATE
CANOPEN_GETSTATE
output NODESTATE
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>
CANopen status of the node

1973
Node status according to CANopen (with these values the status is also coded by the node in the
corresponding messages).
Status
hex | dec
CANopen status:
Description
00
BOOTUP
BOOTUP message of the node
04
STOPPED
The node is in the status STOPPED. There is no exchange of data and the node
cannot be configured, either.
05
OPERATIONAL
The node is in the status OPERATIONAL and participates in the normal exchange
of data.
7F
127
PRE-OPERATIONAL
The node is in the status PRE-OPERATIONAL and can be configured by the

master.
If nodeguarding active: the most significant status bit toggles between the messages.
Read the node status from the function block:
Function block used
Node status is found here
CANx_MASTER_STATUS
Structure element LAST_STATE from the array NODE_STATE_SLAVE
CANx_SLAVE_STATUS
Output NODE_STATE
CANOPEN_GETSTATE
Output LASTNODESTATE
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>
9.4.4
CANopen error code
Emergency messages ..........................................................................................................................366

Overview CANopen error codes ...........................................................................................................366
Object 0x1001 (error register) ..............................................................................................................368
9967
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Emergency messages
9973
Device errors in the slave or problems in the CAN bus trigger emergency messages:
COB ID
DLC
0x80 +
node ID
Byte 0
Byte 1
error code
Byte 2
object
0x1001
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
device-specific
>
Overview CANopen error codes

545
Error Code (hex)
366
Meaning
00xx
Reset or no error
10xx
Generic error
20xx
Current
21xx
Current, device input side
22xx
Current inside the device
23xx
Current, device output side
30xx
Voltage
31xx
Mains voltage
32xx
Voltage inside the device
33xx
Output voltage
40xx
Temperature
41xx
Ambient temperature
42xx
Device temperature
50xx
Device hardware
60xx
Device software
61xx
Internal software
62xx
User software
63xx
Data set
70xx
Additional modules
80xx
Monitoring
81xx
Communication
8110
CAN overrun-objects lost
8120
CAN in error passiv mode
8130
Life guard error or heartbeat error
8140
Recovered from bus off
8150
Transmit COB-ID collision
82xx
Protocol error
8210
PDO not processed due to length error
8220
PDO length exceeded
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Error Code (hex)
Meaning
90xx
External error
F0xx
Additional functions
FFxx
Device specific
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Object 0x1001 (error register)

8547
This object reflects the general error state of a CANopen device. The device is to be considered as
error free if the object 0x1001 signals no error any more.
Bit
Meaning (Bedeutung)
generic error
current
voltage
temperature
communication error
device profile specific
reserved always 0
manufacturer specific
For an error message more than one bit in the error register can be set at the same time.
Example: CR2033, message "wire break" at channel 2 ( installation manual of the device):
COB-ID
0x80 +
node ID
DLC
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
00
FF
81
10
00
00
00
00
Error code = 0xFF00

Error register = 0x81 = 0b1000 0001, thus it consists of the following errors:
generic error
manufacturer specific
Concerned channel = 0x0010 = 0b0000 0000 0001 0000 = wire break channel 2
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10
Glossary of Terms
A
Address
This is the "name" of the bus participant. All
participants need a unique address so that the
signals can be exchanged without problem.
>
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'.
>
Application software
CAN stack
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.
CAN stack = software component that deals

with processing CAN messages.
>
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
>
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
>
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.
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
>
>
Bus
Serial data transmission of several participants
on the same cable.
CiA DS 405
DS = Draft Standard
CANopen specification of the interface to
programmable controllers (IEC 61131-3)
>
>
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Glossary of Terms
Depending on event-controlled branchings in

the program this can take longer or shorter.
CiA DS 406
DS = Draft Standard
CANopen device profile for encoders
>
>
CiA DS 407
Data type
DS = Draft Standard
CANopen application profile for local public
transport
Depending on the data type, values of different

sizes can be stored.
Data
type
min. value
max. value
size in the
memory
Clamp 15
BOOL
FALSE
TRUE
8 bits
In vehicles clamp 15 is the plus cable switched

by the ignition lock.
BYTE
255
8 bits
WORD
65 535
16 bits
DWORD
4 294 967 295
32 bits
-128
127
8 bits
>
>
COB ID
SINT
COB = Communication Object

