Original programming manual PDM360 NG CR1080 CR1084. Runtime system V02.03.xx CODESYS V2.3. English _01_UK

Transcription

1 Original programming manual PDM360 NG CR1080 CR1084 Runtime system V02.03.xx CODESYS V2.3 English _01_UK

2 Contents Contents 1 About this manual Copyright Overview: documentation modules for ecomatmobile devices CODESYS programming manual What do the symbols and formats mean? How is this documentation structured? History of the instructions (CR1080, CR1084) Safety instructions What previous knowledge is required? Note! Start-up behaviour of the controller System description Information about the device Hardware Display elements Operating elements Limitations for program and data memories Real-time clock (RTC) Camera visualisation Interfaces Inputs (technology) Outputs (technology) CAN USB Ethernet Analogue video input Software description Software components Programming system CODESYS ifm target package for CODESYS Operating states Installation Install the CODESYS programming system Install the device-specific target package Update the runtime system of the device Notes Enter the recovery mode Update the runtime system Configure IP parameter of ethernet interface Quit the recovery mode Device configuration Enter the setup mode Operating instructions...41 Key functionality... 42

3 Contents Encoder Setup: Working with enabled password protection Setup: start screen Setup: System settings Setup: Display system information Setup: More functions PDF file viewer PDF: Navigating in the PDF file PDF-Viewer: Display PDF file in full-screen mode PDF-Viewer: Display extended menu PDF-Viewer: Display the tabel of content of the PDF file Setup: Start the application Automatically restore system files Exit setup, reboot device Programming Set the target system Create CODESYS project manually Configure the controller Configure CAN interfaces Use access protection First steps Programming notes for CODESYS projects Create PLC program Add additional libraries Programming interfaces Save project in the device Configuration of the inputs and outputs Notes Configure input Configure output Use visualisations Notes on visualisations Create visualisation Configuring functions of operating elements Use of optical and acustical feedback Install fonts (true type fonts) Install and set up mobile camera Setup and operate Ethernet cameras Setup and operate analogue cameras ifm function elements ifm libraries for the device CR1080/CR Library ifm_cr1080/cr1084_vxxyyzz.lib Library ifm_pdmng_util_vxxyyzz.lib Library ifm_pdm360ng_special_v02yyzz.lib Library ifm_pdm360ng_linux_syscall_asynch_v02yyzz.lib Library ifm_pdm360ng_usb_vxxyyzz.lib Library ifm_pdm360ng_usb_ll_v02yyzz.lib Library ifm_pdm_input_v01yyzz.lib Library ifm_rawcan_nt_vxxyyzz.lib Library ifm_canopen_nt_vxxyyzz.lib Library ifm_netvarlib_nt_vxxyyzz.lib Library ifm_j1939_nt_vxxyyzz.lib ifm function elements for the device CR1080/CR POUs: Setup the device POUs: Read device information POUs: Adjust analouge and digital values POUs: Manage, read and write the USB memory device Function elements: Control LED + buzzer

4 Contents POUs: Manage visualisation POUs: Help functions Function elements: RAW-CAN (Layer 2) Function elements: CANopen Function elements: SAE J Diagnosis and error handling Diagnosis Fault Response to system errors Example process for response to an error message CAN / CANopen: errors and error handling Annex Address assignment in Ethernet networks System flags System flags: system System flags: Inputs and Outputs System flags: Status LED System flags: function keys System flags: encoder System flags: error flags Possible operating modes inputs/outputs CANopen tables Structure of CANopen messages Boot-up message Network management (NMT) CANopen error code Glossary of Terms Index Notizen Notes Notes ifm weltweit ifm worldwide ifm à l échelle internationale 377 4

5 About this manual Copyright 1 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 (CR1080, CR1084)

6 About this manual Copyright 1.1 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 IO-Link ( is the property of the PROFIBUS Nutzerorganisation e.v., Germany 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 Overview: documentation modules for ecomatmobile devices The documentation for ecomatmobile devices consists of the following modules: 1. Data sheet Contents Source Technical data in a table select your country [Data sheet search] CR1080/CR1084 [Technical data in PDF format] 2. Installation instructions / operating instructions Contents Source Instructions for installation, electrical installation, (commissioning*), technical data The instructions are supplied with the device They are also found on ifm's homepage: select your country [Data sheet search] CR1080/CR1084 [Operating instructions] 3. Programming manual + online help Contents Source Description of the configuration and the functions of the device software select your country [Data sheet search] CR1080/CR1084 [Operating instructions] 4. System manual "Know-how ecomatmobile" Contents Source 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 select your country [Data sheet search] CR1080/CR1084 [Operating instructions] *) The descriptions in brackets are only included in the instructions of certain devices. 6

7 About this manual CODESYS programming manual 1.3 CODESYS programming manual 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: 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" 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 notes concerning malfunctions or disturbances Other remarks... Request for action... Reaction, result... abc 123 0x123 0b010 "see" Cross-reference Decimal number Hexadecimal number Binary number [...] Designation of pushbuttons, buttons or indications 7

8 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 Annex. In case of malfunctions or uncertainties please contact the manufacturer at: 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: Select country [Data sheet search] (Article no.) [Operating instructions] History of the instructions (CR1080, CR1084) What has been changed in this manual? An overview: Date Theme Change CANopen overview new: CANopen tables in the annex Add and configure CANopen slaves screenshot corrected Behaviour of the watchdog Correction and upgrading several function blocks - permissible parameter values added - FiFo values corrected Parameters in FB J1939_DM1TX - parameter SPN_CM - parameter NUMBER diverse - Linux password - text parameters - parameter MODE in FB INPUT diverse Upgrade to runtime system v Various Upgrade to target V Various Upgrade to operating system V FB CAN_REMOTE_RESPONSE More precise description of the function block ENABLE Name of the documentation "System manual" renamed as "Programming manual" Description of inputs, outputs highside / lowside replaced by positive / negative switching Structure of documentation for error codes, system flags error flags: now only in the annex, chapter System flags CAN / CANopen errors and error handling: now only in the system manual "Know-How" error codes, EMCY codes: now in the annex, chapter Error tables Various - Runtime system V

9 Safety instructions History of the instructions (CR1080, CR1084) 2 Safety instructions What previous knowledge is required?...10 Note!...10 Start-up behaviour of the controller

10 Safety instructions What previous knowledge is required? 2.1 What previous knowledge is required? This document is intended for people with knowledge of control technology and PLC programming with IEC 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 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 ifm's homepage at: 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: 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: Select your country [Data sheet search] (article number.) [Operating instructions] 10

11 Safety instructions Start-up behaviour of the controller NOTE To ensure the protection rating: - Cover the unused M12 sockets using the protective caps E73004! - Permissible tightening torque of the protective caps = Nm. 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 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

12 System description Information about the device 3 System description Information about the device...12 Hardware...13 Interfaces...18 Software description Information about the device These instructions describe the following models of the device familiy 'PDM360' from ifm electronic gmbh: PDM360 NG - 7": CR1080/CR1084 Software release: Runtime system: V02.03.xx 12

13 System description Hardware 3.2 Hardware Display elements...14 Operating elements...15 Limitations for program and data memories...16 Real-time clock (RTC)...17 Camera visualisation

14 System description Hardware Display elements The device has the following display elements Display 7362 Designation Technology Screen diagonal Data TFT 7" (15.7 cm) Aspect ratio 15:9 Resolution Colour depth 800 x 480 pixels 6 bits per colour channel = 18 bits = representable colours (Create the image as "True Color" with 24 bits) Background illumination Photoelectric sensor LED 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 Red 2 Hz Anwendungsprogramm läuft 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 Colour and flashing frequency of the status LED can be programmed in the CODESYS application. 14

15 System description Hardware Key LEDs All keys are seperately backlit by LEDs. The LEDs can be programmed in the CODESYS application. Behaviour in Setup mode: Key functionality ( page 42) Audio signalling device (buzzer) The audio signalling device integrated into the device can be programmed in the CODESYS application. Tone duration (off, permanent tone, key click Tone pitch ( Hz) Operating elements The device is equipped with the following operating elements: 7329 Function keys with pressure point backlit with programmable LEDs Encoder (encoder with pushbutton) 16 pulses / revolution Backlit with programmable LED 15

16 System description Hardware Limitations for program and data memories 7360 Memory area Size Total memory space 1 128/256 Mbytes RAM 128 Mbytes Flash For program code 8 Mbytes Data memory /data Memory for retain data ² Memory in the directory /tmp Memory for bitmap files (80 x 100 pixels each, 24-bit colour depth) Memory for font files System need Mbytes 32 kbytes Not defined 45 Mbytes 75 Mbytes legend: Memory size: data sheet Retain data Retain variables ( page 95) The CR1080/CR1084 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 ( page 168). 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. 16

17 System description Hardware Real-time clock (RTC) 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

18 System description Interfaces 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 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 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 % 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 % with unchanged proportion. 3.3 Interfaces The device has the following interfaces For location of the connections an and specifications: installation instruction, data sheetdaten 18

19 System description Interfaces Inputs (technology) Operating modes...20 Safety instructions about Reed relays

20 System description Interfaces Operating modes 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 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 7345 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 (S) = sensor In = pin binary input n (S) = sensor Basic circuit of binary input plus switching (BL) for positive sensor signal: Input = open signal = low (GND) Basic circuit of binary input minus switching (BH) for negative sensor signal: Input = open signal = high (supply) 20

21 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 ma voltage input V voltage input V If in the operating mode " 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 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 V (4b) = analogue voltage measuring V (5) = voltage (6) = reference voltage Figure: principle block diagram multifunction input Safety instructions about Reed relays For use of non-electronic switches please note the following: 7348 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 = Ohm max. series resistor = 150 Ohm 21

22 System description Interfaces Outputs (technology) Binary output Binary output 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 22

23 System description Interfaces 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 CAN 1 CAN 2 CAN 3 CAN 4 Download ID (default) ID 127 ID 126 ID 125 ID 124 CAN protocols CAN Layer 2 CAN Layer 2 CAN Layer 2 CAN Layer 2 CANopen CANopen CANopen CANopen SAE J1939 SAE J1939 SAE J1939 SAE J USB 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) Ethernet 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) Analogue video input 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 Analogue cameras are supported by the following devices: CR

24 System description Software description 3.4 Software description Software components...25 Programming system CODESYS Operating states

25 System description Software description Software components The device has the following software componentscommunicates with the hardware as below: Software component Can user change the component? By means of what tool? Operating system (Linux derivate) 1 No --- Runtime system (RTS) 2 Application program with libraries Legend: Upgrade yes Downgrade no Yes Image file CODESYS 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 The runtime system version number must correspond to the target version number in the CODESYS target system setting. Runtime system 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: Select your country [Service] [Download] Application program 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. WARNING The user is responsible for the reliable function of the application programs he designed. If necessary, he must additionally carry out an approval test by corresponding supervisory and test organisations according to the national regulations The visualisation pages and embedded graphics are part of the CODESYS application program. 25

