ISOBUS in the ecomatmobile Controller CODESYS V2.3. English _02_UK

Transcription

1 ISOBUS in the ecomatmobile Controller CODESYS V2.3 English _02_UK

2 Contents Contents 1 About this manual Copyright Overview: documentation modules for CRnnnn What devices are described in this manual? What do the symbols and formats mean? How is this documentation structured? History of the instructions (ISO) Safety instructions Please note What previous knowledge is required? System requirements Hardware Software Licensing System description Information about the device Hardware description...12 Memory allocation for ISOBUS Interface description...13 CAN: Interfaces and protocols Software description...14 Software modules for ISOBUS Configuration of the ISOBUS in the implement Unpack files from ifm USB stick to the PC / laptop Install the PerlScript interpreter Unpack and install files Install ISOBUS stack in the controller...20 Install ISOBUS stack in the controller via the ifm downloader ISOBUS mask editor Recommendation Notes Example: Mask generator Complete the project ifm_isobus-wizard...33 Convert mask objects for the CODESYS program Create a CODESYS project...36 Create a project from a template Adjust and transmit a CODESYS project Functional elements from ifm for ISOBUS ifm library for ISOBUS ifm library ifm_isobus_utaux_vxxyyzz.lib Functional elements from ifm: ISOBUS function blocks CODESYS interface ISOBUS function blocks: Initialisation of the signal table ISOBUS function blocks: Initialisation of the object pool ISOBUS function blocks: Basic functions ISOBUS function blocks: Data exchange regarding the universal terminal (VT)

3 Contents ISOBUS function blocks: Data exchange regarding the implement (WS) Glossary of Terms 86 8 Index 89 9 Notizen Notes Notes ifm weltweit ifm worldwide ifm à l échelle internationale 95 3

4 About this manual Copyright 1 About this manual Copyright... 4 Overview: documentation modules for CRnnnn... 5 What devices are described in this manual?... 5 What do the symbols and formats mean?... 6 How is this documentation structured?... 7 History of the instructions (ISO) Copyright 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, ( CAN is the property of the CiA (CAN in Automation e.v.), Germany ( CODESYS is the property of the 3S Smart Software Solutions GmbH, Germany ( DeviceNet is the property of the ODVA (Open DeviceNet Vendor Association), USA ( EtherNet/IP is the property of the ODVA EtherCAT is a registered trade mark and patented technology, licensed by Beckhoff Automation GmbH, Germany IO-Link ( is the property of the PROFIBUS Nutzerorganisation e.v., Germany ISOBUS is the property of the AEF Agricultural Industry Electronics Foundation e.v., Deutschland ( Microsoft is the property of the Microsoft Corporation, USA ( PROFIBUS is the property of the PROFIBUS Nutzerorganisation e.v., Germany ( PROFINET is the property of the PROFIBUS Nutzerorganisation e.v., Germany Windows is the property of the Microsoft Corporation, USA

5 About this manual Overview: documentation modules for CRnnnn 1.2 Overview: documentation modules for CRnnnn The documentation for this devices consists of the following modules: (Downloads from ifm's website ifm weltweit ifm worldwide ifm à l échelle internationale ( p. 95) ) Document Data sheet Contents / Description Technical data in a table Installation instructions (are supplied with the device) Instructions for installation, electrical installation, and commissioning Technical data Programming manual Functions of the setup menu of the device Creation of a CODESYS project with this device Target settings with CODESYS Programming of the device-internal PLC with CODESYS Description of the device-specific CODESYS function libraries System manual "Know-How ecomatmobile" System manual "The ISOBUS in the ifm controller" Know-how about the following topics (examples): Overview Templates and demo programs CAN, CANopen Control outputs Visualisations Overview of the files and libraries Description of the configuration and the functions of the ISOBUS software in the device 1.3 What devices are described in this manual? Technology and methods can differ from device to device. These instructions apply to the following devices (prepared for ISOBUS): ISOBUS device Basic device CODESYS programming as ClassicController CR0053 CR0033 CR0033 ClassicController CR0063 (prepared) ExtendedController CR0153 = CR integrated I/O module ExtendedController CR0163 = CR integrated I/O module (prepared) CR0033 CR0133 = CR integrated I/O module CR0133 = CR integrated I/O module CR0033 CR0033 CR0033 ExtendedController CR0253 CR0235 CR0235 ExtendedController CR0263 (prepared) CR0235 CR0235 5

6 About this manual What do the symbols and formats mean? 1.4 What do the symbols and formats mean? The following symbols or pictograms illustrate the notes in our instructions: 203 WARNING Death or serious irreversible injuries may result. CAUTION Slight reversible injuries may result. NOTICE Property damage is to be expected or may result.... Important note Non-compliance can result in malfunction or interference Information Supplementary note Request for action... Reaction, result... abc 123 0x123 0b010 "see" Cross-reference Decimal number Hexadecimal number Binary number [...] Designation of pushbuttons, buttons or indications 6

7 About this manual How is this documentation structured? 1.5 How is this documentation structured? This documentation is a combination of different types of manuals. It is for beginners and also a reference for advanced users. This document is addressed to the programmers of the applications. How to use this manual: Refer to the table of contents to select a specific subject. Using the index you can also quickly find a term you are looking for. At the beginning of a chapter we will give you a brief overview of its contents. Abbreviations and technical terms Appendix. In case of malfunctions or uncertainties please contact the manufacturer at: Contact ifm weltweit ifm worldwide ifm à l échelle internationale ( p. 95) 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: ifm weltweit ifm worldwide ifm à l échelle internationale ( p. 95) History of the instructions (ISO) What has been changed in this manual? An overview: Date Theme Change new document updated easy installation graphic software modules Maintenance Tool 7

8 Safety instructions Please note 2 Safety instructions Please note... 8 What previous knowledge is required? Please note No characteristics are warranted with the information, notes and examples provided in this manual. With the drawings, representations and examples given no responsibility for the system is assumed and no application-specific particularities are taken into account. The manufacturer of the machine/equipment is responsible for ensuring the safety of the machine/equipment. Follow the national and international regulations of the country in which the machine/installation is to be placed on the market! WARNING Non-observance of these instructions can lead to property damage or personal injury. ifm electronic gmbh does not assume any liability in this regard. The acting person must have read and understood the safety instructions and the corresponding chapters in this manual before working on and with this device. The acting person must be authorised to work on the machine/equipment. The acting person must have the qualifications and training required to perform this work. Adhere to the technical data of the devices! You can find the current data sheet on the ifm website. Note the installation and wiring information as well as the functions and features of the devices! supplied installation instructions or on the ifm website. Homepage ifm weltweit ifm worldwide ifm à l échelle internationale ( p. 95) 2.2 What previous knowledge is required? The following applies in addition to the indications in the corresponding chapter of the basic device: The following previous knowledge is required for the configuration and programming of the ISOBUS surface: knowledge of the ISOBUS technology to ISO good command of an ISOBUS mask generator software, e.g. ISO-Designer

9 System requirements Hardware 3 System requirements Hardware... 9 Software Licensing Hardware Device of the R360 controller product family with preinstalled ISOBUS: ISOBUS device Hardware version as of... ifm runtime system as of version... ClassicController CR0053 AA CR0033 V ClassicController CR0063 = CR software "TaskController" ExtendedController CR0153 = CR integrated I/O module ExtendedController CR0163 = CR integrated I/O module (in preparation) AA (in preparation) CR0033 V CR0033 V CR0033 V ExtendedController CR0253 AA CR0235 V ExtendedController CR0263 = CR software "TaskController" (in preparation) CR0235 V PC or laptop for CODESYS programming system ( system requirements CODESYS Development System V2.3) Ethernet connection between CODESYS PC/laptop and Ethernet interface of the controller ( installation instructions) 9

10 System requirements Software 3.2 Software The following software is required for the ISOBUS surface: Software CP9200 R360/SysStart/VT Client CP9201 R360/SysStart/TC Client (in preparation) Description ifm System-Startup Virtual Terminal Client Module for using the ifm ISOBUS stack and the wizard Required once per ifm customer Can be purchased separately fromifm Contains e.g.: ifm system manual CODESYS library CODESYS demo programs and templates ifm ISOBUS stack ifm ISOBUS wizard ifm System-Startup TaskController Client (in preparation) Module for using the ifm ISOBUS stack and the wizard Required once per ifm customer Only if the following devices are used: CR0063, CR0163, CR0263 Can be purchased separately fromifm ISOBUS mask generator for the operating masks on the virtual terminal (VT) Editor program, e.g.: ISO-Designer (Jetter) Mask Generator (WTK Elektronik) VT Designer (OSB AG) Required once per editor workstation Can be purchased separately or is available as freeware ifm_isobus-stack To be installed as C library in the ifm controller chapter Install ISOBUS stack in the controller ( p. 20) Is also part of CP9200 and CP9201 The features and functions warranted in this manual can only be obtained by using the software components in the versions stated here. On its website ifm electronic provides the software components for download: ifm weltweit ifm worldwide ifm à l échelle internationale ( p. 95) 3.3 Licensing Software b-isobus-stack ISOBUS library integrated in the device CP9200 R360/SysStart/VT Client CP9201 R360/SysStart/TC Client Licence The license fee is covered by the purchase of a CR0n53 or CR0n63 ISOBUS controller. System-Startup Virtual Terminal Client The licence has to be purchased once by each ifm customer. System-Startup TaskController Client (in preparation) The licence has to be purchased once by each ifm customer. Only if the following devices are used: CR0063, CR0163, CR