ID = Identifier
ID of a CANopen communication object
Corresponds to the identifier of the CAN
message with which the communication
project is sent via the CAN bus.
>
CODESYS
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
CODESYS
USINT
255
8 bits
INT
-32 768
32 767
16 bits
UINT
65 535
16 bits
DINT
-2 147 483 648
2 147 483 647
32 bits
UDINT
4 294 967 295
32 bits
REAL
-3.402823466
1038
3.402823466 1038
32 bits
ULINT
18 446 744 073 709 551 615
64 Bbts
STRING
number of
char. + 1
>
DC
Direct Current
>
>
Diagnosis
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 2.0
value 2.1
value 2.2
value 3.0
value 3.1
value 3.2
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.
370
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,
value -1.3
short circuit,
value outside range.
value -2.3
For
value 3.3diagnosis, 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.
>
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Glossary of Terms
Dither
Embedded software
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.
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.
>
>
DLC
EMC
Data Length Code = in CANopen the number

of the data bytes in a message.
For SDO: DLC = 8
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.
>
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.
>
EMCY
abbreviation for emergency
Message in the CANopen protocol with which
errors are signalled.
>
>
DTC
Ethernet
DTC = Diagnostic Trouble Code = error code

In the protocol J1939 faults and errors well be
managed and reported via assigned numbers
the DTCs.
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.
>
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.
>
>
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
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Glossary of Terms
performed by one or more safety-related

systems.
>
Heartbeat
FiFo
FIFO (First In, First Out) = Operating principle
of the stack memory: The data packet that was
written into the stack memory first, will also be
read first. Each identifier has such a buffer
(queue).
>
Flash memory
Flash ROM (or flash EPROM or flash memory)
combines the advantages of semiconductor
memory and hard disks. Similar to a hard disk,
the data are however written and deleted
blockwise in data blocks up to 64, 128, 256,
1024, ... bytes at the same time.
Advantages of flash memories
The stored data are maintained even if

there is no supply voltage.
Due to the absence of moving parts, flash

is noiseless and insensitive to shocks and
magnetic fields.
Disadvantages of flash memories
A storage cell can tolerate a limited

number of write and delete processes:
Multi-level cells: typ. 10 000 cycles
Single level cells: typ. 100 000 cycles
Given that a write process writes memory
blocks of between 16 and 128 Kbytes at
the same time, memory cells which require
no change are used as well.
>
FRAM
FRAM, or also FeRAM, means Ferroelectric
Random Access Memory. The storage
operation and erasing operation is carried out
by a polarisation change in a ferroelectric
layer.
Advantages of FRAM as compared to
conventional read-only memories:
non-volatile,
compatible with common EEPROMs, but:
access time approx. 100 ns,
nearly unlimited access cycles possible.
>
The participants regularly send short signals.

In this way the other participants can verify if a
participant has failed.
>
HMI
HMI = Human Machine Interface
>
I
ID
ID = Identifier
Name to differentiate the devices / participants
connected to a system or the message
packets transmitted between the participants.
>
IEC 61131
Standard: Basics of programmable logic
controllers
Part 1: General information
Part 2: Production equipment requirements
and tests
Part 3: Programming languages
Part 5: Communication
Part 7: Fuzzy Control Programming
>
IEC user cycle

IEC user cycle = PLC cycle in the CODESYS
>
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
372
2015-08-27
Glossary of Terms
is written in 4 decimal values, e.g.

127.215.205.156.
>
ISO 11898
MAC-ID
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
MAC = Manufacturers 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".
>
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
>
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.
>
>
ISO 16845
Standard: Road vehicles Controller area
network (CAN) Conformance test plan
MMI
HMI ( page 372)
>
>
J
J1939
SAE J1939
>
L
LED
LED = Light Emitting Diode.
Light emitting diode, also called luminescent
diode, an electronic element of high coloured
luminosity at small volume with negligible
power loss.
>
Link
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
>
A link is a cross-reference to another part in

the document or to an external document.
>
LSB
Least Significant Bit/Byte
NMT
NMT = Network Management = (here: in the
CANopen protocol).
>
373
2015-08-27
Glossary of Terms
The NMT master controls the operating states

of the NMT slaves.
>
Node
This means a participant in the network.
>
Node Guarding
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.
>
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.
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).
>
>
OPC
PDU
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.
PDU = Protocol Data Unit.

The PDU is an item of the CAN protocol
SAE J1939. PDU indicates a part of the
destination or source address.
>
Operational
Operating state of a CANopen participant. In
this mode SDOs, NMT commands and
PDOs can be transferred.
>
P
PC card
PCMCIA card
>
374
>
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 = PDU format (PF) + PDU source (PS)
The parameter group number is an item of the
CAN protocol SAE J1939. PGN collects
the address parts PF and PS.
2015-08-27
Glossary of Terms
>
Pictogram
PWM
Pictograms are figurative symbols which

