System Manual PDM360compact monitor CR1052 CR1053 CR1055 CR1056 CoDeSys® V2.3 target v04 English 7390676_00_UK 2012-09-28 2012-09-28 7390676_00_UK ifm System Manual ecomatmobile PDM360compact monitor (CR1052…CR1056) target v04 2012-09-28 Contents Contents 1 About this manual 7 1.1 What do the symbols and formats mean? ......................................................................7 1.2 How is this documentation structured?...........................................................................8 2 Safety instructions 9 2.1 Important!........................................................................................................................9 2.2 What previous knowledge is required?.........................................................................10 3 System description 11 3.1 Information concerning the device................................................................................11 3.2 Information concerning the software (Linux | CoDeSys 2.3) ........................................11 3.3 PLC configuration .........................................................................................................12 4 Configurations 13 4.1 Set device parameters (setup)......................................................................................13 4.1.1 Start setup ...............................................................................................................14 4.1.2 Ethernet interface: set IP address ...........................................................................15 4.1.3 Ethernet interface: set subnet mask ........................................................................17 4.1.4 Change start screen of the PDM .............................................................................19 4.1.5 Set the real-time clock (RTC) ..................................................................................22 4.1.6 Check function of keys, encoder and LEDs.............................................................23 4.1.7 Check CAN interface ...............................................................................................24 4.1.8 Set CoDeSys communication parameters...............................................................26 4.1.9 Exit PDM setup, restart device ................................................................................29 4.2 Programming interfaces................................................................................................30 4.2.1 Programming via the Ethernet interface..................................................................31 4.2.2 Programming via the serial interface RS232...........................................................38 4.3 Install character sets (fonts)..........................................................................................39 4.3.1 Symbol files .............................................................................................................41 4.4 Set up programming system.........................................................................................42 4.4.1 Set up programming system manually ....................................................................42 4.4.2 Set up programming system via templates .............................................................48 4.4.3 ifm demo programs..................................................................................................58 4.5 First steps .....................................................................................................................62 4.5.1 Add missing libraries................................................................................................62 4.5.2 Create visualisation .................................................................................................64 4.5.3 Create PLC program................................................................................................66 4.5.4 Save project in the device .......................................................................................67 4.6 Device update to new software version........................................................................68 4.6.1 Prepare device update.............................................................................................69 4.6.2 Carry out a device update........................................................................................72 2 ifm System Manual ecomatmobile PDM360compact monitor (CR1052…CR1056) target v04 2012-09-28 Contents 5 Limitations and programming notes 75 5.1 Limits of the device .......................................................................................................75 5.1.1 CPU frequency ........................................................................................................75 5.1.2 Watchdog behaviour................................................................................................76 5.1.3 Limitations for PDM360compact..............................................................................78 5.1.4 Visualisation limits ...................................................................................................79 5.2 Programming notes for CoDeSys projects ...................................................................82 5.2.1 FB, FUN, PRG in CoDeSys.....................................................................................82 5.2.2 Libraries ...................................................................................................................83 5.2.3 Operating sequence ................................................................................................84 5.2.4 Save.........................................................................................................................84 5.2.5 Using ifm maintenance tool .....................................................................................85 6 Variable 86 6.1 Retain variable..............................................................................................................87 6.1.1 Save retain variables ...............................................................................................87 6.1.2 Read back retain variables ......................................................................................88 6.2 Network variables .........................................................................................................88 7 Using CAN 89 7.1 General about CAN.......................................................................................................89 7.1.1 Topology ..................................................................................................................90 7.1.2 CAN interfaces.........................................................................................................91 7.1.3 Available CAN interfaces and CAN protocols .........................................................91 7.1.4 System configuration ...............................................................................................93 7.1.5 Software for CAN and CANopen .............................................................................93 7.2 Physical connection of CAN .........................................................................................94 7.2.1 Network structure.....................................................................................................94 7.2.2 CAN bus level ..........................................................................................................95 7.2.3 Bus cable length ......................................................................................................96 7.2.4 Wire cross-sections .................................................................................................97 7.3 Exchange of CAN data .................................................................................................98 7.3.1 Hints.........................................................................................................................99 7.3.2 Data reception ...................................................................................................... 101 7.3.3 Data transmission................................................................................................. 101 7.4 Description of CAN standard units............................................................................. 102 7.4.1 CAN_x_RECEIVE................................................................................................. 103 7.4.2 CAN_x_TRANSMIT.............................................................................................. 105 7.5 ifm CANopen libraries................................................................................................ 107 7.5.1 Technical about CANopen.................................................................................... 107 7.5.2 Libraries for CANopen .......................................................................................... 147 7.6 CAN / CANopen: errors and error handling............................................................... 176 7.6.1 CAN errors............................................................................................................ 177 7.6.2 CANopen errors.................................................................................................... 179 3 ifm System Manual ecomatmobile PDM360compact monitor (CR1052…CR1056) target v04 2012-09-28 Contents 8 Input/output functions 185 8.1