11 System description Information about the device 4 System description Information about the device Hardware description Interface description Software description Information about the device ISOBUS device ClassicController CR0053 ClassicController CR0063 (in preparation) ExtendedController CR0153 = CR integrated I/O module ExtendedController CR0163 = CR integrated I/O module (in preparation) ExtendedController CR0253 ExtendedController CR0263 (in preparation) Hardware features (= basic device) CR0033 standard side: 16 inputs, 16 outputs CR0033 standard side: 16 inputs, 16 outputs CR0133 = CR integrated I/O module standard side: 16 inputs, 16 outputs extended side: 16 inputs, 16 outputs CR0133 = CR integrated I/O module standard side: 16 inputs, 16 outputs extended side: 16 inputs, 16 outputs CR0235 standard side: 16 inputs, 16 outputs extended side: 24 inputs, 24 outputs CR0235 standard side: 16 inputs, 16 outputs extended side: 24 inputs, 24 outputs ISOBUS features Virtual Terminal Client (VT client) Auxiliary Control (AUX-N) Virtual Terminal Client (VT client) Task Controller Client (TC client) Auxiliary Control (AUX-N) Virtual Terminal Client (VT client) Auxiliary Control (AUX-N) Virtual Terminal Client (VT client) Task Controller Client (TC client) Auxiliary Control (AUX-N) Virtual Terminal Client (VT client) Auxiliary Control (AUX-N) Virtual Terminal Client (VT client) Task Controller Client (TC client) Auxiliary Control (AUX-N) Details to the hardware features of the basic device Programming Manual of the basic device 11

12 System description Hardware description 4.2 Hardware description Memory allocation for ISOBUS Memory allocation for ISOBUS Standard memory allocation programming manual of the basic device chapter Available memory FLASH memory FLASH memory (non-volatile, slow memory) overall existing in the device Thereof the following memory areas are reserved for... ISOBUS kbytes kbytes SRAM SRAM (volatile, fast memory) overall existing in the device SRAM indicates here all kinds of volatile and fast memories. Thereof the following memory areas are reserved for... ISOBUS kbytes 12 kbytes

13 System description Interface description 4.3 Interface description CAN: Interfaces and protocols CAN: Interfaces and protocols The following CAN interfaces and CAN protocols are available in this ecomatmobile device: CAN interface CAN 1 CAN 2 CAN 3 CAN 4 Default download ID ID 127 ID 126 ID 125 ID 124 CAN Layer 2 CAN Layer 2 CAN Layer 2 CAN protocols CANopen CANopen CANopen SAEJ1939 SAEJ1939 SAEJ1939 ISOBUS Standard baud rate 125 Kbits/s 125 Kbits/s 125 Kbits/s 250 Kbit/s CAN4 operates with a 29 bits ID. 13

14 System description Software description 4.4 Software description Software modules for ISOBUS

15 System description Software description Software modules for ISOBUS ISOBUS concept Overview Object pool mask generator ifm_isobus-wizard Objekt-Pool / AutoCode ifm ISOBUS stack Graphics: Software modules for ISOBUS 15

16 System description Software description ISOBUS concept The ISOBUS concept is based on the following idea: A universal terminal (VT) is installed in an agricultural machine (e.g. tractor). From this universal terminal all main functions of the agricultural machine can be controlled and monitored via ISOBUS. Different implements (WS) can be connected to the agricultural machine mechanically and electrically. These implements have an independent controller that exchanges data and commands with the universal terminal on the agricultural machine via ISOBUS. When the implement (WS) is connected to the universal terminal (VT), the following happens: The VT automatically accesses the WS and saves the operating graphics and the data of the implement stored there in its own memory. On demand, the VT indicates these graphics and this data. Now the coupled implements can be controlled and monitored from the universal terminal. 16

17 System description Software description Overview The ISOBUS concept provides for the following software modules: Module Description Location Object pool mask generator ifm_isobus-wizard Objekt-Pool / AutoCode ifm_isobus-stack creates graphics and data that are to appear on the universal terminal (VT) converts the files of the mask generator so that they can be loaded into the controller memory as a C code Graphics and data the universal terminal (VT) fetches from the ifm controller when the two are coupled and then displays Libraries with the following modules: Virtual Terminal Client Aux Control Task Controller Client PC / laptop PC / laptop ifm controller: C code memory ifm controller: C code memory ISOBUS-CODESYS.lib Library links the ISOBUS stack to the application program ifm controller: memory for the application code CODESYS application program Program for moving and monitoring the implement ifm controller: memory for the application code (created on the PC / laptop) Object pool mask generator This program is used to create the graphics and the data that are to appear on the universal terminal. The program operates on the programming station (PC / laptop). The program is available in different versions / with different convenience levels / at different prices from various vendors Among others, the program creates the following files: *.iop *.iop.h These file types are according to the ISOBUS standard. Configuration chapter ISOBUS mask generator ( p. 22) ifm_isobus-wizard The program is part of the ifm ISOBUS licence. The program operates on the programming station (PC / laptop). The program converts the.iop files of the mask generator into a common.exp file so that they can be loaded into the controller memory as a C code

18 System description Software description Objekt-Pool / AutoCode The graphics and data created via the mask generator as stored in the C code memory of the ifm controller of the agricultural implement. The universal terminal (Virtual Terminal, VT) on the agricultural machine (e.g. tractor) detects the following: a new implement (working set, WS) has been connected OR: there is a new version of the object pool of the coupled implement (WS) The universal terminal automatically fetches the graphics and data from the object pool. If this version of the object pool has already been saved in the universal terminal, the graphics are not transferred. The universal terminal indicates the graphics and the data of the implement on its display. The implement can be controlled and monitored from the universal terminal ifm ISOBUS stack The ifmisobus stack is a collection of functions. The ifmisobus stack is stored in the C code memory of the ifmisobus controller of the implement. chapter Install ISOBUS stack in the controller ( p. 20) The functions in the ifm ISOBUS stack can be used in the following CODESYS library: ifm_isobus_utaux_vxxyyzz.lib The ifm ISOBUS stack consists of the following modules: Virtual Terminal Client Aux Control Task Controller Client (in preparation)

19 Configuration of the ISOBUS in the implement Unpack files from ifm USB stick to the PC / laptop 5 Configuration of the ISOBUS in the implement Unpack files from ifm USB stick to the PC / laptop Install ISOBUS stack in the controller ISOBUS mask editor ifm_isobus-wizard Create a CODESYS project Adjust and transmit a CODESYS project Unpack files from ifm USB stick to the PC / laptop ifm supplies the required ISOBUS files on a USB stick (CP9200, CP9201) Install the PerlScript interpreter A PerlScript interpreter must be installed before the installation of the ISOBUS wizard. e.g. ActivePerl: Install the current PerlScript interpreter. To do this, no administrator rights are required Unpack and install files Double-click on the file ifm_isobus_vx.y.z.exe. No administrator rights are required. Confirm or change suggested directories (as required). Program signals "All operations completed". The following files are installed: Files ISOBUS wizard ISOBUS stack CODESYS libraries CODESYS templates CODESYS demo programs Installation path (normal) %PROGRAMFILES(x86)%\ifm electronic\isobus Wizard %PROGRAMFILES(x86)%\ifm electronic\codesys V2.3\Targets\ifm\Library\ifm_ISOBUS %PROGRAMFILES(x86)%\ifm electronic\codesys V2.3\Projects\TEMPLATE_ISOBUS %PROGRAMFILES(x86)%\ifm electronic\codesys V2.3\Projects\DEMO_ISOBUS 19

20 Configuration of the ISOBUS in the implement Install ISOBUS stack in the controller 5.2 Install ISOBUS stack in the controller ifm delivers all controllers without runtime system Use the ifm MaintenanceTool to install the files. Install the runtime system programming manual of the controller Transmit the ISOBUS stack into the flash memory EXT2 of the device: Source = CP9200 USB stick [Software] [ifm_isobus-stack] File = ifm_isobus_stack_vxxyyzz.h86 Each ISOBUS controller contains a permanently saved ISOBUS licence key. The ISOBUS stack cannot be used on the device without this key. 20

21 Configuration of the ISOBUS in the implement Install ISOBUS stack in the controller Install ISOBUS stack in the controller via the ifm downloader A small batch file is ideal for use with the ifm downloader: Create a batch file with a Windows Editor: Execute_Download_C_Code_Part.bat Enter the following text in this file: Download_Directory\download.exe /debug /cfifm_isobus_stack_vxxyyzz.txt The following applies: Download_Directory = directory name, contains e.g. the following files: the downloader program the batch configuration file ifm_isobus_stack_vxxyyzz.txt /cf = command copy file ifm_isobus_stack_vxxyyzz.txt = file containing the details for the batch file This file has to be stored in the same directory as the downloader program! Vxxyyzz = version of the ISOBUS stack file Create a text file with a Windows Editor in the directory Download_Directory: ifm_isobus_stack_vxxyyzz.txt This is the batch configuration file. Enter the following text in this file: rs232 com4 baudrate nocrc stop lzsversion3 baseapplc=ha applcsize=h80000 f..\ifm_isobus_stack_vxxyyzz.h86 download run The following applies: Line define the parameters for the serial interface baseapplc = start address of the C file in the controller memory applcsize = size of the C file in the controller memory f..\ = location and file name of the C file (here: directory above the downloader program) 21