convey information by a simplified graphic
representation. ( chapter What do the symbols
and formats mean? ( page 7))
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.
>
PID controller
The PID controller
(proportionalintegralderivative controller)
consists of the following parts:
P = proportional part
I = integral part
D = differential part (but not for the controller
CR04nn, CR253n).
>
PLC configuration
Part of the CODESYS user interface.
The programmer tells the programming
system which hardware is to be
programmed.
> CODESYS loads the corresponding
libraries.
> Reading and writing the periphery states
(inputs/outputs) is possible.
>
Pre-Op
Pre-Op = PRE-OPERATIONAL mode.
Operating status of a CANopen participant.
After application of the supply voltage each
participant automatically passes into this state.
In the CANopen network only SDOs and
NMT commands can be transferred in this
mode but no process data.
>
Process image
Process image is the status of the inputs and
outputs the PLC operates with within one
cycle.
At the beginning of the cycle the PLC

reads the conditions of all inputs into the
process image.
During the cycle the PLC cannot detect
changes to the inputs.
During the cycle the outputs are only

changed virtually (in the process image).
At the end of the cycle the PLC writes the

virtual output states to the real outputs.
>
>
R
ratiometric
Measurements can also be performed
ratiometrically. If the output signal of a sensor
is proportional to its suppy voltage then via
ratiometric measurement (= measurement
proportional to the supply) the influence of the
supply's fluctuation can be reduced, in ideal
case it can be eliminated.
analogue input
>
RAW-CAN
RAW-CAN means the pure CAN protocol
which works without an additional
communication protocol on the CAN bus (on
ISO/OSI layer 2). The CAN protocol is
international defined according to ISO 11898-1
and garantees in ISO 16845 the
interchangeability of CAN chips in addition.
>
remanent
Remanent data is protected against data loss
in case of power failure.
The runtime system for example
automatically copies the remanent data to a
flash memory as soon as the voltage supply
falls below a critical value. If the voltage supply
is available again, the runtime system loads
the remanent data back to the RAM memory.
The data in the RAM memory of a controller,
however, is volatile and normally lost in case of
power failure.
>
ro
RO = read only for reading only
Unidirectional data transmission: Data can only
be read and not changed.
>
RTC
RTC = Real Time Clock
Provides (batter-backed) the current date and
375
2015-08-27
Glossary of Terms
time. Frequent use for the storage of error

message protocols.
>
Runtime system
Basic program in the device, establishes the
connection between the hardware of the
device and the application program.
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.
>
>
rw
Self-test
RW = read/ write
Bidirectional data transmission: Data can be
read and also changed.
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.
>
>
SAE J1939
Slave
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
Passive participant on the bus, only replies on

request of the master. Slaves have a clearly
defined and unique address in the bus.
>
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.
376
>
stopped
Operating status of a CANopen participant. In
this mode only NMT commands are
transferred.
>
Symbols
Pictograms are figurative symbols which
convey information by a simplified graphic
representation. ( chapter What do the symbols
and formats mean? ( page 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
2015-08-27
Glossary of Terms
assumes the task of data protection, data flow

control and takes measures in the event of
data loss. (compare: UDP)
>
Template
A template can be filled with content.
Here: A structure of pre-configured software
elements as basis for an application program.
>
U
UDP
UDP (User Datagram Protocol) is a minimal
connectionless network protocol which belongs
to the transport layer of the internet protocol
family. The task of UDP is to ensure that data
which is transmitted via the internet is passed
to the right application.
At present network variables based on CAN
and UDP are implemented. The values of the
variables are automatically exchanged on the
basis of broadcast messages. In UDP they are
implemented as broadcast messages, in CAN
as PDOs.
According to the protocol, these services are
unconfirmed data transmission: it is not
checked whether the receiver receives the
message. Exchange of network variables
corresponds to a "1 to n connection"
(1 transmitter to n receivers).
>
Use, intended
Use of a product in accordance with the
information provided in the instructions for use.
>
W
Watchdog
In general the term watchdog is used for a
component of a system which watches the
function of other components. If a possible
malfunction is detected, this is either signalled
or suitable program branchings are activated.
The signal or branchings serve as a trigger for
other co-operating system components to
solve the problem.
>
wo
WO = write only
Unidirectional data transmission: Data can only
be changed and not read.
377
Index
11
Index
A
About this manual ....................................................................................5
Access the device with SSH ................................................................119
Access the device with Telnet .............................................................119
Access to the Linux runtime system ....................................................118
Activate network variable support .......................................................100
Activate the access protection for an IEC project .................................90
Add additional libraries ........................................................................114
Address ................................................................................................369
Address assignment in Ethernet networks ..........................................345
Analogue inputs .....................................................................................21
Analogue video input .............................................................................23
Annex ...................................................................................................344
Application program ...............................................................................25
Application software.............................................................................369
Architecture..........................................................................................369
Audio signalling device (buzzer) ............................................................15
Automatically restore system files .........................................................82
B
Backup
Save the system files .................................................................................... 68
Save the system information......................................................................... 67
Baud.....................................................................................................369
Binary inputs ..........................................................................................20
Binary output..........................................................................................22
Boot loader ..........................................................................................369
Boot-up message.................................................................................359
Bus .......................................................................................................369
BUZZER_CLICK ..................................................................................194
BUZZER_ON .......................................................................................195
C
Calibration of the touch screen............................................................141
Camera visualisation .............................................................................17
CamsOffOnPageSwitch.......................................................................173
CAN ...............................................................................................22, 369
CAN / CANopen
errors and error handling............................................................................. 343
CAN stack ............................................................................................369

