System Manual PDM360smart monitor CR1070 CR1071 CoDeSys® V2.3 Target V05 English 7390674_01_UK 2012-05-16 2012-05-16 7390674_01_UK ifm System Manual ecomatmobile PDM360smart (CR1070, CR1071) Target V05 2012-05-16 Contents Contents 1 About this manual 7 1.1 What do the symbols and formats mean? ......................................................................7 1.2 How is this manual 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.............................................................................11 3.3 PLC configuration .........................................................................................................12 4 Configurations 13 4.1 Set device parameters (setup)......................................................................................13 4.1.1 Start set-up ..............................................................................................................14 4.1.2 Show the current device settings.............................................................................15 4.1.3 Change device settings ...........................................................................................16 4.1.4 Set the brightness / contrast of the display..............................................................21 4.1.5 Check function of keys and LEDs............................................................................21 4.1.6 Exit PDM setup, restart device ................................................................................22 4.2 Programming interfaces................................................................................................23 4.2.1 Programming via the serial interface RS232...........................................................23 4.2.2 Programming via the CAN interface ........................................................................24 4.3 Set up programming system.........................................................................................26 4.3.1 Set up programming system manually ....................................................................26 4.3.2 Set up programming system via templates .............................................................30 4.3.3 ifm demo programs..................................................................................................40 4.4 Hints to wiring diagrams ...............................................................................................44 4.5 First steps .....................................................................................................................46 4.5.1 Add missing libraries................................................................................................46 4.5.2 Create visualisation .................................................................................................48 4.5.3 Create PLC program................................................................................................50 4.6 Device update to new software version........................................................................51 4.6.1 What is required?.....................................................................................................51 4.6.2 Adopt application program?.....................................................................................51 4.6.3 Device update with the downloader.........................................................................52 4.6.4 Load the application program into the controller .....................................................52 5 Limitations and programming notes 53 5.1 Limits of the device .......................................................................................................53 5.1.1 CPU frequency ........................................................................................................53 5.1.2 Watchdog behaviour................................................................................................54 5.1.3 Limitations for PDM360smart ..................................................................................55 5.1.4 Available memory ....................................................................................................55 5.1.5 Visualisation limits ...................................................................................................56 2 ifm System Manual ecomatmobile PDM360smart (CR1070, CR1071) Target V05 2012-05-16 Contents 5.2 Programming notes for CoDeSys projects ...................................................................59 5.2.1 FB, FUN, PRG in CoDeSys.....................................................................................59 5.2.2 Note the cycle time! .................................................................................................60 5.2.3 Libraries ...................................................................................................................61 5.2.4 Operating sequence ................................................................................................62 5.2.5 Creating application program ..................................................................................63 5.2.6 Using ifm downloader ..............................................................................................64 6 Using CAN 65 6.1 General about CAN.......................................................................................................65 6.1.1 Topology ..................................................................................................................65 6.1.2 CAN interfaces.........................................................................................................66 6.1.3 Available CAN interfaces and CAN protocols .........................................................67 6.1.4 System configuration ...............................................................................................68 6.2 Physical connection of CAN .........................................................................................69 6.2.1 Network structure.....................................................................................................69 6.2.2 CAN bus level ..........................................................................................................70 6.2.3 CAN bus level according to ISO 11992-1................................................................70 6.2.4 Bus cable length ......................................................................................................71 6.2.5 Wire cross-sections .................................................................................................72 6.3 Exchange of CAN data .................................................................................................73 6.3.1 Hints.........................................................................................................................74 6.3.2 Data reception .........................................................................................................76 6.3.3 Data transmission....................................................................................................76 6.4 Description of the CAN standard program units ...........................................................77 6.4.1 CAN1_BAUDRATE..................................................................................................79 6.4.2 CAN1_DOWNLOADID ............................................................................................81 6.4.3 CANx_ERRORHANDLER .......................................................................................82 6.4.4 CANx_RECEIVE......................................................................................................84 6.4.5 CANx_RECEIVE_RANGE.......................................................................................86 6.4.6 CANx_TRANSMIT ...................................................................................................89 6.4.7 CAN1_EXT ..............................................................................................................91 6.4.8 CAN1_EXT_ERRORHANDLER..............................................................................92 6.4.9 CAN1_EXT_RECEIVE ............................................................................................93 6.4.10 CANx_EXT_RECEIVE_ALL ....................................................................................95 6.4.11 CAN1_EXT_TRANSMIT..........................................................................................97 6.5 CAN units acc. to SAE J1939.......................................................................................99 6.5.1 CAN for the drive engineering .................................................................................99 6.5.2 Units for SAE J1939 ............................................................................................. 103 6.6 ifm CANopen libraries...............................................................................................