22 Configuration of the ISOBUS in the implement ISOBUS mask editor 5.3 ISOBUS mask editor Recommendation Notes Example: Mask generator Complete the project The ISOBUS mask editor has the following purpose: Create graphics masks for display on the universal terminal (UT) on the tractor Visualise signals of the implement (inputs/outputs, data) in the masks Provide signals of the operating elements of the UT (softkeys) for the implement Provide the labelling of the softkeys, data and messages monolingual: in the basic IOP file any further language: in further IOP files The mask editor finishes by creating the file Projekt.IOP. This basic IOP file contains the language defined as "Active Language" in the editor. If the mask has been created in several languages, the editor creates an individual IOP file for each additional language, e.g. Projekt_Sprache2.IOP, Projekt_Sprache3.IOP, etc. Depending on the required user-friendliness there are different suppliers in the world market whose products have been accepted by the AEF ( Recommendation ifm recommends to use the following basic settings in the mask editor: project to ISO L3 (2004) data mask size = 480 x 480 px softkey size = 72 x 72 px physical softkeys = max. 10 virtual softkeys (per mask) = max. 10 only use web-safe colours Background: This corresponds to the possibilities of most common universal terminals on the market, you may call it their common denominator Notes The project should be named correctly from the beginning. In many cases, it is not possible to change the name at a later point. Input / output numerical values are of the type DWORD (UNIT32); adapt other values by means of offset and scaling! An entered variable replaces the effect of the object ID of the actual element. Graphic element: encoding as RunLength minimises the data volume

23 Configuration of the ISOBUS in the implement ISOBUS mask editor Example: Mask generator Create working area and project Define display properties Define project properties Create masks and objects The process may differ from program to program. Familiarise yourself with the selected mask generator before starting to work. This example is based on Jetter's ISO-Designer Create working area and project. Create working area "Workspace". Define name and memory location. The working area contains all projects that have been created in it and all project files. Add a project to the working area. Set the following parameters: platform (recommended: ISO L3 (2004)) display size (recommended: 480 x 480 px) display name project name ( it might not be possible to change this name at a later point!) memory location Then click [OK] to finish the process Define display properties Set the standard properties of the universal terminal (VT). Activate the tab [Hardware]. Alternatively: Menu bar [View] [Hardware] Adapt the settings as needed in the window [Properties]. We recommend the following settings: Parameter Setting Number of visible keys max. 10 Softkey Width Softkey Heigth Display Width Display Heigth Datamask Width Datamask Heigth 72 px 72 px 640 px 480 px 480 px 480 px Default Background Color RGB (204,204,204) Color depth 8 Bit / 256 Colors Font Types ISO Latin 1 Set the other parameters as needed. The program immediately reacts to every single setting. Finish the settings by clicking on the tab [Workspace]

24 Configuration of the ISOBUS in the implement ISOBUS mask editor Define project properties Open the context menu with right-click on project name in the window [Workspace]. Open the properties dialogue via [Properties]. 3 parameter groups appear in the new window: General Deployment Object Templates General project information The parameter group [General] shows general project information. Example: [Location] shows the memory location of the project files This memory location of the project files remains unchanged. It is not influenced by the indications in the parameter group [Deployment]. 24

25 Configuration of the ISOBUS in the implement ISOBUS mask editor Deployment options of the project The parameter group [Deployment] shows the deployment options of the project. Example: The parameters have the following functions: Parameter Deploy Target Path Automatic Deployment Languages Function Target platform for sending / saving the project files Memory location for the exchange of the project files Checkbox = active: The project is automatically sent to the operating panel after a build The languages to be transmitted in a deploy process can be selected via a dialogue. The dialogue is opened via the browse button This memory location of the project files remains unchanged. It is not influenced by the indications in the parameter group [Deployment]. 25

26 Configuration of the ISOBUS in the implement ISOBUS mask editor Object templates The parameter group [Object Templates] shows the object templates available for the project. Example: New masks or objects are created based on these templates. Each template consists of 3 parameters: Parameter Description Note Type Type or designation of the template cannot be changed Start ID Name Format Each template type can assign up to 1000 IDs. There is only one WorkingSet in each project. Convention for the complete parameter name Structure: "Type" + "_" + "ID" The program saves each mask and each object under the resulting name Example of type "SoftKeyMask": Start ID = 4000 possible IDs = Example of type "SoftKeyMask": ID = 4001 Name Format = SoftKeyMask_4001 Datei = SoftKeyMask_4001.jvi 26

27 Configuration of the ISOBUS in the implement ISOBUS mask editor Create masks and objects Define the WorkingSet. This symbol image appears on the universal terminal (VT) on the tractor when the corresponding machine is not active. Create a start mask. This is the first image to appear on the universal terminal (VT) on the tractor when the corresponding machine is activated. Create required objects and place them on the mask. If required, create further masks. Set the conditions under which these masks are to appear. Create required objects for these masks and place them there. ISOBUS offers 4 different masks: Type 0 Type 1 Type 2 Type 3 AlarmMask DataMask SoftKeyMask WorkingSet An alarm mask (AlarmMask) serves to indicate an alarm. An alarm mask cannot contain input fields. You can however assign a SoftKeyMask (keyboard) to an alarm mask which serves e.g. for the acknowledgement of an alarm. The data mask can contain any objects except masks. A data mask can also initiate events and corresponding macros. You can also assign a SoftKeyMask (keyboard) to a data mask. A SoftKeyMask is a mask for softkeys (keyboard) that is indicated at the edge of the terminal. A WorkingSet object exists only once in a project. Only certain objects can be created on the corresponding WorkingSet mask. Via the WorkingSet mask, the user can open the corresponding visualisation on the terminal. WorkingSet-Maske A WorkingSet object exists only once in a project. The WorkingSet object appears on the universal terminal (VT) as soon as the corresponding implement is linked to the tractor ISOBUS. Via the WorkingSet mask, the user can open the corresponding visualisation on the universal terminal (VT). The program automatically creates a WorkingSet mask when a new project is created. Only certain objects can be created on the corresponding WorkingSet mask. It makes sense to create an OutputString. The text should sufficiently describe the corresponding implement

28 Configuration of the ISOBUS in the implement ISOBUS mask editor Example: WorkingSet This symbol image is to appear on the universal terminal of the tractor as soon as the corresponding implement has been connected to the ISOBUS of the tractor. WorkingSet: values in the properties window OutputString in the WorkingSet: values in the properties window WorkingSet: the summary in the working area 28

29 Configuration of the ISOBUS in the implement ISOBUS mask editor Data mask The data mask appears on the universal terminal (VT) on the tractor (on request). The data mask can contain any objects except masks. A data mask can also initiate events and corresponding macros. You can also assign a SoftKeyMask (keyboard) to a data mask. The data mask has the following functions: give a graphic representation of the implement display values and states Further functions are possible by means of assigned SoftKeyMasks: keys for changing the values or states keys for changing to another data mask Example: data mask As an example the data mask for a slurry tank car is shown. Functions: indicate the tank level start / stop the pump via the pair of keys only indicate the spray jet when the pump is running individual setting of the spray quantity in [litres per minute] The graphic on the mask represents a slurry tank car. The graphic consists of the groups tank car and spray jet (framed by a dotted line). A bar graph indicates the tank level on the tank car. Below the input field to define the spray quantity. 29

30 Configuration of the ISOBUS in the implement ISOBUS mask editor Bar graph for level indication: Properties Input object for setting the spray quantity in [litres/minute]: Properties 30

31 Configuration of the ISOBUS in the implement ISOBUS mask editor Macro for evaluation of the softkeys Summary of the elements for the slurry tank car, view in the working area Details on the procedure and parameter setting Description of the used software 31

32 Configuration of the ISOBUS in the implement ISOBUS mask editor Complete the project If all required elements have been created and configured, and / or if the current status is to be tested: complete the project. To do so: In the menu [Build] [Projekt 'Name'] The program checks all elements of the project 'Name' integrated in the mask generator. If the program finds all parameter settings to be correct: The program creates a number of files in the directory Projektname\Output. (iop = ISOBUS Output) Then select the IOP project file (here:myproject1.iop) for further processing in the ifm_isobus- Wizard. The wizard searches all IOP files belonging to the project in the directory and converts them into an export file that can be processed by CODESYS. 32