CAN test
Receive data.................................................................................................. 63
Transmit data................................................................................................. 62
CAN_ENABLE .....................................................................................232
CAN_RECOVER .................................................................................233
CAN_REMOTE_REQUEST ................................................................254
CAN_REMOTE_RESPONSE..............................................................256
CAN_RX ..............................................................................................238
CAN_RX_ENH.....................................................................................239
CAN_RX_ENH_FIFO ..........................................................................241
CAN_RX_RANGE ...............................................................................243
CAN_RX_RANGE_FIFO .....................................................................245
CAN_SETDOWNLOADID ...................................................................234
CAN_STATUS .....................................................................................235
CAN_TX ...............................................................................................248
CAN_TX_ENH .....................................................................................249
378
2015-08-27
CANopen tables
CAN_TX_ENH_CYCLIC ......................................................................251
CANopen
Tables .......................................................................................................... 353
CANopen error code ............................................................................365

CANopen status of the node ...............................................................364
CANopen tables...................................................................................353
CANOPEN_ENABLE ...........................................................................260
CANOPEN_GETBUFFERFLAGS .......................................................262
CANOPEN_GETEMCYMESSAGES...................................................300
CANOPEN_GETERRORREGISTER ..................................................302
CANOPEN_GETGUARDHBERRLIST ................................................295
CANOPEN_GETGUARDHBSTATSLV ...............................................297
CANOPEN_GETNMTSTATESLAVE ..................................................269
CANOPEN_GETODCHANGEDFLAG ................................................273
CANOPEN_GETSTATE ......................................................................264
CANOPEN_GETSYNCSTATE ............................................................291
CANOPEN_NMTSERVICES ...............................................................270
CANOPEN_READOBJECTDICT ........................................................274
CANOPEN_SDOREAD .......................................................................278
CANOPEN_SDOREADBLOCK ...........................................................280
CANOPEN_SDOREADMULTI ............................................................282
CANOPEN_SDOWRITE .....................................................................284
CANOPEN_SDOWRITEBLOCK .........................................................286
CANOPEN_SDOWRITEMULTI...........................................................288
CANOPEN_SENDEMCYMESSAGE ..................................................304
CANOPEN_SETSTATE ......................................................................266
CANOPEN_SETSYNCSTATE ............................................................293
CANOPEN_WRITEOBJECTDICT ......................................................275
Characteristics of the pressure point ...................................................140
CiA .......................................................................................................369
CiA DS 304 ..........................................................................................369
CiA DS 401 ..........................................................................................369
CiA DS 402 ..........................................................................................369
CiA DS 403 ..........................................................................................369
CiA DS 404 ..........................................................................................369
CiA DS 405 ..........................................................................................369
CiA DS 406 ..........................................................................................370
CiA DS 407 ..........................................................................................370
Clamp 15..............................................................................................370
COB ID.................................................................................................370
CODESYS ...........................................................................................370
CODESYS programming manual ............................................................7
CODESYS visualisation elements.......................................................129
Complete and transmit the project (global network variables) ............101
Components of the runtime system.......................................................30
Configuration
camera image .............................................................................................. 143
Configuration of the camera image .....................................................143

Configuration of the inputs and outputs...............................................122
Configure camera image .....................................................................151
Configure CAN interfaces ......................................................................87
Configure input ....................................................................................123
Configure IP parameter of ethernet interface ........................................34
Configure output ..................................................................................123
Configure the camera bitmap in the dialogue [Bitmap Configuration] 144
Configure the controller .........................................................................86
Configure the device as CANopen master ............................................87
Configure the device as CanSlave ........................................................88
Configure the IP parameter manually....................................................36
Configuring functions of operating elements .......................................132
2015-08-27
Index
Control buzzer .....................................................................................135