26 System description Software description Programming system CODESYS 2.3 The user can create application programs for the CR1080/CR1084 by using the programming system CODESYS 2.3. In this manual we refer to the CODESYS version 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: Select your country [Service] [Download] ecomatmobile DVD "Software, tools and documentation" 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 ifm-specific error messages ifm-specific task configuration Operating states 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

27 Installation Software description 4 Installation Install the CODESYS programming system...28 Install the device-specific target package...28 Update the runtime system of the device

28 Installation Install the CODESYS programming system 4.1 Install the CODESYS programming system Download the installation file for CODESYS 2.3 from the ifm website. Select your country [Service] [Download] [Systems for mobile machines] Install the CODESYS 2.3 programming system on the PC/laptop ( CODESYS software manual) Install the device-specific target package Detailed information on the device-specific target package: ifm target package for CODESYS ( page 26) To install the device-specific target package for the CR1080/CR1084: Download the "CR1080/CR1084 target package" with version V02.03.xx. Select your country [Service] [Download] [Systems for mobile machines] Open the ZIP file and unzip the contents of the folder CR1080/CR1084_V02 into the subdirectory..\targets\ifm in the CODESYS programm directory. Components of the target file can be used in CODESYS

29 Installation Update the runtime system of the device 4.3 Update the runtime system of the device Notes...30 Enter the recovery mode...31 Update the runtime system...32 Configure IP parameter of ethernet interface...35 Quit the recovery mode

30 Installation Update the runtime system of the device Notes Download the update file...31 Key assignment in recovery mode...31 Components of the runtime system...31 To update the runtime system the device needs to be in recovery mode

31 Installation Update the runtime system of the device Download the update file The user can download the current version of the runtime system from the ifm website. Access the download from the ifm website. ( 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 In the recovery mode, the following key assignment applies: Components of the runtime system 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 Enter the recovery mode 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

32 Installation Update the runtime system of the device Update the runtime system 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 31)). Select one of the following options: Runtime system update via USB memory device ( page 33) Runtime system update via web browser ( page 34) 32

33 Installation Update the runtime system of the device Runtime system update via USB memory device 1 Download current release of runtime system Download new release of runtime system from the ifm website ( Download the update file ( page 31)). 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. 2 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 Reboot the device neu starten Use [ ] / [ ] to select the [Reboot] button. Press [ENTER] to reboot the device. The device reboots. 33

34 Installation Update the runtime system of the device Runtime system update via web browser 1 Neues Laufzeitsystem herunterladen Download new release of runtime system from the ifm website ( Download the update file ( page 31)). 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. Press [ENTER] to reboot the device. The device reboots. 34

35 Installation Update the runtime system of the device Configure IP parameter of ethernet interface In order to update the runtime system of the CR1080/CR1084 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: Select one of the following options: Synchronize the IP parameters with DHCP sever ( page 36) Configure the IP parameter manually ( page 37) 35

36 Installation Update the runtime system of the device Synchronize the IP parameters with DHCP sever 1 Connect device with IP network Connect ethernet interface of the device with the IP network. 2 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]) 3 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. 36

37 Installation Update the runtime system of the device Configure the IP parameter manually 8906 Detailed information about the assignment of IP addresses in Ethernet networks: Address assignment in Ethernet networks ( page 339). 1 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. 2 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. 3 Set subnetmask and gateway addess Repeat step 1 to set [Network Mask] and [Default Gateway]. 4 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]. 37

38 Installation Update the runtime system of the device Quit the recovery mode Select ifm recovery screen. Use [ ] / [ ] to select the menu item [Reboot] and press [ENTER] to activate it. The device reboots. 082 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 CR1080/CR1084 automatically enters the setup mode after completing the reboot process. 38

39 Device configuration Update the runtime system of the device 5 Device configuration Enter the setup mode...40 Operating instructions...41 Setup: start screen...50 PDF file viewer...76 Setup: Start the application...81 Automatically restore system files...82 Exit setup, reboot device...83 This chapter describes the configuration of the device in the setup mode

40 Device configuration Enter the setup mode 5.1 Enter the setup mode 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 [SETUP] [PDF-VIEWER] [LOAD APPLICATION] Description Start setup menu ( Setup: start screen ( page 50)) Start the PDF file viewer ( PDF file viewer ( page 76)) Load and start the PLC application ( Setup: Start the application ( page 81)) 40

41 Device configuration Operating instructions 5.2 Operating instructions Key functionality...42 Encoder...47 Setup: Working with enabled password protection...48 In setup mode, the following rules apply:

42 Device configuration Operating instructions Key functionality 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 Increment/decrement value in selected number field Select character of on-screen keyboard 42

43 Device configuration Operating instructions Operation: Navigate in the setup menu 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). 43

44 Device configuration Operating instructions Operation: Navigate within a menu screen 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. Use [EXIT] to change to the higher-level menu. 44

45 Device configuration Operating instructions Operation: Navigate in the file directory To navigate in the file directory: 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. Use [EXIT] to change to the higher-level menu. 45

46 Device configuration Operating instructions Operation: Enter a text using the on-screen keyboard 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. 46

47 Device configuration Operating instructions Encoder By using the encoder the operator can accoess the following functions: turn left / turn right press the pushbutton 6997 Certain navigation functions can be executed either via function keys or via the encoder. The following table provides an overview: Encoder Function key Function [ENTER] Activate menu item / button [ ] [ ] [BACKSEL] [ ] [ ] [SELECT] Move down Move to the left Select previous menu item Move up Move to the right Select next menu item 47

48 Device configuration Operating instructions Setup: Working with enabled password protection If the password protection is enabled, the operator has only accress to the following menu functions: [SETUP] [System Information] [SETUP] [ACTIONS] [Keyboard Test] All other menu functions are disabled. Additionally, after changing to the setup menu the display shows the following setup start screen: Select one of the following options: Setup: Setup menu with restricted access rights ( page 49) Setup: Enter the password for full access to the setup menu ( page 49) 48

49 Device configuration Operating instructions Setup: Setup menu with restricted access rights 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 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 46)). 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! 49

50 Device configuration Setup: start screen 5.3 Setup: start screen Select [SETUP] and press [ENTER]. [SETUP] menu appears: Select one of the following menu items: Name [SYSTEM SETTINGS] [SYSTEM INFORMATION]: [ACTIONS] Description Access system settings ( Setup: System settings ( page 51)) Display system information: ( Setup: Display system information ( page 60)) Access additional functions ( Setup: More functions ( page 61)) Consider notes regarding the work with enabled password protection! Setup: Working with enabled password protection ( page 48) 50

51 Device configuration Setup: start screen Setup: System settings The menu [SETUP] [SYSTEM SETTINGS] provides access to the following functions: 9603 Menu item Function [ETHERNET] Setup: Configure the IP parameters manually ( page 52) [CAN] Setup: Set the CAN interfaces ( page 54) [RTC] Setup: Set the real-time clock (RTC) ( page 55) [BACKLIGHT] Setup: Set the display brightness ( page 56) [NETWORK SERVICES] Setup: Set the network services ( page 57) [PASSWORD SETTINGS] Download the update file ( page 31) 51

52 Device configuration Setup: start screen Setup: Configure the Ethernet interface 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: Select one of the following options: Synchronize the IP parameters with DHCP sever ( page 36) Configure the IP parameter manually ( page 37) Setup: Configure the IP parameters manually 7408 IP address (factory settings) = 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 339). 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 [Netmask] Subnetmask of the network segment i.e [Gateway] IP address of the network gateway i.e 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. 3 Save changed values Press [SAVE] to confirm and save the changed values. 52

53 Device configuration Setup: start screen Setup: Configure the IP parameters automatically 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] Menu page displays the following information: Bezeichung Bedeutung Mögliche Werte [DHCP Client] Status of DHCP client of the device DHCP client disabled DHCP client enabled [IP Address] IP address of the Ethernet interface of the device i.e [Netmask] Subnetmask of the network segment i.e [Gateway] IP address of the network gateway i.e 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.). 53

54 Device configuration Setup: start screen Setup: Set the CAN interfaces To set the parameters of the CAN interfaces: 1 Select menu page Navigation path: [SETUP] [SYSTEM SETTINGS] [CAN] Menu page displays the following informations: 7413 Name Description [CAN Bus 1] Settings of of CAN interace 1 [CAN Bus 2] Settings of of CAN interface 2 [CAN Bus 3] Settings of of CAN interface 3 [CAN Bus 4] * Settings of of CAN interface 4 *... only available at devices with 4 CAN interfaces 2 Select CAN interface Use [SELECT] / [BACKSEL] to select the requested CAN interface. Press [ENTER] to change to the selected menu page. Menu page displays the following informations: 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 3 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 [SAVE] to confirm and save the changed values. Press [EXIT ] to return to the upper next menu level. Optional: Repeat steps 2 and 3 to set the values of additional CAN interfaces. 54

55 Device configuration Setup: start screen Setup: Set the real-time clock (RTC) To set the real-time clock. 1 Select menu page Navigation path: [SETUP] [SYSTEM SETTINGS] [RTC] Menu page displays the following informations: 7414 Name Description Possible values [YYYY] Year [MM] Month [DD] Day [hh] Hour [mm] Minute [ss] Second 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). Use [ ] / [ ] to set the required value. Optional: Repeat step 2 to set the values of additional number fields. 3 Save changed values Press [SAVE] to confirm and save the changed values. Information bar displays acknowledge message. Press [EXIT ] to return to the upper next menu level. 55

56 Device configuration 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 %) minimal brightness maximal brightness 2 Set brightness level of display Use [ ] / [ ] to set the required value. Press and keep pressed the [TEST] button to test the set value. 3 Save the new value Press [SAVE] to confirm and save the changed values. Information bar displays acknowledge message. Press [EXIT ] to return to the upper next menu level. 56

57 Device configuration Setup: start screen Setup: Set the network services 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 Possible values [Telnet] Enable / Disable the Telnet service of the device Telnet enabled Telnet disabled [FTP] Enable / Disable the FTP service of the device FTP enabled FTP disabled 2 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 3 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. 57

58 Device configuration Setup: start screen Setup: Set the password protection The menu page [SETUP] [SYSTEM SETTINGS] [PASSWORD SETTINGS] provides access to the following options: Setup: Change the system password ( page 58) Setup: Enable / Disable password protection ( page 59) Setup: Change the system password 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 72)) Notes on operation of the on-screen keyboard: Operation: Enter a text using the on-screen keyboard ( page 46) 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! Press [EXIT ] to return to the upper next menu level. 58

59 Device configuration Setup: start screen Setup: Enable / Disable password protection 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 91)). 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 48)). 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). Press [EXIT ] to return to the upper next menu level. 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. 59

