IFM Electronic Ecomat 100 ecomatmobile SmartController... User guide

System Manual
SmartController
CR2500
CR2502
CoDeSys®V2.3
Target V05
7390667 / 00 03 / 2009

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ifm System Manual ecomatmobile SmartController (CR2500, CR2502) V05
Contents
Contents
1About this manual 7
1.1 What do the symbols and formats mean?.........................................................................7
1.2 How is this manual structured? .........................................................................................8
2Safety instructions 9
2.1 General..............................................................................................................................9
2.2 What previous knowledge is required? ...........................................................................10
3System description 11
3.1 Information concerning the device ..................................................................................11
3.2 Information concerning the software ...............................................................................11
3.3 PLC configuration............................................................................................................12
4Configurations 13
4.1 Set up programming system ...........................................................................................14
4.1.1 Set up programming system manually..........................................................14
4.1.2 Set up programming system via templates...................................................16
4.1.3 ifm demo programs .......................................................................................25
4.2 Function configuration of the inputs and outputs ............................................................29
4.2.1 Configure inputs ............................................................................................29
4.2.2 Configure outputs..........................................................................................33
4.3 Hints to wiring diagrams ..................................................................................................34
5Operating states and operating system 35
5.1 Operating states ..............................................................................................................35
5.1.1 Reset.............................................................................................................35
5.1.2 Run state.......................................................................................................35
5.1.3 Stop state ......................................................................................................35
5.1.4 Fatal error......................................................................................................35
5.1.5 No operating system .....................................................................................36
5.2 Status LED ......................................................................................................................36
5.3 Load the operating system..............................................................................................37
5.4 Operating modes.............................................................................................................37
5.4.1 TEST mode ...................................................................................................38
5.4.2 SERIAL_MODE.............................................................................................38
5.4.3 DEBUG mode ...............................................................................................38
6Error codes and diagnostic information 39
6.1 Response to the system error .........................................................................................40
6.1.1 Notes on devices with monitoring relay ........................................................40
6.1.2 Example process for response to a system error .........................................41

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Contents
7Programming and system resources 42
7.1 Above-average stress .....................................................................................................42
7.2 Limits of the SmartController...........................................................................................43
7.3 Watchdog behaviour .......................................................................................................44
7.4 Available memory............................................................................................................44
7.5 Program creation and download in the PLC ...................................................................45
8CAN in the ecomatmobile controller 47
8.1 General about CAN .........................................................................................................47
8.1.1 Topology .......................................................................................................47
8.1.2 CAN interfaces ..............................................................................................48
8.1.3 System configuration.....................................................................................48
8.2 Exchange of CAN data....................................................................................................49
8.2.1 CAN-ID..........................................................................................................49
8.2.2 Data reception...............................................................................................50
8.2.3 Data transmission .........................................................................................50
8.3 Physical connection of CAN ............................................................................................51
8.3.1 Network structure ..........................................................................................51
8.3.2 Bus level........................................................................................................52
8.3.3 Bus cable length............................................................................................53
8.3.4 Wire cross-sections.......................................................................................54
8.3.5 Physical structure of ISO 11992-1 ................................................................54
8.4 Software for CAN and CANopen.....................................................................................55
8.5 CAN errors and error handling ........................................................................................55
8.5.1 Error message...............................................................................................55
8.5.2 Error counter .................................................................................................56
8.5.3 Participant, error active .................................................................................56
8.5.4 Participant, error passive ..............................................................................56
8.5.5 Participant, bus off ........................................................................................57
8.6 Description of the CAN functions ....................................................................................58
8.6.1 Function CAN1_BAUDRATE ........................................................................59
8.6.2 Function CAN1_DOWNLOADID...................................................................61
8.6.3 Function CAN1_EXT.....................................................................................63
8.6.4 Function CAN1_EXT_TRANSMIT ................................................................65
8.6.5 Function CAN1_EXT_RECEIVE...................................................................67
8.6.6 Function CAN1_EXT_ERRORHANDLER ....................................................69
8.6.7 Function CAN2..............................................................................................70
8.6.8 Function CANx_TRANSMIT .........................................................................72
8.6.9 Function CANx_RECEIVE ............................................................................74
8.6.10 Function CANx_RECEIVE_RANGE .............................................................76
8.6.11 Function CANx_EXT_RECEIVE_ALL...........................................................79
8.6.12 Function CANx_ERRORHANDLER..............................................................81
8.7 ifm CANopen library ........................................................................................................83
8.7.1 CANopen support by CoDeSys ....................................................................83
8.7.2 CANopen master...........................................................................................85
8.7.3 Start-up of the network without [Automatic startup] ......................................96
8.7.4 CAN device ................................................................................................ 100
8.7.5 CAN network variables............................................................................... 108
8.7.6 Information on the EMCY and error codes ................................................ 113
8.7.7 Library for the CANopen master ................................................................ 117
8.7.8 Library for the CANopen slave................................................................... 129
8.7.9 Further ifm libraries for CANopen .............................................................. 139
8.8 Summary CAN / CANopen........................................................................................... 144