Control status LED and key LEDs .......................................................135
Copy files with FTP ..............................................................................120
Copy the files with SCP .......................................................................120
COPY_PDM_TO_USB ........................................................................189
COPY_USB_TO_PDM ........................................................................190
Copyright..................................................................................................6
Create CODESYS project manually ......................................................85
Create PLC program............................................................................113
Create visualisation .............................................................................131
Creating application program ..............................................................112
CSV file ................................................................................................370
CurrentVisuDisplayed ..........................................................................206
CURSOR_POSITION ..........................................................................201
Cycle time ............................................................................................370
FocusFrameImagePath .......................................................................202
Fonts
Load the font .................................................................................................. 73
Remove the font ............................................................................................ 73
FRAM ...................................................................................................372
Function code / Predefined Connectionset .........................................356
Function elements
CANopen ..................................................................................................... 258
CANopen emergency .................................................................................. 299
CANopen guarding ...................................................................................... 294
CANopen network management ................................................................. 268
CANopen object directory ........................................................................... 272
CANopen SDOs .......................................................................................... 277
CANopen status .......................................................................................... 259
CANopen SYNC .......................................................................................... 290
Control LED + buzzer .................................................................................. 193
RAW-CAN (Layer 2) .................................................................................... 230
RAW-CAN remote ....................................................................................... 253
RAW-CAN status ......................................................................................... 231
receive RAW-CAN data .............................................................................. 237
receive SAE J1939 ...................................................................................... 320
SAE J1939 ................................................................................................... 306
SAE J1939 diagnosis .................................................................................. 333
SAE J1939 request ..................................................................................... 315
SAE J1939 status ........................................................................................ 307
transmit RAW-CAN data ............................................................................. 247
transmit SAE J1939..................................................................................... 325
D
Data type..............................................................................................370
DC ........................................................................................................370
Device configuration ..............................................................................38
Diagnosis .................................................................................... 343, 370
Diagnosis and error handling...............................................................342
Display ...................................................................................................14
Display elements ...................................................................................14
Display options for analogue cameras ................................................147
Display the I/O configuration ...............................................................123
Dither ...................................................................................................371
DLC ......................................................................................................371
Download the update file .......................................................................30
DRAM ..................................................................................................371
Drawing area .......................................................................................125
DTC......................................................................................................371
E
ECU .....................................................................................................371
EDS-file ................................................................................................371
Embedded software .............................................................................371
EMC .....................................................................................................371
EMCY...................................................................................................371
Emergency messages .........................................................................366
Enter the recovery mode .......................................................................31
Enter the setup mode ............................................................................39
Ethernet .........................................................................................23, 371
EUC .....................................................................................................371
Example
Capture mode .............................................................................................. 148
edit controls in CR1081 ............................................................................... 134
INPUT_INT with 3 input elements .............................................................. 213
Overlay mode .............................................................................................. 149
Example process for response to an error message ..........................343

Exit setup, reboot device .......................................................................82
EXITPLC_START_APPLICATION ......................................................228
F
Fault .....................................................................................................343
FB, FUN, PRG in CODESYS ................................................................93
FiFo ......................................................................................................372
First steps ..............................................................................................91
Flash memory ......................................................................................372
FOCUSED_ELEMENT ........................................................................200
G
General notes ......................................................................................138
GET_DEVICE_SERIAL .......................................................................176
GET_ETHERNET ................................................................................177
GET_VERSIONS .................................................................................179
H
Hardware ...............................................................................................13
Heartbeat .............................................................................................372
History of the instructions ........................................................................8
HMI ......................................................................................................372
How is this documentation structured? ...................................................8
I
ID .........................................................................................................372
IEC 61131 ............................................................................................372
IEC user cycle ......................................................................................372
ifm function elements...........................................................................154
ifm function elements for the device CR1201 .....................................164
ifm libraries for the device CR1201 .....................................................155
ifm target package for CODESYS .........................................................26
ifm weltweit ifm worldwide ifm lchelle internationale.................384
Indicate the failure of an Ethernet camera ..........................................144
Information concering the device ..........................................................12
INIT_VAR_RETAIN_DINT ...................................................................218
INIT_VAR_RETAIN_INT .....................................................................220
INIT_VAR_RETAIN_REAL ..................................................................222
INPUT ..................................................................................................166
Input functions for touch screens ........................................................139
INPUT_DINT........................................................................................207
INPUT_INT ..........................................................................................210
INPUT_REAL.......................................................................................215
Inputs (technology) ................................................................................19
379
Index
Insert an analogue camera image in a CODESYS project .................150