60 Device configuration Setup: start screen Setup: Display system information To display the system information: 1 Select menu page Navigation path: [SETUP] [SYSTEM INFORMATION] Menu page displays the following information: 7407 Bezeichnung [Serial Number] [SW Version] [FW Version WD] [FW Version IO] Bedeutung Serial number of the device Software version Firmware version of the watch-dog component Firmware version of the I/O interface [FW Version Keyboard1] Firmware version of the keyboard 1 [FW Version Keyboard2] Firmware version of the keyboard 2 [FW Version Keyboard3] Firmware version of the keyboard 3 [MAC Address] [Supply Voltage] [Internal Voltages] [System Temperatures] [Memory Alloc Sitze/Used] MAC address of the Ethernet interface Value of the supply voltage Internal voltage values Temperatures in the system Memory size / memory used 60

61 Device configuration Setup: start screen Setup: More functions The submenu [SETUP] [ACTIONS] provides access to the following functions: 7409 Menu item Function [REBOOT] Setup: Reboot the device ( page 62) [CAN TEST] Setup: Test the CAN interfaces ( page 63) [SPLASH SCREEN] Setup: Define the splash screen ( page 66) [KEYBOARD TEST] Setup: Test input elements ( page 67) [BACKUP/RESTORE] Setup: Backup / Restore software components ( page 68) [USB REMOVE] Setup: Safely remove the USB device ( page 73) [FONTS] Setup: Manage fonts ( page 74) [FORMAT STORAGE] Setup: Format the internal storage ( page 75) 61

62 Device configuration Setup: start screen Setup: Reboot the device To reboot the device: 1 Select menu page Navigation path: [SETUP] [ACTIONS] [REBOOT] [Reboot] menu page appears. 2 Reboot the device Press [ENTER] to 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. 62

63 Device configuration Setup: start screen Setup: Test the CAN interfaces To test the CAN interfaces of the device, process one of the following functiions: CAN test: Transmit data ( page 64) CAN test: Receive data ( page 65)

64 Device configuration Setup: start screen CAN test: Transmit data 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) 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. If no baudrate of the CAN interface was set the test will be processed with 125 Kbits/s. 64

65 Device configuration Setup: start screen CAN test: Receive data 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. Menu page displays the following informations: 9627 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) 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. 65

66 Device configuration 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 [Load from USB device] [Load from /tmp] [Load from...] Description Load the image file from a USB device Load the image file from the directory /tmp of the device 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. 3 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 The user can define a user-defined splash screen. The image file has the following restricitions: Parameter File type File name Resolution Colours File size Restriction Bitmap (*.bmp) RLE compressed Naming convention = 8.3, only small characters 800 x 480 Pixel (18 Bit) 256 kbyte 66

67 Device configuration Setup: start screen Setup: Test input elements 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

68 Device configuration 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 [BACKUP SYSTEM INFORMATION] [BACKUP SYSTEM] [RESTORE SYSTEM] Description Save the system information ( Backup: Save the system information ( page 69)) Save the system software ( Backup: Save the system files ( page 70)) Restore the system software ( Restore: Restore the system files ( page 72)) 68

69 Device configuration Setup: start screen Backup: Save the system information 9648 Contents of the file Setup: Display system information ( page 60). 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 Menu page displays the following options: Bezeichnung [Save to USB device] [Save to /tmp] [Save to...] Bedeutung Save data to a USB device Save data to the device directory /tmp Save data to a selectable directory of the device Use [SELECT] / [BACKSEL] to select the requested menu item and press [ENTER] to confirm. Menu page displays the content of the selected memory location. 3 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. 69

70 Device configuration 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 Navigation path: [SETUP] [ACTIONS] [BACKUP/RESTORE] [System Backup & Restore] menu page appears. Select [BACKUP SYSTEM] and press [ENTER] to confirm. 2 Select software components Menu page displays the following options: Name [Select All] [Backup Ethernet Settings] [Backup Backlight Settings] [Backup Splash Screen] [Backup Retain Data] [Backup User Filesystem (/home)] Description Enable all software components Settings of the Ethernet network adapter Settings of the background illumination Splash screen Retain data 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. 3 Select memory location for backup file Menu page displays the following options: Name [Save to USB device] [Save to /tmp] [Save to...] Description Save data to a USB device Save data to directory /tmp Save data to a selectable directory Use [SELECT] / [BACKSEL] to select the requested menu item and press [ENTER] to confirm. 70

71 Device configuration Setup: start screen Menu page displays content of the selected memory location. 4 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. 71

72 Device configuration 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 Navigation path: [SETUP] [ACTIONS] [BACKUP/RESTORE] [System Backup & Restore] menu page appears. Select [RESTORE SYSTEM] and press [ENTER] to confirm. 2 Select backup file Menu page displays the following options: Name [Restore from USB device] [Restore from /tmp] [Restore from...] Description Restore data from USB device Restore data from directory /tmp 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. 3 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. 72

73 Device configuration 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. 73

74 Device configuration Setup: start screen Setup: Manage fonts To manage font files (True Type Fonts) on the device, the following options are available: Name [LOAD FONT] [REMOVE FONT] Description Install font files on the device ( Fonts: Load the font ( page 74)) Remove font files stored on the device ( Fonts: Remove the font ( page 74)) Fonts: Load the font 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 Menu page displays the following options: Name [Load from USB device] [Load from /tmp] [Load from...] Description Load font file from USB device Load font file from /tmp-directory Load font file from a selectable directory Use [SELECT] / [BACKSEL] to select the requested menu item and press [ENTER] to confirm. Menu page displays selected source. 3 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 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

75 Device configuration 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. 75

76 Device configuration 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 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 40)) Select [PDF-Viewer] menu item. Use [ENTER] to change to the PDF file viewer. Choose one of the following options:

77 Device configuration PDF file viewer PDF: Navigating in the PDF file Select requested PDF file and press [ENTER] to open the file ( Operation: Navigate in the file directory ( page 45)). 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

78 Device configuration PDF file viewer PDF-Viewer: Display PDF file in full-screen mode 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. 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)). 78

79 Device configuration PDF file viewer PDF-Viewer: Display extended menu 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] [SHOW INDEX OF: /Verzeichnis/Dateiname] Open the selected PDF file PDF: Navigating in the PDF file ( page 77) Open index of the selected PDF file PDF-Viewer: Display the tabel of content of the PDF file ( page 80) 79

80 Device configuration PDF file viewer PDF-Viewer: Display the tabel of content of the PDF file 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

81 Device configuration Setup: Start the application 5.5 Setup: Start the application Enter the setup mode ( Enter the setup mode ( page 40)) 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

82 Device configuration Automatically restore system files 5.6 Automatically restore system files 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 40)) 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 70)) 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 Enter the setup mode ( Enter the setup mode ( page 40)) 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. 82

83 Device configuration Exit setup, reboot device 5.7 Exit setup, reboot device Setup: Reboot the device ( page 62)

84 Programming Exit setup, reboot device 6 Programming Set the target system...85 First steps...92 Configuration of the inputs and outputs Use visualisations Install and set up mobile camera This chapter describes the programming of the device with CODESYS

85 Programming Set the target system 6.1 Set the target system Create CODESYS project manually...86 Configure the controller...87 Configure CAN interfaces...88 Use access protection

86 Programming Set the target system Create CODESYS project manually 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. 2 Create a new project with CR1080/CR1084 Select [File] [New]. The window [Target Settings] appears. In the list [Configuration] select CR1080/CR1084 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. 3 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. 4 Save the project Save the project with [File] [Save as...]. 86

87 Programming Set the target system Configure the controller 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)) 87

88 Programming Set the target system Configure CAN interfaces The CR1080/CR1084 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 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 87)). Configure the device as CANopen master 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 [CR1080/CR1084 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 88

89 Programming Set the target system Configure the device as CanSlave 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 [CR1080/CR1084 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]] Context menu appears 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 89

90 Programming Set the target system Use access protection 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 Setup menu Method: Password protection Restricts the access to functions of the setup menu Can be activated/deactivated via the setup menu ( Download the update file ( page 31)) IEC project Method: Password protection The passwords to protect the setup menu and the Linux runtime system are identical! 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 91)) 90

91 Programming Set the target system Activate the access protection for an IEC project 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 Load CODESYS project Open the project to be protected in CODESYS. Project window appears. 2 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. 3 Download password protected project to the device Save the project and download it to the device. The IEC project cannot be read. 91

92 Programming First steps 6.2 First steps Programming notes for CODESYS projects...93 Create PLC program Add additional libraries Programming interfaces Save project in the device Setup the device configuration ( Device configuration ( page 39)). Activate the programming system ( Set the target system ( page 85))

93 Programming First steps Programming notes for CODESYS projects FB, FUN, PRG in CODESYS...94 Variables...95 Libraries Note the cycle time! Watchdog behaviour Operating sequence Creating application program Here you receive tips how to program the device. See the notes in the CODESYS programming manual select your country [Data sheet search] CR1080/CR1084 [Operating instructions] ecomatmobile DVD "Software, tools and documentation"

94 Programming First steps FB, FUN, PRG in CODESYS 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. 94

95 Programming First steps Variables Supported types of variables The device supports the following types of variables: Variable Declaration place Validity area Memory behaviour local local retain in the declaration part of the function element (POU) Only valid in the function element (POU) where it was configured. volatile nonvolatile global global retain In [Resources] [Global Variables] [Globale_Variables]: Valid in all function elements of this CODESYS project. volatile nonvolatile Network Network retain In [Resources] [Global Variables] declaration list Values are available to all CODESYS projects in the whole network if the variable is contained in its declaration lists. volatile nonvolatile CODESYS programming manual ecomatmobile DVD "Software, tools and documentation" Retain variables 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. 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). 95

96 Programming First steps 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. 96

97 Programming 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. To work with network variables the following steps are required: Step 1 Step 2 Connect devices via Ethernet 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 102) Step 8 Write projects for more devices ( page 105) Step 9 Transmit projects ( page 108) Step 10 Test transmission of the global network variables ( page 108) 97

98 Programming First steps Select first target system and create project 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: 98

99 Programming 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 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...]. The following window appears: 3625 Click [New ] The following window appears: Select the entry "Tcp/Ip(Level 2 Route)". 99

100 Programming First steps Confirm with [OK]. The following window appears: Enter the corresponding IP address of the controller (compare with step 2). applies only to the following devices: - PDM360: CR1050, CR PDM360compact: CR1052, CR1053, CR1055, CR1056: Set [Motorola byteorder] = YES. Confirm with [OK]. Activate network variable support Click on the tab [Resources] in CoDeSys. Double-click on [Target Settings]. The following window appears: 3630 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. 100

101 Programming First steps Integrate libraries Menu [Window] [Library Manager] Display of the libraries already loaded: 3633 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): 101

102 Programming First steps 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. Click on the tab [Resources] in CoDeSys. Select (= click) the entry [Global Variables]: Menu [Project] [Object] [Add ]: 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): 102

103 Programming First steps 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: 103

104 Programming First steps 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. 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) 104

105 Programming First steps Continuation "Complete project" In the window [Properties] of the global variable list click on the button [Settings...] beside [Network type]. The following window appears: 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 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 1 DemoProj1.pro Globale_Variablen_Export_Proj1 51 x1:int 2 DemoProj2.pro Globale_Variablen_Export_Proj2 52 x2:int 3 DemoProj3.pro Globale_Variablen_Export_Proj3 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