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8.9 Use of the CAN interfaces to SAE J1939..................................................................... 145
8.9.1 Function J1939_x....................................................................................... 148
8.9.2 Function J1939_x_RECEIVE..................................................................... 150
8.9.3 Function J1939_x_TRANSMIT .................................................................. 152
8.9.4 Function J1939_x_RESPONSE................................................................. 154
8.9.5 Function J1939_x_SPECIFIC_REQUEST................................................. 156
8.9.6 Function J1939_x_GLOBAL_REQUEST................................................... 158
9PWM in the ecomatmobile controller 160
9.1 PWM signal processing................................................................................................ 161
9.1.1 PWM functions and their parameters (general) ......................................... 161
9.1.2 Function PWM............................................................................................ 166
9.1.3 Function PWM100...................................................................................... 168
9.1.4 Function PWM1000.................................................................................... 170
9.2 Current control with PWM ............................................................................................ 172
9.2.1 Current measurement with PWM channels ............................................... 172
9.2.2 Function OUTPUT_CURRENT_CONTROL .............................................. 173
9.2.3 Function OCC_TASK................................................................................. 175
9.2.4 Function OUTPUT_CURRENT.................................................................. 177
9.3 Hydraulic control in PWM ............................................................................................. 178
9.3.1 The purpose of this library? – An introduction ........................................... 178
9.3.2 What does a PWM output do? ................................................................... 179
9.3.3 What is the dither? ..................................................................................... 180
9.3.4 Functions of the library "ifm_HYDRAULIC_16bitOS05_Vxxyyzz.Lib" ....... 182
9.3.5 Function CONTROL_OCC......................................................................... 183
9.3.6 Function JOYSTICK_0............................................................................... 186
9.3.7 Function JOYSTICK_1............................................................................... 190
9.3.8 Function JOYSTICK_2............................................................................... 194
9.3.9 Function NORM_HYDRAULIC .................................................................. 197
10 More functions in the ecomatmobile controller 200
10.1 Counter functions for frequency and period measurement.......................................... 200
10.1.1 Applications................................................................................................ 201
10.1.2 Use as digital inputs ................................................................................... 201
10.1.3 Function FREQUENCY.............................................................................. 202
10.1.4 Function PERIOD....................................................................................... 204
10.1.5 Function PERIOD_RATIO ......................................................................... 206
10.1.6 Function PHASE ........................................................................................ 208
10.1.7 Function INC_ENCODER .......................................................................... 210
10.1.8 Function FAST_COUNT ............................................................................ 213
10.2 Software reset .............................................................................................................. 215
10.2.1 Function SOFTRESET............................................................................... 215
10.3 Saving, reading and converting data in the memory.................................................... 216
10.3.1 Automatic data backup............................................................................... 216
10.3.2 Manual data storage .................................................................................. 216
10.3.3 Function MEMCPY..................................................................................... 217
10.3.4 Function FLASHWRITE ............................................................................. 218
10.3.5 Function FLASHREAD............................................................................... 220
10.3.6 Function E2WRITE .................................................................................... 221
10.3.7 Function E2READ...................................................................................... 222
10.4 Data access and data check ........................................................................................ 223
10.4.1 Function SET_DEBUG............................................................................... 223
10.4.2 Function SET_IDENTITY........................................................................... 224
10.4.3 Function GET_IDENTITY........................................................................... 226
10.4.4 Function SET_PASSWORD ...................................................................... 228
10.4.5 Function CHECK_DATA ............................................................................ 230