33 Configuration of the ISOBUS in the implement ifm_isobus-wizard 5.4 ifm_isobus-wizard Convert mask objects for the CODESYS program The program is part of the ifm ISOBUS licence. The program operates on the programming station (PC / laptop). The program converts the.iop files of the mask generator into a common.exp file so that they can be loaded into the controller memory as a C code Convert mask objects for the CODESYS program The ifm_isobus-wizard offers 2 possibilities to convert the mask objects. Goal: the CODESYS program is to be able to evaluate signals and values of the mask objects the CODESYS program is to be able to send signals and values to mask objects The following 2 possibilities exist: Signal table Method: wizard for signal table ( p. 34) : As opposed to the object pool the signal table contains only the objects the project planner has selected for the CODESYS project in the ifm_wizard. Advantage: Access to all configured elements possible. Disadvantage: All elements are shown in the CODESYS program ( confusing). Object pool Method: wizard for object pool ( p. 35) : Compilation of all objects and data in the controller of the implement. The object pool is automatically transmitted into the universal terminal (on the tractor). Afterwards, the implement can be controlled and monitored from the universal terminal. Advantage: only the selected elements appear in the CODESYS program. Disadvantage: the required elements must be grouped together before compilation. Prerequisite: The mask generator has successfully created the following files: ProjektName.iop ProjektName_Language2.iop (for 2 or more configured display languages) ProjektName_Language3.iop (for 3 or more configured display languages) etc. 33

34 Configuration of the ISOBUS in the implement ifm_isobus-wizard Method: wizard for signal table Create the signal table: Select the file ProjektName.IOP created by the mask generator (here:myproject1.iop) by clicking on [IOP-File] in the file manager window. Define the file name and the directory for the signal table to be created by clicking on [ST_EXP-File]. Load the data from the project into the wizard via [Load]. The feedback shown on the left appears. Mark all objects in the signal table (by clicking on them) that are to be evaluated or influenced in the CODESYS program. (Cancel selection: click on the element again) Optional: Define the file name and the memory location for the selection list to be created by clicking on [Selection-File]. The object selection will be immediately available for the next conversion. You can do the following via [Save & Build]: save the project in the wizard directory (optional: create and save the selection list) export the signal table to adopt it in the CODESYS program 34

35 Configuration of the ISOBUS in the implement ifm_isobus-wizard MyProject1.biwprj Project file in the wizard SelectionMyProject1.biwsel File with object selection list in the wizard SignalTable.exp Export file for adopting the signal table in the CODESYS program The files created by the wizard in the indicated target directory Method: wizard for object pool Create the object pool: Select the file ProjektName.IOP created by the mask generator by clicking on [IOP-File] in the file manager window (here: MyProject1.iop). Define the file name and the directory of the signal table to be created that is to be imported in CODESYS by clicking on [OP_EXP-File]. [IOP-Language] = the language set as "active language" in the mask generator [Default-Language] = preset language in the CODESYS object pool Create the export file containing the object pool in the indicated target directory by clicking on [Start Convert]. ObjectPool.exp File for importing the object pool into the CODESYS program The file created by the wizard in the indicated target directory 35

36 Configuration of the ISOBUS in the implement Create a CODESYS project 5.5 Create a CODESYS project Create a project from a template The graphic for the universal terminal has been finished by means of the mask generator ( previous chapter). The next step is the PLC program on the implement. we recommend the following procedure: Create a project from a template Method: CODESYS with signal table Method: CODESYS with object pool Create the CODESYS project: Start the requested template file by double-click directory chapter Unpack and install files ( p. 19) CODESYS opens a new project from the selected template. The further procedure depends on the selected method of the ISOBUS signal evaluation

37 Configuration of the ISOBUS in the implement Create a CODESYS project Method: CODESYS with signal table View [Bausteine] View [Datentypen] View [Globale Variablen] Import the export file generated via the ifm_isobus-wizard into the CODESYS project: Integrate the.exp file of the signal table into the CODESYS project in CODESYS via [Projekt] [Importieren...]. Source = e.g. C:\PROGRAM FILES (X86)\IFM ELECTRONIC\IFM_ISOBUS-WIZARD\PROJECTNAME\SIGNALTABLE.EXP CODESYS integrates the signal table into the CODESYS project. Check the CODESYS project for the folder [ifm_isobus-wizard] View [Bausteine] Activate the tab [Bausteine] in the CODESYS project: The following programs appear: ifm_isobus_signaltable (calls the following programs:) ifm_isobus_signaltable_init ifm_isobus_signaltable_reinit In the program PRG_ISOBUS_MAIN call the program ifm_isobus_signaltable that has been prepared there. Delete or uncomment the prepared program parts for the "method with object pool" in the program PRG_ISOBUS_MAIN. View [Datentypen] The user can access the signals via the global variable "Objects" Access the object structure of the signal table via the CODESYS tab [Datentypen]. 37

38 Configuration of the ISOBUS in the implement Create a CODESYS project Object structure from the wizard The variable "Objects" consists of the structure "t_signalstructure". You can find the structure "t_signalstructure" under [ifm-isobus-wizard] [Signaltable] [Objectstructure] in the tab [Datentypen] ( figure below) Signal structure: (* Structure generated from "ifm-isobus-wizard" *) TYPE t_signalstructure : STRUCT Container : t_container; DataMask : t_datamask; InputNumber : t_inputnumber; NumberVariable : t_numbervariable; END_STRUCT END_TYPE "t_signalstructure" now contains all signals selected by the user beforehand. These signals are grouped into object types in the form of further structures, e.g. t_numbervariable or t_container. These object type structures contain the individual objects for which signals have been selected. These individual objects in turn are also organised as structures. All these structures can be found under [ifm-isobus-wizard] [Signaltable] [Objectstructure] in the tab [Datentypen]: Object structure for the example settings used above Via the CODESYS tab [Datentypen] you can access the object structure of the signal table which has the following entries (according to the example created earlier): Representation of the slurry jet when the pump is running: t_containerjauche_3001 : t_datamask : STRUCT ObjectID_3001 : WORD := 3001; Hidden : BOOL := 1; END_STRUCT STRUCT DataMask_1001 : t_datamask_1001; END_STRUCT 38

39 Configuration of the ISOBUS in the implement Create a CODESYS project t_datamask_1001 : STRUCT ObjectID_1001 : WORD := 1001; Soft_Key_Mask : WORD := 65535; END_STRUCT Representation of the tank level t_numbervariablebargraph_21000 : Setting of the pump performance t_numbervariableliterminute_21001 : STRUCT ObjectID_21000 : WORD := 21000; Value : DWORD := 0; END_STRUCT STRUCT ObjectID_21001 : WORD := 21001; Value : DWORD := 0; END_STRUCT The filtered signal table only contains such elements as would be required for programming the project in CODESYS. The user can write or read all signals via the global structure variable "objects". The user simply uses the structure variable like a global variable. Example: Objects.Container.ContainerJauche_3001.Hidden := FALSE The user does not have to worry about when and how often the value on the ISOBUS is transmitted. View [Globale Variablen] Activate the tab [Resourcen] in the CODESYS project: The following global variables appear: VAR_GLOBAL Dataarray : ARRAY[0..6] OF t_datastructure; Objects : t_signalstructure; Arraysize : DWORD := 7; END_VAR The array "Dataarray" consists of the structure "t_datastructure" which can be found under [ifm- ISOBUS-Wizard] [Signaltable] [Datastructure] in the tab [Datentypen]. The array "Dataarray" is of no interest to the user. The data array is only required for the internal administration of the functionality "signal table". Do not access or change the data in the "Dataarray" array! The array is used in the following 3 programs: ifm_isobus_signaltable ifm_isobus_signaltable_init ifm_isobus_signaltable_reinit 39

40 Configuration of the ISOBUS in the implement Create a CODESYS project Method: CODESYS with object pool View [Bausteine] View [Datentypen] View [Globale Variablen] Import the export file generated via the ifm_isobus-wizard into the CODESYS project: Integrate the.exp file of the object pool into the CODESYS project in CODESYS via [Projekt] [Importieren...]. Source = e.g. C:\PROGRAM FILES (X86)\IFM ELECTRONIC\IFM_ISOBUS-WIZARD\PROJECTNAME\OBJECTPOOL.EXP CODESYS integrates the object pool into the CODESYS project. Check the CODESYS project for the folder [ifm_isobus-wizard] View [Bausteine] Activate the tab [Bausteine] in the CODESYS project: The following functions appear: ifm_isobus_objectpool_init (configures the following object pool elements:) App_DataMask_array App_None_Array App_SoftkeyMask_Array 40

41 Configuration of the ISOBUS in the implement Create a CODESYS project View [Datentypen] Via the CODESYS tab [Datentypen] you can access the object structure of the signal table from the object pool which has the following entries (according to the example created earlier): t_datastructure : t_container : t_container_3000 : t_inputnumber : t_inputnumber_9000 : t_inputnumber_9001 : t_inputstring : t_inputstring_8000 : STRUCT Timer : BYTE; DataSize Command : BYTE; AttributeID DataAddress OldValue ObjectID END_STRUCT : BYTE; : BYTE; : DWORD; : DWORD; : DWORD; STRUCT Container_3000 : t_container_3000; END_STRUCT STRUCT ObjectID_3000 : WORD := 3000; Hidden : BOOL := 0; END_STRUCT STRUCT InputNumber_9000 InputNumber_9001 END_STRUCT STRUCT ObjectID_9000 : WORD := 9000; Enabled : BOOL := 1; END_STRUCT STRUCT ObjectID_9001 : WORD := 9001; Enabled : BOOL := 1; END_STRUC STRUCT InputString_8000 END_STRUCT STRUCT ObjectID_8000 : WORD := 8000; Enable : BOOL := 1; END_STRUCT : t_inputnumber_9000; : t_inputnumber_9001; : t_inputstring_8000; 41