106 Programming First steps Confirm with [OK]. The following window appears: Reduce the selection to the requested list: Confirm with [OK]. 106

107 Programming First steps 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. 107

108 Programming First steps Transmit projects Check whether all 3 devices together with the PC are available with their corresponding IP addresses in the LAN. Transmit the 3 created projects DemoProj1...3 to the corresponding devices. Start these projects there Test transmission of the global network variables 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

109 Programming First steps System flags 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 340) Libraries ifm electronic provides the following device-specific function libraries for programming the CR1080/CR1084 using CODESYS 2.3: 7425 Library ifm_cr1080/cr1084_vxxyyzz.lib ifm_pdmng_util_vxxyyzz.lib ifm_pdm360ng_usb_vxxyyzz.lib ifm_pdm360ng_usb_ll_vxxyyzz.lib ifm_pdm360ng_linux_syscall_asynch_vxxyyzz.lib Description Device-specific functions Help functions Maintain devices connected to the USB interface Help library for ifm_pdm360ng_usb_vxxyyzz.lib Send Linux commands to the system ifm_rawcan_nt_vxxyyzz.lib Functions for CAN layer 2 ifm_canopen_nt_vxxyyzz.lib ifm_j1939_nt_vxxyyzz.lib ifm_netvarlib_nt_vxxyyzz.lib Functions for CANopen CAN functions for drive control Maintain network variables for CANopen Further information about the ifm function libraries: ifm libraries for the device CR1080/CR1084 ( page 152) To add additional libraries to a CODESYS project: Add additional libraries ( page 114) 109

110 Programming First steps Note the cycle time! 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. Watchdog behaviour 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 eplc main eplc overlay keyboard-service io-coproc-service wd-coproc-service Eliminate the fault: Reboot the device via voltage on/off plus. 110

111 Programming First steps Operating sequence In principle, there are two options to create a project for display devices: 7427 Sequence Advantages Disadvantages Visualisation first, then the PLC program. PLC program first, then the visualisation In the program it is possible to cross-reference to the finished images. When the PLC program is tested the images already exist. All parameters and variables are defined in the PLC program before they are referred to in the visualisations. The PLC parameters and variables required in the images have not yet been defined. 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. 111

112 Programming First steps Creating application program 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 112

113 Programming First steps Create PLC program 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 340)) Familiarise yourself with the programming system CODESYS 2.3! Familiarise yourself with the programming according to IEC ! 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. 113

114 Programming First steps Add additional libraries For the CR1080/CR1084, 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 CR1080/CR1084 ( page 152)) The following libraries needs to be installed in order to program the device: LinuxSystemLib.Lib Standard library Standard.Lib from \CoDeSys\Library\ Device library CR1080/CR1084_Vxxyyzz.Lib aus \CoDeSys\Targets\ifm\Library\ifm_CR1080/CR1084\ 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: yy: zz: version target version number release number patch number The basic file name (e.g. "CR1080/CR1084") 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. 2 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_CR1080/CR1084 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_J Save CODESYS project Use [File] [Save] to save the changes in the project. 114

115 Programming First steps Programming interfaces Setting-up the programming interface Access to the Linux runtime system For programming of the device only the following interface is available: Ethernet interface

116 Programming 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 52)) 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 339)) 3 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). 4 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. 116

117 Programming 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 (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. 117

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

119 Programming First steps Access the device with Telnet 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: 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 7424 Access the device with SSH 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 ( 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 Setup: Configure the IP parameters manually ( page 52) Start the SSH client Use the following parameters to create a new connection profile: - IP address = 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@ ' 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]

120 Programming First steps Copy files with FTP 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 Establish an Ethernet connection between the PC and the device. The PC and the device must have compatible IP addresses and the same subnet mask. Setup: Configure the IP parameters manually ( page 52). 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:// /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 ( 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 Setup: Configure the IP parameters manually ( page 52) Start the SCP client Use the following parameters to create a new connection profile: - IP address = 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 120

121 Programming First steps Save project in the device 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. 2 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)]. 3 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. 121

122 Programming Configuration of the inputs and outputs 6.3 Configuration of the inputs and outputs Notes Configure input Configure output For some devices of the ecomatmobile controller family, additional diagnostic functions can be activated for the inputs and outputs. So, the corresponding input and output signal can be monitored and the application program can react in case of a fault. Depending on the input and output, certain marginal conditions must be taken into account when using the diagnosis: It must be checked by means of the data sheet if the device used has the described input and output groups ( data sheet). Constants are predefined (e.g. IN_DIGITAL_H) in the device libraries (ifm_cr1080/cr1084_vxxyyzz.lib ) for the configuration of the inputs and outputs. For details Possible operating modes inputs/outputs ( page 345)

123 Programming Configuration of the inputs and outputs Notes Presets 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 The active configuration of the inputs and outputs can be displayed via the system flags IN00 and OUT Detailed information on the system flags: System flags: Inputs and Outputs ( page 342) Configure input The inputs are configured usign teh function block INPUT in the application program Detailed information on the function block: INPUT ( page 162) Possible operating mode: Possible operating modes inputs/outputs ( page 345) Configure output The operting mode of the output is fixed (binary, plus switching (BH))

124 Programming Use visualisations 6.4 Use visualisations Notes on visualisations Create visualisation Configuring functions of operating elements Use of optical and acustical feedback Install fonts (true type fonts)

125 Programming Use visualisations Notes on visualisations 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 194) Drawing area 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. YS_OBJECTID 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 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 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

126 Programming Use visualisations 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 126

127 Programming Use visualisations Visualisation limits Limitations for visualisations CODESYS visualisation elements Movement of elements When using visualisations the following estrictions apply:

128 Programming Use visualisations Limitations for visualisations Designation Length of character strings Length of path names Limitation < 255 Zeichen < 255 Zeichen Number of graphical objects per visualisation page < 2000 Number of bitmapst 1 per project Number of character sets per project No indication possible. These elements uses the same memmory area. Number of POUs 2 per project 8000 Legend: Specifications of the splash screen: Setup: Define the splash screen ( page 66) POU (Program Organization Unit) = function, function block or program 128

129 Programming Use visualisations CODESYS visualisation elements 7388 Visualisation element Functional safety for the PDM Polyline o A polyline is to consist of maximum 99 anchor points. A polyline is not to enclose any area. Curve o A curve is to consist of maximum 99 anchor points. A curve is not to enclose any area. Rectangle + No problems known Rounded rectangle o Only for very restricted use, slows down the system very much Circle, ellipse o Only for very restricted use, slows down the system very much Polygon o A polygon is to consist of maximum 100 anchor points. Pie chart o Only for very restricted use, slows down the system very much Visualisation o Possible but too many elements on one page slow down the system Button + No problems known Table o 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 o 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 + No problems known Graphic file + - BMP - BMP RLE compressed - WMF (not recommended) - JPG Graphics scaling mode + 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) ActiveX element Not supported Legend: +... o can be used without problem can be used with restrictions cannot be used To avoid too long image loading times please note: 129

130 Programming Use visualisations 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 Image and text elements can be moved on the display in a defined manner Element movement Rotate Shift Relative shifting of rectangle ellipse / circle Description Rotate the element around a defined pivot point Indicate the angle of rotation angle of rotation in [degree] positive value = rotation clockwise negative value = rotation anticlockwise 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: horizontal edge up vertical edge to the left 130

131 Programming Use visualisations Create visualisation 1 Select visualisation directory In the Object Organizer, select the [Visualizations] tab. Object Organizer displays visualisation objects of the project. 2 Create visualisation object Right-click on [Visualizations] symbol Context menu appears 3100 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. 3 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. 131

132 Programming Use visualisations Configuring functions of operating elements 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 The following tasks have to be solved in the visualisations of the application program: jump to the visualisation 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 134) Library ifm_pdm_input_vxxyyzz.lib (contains FBs to manage input fields) POUs: Manage visualisation ( page 194) CODESYS dialogue [Elements configuration] CODESYS user manual Functions and function elements created by the user

133 Programming Use visualisations Numbering of the operating elements 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: 7338 Function keys: Encoder: Numbering of the operating elements 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 key released key hold down (continuous operation) System flags: function keys ( page 343) System flags: encoder ( page 344) Change of state pressing key (positive edge) releasing key (negative edge) 133

134 Programming Use visualisations Use edit controls 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 133) System variable System flags ( page 340) Keywords for edit controls 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 Example: edit controls in CR IF Init =TRUE THEN END_IF (* 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 *) 134

135 Programming Use visualisations 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 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 set night mode for key LEDs set brightness of key LEDs in night mode set colour of status LED set flashing frequency of status LED System flags: function keys ( page 343) System flags: encoder ( page 344) System flags: Status LED ( page 342) Control buzzer 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 generate click on key contact Function elements: Control LED + buzzer ( page 189) 135

136 Programming Use visualisations Install fonts (true type fonts) 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 40)) The CR1080/CR1084 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 74)). 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: 136

137 Programming Use visualisations Symbol files 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

138 Programming Install and set up mobile camera 6.5 Install and set up mobile camera Setup and operate Ethernet cameras Setup and operate analogue cameras

139 Programming Install and set up mobile camera Setup and operate Ethernet cameras 9320 Insert an Ethernet camera image in a CODESYS project 1 Create visualisation Open CODESYS project. In the Object Organizer, select the [Visualizations] tab Create a new visualisation object. The drawing area appears. 2 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. 3 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: 9321 Parameter Description Possible values X X coordinate of the upper left corner of the image i.e. 290 Y 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. Configure the camera bitmap in the dialogue [Bitmap Configuration] To configure the created camera image: Open the configuration dialogue Open the visualisati page with placeholder graphic. 139

140 Programming Install and set up mobile camera 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. 2 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 Rotate the camera image In the category [Motion absolute] set the following parameter as requested: Parameter Description / data type Possible values [Angle] Rotate the camera image INT type variable (input) e.g. PLC_PRG.camangle 0 = no rotation * 90 = rotate by = rotate by = rotate by 270 *... default value which is also applied in case of a not defined variable 4 Indicate the failure of an Ethernet camera In the category [Variables] set the following parameter as requested: Parameter Description / data type Possible values [Input disable] Display status message of the Ethernet camera boolean type variable (output) e.g. PLC_PRG.connect FALSE = Ethernet camera failure TRUE = Ethernet camera active 5 Switch between colour and greyscale representation In the category [Variables] set the following parameter as requested: Parameter Description / data type Possible values [Change color] Switching between colour and greyscale representation of the camera image Boolean type variable (input) e.g. PLC_PRG.grey FALSE = 8 bit greyscale TRUE = RGB555 * *... default value which is also applied in case of a not defined variable 6 Mirror the camera image at its horizontal axis In the category [Variablen] set the following parameter as requested: Parameter Description / data type Possible values [Umrechnungsbasis] Mirror the camera at its horizontal axis Boolean type variable (input) e.g. PLC_PRG.mirror FALSE = do not mirror the image * TRUE = mirror the image *... default value which is also applied in case of a not defined variable 140