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10.5 Processing interrupts.................................................................................................... 232
10.5.1 Function SET_INTERRUPT_XMS............................................................. 233
10.5.2 Function SET_INTERRUPT_I.................................................................... 236
10.6 Use of the serial interface............................................................................................. 239
10.6.1 Function SERIAL_SETUP ......................................................................... 240
10.6.2 Function SERIAL_TX................................................................................. 242
10.6.3 Function SERIAL_RX................................................................................. 243
10.6.4 Function SERIAL_PENDING ..................................................................... 245
10.7 Reading the system time.............................................................................................. 246
10.7.1 Function TIMER_READ ............................................................................. 246
10.7.2 Function TIMER_READ_US ...................................................................... 247
10.8 Processing analogue input values................................................................................ 248
10.8.1 Function INPUT_ANALOG......................................................................... 249
10.8.2 Function INPUT_VOLTAGE ...................................................................... 251
10.8.3 Function INPUT_CURRENT...................................................................... 252
10.9 Adapting analogue values ............................................................................................ 253
10.9.1 Function NORM ......................................................................................... 254
11 Controller functions in the ecomatmobile controller 256
11.1 General.........................................................................................................................256
11.1.1 Self-regulating process .............................................................................. 256
11.1.2 Controlled system without inherent regulation........................................... 257
11.1.3 Controlled system with delay ..................................................................... 257
11.2 Setting rule for a controller ........................................................................................... 258
11.2.1 Setting control ............................................................................................ 258
11.2.2 Damping of overshoot................................................................................ 258
11.3 Functions for controllers ............................................................................................... 259
11.3.1 Function DELAY......................................................................................... 260
11.3.2 Function PT1.............................................................................................. 262
11.3.3 Function PID1 ............................................................................................ 264
11.3.4 Function PID2 ............................................................................................ 266
11.3.5 Function GLR ............................................................................................. 269
12 Annex 271
12.1 Address assignment and I/O operating modes ............................................................ 272
12.1.1 Addresses / variables of the I/Os ............................................................... 272
12.1.2 Address assignment inputs / outputs ......................................................... 272
12.1.3 Possible operating modes inputs / outputs ................................................ 273
12.2 System flags................................................................................................................. 274
12.3 Overview of the files and libraries used ....................................................................... 275
12.3.1 General overview ....................................................................................... 275
12.3.2 What are the individual files and libraries used for? .................................. 277
13 Glossary of Terms 283
14 Index 295

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ifm System Manual ecomatmobile SmartController (CR2500, CR2502) V05
About this manual What do the symbols and formats mean?
1 About this manual
What do the symbols and formats mean?...................................................................................7
How is this manual structured? ...................................................................................................8
In this chapter you will find an overview of the following points:
•What do the symbols and formats stand for?
•How is this manual structured?
In the additional "Programming Manual for CoDeSys®V2.3" you will obtain more details about the use
of the programming system "CoDeSys for Automation Alliance™". This manual can be downloaded
free of charge from ifm's website:
→www.ifm.com > Select country/language > [Service] > [Download] > [Control systems]
→ifm-CD "Software, tools and documentation"
Nobody is perfect. Send us your suggestions for improvements to this manual and you will receive a
little gift from us to thank you.
© 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.
1.1 What do the symbols and formats mean?
The following symbols or pictograms depict different kinds of remarks in our manuals:
DANGER
Death or serious irreversible injuries are to be expected.
WARNING
Death or serious irreversible injuries are possible.
CAUTION
Slight reversible injuries are possible.
NOTICE
Property damage is to be expected or possible.
NOTE
Important notes to faults and errors.

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ifm System Manual ecomatmobile SmartController (CR2500, CR2502) V05
About this manual How is this manual structured?
Info
Further hints.
►... Required action
> ... Response, effect
→... "see"
abc Cross references (links)
[...] Designations of keys, buttons or display
1.2 How is this manual structured?
This documentation is a combination of different types of manuals. It is for beginners and also a
reference for advanced users.
How to use this documentation:
•Refer to the table of contents to select a specific subject.
•At the beginning of a chapter we will give you a brief overview of its contents.
•Abbreviations and technical terms are listed in the glossary.
•The print version of the manual contains a search index in the annex.
In case of malfunctions or uncertainties please contact the manufacturer at:
→www.ifm.com > Select country/language > [Contact]
We reserve the right to make alterations which can result in a change of contents of the
documentation. You can find the current version on ifm's website at:
→www.ifm.com > Select country/language > [Service] > [Download] > [Control systems]