42 Configuration of the ISOBUS in the implement Create a CODESYS project t_numbervariable : t_numbervariable_21000 : t_numbervariable_chkbox : t_numbervariable_infloat : STRUCT NumberVariable_ChkBox : t_numbervariable_chkbox; NumberVariable_InGanzzahlig : t_numbervariable_inganzzahlig; NumberVariable_OutGanzzahlig : t_numbervariable_outganzzahlig; NumberVariable_InFloat : t_numbervariable_infloat; NumberVariable_OutFloat : t_numbervariable_outfloat; END_STRUCT STRUCT ObjectID_21000 : WORD := 21000; Value : DWORD := 0; END_STRUCT STRUCT ObjectID_21000 : WORD := 21000; Value : DWORD := 1; END_STRUCT STRUCT ObjectID_21003 : WORD := 21003; Value : DWORD := 0; END_STRUCT t_numbervariable_inganzzahlig : t_numbervariable_outfloat : t_numbervariable_outganzzahlig : t_rectangle : t_rectangle_14000 : t_signalstructure : STRUCT ObjectID_21001 : WORD := 21001; Value : DWORD := 0; END_STRUCT STRUCT ObjectID_21004 : WORD := 21004; Value : DWORD := 0; END_STRUC STRUCT ObjectID_21002 : WORD := 21002; Value : DWORD := 0; END_STRUCT STRUCT Rectangle_14000 : t_rectangle_14000; END_STRUCT STRUCT ObjectID_14000 : WORD := 14000; Fill_Attributes : WORD := 25002; Height : WORD := 100; END_STRUCT STRUCT Container : t_container; InputNumber : t_inputnumber; NumberVariable : t_numbervariable; Rectangle : t_rectangle; END_STRUCT ALL elements of the project are described in the object pool, not only those elements that would be required for the programming in CODESYS. 42

43 Configuration of the ISOBUS in the implement Create a CODESYS project View [Globale Variablen] Activate the tab [Resourcen] in the CODESYS project: The following global variables appear in the form of a big data array: Example: App_DataMask_array : ARRAY[0..400] OF BYTE := DataMask_1001 ContainerTankwagen_3000 ContainerJauche_3001 InputNumber_9000 OutputString_11000 Line_13000 Rectangle_14000 Rectangle_14001 Ellipse_15000 Ellipse_15001 Ellipse_15002 Polygon_16000 LinearBargraph_18000 LineAttributes_24000 LineAttributes_24001 LineAttributes_24002 FillAttributes_25000 FillAttributes_25001 FillAttributes_25002 App_None_array : ARRAY[0..47] OF BYTE := Macro_1 Macro_2 NumberVariableBargraph_21000 NumberVariableLiterMinute_21001 FontAttributes_23001 App_SoftKeyMask_array : ARRAY[0..77] OF BYTE := WorkingSet_0 SoftKeyMask_4000 SoftKeySprayOn_5000 SoftKeySprayOff_5001 OutputString_11001 Generated_Pointer_To_Null 43

44 Configuration of the ISOBUS in the implement Adjust and transmit a CODESYS project 5.6 Adjust and transmit a CODESYS project Create the application program in the CODESYS project. Edit the required ISOBUS parameters and data in the program. Connect the programming station to the controller. Export the CODESYS project to the controller

45 Functional elements from ifm for ISOBUS ifm library for ISOBUS 6 Functional elements from ifm for ISOBUS ifm library for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface All CODESYS function elements (FBs, PRGs, FUNs) are stored in libraries. Below you will find all ifm ISOBUS libraries you can use together with this device. Below you will find a thematic overview of the function elements. 6.1 ifm library for ISOBUS ifm library ifm_isobus_utaux_vxxyyzz.lib

46 Functional elements from ifm for ISOBUS ifm library for ISOBUS ifm library ifm_isobus_utaux_vxxyyzz.lib This ifm library contains the following function blocks: Function element Short description Config_ObjectPool ( p. 50) FUN initialises the ISOBUS on the intended CAN interface Config_ObjectPool_LanguagePart ( p. 51) FUN configures a language-dependent element in the object pool Config_ObjectPool_Part ( p. 52) FUN configures a language-independent element in the object pool ifm_isobus ( p. 54) FB initialisiert den ISOBUS auf der dafür vorgesehenen CAN-Schnittstelle ifm_isobus_5mstask ( p. 56) FB bildet die Zeitreferenz für der ISOBUS-Stack ifm_isobus_sigtableinterface ( p. 48) FUN Reads the address and the size of the signal table created by means of the ifm wizard VT_ExtendedInfo ( p. 61) FB receives extended information from the connected universal terminal (VT) VT_LocalizationInfo ( p. 59) FB receives local information from the connected universal terminal (VT) VT_NextVT ( p. 58) FUN disconnects the implement from the current universal terminal (VT) and connects it to the next available universal terminal WS_CmdChangeActiveMask ( p. 64) FUN changes from the active mask of the implement to a data or alarm mask in the universal terminal WS_CmdChangeAttribute ( p. 65) FUN changes the attribute of an object by means of an attribute ID (AID) WS_CmdChangeFillAttributes ( p. 66) FUN changes the fill attributes in a graphic element in the universal terminal WS_CmdChangeFontAttributes ( p. 67) FUN changes the character attributes in a character object in the universal terminal WS_CmdChangeLineAttributes ( p. 69) FUN changes the line attributes in a line object in the universal terminal WS_CmdChangeListItem ( p. 70) FUN changes a list element in an input list object in the universal terminal WS_CmdChangeNumericValue ( p. 71) FUN changes the numerical value in an object in the universal terminal WS_CmdChangeSize ( p. 72) FUN changes the size of an object in the universal terminal WS_CmdChangeSoftKeyMask ( p. 73) FUN changes the mask of the programmed buttons belonging to the implement (WS) in the universal terminal WS_CmdChangeStringValue ( p. 74) FUN changes the text in an object in the universal terminal WS_CmdControlAudioSignal ( p. 75) FUN controls the audio signal output in the universal terminal WS_CmdEnableDisableObject ( p. 76) FUN controls the accessibility of an input field in the universal terminal WS_CmdHideShowObject ( p. 77) FUN hides or shows a container object in the universal terminal WS_CmdMoveObject ( p. 78) FUN changes the position of an object in relation to the current position in the universal terminal WS_CmdSetAudioVolume ( p. 79) FUN controls the volume of the audio signal output in the universal terminal WS_CmdSetObjectPosition ( p. 80) FUN changes the position of an object in the universal terminal WS_EvtButtonActivation ( p. 82) FB indicates the status of a key on the universal terminal WS_EvtSoftKeyActivation ( p. 83) FB indicates the status of a button programmed on the universal terminal WS_EvtVTChangeNumericValue ( p. 84) FB indicates the new value of a numerical value of an object changed on the universal terminal WS_EvtVTChangeStringValue ( p. 85) FB indicates the new value of a text character value of an object changed on the universal terminal Legend: GV... FB... FUN... PRG... Global variable Function block Function Program 46

47 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface 6.2 Functional elements from ifm: ISOBUS function blocks CODESYS interface ISOBUS function blocks: Initialisation of the signal table ISOBUS function blocks: Initialisation of the object pool ISOBUS function blocks: Basic functions ISOBUS function blocks: Data exchange regarding the universal terminal (VT) ISOBUS function blocks: Data exchange regarding the implement (WS) Below you will find the description of the ISOBUS function elements for the CODESYS interface sorted by subject ISOBUS function blocks: Initialisation of the signal table ifm_isobus_sigtableinterface

48 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface ifm_isobus_sigtableinterface = ifm ISOBUS Signal Table Interface Unit type = function (FUN) of type BOOL Unit is contained in the library ifm_isobus_utaux_vxxyyzz.lib Symbol in CODESYS: Description This function is only used internally in the created (and imported) auto code in combination with the functionality "signal table". The function works internally for the administration of the functionality "signal table". This function is not meant for the user. The function is the interface between the library and the CODESYS application for the internal administrative data "Dataarray" and "Arraysize", which are global variables of the functionality "signal table". Due to logistic and programming-related reasons the data and the function must be located in the CODESYS application. The call of the function is carried out cyclically in the program (PRG) ifm_isobus_signaltable, as follows: ifm_isobus_sigtableinterface (ADR(Dataarray), Arraysize); In the context of the cyclical call of the program ifm_isobus_signaltable this function is called cyclically as well; this means it is the central call for processing of the functionality "signal table" in the ISOBUS library and in the CODESYS application Parameters of the inputs AdrDataarray DWORD Start address of the signal table data matrix from the ifm ISOBUS wizard signal table ArraySize DWORD Size of the data matrix Determine the address by means of the operator ADR and assigne it to the POU! ifm_isobus_sigtableinterface BOOL TRUE: Function has been finished The data is valid

49 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface ISOBUS function blocks: Initialisation of the object pool Config_ObjectPool Config_ObjectPool_LanguagePart Config_ObjectPool_Part An object pool can consist of various (max. 50) object pool elements. Each object pool element must be configured In a final step, the object pool needs to be configured