141 Programming Install and set up mobile camera 7 Switch the camera on/off In the category [Variables] set the following parameter as requested: Parameter Description / data type Possible values [Conversion factor] Program the switching on and off of the camera Boolean type variable (input) 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 142) 8 Provide error messages of the camera In the category [Variables] set the following parameter as requested: Parameter Description / data type Possible values [Tooltipdisplay] Providing error messages of the connected camera STRING type variable (output) e.g. PLG_PRG.ErrorMessage possible error messages: Table The following error messages may occur: Error message Cause Remedy camera not found camera not found invalid target area invalid rotation angle framebuffer error or plane already used exclusively The IP address of the camera is not correct No connection between the camera and the device The camera image is not completely in the visible area of the display The indicated angle of rotation is invalid During the setup of the Ethernet camera an analogue camera is already running in the overlay mode (the Ethernet camera is not switched on) Check the settings of the camera Set the IP address of the Ethernet camera ( page 140) 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 140) Check the settings of the camera Insert an Ethernet camera image in a CODESYS project ( page 139) Check the settings of the camera Rotate the camera image ( page 140) valid angles: 0, 90, 180 and 270 Set the boolean variable for switching the Ethernet camera on and off to FALSE Switch the camera on/off ( page 141) 9 Save changed values Press [OK] to apply the entered values and close the window. 141

142 Programming Install and set up mobile camera 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 169)). 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. 142

143 Programming Install and set up mobile camera Setup and operate analogue cameras Display options for analogue cameras Insert an analogue camera image in a CODESYS project Configure camera image Use the analogue camera image in CODESYS Analogue cameras are supported by the following devices: CR

144 Programming Install and set up mobile camera Display options for analogue cameras Analogue cameras provide the following features: System standard Number of image lines Number of image colums Aspect ratio PAL :4 NTSC :2 The CR1080/CR1084 supports the following display modes for analog cameras: Description Capture mode The image can only be represented as a whole. Overlay mode 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 Frame rate Any scaling of the aspect ratio is possible. The image representation may be distorted. Low frame rate Reason: long processing time! The image is represented in the original aspect ratio. 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. 144

145 Programming Install and set up mobile camera Example: Capture mode The original image can only be scaled in any manner as full-size image, also asymmetrically Original image: Compressed image: Streched image: 145

146 Programming Install and set up mobile camera Example: Overlay mode 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: 146

147 Programming Install and set up mobile camera Insert an analogue camera image in a CODESYS project 1 Create visualisation Open CODESYS project. In the Object Organizer, select the [Visualizations] tab Create a new visualisation object. The drawing area appears. 2 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. 3 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: 9601 Parameter Description Possible values X X coordinate of the upper left corner of the image e.g. 290 Y 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! Only the visible area of the display can be used for the camera image ( datasheet, resoltution of the display). Positions outside this area (in the non-visible area) are ignored. Press [OK] to apply the entered values and close the window. 147

148 Programming Install and set up mobile camera Configure camera image 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. 2 Select analogue camera In the category [Text] set the following parameters as requested: Parameter Description / data type 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! 3 Set the display mode In the category [Variables] set the following parameter as requested: Parameter Description / data type Possible values [Change color] Switching between capture mode and detail mode Boolean type variable (input) e.g. PLC_PRG.CamMode FALSE = capture mode TRUE = overlay mode 4 Mirror the camera image at its horizontal axis In the category [Variables] set the following parameter as requested: Parameter Description / data type Possible values [Coversion base] Mirror the camera at its horizontal axis Boolean type variable (input) e.g. PLC_PRG.mirror FALSE = do not mirror the image * TRUE = mirror the image *... default value which is also applied in case of a not defined variable Parameter only available in the capture mode! 148

149 Programming Install and set up mobile camera 5 Rotate the camera image In the category [Motion absolute] set the following parameter as requested: Parameter Description / data type Possible values [Angle] Rotate the camera image INT type variable (input) e.g. PLC_PRG.camangle 0 = no rotation * 90 = rotate by = rotate by = rotate by 270 *... default value which is also applied in case of a not defined variable 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. 6 Provide error messages of the camera In the category [Variables] set the following parameter as requested: Parameter Description / data type Possible values [Tooltipdisplay] Providing error messages of the connected camera STRING type variable (output) e.g. PLG_PRG.ErrorMessage possible error messages: Table The following error messages may occur: Error message Cause Remedy invalid target area invalid rotation angle The camera image is not completely in the visible area of the display The indicated angle of rotation is invalid Check the settings of the camera Insert an analogue camera image in a CODESYS project ( page 147) Check the settings of the camera Rotate the camera image ( page 148) valid angles: 0, 90, 180 and 270 framebuffer or plane can't be used exclusively During setup of the analogue camera an Ethernet camera is already running in the overlay mode (the analogue camera is not switched on) Set the boolean variable for switching the analogue camera on and off to FALSE Switch the camera on/off ( page 141) 7 Save changed values Press [OK] to apply the entered values and close the window. 149

150 Programming Install and set up mobile camera 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 169)). Only the visible area of the display can be used for the camera image ( datasheet, resoltution of the display). Positions outside this area (in the non-visible area) are ignored. 150

151 ifm function elements Install and set up mobile camera 7 ifm function elements ifm libraries for the device CR1080/CR ifm function elements for the device CR1080/CR 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. 151

152 ifm function elements ifm libraries for the device CR1080/CR ifm libraries for the device CR1080/CR1084 Library ifm_cr1080/cr1084_vxxyyzz.lib Library ifm_pdmng_util_vxxyyzz.lib Library ifm_pdm360ng_special_v02yyzz.lib Library ifm_pdm360ng_linux_syscall_asynch_v02yyzz.lib Library ifm_pdm360ng_usb_vxxyyzz.lib Library ifm_pdm360ng_usb_ll_v02yyzz.lib Library ifm_pdm_input_v01yyzz.lib Library ifm_rawcan_nt_vxxyyzz.lib Library ifm_canopen_nt_vxxyyzz.lib Library ifm_netvarlib_nt_vxxyyzz.lib Library ifm_j1939_nt_vxxyyzz.lib Here you will find a list of the ifm function elements matching this device, sorted according to the CODESYS libraries

153 ifm function elements ifm libraries for the device CR1080/CR Library ifm_cr1080/cr1084_vxxyyzz.lib This is the device library. This ifm library contains the following elements: Element Type Short description FOCUSED_ELEMENT ( page 196) GV contains the ID of the visualisation object, that has the focus CURSOR_POSITION ( page 197) GV contains position of the cursor in alphanumerical input elements (e.g. numpad ) FocusFrameImagePath ( page 198) GV contains the directora path to the user-defined focus frame image OverlayVisu ( page 201) GV contains the designation of the defined overlay visu page CurrentVisuDisplayed ( page 202) CamsOffOnPageSwitch ( page 169) GV GV contains the designation of the currently displayed visu page enables/disables the automatic switch off of the camera at page switch KEY_MAPPING ( page 170) GV contains key assignment of system flags with character strings BUZZER_CLICK ( page 190) FUN generate acoustic signal using device-internal buzzer BUZZER_ON ( page 191) FB generate tone using devcie-internal buzzer GET_DEVICE_SERIAL ( page 172) FB read serial number of the device GET_ETHERNET ( page 173) FB read IP parameters of the Ethernet interface GET_VERSIONS ( page 175) FB read release numbers of the software components of the device INPUT ( page 162) FB set the operating mode of the input channel KEY_CLICK ( page 192) FB generate click when key is pressed LOAD_SPLASH_SCREEN ( page 167) SET_BOOTUP_BACKLIGHT ( page 166) FB FUN define splash screen image set brightness of the display SET_ETHERNET ( page 164) FB set IP parameters of the Ethernet interface Legend: GV... FB... FUN... PRG... Global variable Function block Function Program 153

154 ifm function elements ifm libraries for the device CR1080/CR Library ifm_pdmng_util_vxxyyzz.lib This ifm library contains the following elements: Element Type Short description SPEED_UP_VISU_TASK ( page 195) FB accelerates the visualisation process of the device NORM_DINT ( page 178) FB normalises a value within defined limits to a value with new limits NORM_REAL ( page 179) FB normalises a value within defined limits to a value with new limits TOGGLE ( page 180) FB enables the setting and resetting of a Boolean variable via only one input bit INIT_DATA_MEMORY ( page 168) FB mounts the NAND flash memory into the file system of the device PDM_PAGECONTROL PRG controls the opening of certain visualisation pages VERSION ( page 221) PRG indicates the version and history of the library in the comment of the function element Legend: GV... FB... FUN... PRG... Global variable Function block Function Program Library ifm_pdm360ng_special_v02yyzz.lib This ifm library contains the following elements: Element Type Short description EXITPLC_START_APPLICATION ( page 222) Legend: FUN calls the appliclation indicated at input APPLICATION directly from the running control program GV... FB... FUN... PRG... Global variable Function block Function Program Library ifm_pdm360ng_linux_syscall_asynch_v02yyzz.lib This ifm library contains the following elements: Element Type Short description SYSTEM_ASYNCH ( page 223) FB sends any command to the Linux operating system (max. 255 characters) Legend: GV... FB... FUN... PRG... Global variable Function block Function Program 154

155 ifm function elements ifm libraries for the device CR1080/CR Library ifm_pdm360ng_usb_vxxyyzz.lib This ifm library contains the following elements: Element Type Short description USB_STORAGE_MANAGER ( page 182) USB_STORAGE_REMOVE ( page 184) COPY_PDM_TO_USB ( page 185) COPY_USB_TO_PDM ( page 186) USB_STORAGE_HANDLER ( page 187) FB FUN PRG PRG PRG manages USB memory connected to USB interface of the device umounts an USB memory from the device copies a file from the device to the connected USB memory copies a file from the connected USB memory to the device manages a USB memory Legend: GV... FB... FUN... PRG... Global variable Function block Function Program Library ifm_pdm360ng_usb_ll_v02yyzz.lib 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! Library ifm_pdm_input_v01yyzz.lib This ifm library contains the following elements: Element Type Short description INIT_VAR_RETAIN_DINT ( page 214) INIT_VAR_RETAIN_INT ( page 216) INIT_VAR_RETAIN_REAL ( page 218) FB FB FB initialises the array of DINT with remanent input values initialises the array of INT with remanent input values initialises the array of REAL with remanent input values INPUT_DINT ( page 203) FB input box for DINT values INPUT_INT ( page 206) FB input box for INT values INPUT_REAL ( page 211) FB input box for REAL values Legend: GV... FB... FUN... PRG... Global variable Function block Function Program 155