Insert an Ethernet camera image in a CODESYS project ..................143
Install and set up mobile camera.........................................................142
Install fonts (true type fonts) ................................................................136
Install the CODESYS programming system..........................................28
Install the device-specific target package .............................................28
Installation ..............................................................................................27
Instructions ..........................................................................................372
Integrate libraries .................................................................................101
Intended use ........................................................................................372
Interfaces ...............................................................................................18
Internal parameters............................................................. 209, 212, 217
IP address............................................................................................372
ISO 11898 ............................................................................................373
ISO 11992 ............................................................................................373
ISO 16845 ............................................................................................373
J
J1939 ...................................................................................................373
J1939_DM1RX ....................................................................................334
J1939_DM1TX .....................................................................................336
J1939_DM1TX_CFG ...........................................................................339
J1939_DM3TX .....................................................................................341
J1939_ENABLE ...................................................................................308
J1939_GETDABYNAME .....................................................................310
J1939_NAME.......................................................................................312
J1939_RX ............................................................................................321
J1939_RX_FIFO ..................................................................................322
J1939_RX_MULTI ...............................................................................324
J1939_SPEC_REQ .............................................................................316
J1939_SPEC_REQ_MULTI ................................................................318
J1939_STATUS ...................................................................................314
J1939_TX.............................................................................................326
J1939_TX_ENH ...................................................................................327
J1939_TX_ENH_CYCLIC ...................................................................329
J1939_TX_ENH_MULTI ......................................................................331
K
Key assignment in recovery mode ........................................................30
Key functionality.....................................................................................41
Key LEDs ...............................................................................................15
KEY_CLICK .........................................................................................196
KEY_MAPPING ...................................................................................174
Keywords for edit controls ...................................................................133
L
LED ......................................................................................................373
Libraries ...............................................................................................110
Library ifm_CANopen_NT_Vxxyyzz.LIB..............................................161
Library ifm_CR1201_Vxxyyzz.LIB .......................................................156
Library ifm_J1939_NT_Vxxyyzz.LIB ...................................................162
Library ifm_NetVarLib_NT_Vxxyyzz.LIB .............................................163
Library ifm_PDM_input_V01yyzz.LIB ..................................................159
Library ifm_PDM360NG_linux_syscall_asynch_V02yyzz.LIB ............158
Library ifm_PDM360NG_special_V02yyzz.LIB ...................................157
Library ifm_PDM360NG_USB_LL_V02yyzz.LIB.................................159
Library ifm_PDM360NG_USB_Vxxyyzz.lib .........................................158
Library ifm_PDMng_util_Vxxyyzz.LIB .................................................157
Library ifm_RAWCan_NT_Vxxyyzz.LIB ..............................................160
380
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CANopen tables
Limitations for program and data memories ..........................................16

Limitations for visualisations ................................................................128
Link ......................................................................................................373
LOAD_SPLASH_SCREEN..................................................................171
LSB ......................................................................................................373
M
MAC-ID ................................................................................................373
Master ..................................................................................................373
Mirror the camera image at its horizontal axis ........................... 145, 151
Misuse..................................................................................................373
MMI ......................................................................................................373
Movement of elements ........................................................................130
MRAM ..................................................................................................373
MSB .....................................................................................................373
N
Navigation key .......................................................................................46
Network management (NMT) ..............................................................360
Network management commands.......................................................361
Network variables via UDP ....................................................................95
NMT .....................................................................................................373
NMT state ............................................................................................361
NMT state for CANopen master ..........................................................362
NMT state for CANopen slave .............................................................363
Node ....................................................................................................374
Node Guarding ....................................................................................374
NORM_DINT .......................................................................................182
NORM_REAL ......................................................................................183
Note the cycle time! .............................................................................110
Note! ......................................................................................................10
Notes..............................................................................................30, 123
Notes on visualisations ........................................................................125
Notizen Notes Notes .......................................................................383
Numbering of the operating elements ........................................ 132, 133
O
Obj / object ...........................................................................................374
Object 0x1001 (error register) .............................................................368
Object directory....................................................................................374
OBV .....................................................................................................374
OPC .....................................................................................................374
Open the configuration dialogue ................................................ 144, 151
Operating elements ...............................................................................15
Operating instructions............................................................................40
Operating modes ...................................................................................20
Operating modes of the inputs / outputs .............................................352
Operating sequence ............................................................................111
Operating states ....................................................................................26
Operation
Enter a text using the on-screen keyboard ................................................... 45
Navigate in the file directory .......................................................................... 44
Navigate in the setup menu .......................................................................... 42
Navigate within a menu screen ..................................................................... 43
Operational ..........................................................................................374
Output parameters ...............................................................................171
Outputs (technology) .............................................................................22
OverlayVisu .........................................................................................205
Overvi ew CANopen error codes ....................................................366
2015-08-27
Index
Overview
documentation modules for ecomatmobile devices ....................................... 6
Overview CANopen error codes..........................................................366
P
PC card ................................................................................................374
PCMCIA card .......................................................................................374
PDF
Navigating in the PDF file ............................................................................. 77
PDF file viewer.......................................................................................76