50 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface Config_ObjectPool Unit type = function (FUN) of type BOOL Unit is contained in the library ifm_isobus_utaux_vxxyyzz.lib Symbol in CODESYS: Description Configures the object pool, consisting of all previously configured object pool elements Parameters of the inputs Number_ObjectPoolParts DWORD Number of elements in the object pool permissible = Size_DataMask_XY DWORD Intended size of the data range in [pixels] Size_SoftKey_X DWORD Intended width of the softkey area in [pixels] Size_SoftKey_Y DWORD Intended height of the softkey area in [pixels] Address_VersionLabelString DWORD Address of the version designation (character string consisting of 7 characters): e.g. strversionlabel : STRING(7) := 'App0107' Address_LanguageString DWORD Address of the language character string (character string consisting of 2 characters): e.g. strlanguage : STRING(2) := 'en' Parameters of the outputs Config_ObjectPool BOOL TRUE: Function has been finished The data is valid

51 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface Config_ObjectPool_LanguagePart Unit type = function (FUN) of type BOOL Unit is contained in the library ifm_isobus_utaux_vxxyyzz.lib Symbol in CODESYS: Description Configures a language-dependent object pool element Parameters of the inputs Index_ObjectPoolPart DWORD Index of the object pool element to be initialised Number the index consecutively! permissible = Address_ObjectPool_Data DWORD Address of the data range of the object pool element Size_ObjectPool_Data DWORD Size of the data range of the object pool element ScaleFactor DWORD Factor for scaling of the object pool element 0 = ScaleFactor_None 1 = ScaleFactor_DataMask 2 = ScaleFactor_SoftkeyMask Address_LanguageString DWORD Address of the language character string (character string consisting of 2 characters): e.g. strlanguage : STRING(2) := 'en' Parameters of the outputs Config_ObjectPool_LanguagePart BOOL TRUE: Function has been finished The data is valid

52 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface Config_ObjectPool_Part Unit type = function (FUN) of type BOOL Unit is contained in the library ifm_isobus_utaux_vxxyyzz.lib Symbol in CODESYS: Description This function configures a language-independent element of the object pool Parameters of the inputs Index_ObjectPoolPart DWORD Index of the object pool element to be initialised Number the index consecutively! permissible = Address_ObjectPool_Data DWORD Address of the data range of the object pool element Size_ObjectPool_Data DWORD Size of the data range of the object pool element ScaleFactor DWORD Factor for scaling of the object pool element 0 = ScaleFactor_None 1 = ScaleFactor_DataMask 2 = ScaleFactor_SoftkeyMask Parameters of the outputs Config_ObjectPool_Part BOOL TRUE: Function has been finished The data is valid

53 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface ISOBUS function blocks: Basic functions ifm_isobus ifm_isobus_5mstask

54 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface ifm_isobus Unit type = function block (FB) Unit is contained in the library ifm_isobus_utaux_vxxyyzz.lib Symbol in CODESYS: Description This FB initialises the ISOBUS on the intended CAN interface. Call the FB in every PLC cycle! The FB carries out the Init routine of the ISOBUS stack. The FB initialises the CAN interface used Parameters of the inputs INIT BOOL TRUE (only for 1 cycle): Function block and interface are initialised FALSE: during further processing of the program ObjectPool_Development BOOL Transmit the object pool to the universal terminal (VT): TRUE: FALSE: upon each connection of the implement to the VT (terminal does not save the object pool) (during the development of the implement) only after the ObjectPool version has been changed (terminal saves the object pool) 54

55 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface Parameters of the outputs LicenceOK BOOL TRUE: ISOBUS licence on the controller is valid ISOBUS stack is being executed FALSE: ISOBUS licence on the controller is missing / invalid ISOBUS stack is not being executed My_SA BYTE Current source address (SA) of my implement (WS) NrVTAvail BYTE Number of available VT bus participants ConnectionStatus Byte Status of the connection with a VT: 0 = waiting for an available VT 1 = connected to VT (ObjectPool on VT not ready) 2 = waiting for the ObjectPool 3 = stores ObjectPool on the VT 4 = waiting for the ObjectPool to be stored on the VT 5 = manipulation by the operator Implement can work with/on VT 6 = disconnected from the VT WorkingSet_Active BOOL TRUE: Implement is connected to the VT FALSE: Implement is not connected to the VT ActiveWorkingSet_SA BYTE Source address (SA) of the active implement (WS) 0 = implement is not connected to the VT ConnectedVT_SA Byte Source address (SA) of the connected VT 0 = implement is not connected to the VT ConnectedVT_ManufacturerCode Word Manufacturer code (according to ISO 11783) of the connected VT 0 = implement is not connected to the VT Visible_DataAlarm_Mask DWORD If WorkingSet_Active = TRUE: Object ID of the visible data / alarm mask If WorkingSet_Active = FALSE: Object ID of the previously active data / alarm mask If there is no connection to a VT: Visible_DataAlarm_Mask = 0 Visible_Softkey_Mask DWORD If WorkingSet_Active = TRUE: Object ID of the visible softkey mask If WorkingSet_Active = FALSE: Object ID of the previously active softkey mask If there is no connection to a VT: Visible_Softkey_Mask =

56 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface ifm_isobus_5mstask Unit type = function block (FB) Unit is contained in the library ifm_isobus_utaux_vxxyyzz.lib Symbol in CODESYS: Description This FB serves as a time reference for the ISOBUS stack First: ifm_isobus INIT = TRUE Then: ifm_isobus INIT = FALSE Only then call the FB fm_isobus_5mstask. This function block has no output parameters. This function block has no input parameters. 56

57 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface ISOBUS function blocks: Data exchange regarding the universal terminal (VT) VT_NextVT VT_LocalizationInfo VT_ExtendedInfo

58 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface VT_NextVT = Virtual Terminal_Next Virtual Terminal Unit type = function (FUN) of type BOOL Unit is contained in the library ifm_isobus_utaux_vxxyyzz.lib Symbol in CODESYS: Description This function disconnects the implement (WS) from the current universal terminal (VT) and connects it to the next available universal terminal. Prerequisite: More than 1 VT is available on the ISOBUS: FB ifm_isobus: Parameter NrVTAvail 2 This function block has no input parameters. Parameters of the outputs VT_NextVT BOOL TRUE: The function has been executed. FALSE: The function has not been executed. Only 1 VT is available on the ISOBUS

59 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface VT_LocalizationInfo = Virtual Terminal_Localization Info Unit type = function block (FB) Unit is contained in the library ifm_isobus_utaux_vxxyyzz.lib Symbol in CODESYS: Description This function block receives local information from the connected universal terminal (VT). This information is contained in the ISO LanguageCommand message. This FB filters individual information from the message and makes it accessible to the controller in the implement (WS). The connected VT informs all controllers on the ISOBUS about the following parameters: language code data format date and time format units of the measured values This information is given... once, at the beginning, after the coupling after the parameter setting of the universal terminal has been changed This function block has no input parameters Parameters of the outputs VALID BOOL TRUE: WS is connected to the VT Data is valid FALSE: Data is not valid There is no connection to the VT LanguageCode STRING(2) Character string consisting of 2 characters for the country code to ISO 693-1, (only small letters) e.g.: de = German / en = English / es = Spanish fr = French / it = Italian / nl = Dutch DecimalSymbol BYTE Symbol for the decimal point (binary, 2 digits): 0b00 = use of a comma (e.g.: 100,5) 0b01 = use of a full stop (e.g ) 0b10 = reserved 0b11 = no action (the 6 preceding binary digits are always "0") 59

60 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface DateFormat BYTE Date format (indication in decimal numbers) 0 = ddmmyyyy (= day, month, year) 1 = ddyyyymm (= day, year, month) 2 = mmyyyydd (= month, year, day) 3 = mmddyyyy (= month, day, year) 4 = yyyymmdd (= year, month, day) 5 = yyyyddmm (= year, day, month) TimeFormat BYTE Time format (binary, two-digit): 0b00 = 24 h time format (e.g.: 17:30) 0b01 = 12 h time format (e.g. 05:30 pm) 0b10 = reserved 0b11 = no action (the 6 preceding binary digits are always "0") UnitsSystem BYTE System of units (binary, two-digit): 0b00 = metric units 0b01 = British units 0b10 = US units 0b11 = no action (the 6 preceding binary digits are always "0") DistanceUnits BYTE System of units used for distances (binary, two-digit): 0b00 = metric (kilometre, metre...) 0b01 = British/ US (miles, feet...) 0b10 = reserved 0b11 = no action (the 6 preceding binary digits are always "0") ArealUnits BYTE System of units used for areas (binary, two-digit): 0b00 = metric (ha, m²...) 0b01 = British/ US (acre, square mile...) 0b10 = reserved 0b11 = no action (the 6 preceding binary digits are always "0") VolumeUnits BYTE System of units used for volume (binary, two-digit): 0b00 = metric (litre) 0b01 = British (gallon) 0b10 = US (US gallon) 0b11 = no action (the 6 preceding binary digits are always "0") MassUnits BYTE System of units used for weight (binary, two-digit): 0b00 = metric (ton, kg,...) 0b01 = British (long tons, pounds,...) 0b10 = US (short tons, pounds,...) 0b11 = no action (the 6 preceding binary digits are always "0") TemperatureUnits BYTE System of units used for temperatures (binary, two-digit): 0b00 = metric ( C, Kelvin,...) 0b01 = British / US ( F, Kelvin,...) 0b10 = reserved 0b11 = no action (the 6 preceding binary digits are always "0") PressureUnits BYTE System of units used for pressure (binary, two-digit): 0b00 = metric (kilopascal, bar,...) 0b01 = British/ US (pounds per square inch,...) 0b10 = reserved 0b11 = no action (the 6 preceding binary digits are always "0") ForceUnits BYTE System of units used for force (binary, two-digit): 0b00 = metric (Newton,...) 0b01 = British/ US (long ton, pounds force,...) 0b10 = reserved 0b11 = no action (the 6 preceding binary digits are always "0") 60