156 ifm function elements ifm libraries for the device CR1080/CR Library ifm_rawcan_nt_vxxyyzz.lib This ifm library contains the following function blocks: Function element CAN_ENABLE ( page 226) CAN_RECOVER ( page 227) CAN_REMOTE_REQUEST ( page 249) CAN_REMOTE_RESPONSE ( page 251) CAN_RX ( page 232) CAN_RX_ENH ( page 233) CAN_RX_ENH_FIFO ( page 235) CAN_RX_RANGE ( page 237) CAN_RX_RANGE_FIFO ( page 239) CAN_SETDOWNLOADID ( page 228) CAN_STATUS ( page 229) CAN_TX ( page 242) CAN_TX_ENH ( page 244) CAN_TX_ENH_CYCLIC ( page 246) Short description Initialises the indicated CAN interface Configures the CAN baud rate Activate / deactivate the automatic bus off handling Restart the CAN interface in case of bus off Send a corresponding request and return the response of the other device as a result Provides data to the CAN controller in the device which is automatically sent as a response to the request of a remote message Configures a data receive object and reads out the receive buffer of the data object Configures a data receive object and reads out the receive buffer of the data object Frame type and mask can be selected Configures a data receive object and reads out the receive buffer of the data object Frame type and mask can be selected Several CAN messages per cycle possible Configures a range of data receive objects and reads out the receive buffer of the data objects Frame type and mask can be selected Configures a range of data receive objects and reads out the receive buffer of the data objects Frame type and mask can be selected Several CAN messages per cycle possible = Set CAN download ID Sets the download identifier for the CAN interface 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 Transfers a CAN data object (message) to the configured CAN interface for transmission at each call Transfers a CAN data object (message) to the configured CAN interface for transmission at each call CAN-specific characteristics can be set Cyclically transfers a CAN data object (message) to the configured CAN interface for transmission CAN-specific characteristics can be set 156

157 ifm function elements ifm libraries for the device CR1080/CR Library ifm_canopen_nt_vxxyyzz.lib This ifm library contains the following function blocks: Function element CANOPEN_ENABLE ( page 255) CANOPEN_GETBUFFERFLAGS ( page 257) CANOPEN_GETEMCYMESSAGES ( page 295) CANOPEN_GETERRORREGISTER ( page 297) CANOPEN_GETGUARDHBERRLIST ( page 290) CANOPEN_GETGUARDHBSTATSLV ( page 292) CANOPEN_GETNMTSTATESLAVE ( page 264) CANOPEN_GETODCHANGEDFLAG ( page 268) CANOPEN_GETSTATE ( page 259) CANOPEN_GETSYNCSTATE ( page 286) CANOPEN_NMTSERVICES ( page 265) CANOPEN_READOBJECTDICT ( page 269) CANOPEN_SDOREAD ( page 273) CANOPEN_SDOREADBLOCK ( page 275) CANOPEN_SDOREADMULTI ( page 277) CANOPEN_SDOWRITE ( page 279) CANOPEN_SDOWRITEBLOCK ( page 281) CANOPEN_SDOWRITEMULTI ( page 283) Short description Initialises the indicated CANopen master interface Configures the CAN baud rate = CANopen get buffer flags Provides information on the buffer flags The flags can be reset via the optional inputs. = 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. = Get CANopen error register Reads the error registers 0x1001 and 0x1003 from the controller The registers can be reset by setting the respective inputs. = 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 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 slave get network management state Signals the network operating status of the node = Get object directory changed flag Reports any change of value for a particular object directory entry = CANopen set state Request the parameters of the master, a slave device or a specific node in the network = CANopen get SYNC state Reads the setting of the SYNC functionality (active / not active), reads the error state of the SYNC functionality (SyncError) = 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 read object directory Reads configuration data from the object directory of the device = CANopen read SDO Reads an "Expedited SDO" = Expedited Service Data Object = CANopen read SDO block Reads the indicated entry in the object directory of a node in the network via SDO block transfer = CANopen read SDO multi Reads the indicated entry in the object directory of a node in the network = SDO write Writes an "Expedited SDO" = Expedited Service Data Object = CANopen write SDO block Writes in the indicated entry in the object directory of a node in the network via SDO block transfer = CANopen write SDO multi Writes in the indicated entry in the object directory of a node in the network 157

158 ifm function elements ifm libraries for the device CR1080/CR1084 Function element CANOPEN_SENDEMCYMESSAGE ( page 299) CANOPEN_SETSTATE ( page 261) CANOPEN_SETSYNCSTATE ( page 288) CANOPEN_WRITEOBJECTDICT ( page 270) Short description = CANopen send emergency message Sends an EMCY message. The message is assembled from the according parameters and entered in register 0x1003 = CANopen set state Set the parameters of the master, a slave device or a specific node in the network = CANopen set SYNC state Switch the SYNC functionality on and off = CANopen write object directory Writes configuration data into the object directory of the device Library ifm_netvarlib_nt_vxxyyzz.lib 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! 158

159 ifm function elements ifm libraries for the device CR1080/CR Library ifm_j1939_nt_vxxyyzz.lib This ifm library contains the following function blocks: Function element J1939_DM1RX ( page 328) J1939_DM1TX ( page 330) J1939_DM1TX_CFG ( page 333) J1939_DM3TX ( page 335) J1939_ENABLE ( page 303) J1939_GETDABYNAME ( page 305) J1939_NAME ( page 307) J1939_RX ( page 315) J1939_RX_FIFO ( page 316) J1939_RX_MULTI ( page 318) J1939_SPEC_REQ ( page 311) J1939_SPEC_REQ_MULTI ( page 313) J1939_STATUS ( page 309) J1939_TX ( page 320) J1939_TX_ENH ( page 321) J1939_TX_ENH_CYCLIC ( page 323) J1939_TX_ENH_MULTI ( page 325) Short description J1939 Diagnostic Message 1 RX Receives diagnostic messages DM1 or DM2 from other ECUs J1939 Diagnostic Message 1 TX Transmit an active error message to the CAN stack J1939 Diagnostic Message 1 TX configurable CAN stack does not send cyclic DM1 "zero active faults" messages J1939 Diagnostic Message 3 TX Deletes inactive DTCs (DM2) on a device Initialises the J1939 stack = Get destination arbitrary name Determine the target address of one or several participants by means of the name information Give the device a name for identification in the network Receives a single frame message Shows the message last read on the CAN bus = J1939 RX with FIFO Receives all specific messages and successively reads them from a FiFo = J1939 RX multiframe message Receives multiframe messages = J1939 specific request Requests and receives a specific message from another controller = J1939 specific request multiframe message Requests and receives a specific multiframe message from another controller Shows relevant information on the J1939 stack Sends individual single frame messages = J1939 TX enhanced Sends individual single frame messages Can also be set: transmission priority, data length = J1939 TX enhanced cyclic Cyclically sends single frame messages Can also be set: transmission priority, data length, period = J1939 TX enhanced Multiframe Message Sends individual multiframe messages 159

160 ifm function elements ifm function elements for the device CR1080/CR ifm function elements for the device CR1080/CR1084 POUs: Setup the device POUs: Read device information POUs: Adjust analouge and digital values POUs: Manage, read and write the USB memory device Function elements: Control LED + buzzer POUs: Manage visualisation POUs: Help functions Function elements: RAW-CAN (Layer 2) Function elements: CANopen Function elements: SAE J Here you will find the description of the ifm function elements suitable for this device, sorted by topic. 160

161 ifm function elements ifm function elements for the device CR1080/CR POUs: Setup the device INPUT SET_ETHERNET SET_BOOTUP_BACKLIGHT LOAD_SPLASH_SCREEN INIT_DATA_MEMORY CamsOffOnPageSwitch KEY_MAPPING Here you find units for the setup of the device from a CODESYS application

162 ifm function elements ifm function elements for the device CR1080/CR1084 INPUT Unit type = function block (FB) Unit is contained in the library ifm_cr1080/cr1084_vxxyyzz.lib 9673 Symbol in CODESYS: Description 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 ma analogue input V analogue input ratiometric 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 INPUT_ANALOG_MODE S mode of the input channel chapter Possible operating modes inputs/outputs ( page 345) 162

163 ifm function elements ifm function elements for the device CR1080/CR1084 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 0 00 FB is inactive 1 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)! 163

164 ifm function elements ifm function elements for the device CR1080/CR1084 SET_ETHERNET Unit type = function block (FB) Unit is contained in the library ifm_cr1080/cr1084_vxxyyzz.lib Symbol in CODESYS: Description 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 Parameters of the inputs Parameter Data type Description ENABLE BOOL TRUE: execute this function element FALSE: IP ADDRESS STRING(15) IP address of the device (e.g ) unit is not executed Function block inputs are not active Function block outputs are not specified NETMASK STRING(15) Network mask of the TCP/IP network (e.g ) GATEWAY STRING(15) Gateway address of the TCP/IP network (e.g ) 164

165 ifm function elements ifm function elements for the device CR1080/CR1084 Parameters of the outputs Parameter Data type Description RESULT INT feedback of the function block (possible messages following table) Possible results for RESULT: Value dec hex Description 0 00 FB is inactive 1 01 function block execution completed without error 8 08 function block not yet executed Error: Execution failed; FB is active Error: more than one FB instance active Error: invalid IP address Error: invalid network mask Error: invalid gateway address If the value 1, 64, 65, 80, 81 or82 is provided at output RESULT, reset input ENABLE (ENABLE = FALSE)! 165

166 ifm function elements ifm function elements for the device CR1080/CR1084 SET_BOOTUP_BACKLIGHT Unit type = function (FUN) of type INT Unit is contained in the library ifm_cr1080/cr1084_vxxyyzz.lib 9681 Symbol in CODESYS: Description 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! Parameters of the inputs 9684 Parameter Data type Description BACKLIGHT BYTE Display brightness ( %) Parameters of the outputs 9686 Parameter Data type Description SET_BOOTUP_BACKLIGHT INT Return value of the function Possible values for the function's reply: Value dec hex Description Brightness of the display set successfully 242 F2 Error: setting is not possible 166

167 ifm function elements ifm function elements for the device CR1080/CR1084 LOAD_SPLASH_SCREEN Unit type = function block (FB) Unit is contained in the library ifm_crnnn_vxxyyzz.lib Symbol in CODESYS: Description 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) Parameters of the inputs Parameter Data type Description ENABLE BOOL TRUE: execute this function element FALSE: unit is not executed PATH_TO_SPLASH STRING (255) Path of the directory in which the image file is stored Output parameters Parameter Data type Description RESULT INT feedback of the function block (possible messages following table) Possible results for RESULT: Value dec hex Description 0 00 FB is inactive 1 01 function block is active 242 F2 Error: setting is not possible If the value 1 or 242 is provided at the RESULT output, reset the ENABLE input (ENABLE = FALSE)! 167