PDF-Viewer
Display extended menu................................................................................. 79
Display PDF file in full-screen mode ............................................................. 78
Display the tabel of content of the PDF file .................................................. 80
PDM .....................................................................................................374
PDM_PAGECONTROL .......................................................................203
PDO .....................................................................................................374
PDU .....................................................................................................374
PES ......................................................................................................374
PGN .....................................................................................................374
Pictogram .............................................................................................375
Pictograms ...............................................................................................7
PID controller .......................................................................................375
PLC configuration ................................................................................375
PointOfContact ....................................................................................225
Possible operating modes inputs/outputs ...........................................352
POUs
Adjust analouge and digital values ............................................................. 181
Help functions .............................................................................................. 226
Manage visualisation ................................................................................... 198
Manage, read and write the USB memory device ...................................... 185
Read device information ............................................................................. 175
Setup the device .......................................................................................... 165
Use touch screen functions ......................................................................... 224
Predefined connectionset ....................................................................356

Pre-Op .................................................................................................375
Presets .................................................................................................123
Previous knowledge...............................................................................10
Process image .....................................................................................375
Process touch screen inputs ...............................................................138
Processing user input ..........................................................................132
Programming .........................................................................................83
Programming interfaces ......................................................................115
Programming notes for CODESYS projects .........................................92
Programming system CODESYS 2.3 ....................................................26
Provide error messages of the camera ...................................... 145, 152
PWM ....................................................................................................375
Q
Quit the recovery mode .........................................................................37
R
ratiometric ............................................................................................375
RAW-CAN ............................................................................................375
Real-time clock (RTC) ...........................................................................17
remanent..............................................................................................375
Resample / scale image ......................................................................125
Response to system errors..................................................................343
Restore
Restore the system files ................................................................................ 70
Retain variables .....................................................................................94

ro ..........................................................................................................375
Rotate the camera image ........................................................... 144, 152
RTC......................................................................................................375
Runtime system .............................................................................25, 376
Runtime system update via USB memory device .................................32
Runtime system update via web browser .............................................33
rw .........................................................................................................376
S
SAE J1939 .......................................................................... 165, 306, 376
Safety instructions ...................................................................................9
Safety instructions about Reed relays ...................................................21
Save changed values ................................................................. 146, 152
Save project in the device ...................................................................121
SD card ................................................................................................376
SDO .....................................................................................................376
SDO abort code ...................................................................................358
SDO command bytes ..........................................................................357
Select analogue camera ......................................................................151
Select first target system and create project .........................................98
Self-test ................................................................................................376
Set communication parameters.............................................................99
Set the display mode ...........................................................................151
Set the IP address of the Ethernet camera .........................................144
Set the target system .............................................................................84
SET_BOOTUP_BACKLIGHT ..............................................................170
SET_ETHERNET ................................................................................168
Setting-up the programming interface .................................................116
Setup
Backup / Restore software components ....................................................... 66
Calibrate the touchscreen ............................................................................. 75
Change the system password ....................................................................... 57
Configure the Ethernet interface ................................................................... 51
Configure the IP parameters automatically .................................................. 52
Configure the IP parameters manually ......................................................... 51
Define the splash screen............................................................................... 64
Display system information ........................................................................... 59
Enable / Disable password protection .......................................................... 58
Enter the password for full access to the setup menu ................................. 48
Format the internal storage ........................................................................... 74
Manage fonts ................................................................................................. 72
More functions ............................................................................................... 60
Reboot the device ......................................................................................... 61
Safely remove the USB device ..................................................................... 71
Set the CAN interfaces .................................................................................. 53
Set the display brightness ............................................................................. 55
Set the network services ............................................................................... 56
Set the password protection ......................................................................... 57
Set the real-time clock (RTC) ........................................................................ 54
Setup menu with restricted access rights ..................................................... 48
start screen .................................................................................................... 49
Start the application....................................................................................... 81
System settings ............................................................................................. 50
Test input elements ....................................................................................... 65
Test the CAN interfaces ................................................................................ 62
Working with enabled password protection .................................................. 47
Setup and operate analogue cameras ................................................147

Setup and operate Ethernet cameras .................................................143
Slave ....................................................................................................376
Software components ............................................................................25
Software description ..............................................................................24
381
Index
Specifications of the splash screen image ............................................64