61 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface VT_ExtendedInfo = Virtual Terminal_Extended Info Unit type = function block (FB) Unit is contained in the library ifm_isobus_utaux_vxxyyzz.lib Symbol in CODESYS: Description This FB receives extended information from the connected universal terminal (VT). This information comes from the following messages: Get Memory Response message Get Number of Soft Keys Response message Get Text Fonts Data Response message Get Hardware Response message This function block has no input parameters Parameters of the outputs VALID BOOL TRUE: WS is connected to the VT Data is valid FALSE: Data is not valid There is no connection to the VT VT_Version BYTE Version of ISO the connected VT corresponds to Softkey_X_Pixels BYTE Number of pixels on the X axis for a softkey labeler Softkey_Y_Pixels BYTE Number of pixels on the Y axis for a softkey labeler Softkey_Physical BYTE Number of physical softkeys Softkey_Virtual BYTE Number of possible virtual softkeys in a softkey mask: up to version 3: as of version 4: 64 61

62 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface Font_Size WORD Supported font sizes (if several font sizes are permissible, the values are linked with OR) small font sizes: 0b = font size 6x8 px 0b = font size 8x8 px 0b = font size 8x12 px 0b = font size 12x16 px 0b = font size 16x16 px 0b = font size 16x24 px 0b = font size 24x32 px 0b = font size 32x32 px large font sizes: 0b = font size 32x48 px 0b = font size 48x64 px 0b = font size 64x64 px 0b = font size 64x96 px 0b = font size 96x128 px 0b = font size 128x128 px 0b = font size 128x192 px 0b = not used Font_Styles BYTE Supported font styles (if several font styles are permissible, the values are linked with OR) HW_GraphicType BYTE Supported graphics modes: 0b = normal characters (preset) 0b = font bold 0b = font crossed out 0b = font underlined 0b = font italic 0b = font inverted 0b = inverted flashing of the font / style set b = font flashes / style set including foreground and background 0b = font proportional (as of VT version 4) 00 = monochrome VT supports colour codes 0 and 1 and only monochrome graphic elements 01 = 16 colours VT supports colour codes 0 to 15 and graphic elements based on 16 colours 02 = 256 colours VT supports colour codes 0 to 255 and all formats for graphic elements HW_Features BYTE Hardware features of the VT (if several features exist, the values are linked with OR): 0b = VT has a touch screen 0b = VT has a pointing device 0b = VT has a multi-frequency audio output 0b = VT has an audio output which allows adjustment of the volume 0b = VT supports simultaneous actuation of all combinations of the softkeys (as of VT version 4) 0b = VT supports simultaneous actuation of all combinations of the pushbuttons (as of VT version 4) 0b = VT signals drag operation via PointingEventMessage (as of VT version 4) 0b = VT supports intermediate coordinate values during a drag operation (if bit 6 is activated as well) (as of VT version 4) HW_DataMask_X_Pixels DWORD Number of subdivisions (pixels) on the X axis of the data mask area HW_DataMask_Y_Pixels DWORD Number of subdivisions (pixels) on the Y axis of the data mask area 62

63 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface ISOBUS function blocks: Data exchange regarding the implement (WS) ISOBUS function blocks: Data exchange regarding the implement commands to the VT ISOBUS function blocks: Interface at the implement: Events from the VT ISOBUS function blocks: Data exchange regarding the implement commands to the VT WS_CmdChangeActiveMask WS_CmdChangeAttribute WS_CmdChangeFillAttributes WS_CmdChangeFontAttributes WS_CmdChangeLineAttributes WS_CmdChangeListItem WS_CmdChangeNumericValue WS_CmdChangeSize WS_CmdChangeSoftKeyMask WS_CmdChangeStringValue WS_CmdControlAudioSignal WS_CmdEnableDisableObject WS_CmdHideShowObject WS_CmdMoveObject WS_CmdSetAudioVolume WS_CmdSetObjectPosition The coupled implement (WS) can send commands to the universal terminal (VT) in the agricultural machine by means of the following function blocks:

64 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface WS_CmdChangeActiveMask = Working Set_Command Change Active Mask Unit type = function (FUN) of type BOOL Unit is contained in the library ifm_isobus_utaux_vxxyyzz.lib Symbol in CODESYS: Description This function changes from the active mask of the implement (WS) to a data or alarm mask in the universal terminal (VT) Parameters of the inputs ObjectID WORD Object ID of the new data or alarm mask Parameters of the outputs WS_CmdChangeNumericValue BOOL TRUE: Function has been finished The data is valid

65 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface WS_CmdChangeAttribute = Working Set_Command Change Attribute Unit type = function (FUN) of type BOOL Unit is contained in the library ifm_isobus_utaux_vxxyyzz.lib Symbol in CODESYS: Description This function changes the attribute of an object by means of an attribute ID (AID). Character Strings cannot be changed this way Parameters of the inputs ObjectID WORD Object ID of the object to be changed AttributeID BYTE Attribute-ID (AID) Attribute DWORD New value for the attribute Parameters of the outputs WS_CmdChangeAttribute BOOL TRUE: Function has been finished The data is valid

66 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface WS_CmdChangeFillAttributes = Working Set_Command Change Fill Attributes Unit type = function (FUN) of type BOOL Unit is contained in the library ifm_isobus_utaux_vxxyyzz.lib Symbol in CODESYS: Description This function changes the fill attribute of a fill attribute object If the attribute is to be changed from FillType = 0, 1 or 2 to FillType = 3: First change the fill pattern attribute (FillPattern_ObjectID) of the implement. Only then do change the fill type attribute (FillType=3). Otherwise the behaviour on the universal terminal cannot be predicted and depends on the device. Parameters of the inputs ObjectID WORD Object ID of the object to be changed FillType BYTE Type of the filling of the object 0 = 0x00 = no filling 1 = 0x01 = filled with the line colour 2 = 0x02 = filled with the colour set in FillColor 3 = 0x03 = filled with the pattern set in FillPattern_ObjectID FillColor BYTE Colour of the filling of this object, only if FillType = 2 Fill colour according to ISO "VT standard colour palette" FillPattern_ObjectID WORD Pattern of the filling of this object, only if FillType = 3 Object ID of a graphic object used as a fill pattern = 0xFFFF = NULL: Display the object without filling Parameters of the outputs WS_CmdChangeFillAttributes BOOL TRUE: Function has been finished The data is valid

67 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface WS_CmdChangeFontAttributes = Working Set_Command Change Font Attributes Unit type = function (FUN) of type BOOL Unit is contained in the library ifm_isobus_utaux_vxxyyzz.lib Symbol in CODESYS: Description This function changes the font attributes of the corresponding object on the universal terminal Parameters of the inputs ObjectID WORD Object ID of the object to be changed FontColor BYTE Colour of the font of this object standard colour palette for VT to ISO FontSize BYTE Size of the font of this object 0 = 0x00 = font size 6x8 px 1 = 0x01 = font size 8x8 px 2 = 0x02 = font size 8x12 px 3 = 0x03 = font size 12x16 px 4 = 0x04 = font size 16x16 px 5 = 0x05 = font size 16x24 px 6 = 0x06 = font size 24x32 px 7 = 0x07 = font size 32x32 px 8 = 0x08 = font size 32x48 px 9 = 0x09 = font size 48x64 px 10 = 0x0A = font size 64x64 px 11 = 0x0B = font size 64x96 px 12 = 0x0C = font size 96x128 px 13 = 0x0D = font size 128x128 px 14 = 0x0E = font size 128x192 px FontType BYTE Font of this object 0 = 0x00 = ISO Latin 1 (to ISO8859-1) 1 = 0x01 = ISO Latin 9 (to ISO ) 255 = 0xFF = proprietary FontStyle BYTE Font style of the object (several font styles: values linked with OR): 0b = normal characters (preset) 0b = font bold 0b = font crossed out 0b = font underlined 0b = font italic 0b = font inverted 0b = inverted flashing of the font / style set b = font flashes / style set including foreground and background (priority over 0b ) 67

68 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface Parameters of the outputs WS_CmdChangeFontAttributes BOOL TRUE: Function has been finished The data is valid

69 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface WS_CmdChangeLineAttributes = Working Set_Command Change Line Attributes Unit type = function (FUN) of type BOOL Unit is contained in the library ifm_isobus_utaux_vxxyyzz.lib Symbol in CODESYS: Description This function changes the line attributes of the corresponding object on the universal terminal Parameters of the inputs ObjectID WORD Object ID of the object to be changed LineColor BYTE Colour of the line object standard colour palette for VT to ISO LineWidth BYTE Thickness of the line object in [pixels] LineArt WORD Bit pattern of the line object Each bit corresponds to a point with the length and thickness of LineWidth Bit = 0: point of the line is displayed in the background colour Bit = 1: point of the line is displayed in the LineColor Examples: 0x3333 = dashed line 0x5555 = dotted line 0xFFFF = continuous line Parameters of the outputs WS_CmdChangeLineAttributes BOOL TRUE: Function has been finished The data is valid