168 ifm function elements ifm function elements for the device CR1080/CR1084 INIT_DATA_MEMORY Unit type = function block (FB) Unit is contained in the library ifm_pdmng_util_vxxyyzz.lib Symbol in CODESYS: Description INIT_DATA_MEMORY mounts the NAND flash memory into the file system of the device Parameters of the inputs Parameter Data type Description INIT_MEMORY BOOL FALSE TRUE (edge): The FB is executed else: this function is not executed Parameters of the outputs Parameter Data type Description BUSY BOOL TRUE: The function is executed FALSE: function element is not executed DONE BOOL TRUE: The function was successfully executed FALSE: function element is not executed ERROR BOOL Result of the execution of the FB: TRUE: FALSE: Execution failed FB executed correctly PATH STRING(255) The directory path of the initialised flash memory; appears after successful execution of the FB (DONE = TRUE) The initialisation process of the NAND memory takes about 2 seconds. During that time the memory cannot be accessed. Do not access the NAND memory before the value TRUE is provided at output DONE! 168

169 ifm function elements ifm function elements for the device CR1080/CR1084 CamsOffOnPageSwitch Unit type = global variable (GV)of data type BOOL Unit is contained in the library ifm_cr1080/cr1084_vxxyyzz.lib Description CamsOffOnPageSwitch controls the behaviour of connected cameras in case of a visualisati page switch Parameter Datentyp Mögliche Werte CamsOffOnPageSwitch BOOL FALSE = The connected cameras stay switched on. TRUE* = The connected cameras will be switched off. *... Default value 169

170 ifm function elements ifm function elements for the device CR1080/CR1084 KEY_MAPPING Unit type = global variable (GV)of data type KM Unit is contained in the library ifm_cr1080/cr1084_vxxyyzz.lib 8959 Description KEY_MAPPING contains the current key assignment with constant character strings

171 ifm function elements ifm function elements for the device CR1080/CR POUs: Read device information GET_DEVICE_SERIAL GET_ETHERNET GET_VERSIONS

172 ifm function elements ifm function elements for the device CR1080/CR1084 GET_DEVICE_SERIAL Unit type = function block (FB) Unit is contained in the library ifm_cr1080/cr1084_vxxyyzz.lib Symbol in CODESYS: Description 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 Parameters of the inputs Parameter Data type Description ENABLE BOOL TRUE: execute this function element FALSE: unit is not executed Function block inputs are not active Function block outputs are not specified Parameters of the outputs 1698 Parameter Data type Description SERIAL STRING(14) Serial number of the device (e.g.: "0412AB055") RESULT INT feedback of the function block (possible messages following table) Possible results for RESULT: Value dec hex Description 0 00 FB is inactive 1 01 function block execution completed without error 8 08 FB is active no data was received Error: Execution failed; FB is active 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

173 ifm function elements ifm function elements for the device CR1080/CR1084 GET_ETHERNET Unit type = function block (FB) Unit is contained in the library ifm_cr1080/cr1084_vxxyyzz.lib Symbol in CODESYS: Description 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 Parameters of the inputs Parameter Data type Description ENABLE BOOL TRUE: execute this function element FALSE: unit is not executed 173

174 ifm function elements ifm function elements for the device CR1080/CR1084 Parameters of the outputs Parameter Data type Description IP ADDRESS STRING(15) IP address of the device (e.g ) NETMASK STRING(15) Network mask of the TCP/IP network (e.g ) GATEWAY STRING(15) Gateway address of the TCP/IP network (e.g ) RESULT INT feedback of the function block (possible messages following table) Possible results for RESULT: Value dec hex Description 0 00 FB is inactive 1 01 FB is active: Function successfully executed 8 08 FB is active: Data is read FB is active: reading of data failed FB is active: more than one instance of the FB active If the value 1, 64 or 65 is provided at output RESULT, reset input ENABLE (ENABLE = FALSE)! There are valid values at the outputs IP-ADDRESS, NETMASK and GATEWAY as long as output RESULT has the value

175 ifm function elements ifm function elements for the device CR1080/CR1084 GET_VERSIONS Unit type = function block (FB) Unit is contained in the library ifm_cr1080/cr1084_vxxyyzz.lib Symbol in CODESYS: Description GET_VERSIONS provides the version numbers of the following software components: Runtime system of the device Firmware of the hardware used in the device Parameters of the inputs Parameter Data type Description ENABLE BOOL TRUE: execute this function element FALSE: unit is not executed 175

176 ifm function elements ifm function elements for the device CR1080/CR1084 Parameters of the outputs 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) Firmware version keyboard 2 KBD3_VERSION STRING(80) Firmware version keyboard 3 RESULT INT Feedback of the function block (possible messages following table) Possible results for RESULT: Value dec hex Description 0 00 FB is inactive 1 01 FB is active: Function successfully executed 8 08 FB is active: Data is read FB is active: reading of data failed FB is active: more than one instance of the FB active If the value 1, 64 or 65 is provided at output RESULT, reset input ENABLE (ENABLE = 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

177 ifm function elements ifm function elements for the device CR1080/CR POUs: Adjust analouge and digital values NORM_DINT NORM_REAL TOGGLE

178 ifm function elements ifm function elements for the device CR1080/CR1084 NORM_DINT Unit type = function block (FB) Unit is contained in the library ifm_pdmng_util_vxxyyzz.lib Symbol in CODESYS: Description 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 ( )! Due to rounding errors the normalised value can deviate by 1. If the limits (XH/XL or YH/YL) are defined in an inverted manner, normalisation is also done in an inverted manner. Parameters of the inputs 3308 Parameter Data type Description X DINT current input value XH DINT upper limit of input value range XL DINT lower limit of input value range YH DINT upper limit of output value range YL DINT lower limit of output value range Parameters of the outputs 3309 Parameter Data type Description Y DINT output value X_OUT_OF_RANGE BOOL Error: X is beyond the limits of XH and XL 178

179 ifm function elements ifm function elements for the device CR1080/CR1084 NORM_REAL Unit type = function block (FB) Unit is contained in the library ifm_pdmng_util_vxxyyzz.lib Symbol in CODESYS: Description 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, , )! Due to rounding errors the normalised value can deviate by 1. If the limits (XH/XL or YH/YL) are defined in an inverted manner, normalisation is also done in an inverted manner. Parameters of the inputs 3311 Parameter Data type Description X REAL Input value XH REAL Upper limit of output value range XL REAL Lower limit of the input value range YH REAL Upper limit of the output value range YL REAL Lower limit of output value range Parameters of the outputs 3312 Parameter Data type Description Y REAL Output value X_OUT_OF_RANGE BOOL Error: X is beyond the limits of XH and XL 179

180 ifm function elements ifm function elements for the device CR1080/CR1084 TOGGLE Unit type = function block (FB) Unit is contained in the library ifm_pdmng_util_vxxyyzz.lib Symbol in CODESYS: Description TOGGLE enables the setting and resetting of a Boolean variable via only one input bit. The first rising edge on the input IN sets the output OUT to 'TRUE'. The next rising edge resets the output back to 'FALSE'. etc Parameters of the inputs 3305 Parameter Data type Description IN BOOL edge FALSE TRUE: setting / resetting of the output Parameters of the outputs 3306 Parameter Data type Description OUT BOOL 1st edge on IN TRUE 2nd edge on IN FALSE 3rd edge on IN TRUE

181 ifm function elements ifm function elements for the device CR1080/CR POUs: Manage, read and write the USB memory device File functions POUs: File functions

182 ifm function elements ifm function elements for the device CR1080/CR1084 USB_STORAGE_MANAGER Unit type = function block (FB) Unit is contained in the library ifm_pdm360ng_usb_vxxyyzz.lib Symbol in CODESYS: 9691 Description 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. Parameters of the inputs 9709 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 182

183 ifm function elements ifm function elements for the device CR1080/CR1084 Parameters of the outputs 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 feedback of the function block (possible messages following table) Possible results for RESULT: Value dec hex Description 0 00 FB is inactive FB is active: change is detected FB is active: USB memory is monitored FB is active: internal fault FB is active: FB is not executed, because another instance of this FB is busy 183

184 ifm function elements ifm function elements for the device CR1080/CR1084 USB_STORAGE_REMOVE Unit type = function (FUN) of type INT Unit is contained in the library ifm_pdm360ng_usb_vxxyyzz.lib Symbol in CODESYS: 9711 Description 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 182). If there is no value returned, the unmounting process was not successful and needs to be repeated Parameters of the inputs 9714 Parameter Data type Description INDEX BYTE Index of the USB memory, which is to be dismount from the system on a safety way Parameters of the outputs 9715 Parameter Data type Description USB_STORAGE_REMOVE INT Result of the function Possible values for the function's reply: Value dec hex Description The dismount command is successfull sent to the USB subsystem 242 F2 Error: the setting is invalid The dismount command is not sent 184

185 ifm function elements ifm function elements for the device CR1080/CR1084 COPY_PDM_TO_USB Unit type = program (PRG) Unit is contained in the library ifm_pdm360ng_usb_vxxyyzz.lib Symbol in CODESYS: Description COPY_PDM_TO_USB copies a file from the memory of the PDM to a connected USB memory device Parameters of the inputs 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 COPY BOOL TRUE: rising edge of the press of a key starts the copy process FALSE: function element is not executed USB_PATH STRING (80) USB path; is provided by USB_STORAGE_HANDLER ( page 187) 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) Parameters of the outputs 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) 185

186 ifm function elements ifm function elements for the device CR1080/CR1084 COPY_USB_TO_PDM Unit type = program (PRG) Unit is contained in the library ifm_pdm360ng_usb_vxxyyzz.lib Symbol in CODESYS: Description COPY_USB_TO_PDM copies a file from a connected USB memory device to the device Parameters of the inputs 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 COPY BOOL TRUE: rising edge of the press of a key starts the copy process FALSE: function element is not executed USB_PATH STRING (80) USB path; is provided by USB_STORAGE_HANDLER ( page 187) 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) Parameters of the outputs 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) 186

187 ifm function elements ifm function elements for the device CR1080/CR1084 USB_STORAGE_HANDLER Unit type = program (PRG) Unit is contained in the library ifm_pdm360ng_usb_vxxyyzz.lib Symbol in CODESYS: Description USB_STORAGE_HANDLER is the main program for handling USB memory devices. The function element can manage up to 16 USB memory devices Parameters of the inputs Parameter Data type Description REMOVE BOOL FALSE TRUE (edge): prepares the active USB device for removal FALSE: function element is not executed SCROLL_UP BOOL FALSE TRUE (edge): switches to the USB device with the next higher index FALSE: function element is not executed SCROLL_DOWN BOOL FALSE TRUE (edge): switches to the USB device with the next lower index FALSE: function element is not executed 187

188 ifm function elements ifm function elements for the device CR1080/CR1084 Parameters of the outputs 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 FB execution was finished without error - USB device is removed 242 F2 Error: Removing is not possible Possible cause: file still open 188

189 ifm function elements ifm function elements for the device CR1080/CR Function elements: Control LED + buzzer BUZZER_CLICK BUZZER_ON KEY_CLICK Here we show you functions to control the LED and the buzzer in this device