SPEED_UP_VISU_TASK....................................................................199
Start-up behaviour of the controller .......................................................11
Status-LED ............................................................................................14
stopped ................................................................................................376
Structure of CANopen messages ........................................................354
Structure of the COB ID.......................................................................355
Supported types of variables .................................................................94
Switch between colour and greyscale representation .........................144
Switch the camera on/off .....................................................................145
Symbol files .........................................................................................137
Symbols ...............................................................................................376
Synchronize the IP parameters with DHCP sever ................................35
System description ................................................................................12
System flags ....................................................................... 109, 346, 348
error flags .................................................................................................... 351
function keys................................................................................................ 349
Inputs and Outputs ...................................................................................... 348
navigation keys ............................................................................................ 350
Status LED .................................................................................................. 348
system ......................................................................................................... 347
System variable ...................................................................................376

SYSTEM_ASYNCH .............................................................................229
T
Target...................................................................................................376
TCP ......................................................................................................376
Template ..............................................................................................377
Test transmission of the global network variables ..............................108
Texts ....................................................................................................125
TOGGLE ..............................................................................................184
Touchscreen ..........................................................................................46
TouchScreenDisable ...........................................................................172
Transmit projects .................................................................................107
U
UDP .....................................................................................................377
Update the runtime system....................................................................31
Update the runtime system of the device ..............................................29
USB........................................................................................................23
USB_STORAGE_HANDLER ..............................................................191
USB_STORAGE_MANAGER .............................................................186
USB_STORAGE_REMOVE ................................................................188
Use access protection ...........................................................................89
Use edit controls ..................................................................................133
Use of optical and acustical feedback .................................................135
Use of the Ethernet camera image in CODESYS ...............................146
Use of touch screen functions .............................................................138
Use the analogue camera image in CODESYS ..................................153
Use visual feedback.............................................................................140
Use visualisations ................................................................................124
Use, intended.......................................................................................377
V
Variables ................................................................................................94
VERSION .............................................................................................227
Visualisation limits ...............................................................................127
W
watchdog..................................................................................... 111, 377
382
2015-08-27
CANopen tables
Watchdog .............................................................................................377
Watchdog behaviour ............................................................................111
What do the symbols and formats mean?...............................................7
What previous knowledge is required? .................................................10
wo ........................................................................................................377
Write projects for more devices ...........................................................105
Notizen Notes Notes
12
Notizen Notes Notes
2015-08-27
CANopen tables
13
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Original programming manual

PDM360 NG 12" / Touch

Runtime system V02.03.xx

About this manual

What previous knowledge is required? ..............................................................................10

Information concering the device .......................................................................................12

Display elements ........................................................................................................................ 14

Inputs (technology) ..................................................................................................................... 19

Software description ..........................................................................................................24

Software components ................................................................................................................. 25

Install the CODESYS programming system ......................................................................28

Enter the setup mode .........................................................................................................39

Key functionality ......................................................................................................................... 41

Setup: Working with enabled password protection ..................................................................... 47

Setup: start screen .............................................................................................................49

Setup: System settings ............................................................................................................... 50

PDF file viewer ...................................................................................................................76

PDF: Navigating in the PDF file .................................................................................................. 77

Setup: Start the application ................................................................................................81

Set the target system .........................................................................................................84

Create CODESYS project manually ........................................................................................... 85

First steps ...........................................................................................................................91

Programming notes for CODESYS projects ............................................................................... 92

Configuration of the inputs and outputs ...........................................................................122

Notes ........................................................................................................................................ 123

Use visualisations ............................................................................................................124

Notes on visualisations ............................................................................................................. 125

Use of touch screen functions ..........................................................................................138

General notes ........................................................................................................................... 138

Install and set up mobile camera .....................................................................................142

Setup and operate Ethernet cameras ....................................................................................... 143

ifm function elements

ifm libraries for the device CR1201 ..................................................................................155

Library ifm_CR1201_Vxxyyzz.LIB ............................................................................................ 156

ifm function elements for the device CR1201 ..................................................................164

POUs: Setup the device ........................................................................................................... 165

POUs: Read device information ............................................................................................... 175

Diagnosis and error handling

Example process for response to an error message ................................................................ 343

CAN / CANopen: errors and error handling .....................................................................343

Address assignment in Ethernet networks ......................................................................345

System flags: system ............................................................................................................... 347

Possible operating modes inputs/outputs ........................................................................352

Structure of CANopen messages ............................................................................................. 354

Notizen Notes Notes

ifm weltweit ifm worldwide ifm lchelle internationale

About this manual

Overview: documentation modules for ecomatmobile devices

The documentation for ecomatmobile devices consists of the following modules:

Technical data in a table

Installation instructions / operating instructions

Instructions for installation, electrical installation, (commissioning*), technical data

The instructions are supplied with the device

Programming manual + online help

Description of the configuration and the functions of the device software

System manual "Know-how ecomatmobile"

Know-how about the following topics:

CODESYS programming manual

What do the symbols and formats mean?

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

Request for action

Designation of pushbuttons, buttons or indications