70 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface WS_CmdChangeListItem = Working Set_Command Change List Item Unit type = function (FUN) of type BOOL Unit is contained in the library ifm_isobus_utaux_vxxyyzz.lib Symbol in CODESYS: Description This function changes a list element in an input list object in the universal terminal (VT) Parameters of the inputs ObjectID WORD Object ID of the object to be changed ListIndex WORD List index (0..n) NewObjectID WORD New object ID 0xFFFF = empty element Parameters of the outputs WS_CmdChangeListItem BOOL TRUE: Function has been finished The data is valid

71 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface WS_CmdChangeNumericValue = Working Set_Command Change Numeric Value Unit type = function (FUN) of type BOOL Unit is contained in the library ifm_isobus_utaux_vxxyyzz.lib Symbol in CODESYS: Description This function changes the numerical value in an object in the universal terminal (VT). The function is only valid for objects with the attribute "numerical value" Do NOT change the size of the object via this command! Only the object indicated in the command is changed. Variables the object refers to do NOT change. Adapt the update frequency to the available band width of the ISOBUS! Only update the values if they have changed. Parameters of the inputs ObjectID WORD Object ID of the object to be changed Value DWORD New numerical value for the indicated object Parameters of the outputs WS_CmdChangeNumericValue BOOL TRUE: Function has been finished The data is valid

72 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface WS_CmdChangeSize = Working Set_Command Change Size Unit type = function (FUN) of type BOOL Unit is contained in the library ifm_isobus_utaux_vxxyyzz.lib Symbol in CODESYS: Description This function changes the size of an object. The value "0" for width and/or height means that the object has the size 0 and is not displayed on the universal terminal. The object maintains its position Parameters of the inputs ObjectID WORD Object ID of the object to be changed NewWidth WORD New width of the object in [pixels] 0x0000 = element not visible NewHeight WORD New height of the object in [pixels] 0x0000 = element not visible Parameters of the outputs WS_CmdChangeSize BOOL TRUE: Function has been finished The data is valid

73 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface WS_CmdChangeSoftKeyMask = Working Set_Command Change Softkey Mask Unit type = function (FUN) of type BOOL Unit is contained in the library ifm_isobus_utaux_vxxyyzz.lib Symbol in CODESYS: Description This function changes the mask of the programmed buttons (softkeys) belonging to the active implement (WS) in the universal terminal (VT) Parameters of the inputs ObjectID WORD Object ID of the new softkey mask Parameters of the outputs WS_CmdChangeSoftkeyMask BOOL TRUE: Function has been finished The data is valid

74 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface WS_CmdChangeStringValue = Working Set_Command Change String Value Unit type = function (FUN) of type BOOL Unit is contained in the library ifm_isobus_utaux_vxxyyzz.lib Symbol in CODESYS: Description This function changes the character string value in an object. The size of the object is not changed. Variables the object refers to are not changed. The transmitted character string can be shorter than the length attribute of the target object. In this case the universal terminal fills the character string with blanks. The number of transmitted bytes for the character string may be smaller as or equal to the length attribute of the target object, i.e. the character string must not be longer Parameters of the inputs ObjectID WORD Object ID of the object to be changed StringLength WORD Length of the character string (number of characters) e.g.: LEN(StringValue) StringAddress WORD Address of the character string variable e.g.: ADR(StringValue) Parameters of the outputs WS_CmdChangeStringValue BOOL TRUE: Function has been finished The data is valid

75 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface WS_CmdControlAudioSignal = Working Set_Command Control Audio Signal Unit type = function (FUN) of type BOOL Unit is contained in the library ifm_isobus_utaux_vxxyyzz.lib Symbol in CODESYS: Description This function controls the audio signal on the universal terminal Parameters of the inputs Activations BYTE Number of the audio activation on the universal terminal 0 = stops all audio processes = number of the audio activation Frequency WORD Tone pitch in [Hz] If the tone pitch is too high for the terminal to emit, the terminal reduces the value to the permissible range. ON_Time WORD Switch-on time of the audio signal on the universal terminal If the configured switch-on time for the terminal is too short, the terminal extends the value to the minimum permissible duration. OFF_Time WORD Switch-off time of the audio signal on the universal terminal If the configured switch-off time for the terminal is too short, the terminal extends the value to the minimum permissible duration Parameters of the outputs WS_CmdControlAudioSignal BOOL TRUE: Function has been finished The data is valid

76 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface WS_CmdEnableDisableObject = Working Set_Command Enable Disable Object Unit type = function (FUN) of type BOOL Unit is contained in the library ifm_isobus_utaux_vxxyyzz.lib Symbol in CODESYS: Description This function controls the accessibility of an input field object in the universal terminal (VT) Parameters of the inputs ObjectID WORD Object ID of the object to be changed DisableOrEnable BYTE 00 = lock input field object 01 = release input field object Parameters of the outputs WS_CmdEnableDisableObject BOOL TRUE: Function has been finished The data is valid

77 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface WS_CmdHideShowObject = Working Set_Command Hide Show Object Unit type = function (FUN) of type BOOL Unit is contained in the library ifm_isobus_utaux_vxxyyzz.lib Symbol in CODESYS: Description This functions hides or shows a container object in the universal terminal Parameters of the inputs ObjectID WORD Object ID of the container object HideOrShow BYTE 00 = hide object 01 = show object Parameters of the outputs WS_CmdHideShowObject BOOL TRUE: Function has been finished The data is valid

78 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface WS_CmdMoveObject = Working Set_Command Move Object Unit type = function (FUN) of type BOOL Unit is contained in the library ifm_isobus_utaux_vxxyyzz.lib Symbol in CODESYS: Description This function corresponds to the command "Change Child Location" of ISO The command "Change Child Location" changes the position of an object. The new position of the object is indicated in relation to the current position. The "Child Object" may be included in a great number of "Parent Objects". Therefore, do indicate the ID of the "Parent Object"! If the "child object" is contained in a "Parent object" several times, all instances of the "Child object" are moved with this function. If the object has been moved, the "Parent Object" has to be updated. The position of the object changes as follows: X 0 X < 0 Y 0 Y < 0 Object moves to the right Object moves to the left Object moves down Object moves up Parameters of the inputs Parent_ObjectID WORD ID of the "ParentObject" ObjectID WORD Object ID of the object to be moved X_Change INT Relative change of the position in X direction in [pixels] permissible = Y_Change INT Relative change of the position in Y direction in [pixels] permissible = Parameters of the outputs WS_CmdMoveObject BOOL TRUE: Function has been finished The data is valid

79 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface WS_CmdSetAudioVolume = Working Set_Command Set Audio Volume Unit type = function (FUN) of type BOOL Unit is contained in the library ifm_isobus_utaux_vxxyyzz.lib Symbol in CODESYS: Description This function controls the volume of the audio signal on the universal terminal Parameters of the inputs VolumePercent BYTE Volume of the audio signal on the universal terminal in per cent of the maximum volume possible for the terminal permissible = Parameters of the outputs WS_CmdSetAudioVolume BOOL TRUE: Function has been finished The data is valid

80 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface WS_CmdSetObjectPosition = Working Set_Command Set Object Position Unit type = function (FUN) of type BOOL Unit is contained in the library ifm_isobus_utaux_vxxyyzz.lib Symbol in CODESYS: Description This function corresponds to the command "Change Child Location" of ISO The command "Change Child Location" changes the position of an object. The new position of the object is indicated in relation to the position of the "Parent Object". The "Child Object" may be included in a great number of "Parent Objects". Therefore, do indicate the ID of the "Parent Object"! If the "Child Object" is contained in a "parent object" several times, all instances of the "child Object" are moved to the same new position with this function. If the instances are to be moved relatively, use the functionws_cmdmoveobject ( p. 78)! The position of the object changes to the following value: X(new) = X(upper left corner Parent Object) + X_POSITION (= to the right) Y(new) = Y(upper left corner Parent Object) + Y_POSITION (= down) Parameters of the inputs Parent_ObjectID WORD ID of the "ParentObject" ObjectID WORD Object ID of the object to be moved X_Position WORD New X position, in relation to the upper left corner of the "Parent Object" (= to the right) in [pixels] Y_Position WORD New Y position, in relation to the upper left corner of the "Parent Object" (= down) in [pixels] Parameters of the outputs WS_CmdSetObjectPosition BOOL TRUE: Function has been finished The data is valid

81 Functional elements from ifm for ISOBUS Functional elements from ifm: ISOBUS function blocks CODESYS interface ISOBUS function blocks: Interface at the implement: Events from the VT WS_EvtButtonActivation WS_EvtSoftKeyActivation WS_EvtVTChangeNumericValue WS_EvtVTChangeStringValue The coupled implement (WS) can receive commands or data from the universal terminal (VT) in the agricultural machine by means of the following function blocks: In order not to miss any message of the universal terminal: Call function blocks in each PLC cycle! 81