190 ifm function elements ifm function elements for the device CR1080/CR1084 BUZZER_CLICK Unit type = function (FUN) of type INT Unit is contained in the library ifm_cr1080/cr1084_vxxyyzz.lib 9651 Symbol in CODESYS: Description 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] Parameters of the inputs 9655 Parameter Data type Description FREQUENCY WORD Tone pitch in [Hz] Permissible = = 0x01F4...0x1388 DURATION TIME Click repetition time in [ms] Permissible values: ms Parameters of the outputs 9656 Parameter Data type Description BUZZER_CLICK INT Return value of the function Possible values for the function's reply: Value dec hex Description Parameters are OK 242 F2 Error: setting is not possible 190

191 ifm function elements ifm function elements for the device CR1080/CR1084 BUZZER_ON Unit type = function block (FB) Unit is contained in the library ifm_cr1080/cr1084_vxxyyzz.lib 9658 Symbol in CODESYS: Description 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 Parameters of the inputs 9655 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 FREQUENCY WORD Tone pitch in [Hz] Permissible = = 0x01F4...0x1388 Parameters of the outputs 9664 Parameter Data type Description RESULT INT feedback of the function block (possible messages following table) Possible results for RESULT: Value dec hex Description 0 00 FB is inactive 1 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)! 191

192 ifm function elements ifm function elements for the device CR1080/CR1084 KEY_CLICK Unit type = function block (FB) Unit is contained in the library ifm_cr1080/cr1084_vxxyyzz.lib 9667 Symbol in CODESYS: Description 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 340)). Otherwise, the device will produce disagreeable noises. Parameters of the inputs 9670 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 FREQUENCY WORD Tone pitch in [Hz] Permissible = = 0x01F4...0x1388 DURATION TIME Click repetition time in [ms] Permissible values: ms 192

193 ifm function elements ifm function elements for the device CR1080/CR1084 Parameters of the outputs 9664 Parameter Data type Description RESULT INT feedback of the function block (possible messages following table) Possible results for RESULT: Value dec hex Description 0 00 FB is inactive 1 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)! 193

194 ifm function elements ifm function elements for the device CR1080/CR POUs: Manage visualisation SPEED_UP_VISU_TASK FOCUSED_ELEMENT CURSOR_POSITION FocusFrameImagePath PDM_PAGECONTROL OverlayVisu CurrentVisuDisplayed INPUT_DINT INPUT_INT INPUT_REAL INIT_VAR_RETAIN_DINT INIT_VAR_RETAIN_INT INIT_VAR_RETAIN_REAL Here we show you function to manage visualisations

195 ifm function elements ifm function elements for the device CR1080/CR1084 SPEED_UP_VISU_TASK Unit type = function block (FB) Unit is contained in the library ifm_pdmng_util_vxxyyzz.lib Symbol in CODESYS: Description 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! Parameters of the inputs Parameter Data type Description FAST BOOL TRUE: execute this function element FALSE: unit is not executed Parameters of the outputs Parameter Data type Description FAST_VISU BOOL Feedback if change was successful TRUE: FALSE: Acceleration mode active Acceleration mode not active 195

196 ifm function elements ifm function elements for the device CR1080/CR1084 FOCUSED_ELEMENT Unit type = global variable (GV)of data type DINT Unit is contained in the library ifm_cr1080/cr1084_vxxyyzz.lib Description 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 196

197 ifm function elements ifm function elements for the device CR1080/CR1084 CURSOR_POSITION Unit type = global variable (GV)of data type DINT Unit is contained in the library ifm_cr1080/cr1084_vxxyyzz.lib Description CURSOR_POSITION contains the current position of the cursor when entering alphanumerical charachters (e.g. numpad, on-screen keyboard) Parameter Data type Possible values CURSOR_POSITION DINT 197

198 ifm function elements ifm function elements for the device CR1080/CR1084 FocusFrameImagePath Unit type = global variable (GV)of data type GV Unit is contained in the library ifm_cr1080/cr1084_vxxyyzz.lib Description 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. 198

199 ifm function elements ifm function elements for the device CR1080/CR1084 PDM_PAGECONTROL Unit type = global variable (GV)of data type GV Unit is contained in the library ifm_cr1080/cr1084_vxxyyzz.lib Description PDM_PAGECONTROL controls the opening of certain visualisation pages. In CoDeSys the visualisation pages are opened and feedback is given via the system variable CurrentVisu (type STRING[40]). With this program it is possible to open a selected visualisati 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 V or higher; before: 3-digit *)). Example BASENAME = PAGE: Visualisation name = PAGE00001, PAGE00002, PAGE00003, etc. For the basename capital letters (no special characters) are allowed. The visualisations should be numbered consecutively. The program creates the final visualisation name from the parameter BASENAME and the number or reads the number from the current visualisation name and provides it in the output parameter ACT_PAGE. Instead of naming the visualisations with basename and consecutive number every visualisation can also be named individually, e.g. SERVICE1, MOTORDATA2, CONFIGURATION3. In this case, however, programming is more complex because basename and visualisation number must be assigned individually. Scrolling step by step is then very restricted. Use the letter P as BASENAME, your program is then compatible with the ifm templates. *) Also note the new 5-digit numbering when naming your existing visualisation pages!

200 ifm function elements ifm function elements for the device CR1080/CR1084 Parameters of the inputs 3293 Parameter Data type Description INIT BOOL TRUE (only for 1 cycle): Display is initialised with the initisalisation indicated in INIT_PAGE. FALSE: during further processing of the program INIT_PAGE WORD visualisation number which is to be called with INIT PAGE_UP BOOL edge FALSE TRUE: increments the visualisation number PAGE_DOWN BOOL edge FALSE TRUE: decrements the visualisation number PAGE_EXTERN WORD The indicated visualisati 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 visualisation pages BASENAME STRING [35] Common part of the name of the visualisati page Visualisation pages are numbered by their names: eg. P The following applies: "P" = BASENAME (only capital letters!) "00001" = visualisation number (5 digits!) Parameters of the outputs 3295 Parameter Data type Description ACT_PAGE WORD current visualisation number 200

201 ifm function elements ifm function elements for the device CR1080/CR1084 OverlayVisu Unit type = global variable (GV)of data type STRING[40] Unit is contained in the library ifm_cr1080/cr1084_vxxyyzz.lib Description OverlayVisu contains the name of the visualisati page which is used as overlay visualisation. An overlay visualisation overlays the active visualisation page Parameter Data type Possible values OverlayVisu STRING[40] Designation (max. 40 characters) e.g. "OverlayPage" 201

202 ifm function elements ifm function elements for the device CR1080/CR1084 CurrentVisuDisplayed Unit type = global variable (GV)of data type STRING[40] Unit is contained in the library ifm_cr1080/cr1084_vxxyyzz.lib Description 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) 202

203 ifm function elements ifm function elements for the device CR1080/CR1084 INPUT_DINT Unit type = function block (FB) Unit is contained in the library ifm_pdm_input_vxxyyzz.lib 3223 Symbol in CODESYS: Description 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

204 ifm function elements ifm function elements for the device CR1080/CR1084 Parameters of the inputs 3334 Parameter Data type Description INIT BOOL TRUE (only for 1 cycle): Sets the focus to the first input field FALSE: during further processing of the program ENABLE BOOL TRUE: execute this function element FALSE: unit is not executed Function block inputs are not active Function block outputs are not specified INIT_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 = MIN_MAX_ARRAY ARRAY [1..12] OF DINT defines input limits index 1 = min. value field 1 index 2 = max. value field 1 index 3 = min. value field 2 index 4 = max. value field 2 etc. ESC BOOL TRUE: resets the input value to the last valid value FALSE: function element is not executed 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 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: The value is changed by this amount in the active input field for INCREMENT / DECREMENT. CLEAR_ALL_VALUE BOOL TRUE: set all internal and external input values to 0 FALSE: function element is not executed 204

205 ifm function elements ifm function elements for the device CR1080/CR1084 Parameters of the outputs 3335 Parameter Data type Description INPUT_ACTIV BOOL current visualisation number FIELDCOUNTER BYTE number of selected input field VALUE_FIELD1 DINT... DINT VALUE_FIELD6 DINT external input value, is only adopted with the 2nd rising edge of ENTER Internal parameters 3336 Parameter Data type Description FIELD1 DINT Sets the focus for the selected input field.... DINT FIELD6 COLOR_FIELD1 DINT DINT... DINT COLOR_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. Sets the alarm colour of the input object (only PDM color). The variable must be assigned in the visualisation. VALUE_FIELD_1 DINT Internal input value which is immediately visible during... DINT 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. 205

206 ifm function elements ifm function elements for the device CR1080/CR1084 INPUT_INT Unit type = function block (FB) Unit is contained in the library ifm_pdm_input_vxxyyzz.lib 3220 Symbol in CODESYS: Description INPUT_INT 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

207 ifm function elements ifm function elements for the device CR1080/CR1084 Parameters of the inputs 3329 Parameter Data type Description INIT BOOL TRUE (only for 1 cycle): sets the focus to the first input field FALSE: during further processing of the program ENABLE BOOL TRUE: execute this function element FALSE: unit is not executed Function block inputs are not active Function block outputs are not specified INIT_VALUE ARRAY [1..6] OF INT initialisation values for the input fields for the first call NO_OF_FIELDS BYTE number of required input fields: value range = MIN_MAX_ARRAY ARRAY [1..12] OF INT 0defines input limits index 1 = min. value field 1 index 2 = max. value field 1 index 3 = min. value field 2 index 4 = max. value field 2 etc. ESC BOOL TRUE: resets the input value to the last valid value FALSE: function element is not executed 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 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 INT 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 INT if KEY_INCREMENT_VALUE2 = TRUE: The value is changed by this amount in the active input field for INCREMENT / DECREMENT. CLEAR_ALL_VALUE BOOL TRUE: set all internal and external input values to 0 FALSE: function element is not executed 207

208 ifm function elements ifm function elements for the device CR1080/CR1084 Parameters of the outputs 3330 Parameter Data type Description INPUT_ACTIV BOOL current visualisation number FIELDCOUNTER BYTE number of selected input field VALUE_FIELD1 INT... INT VALUE_FIELD6 INT external input value, is only adopted with the 2nd rising edge of ENTER Internal parameters 3331 Parameter Data type Description FIELD1 INT Sets the focus for the selected input field.... INT FIELD6 COLOR_FIELD1 INT INT... INT COLOR_FIELD6 INT 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. Sets the alarm colour of the input object (only PDM color). The variable must be assigned in the visualisation. VALUE_FIELD_1 INT Internal input value which is immediately visible during... INT the input and transferred to VALUE_FIELDx on the second rising edge of ENTER. VALUE_FIELD_6 INT The variable must be assigned in the visualisation. 208

209 ifm function elements ifm function elements for the device CR1080/CR1084 Example: INPUT_INT with 3 input elements Integrate the requested function block into the application program and link the inputs and outputs to the parameters and variables: 3332 Create the requested visualisation 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. 209

210 ifm function elements ifm function elements for the device CR1080/CR1084 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. 210