ifm System Manual ecomatmobile SmartController (CR2500, CR2502) V05
Safety instructions General
9
2 Safety instructions
General ........................................................................................................................................9
What previous knowledge is required?......................................................................................10
2.1 General
No characteristics are warranted with the information, notes and examples provided in this manual.
The drawings, representations and examples imply no responsibility for the system and no application-
specific particularities.
The manufacturer of the machine/equipment is responsible for the safety of the machine/equipment.
WARNING
Property damage or bodily injury possible when the notes in this manual are not adhered to!
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 of this manual before performing any work on or with this device.
►The acting person must be authorised to work on the machine/equipment.
►Adhere to the technical data of the devices!
You can find the current data sheet on ifm's homepage at:
→www.ifm.com > Select country/language > [Data sheet direct] > (Article no.) > [Technical data in
PDF format]
►Note the installation and wiring information as well as the functions and features of the devices!
→supplied installation instructions or on ifm's homepage:
→www.ifm.com > Select country/language > [Data sheet direct] > (Article no.) > [Operating
instructions]
ATTENTION
The driver module of the serial interface can be damaged!
Disconnecting the serial interface while live can cause undefined states which damage the driver
module.
►Do not disconnect the serial interface while live.
Start-up behaviour of the controller
The manufacturer of the machine/equipment must ensure with his application program that when the
controller starts or restarts no dangerous movements can be triggered.
A restart can, for example, be caused by:
•voltage restoration after power failure
•reset after watchdog response because of too long a cycle time

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ifm System Manual ecomatmobile SmartController (CR2500, CR2502) V05
Safety instructions What previous knowledge is required?
2.2 What previous knowledge is required?
This document is intended for people with knowledge of control technology and PLC programming
with IEC 61131-3.
If this device contents a PLC, in addition these persons should know 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.

ifm System Manual ecomatmobile SmartController (CR2500, CR2502) V05
System description Information concerning the device
11
3 System description
Information concerning the device.............................................................................................11
Information concerning the software .........................................................................................11
PLC configuration ......................................................................................................................12
3.1 Information concerning the device
This manual describes the ecomatmobile controller family of ifm electronic gmbh with a 16-bit
microcontroller for mobile vehicles:
•SmartController: CR2500, CR2501, CR2502
3.2 Information concerning the software
The controller operates with CoDeSys®, version 2.3.9.1 or higher.
In the "programming manual CoDeSys®2.3" you will find more details about how to use the
programming system "CoDeSys for Automation Alliance". This manual can be downloaded free of
charge from ifm's website at:
→www.ifm.com > Select country/language > [Service] > [Download] > [Control systems]
→ifm-CD "Software, tools and documentation"
The application software can be easily designed by the user with the programming system CoDeSys®.
Moreover the user must take into account which software version is used (in particular for the
operating system and the function libraries).
NOTE:
The software versions suitable for the selected target must always be used:
•of the operating system (CRnnnn_Vxxyyyzz.H86),
•of the PLC configuration (CRnnnn_Vxx.CFG),
•of the device library (CRnnnn_Vxxyyyzz.LIB),
•and the further files (→chapter Overview of the files and libraries used, →page 275)
CRnnnn device article number
Vxx: 00...99 target version number
yy: 00...99 release number
zz: 00...99 patch number
The basic file name (e.g. "CR0032") and the software version number "xx" (e.g. "02") must always have
the same value! Otherwise the controller goes to the STOP mode.
The values for "yy" (release number) and "zz" (patch number) do not have to match.
Also note: the following files must also be loaded:
•The for the project required internal libraries (designed in IEC1131),
•the configuration files (*.CFG)
•and the target files (*.TRG).

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ifm System Manual ecomatmobile SmartController (CR2500, CR2502) V05
System description PLC configuration
Also note:
The target for CRnn32 must be > V02, for all other devices > V05.
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.
3.3 PLC configuration
The control system ecomatmobile is a device concept for series use. This means that the controllers
can be configured in an optimum manner for the applications. If necessary, special functions and
hardware solutions can be implemented. In addition, the current version of the ecomatmobile
software can be downloaded from our website at: www.ifm.com.
Before using the controllers it must be checked whether certain functions, hardware options, inputs
and outputs described in the documentation are available in the hardware.

ifm System Manual ecomatmobile SmartController (CR2500, CR2502) V05
Configurations PLC configuration
13
4 Configurations
Set up programming system......................................................................................................14
Function configuration of the inputs and outputs.......................................................................29
Hints to wiring diagrams ............................................................................................................34
The device configurations described in the corresponding installation instructions and in the annex
(→page 271) to this documentation are used for standard devices (stock items). They fulfil the
requested specifications of most applications.
Depending on the customer requirements for series use it is, however, also possible to use other
device configurations, e.g. with respect to the inputs/outputs and analogue channels.
WARNING
Property damage or bodily injury possible due to malfunctions!
The software functions described in this documentation only apply to the standard configurations. In
case of use of customer-specific devices:
►Note the special hardware versions and additional remarks (additional documentation) on use of
the software.
Installation of the files and libraries in the device:
Factory setting: the device contains only the boot loader.
►Load the operating system (*.H86)
►Create the project (*.PRO) in the PC: enter the target (*.TRG)
►(Additionally for targets before V05:) define the PLC configuration (*.CFG)
> CoDeSys®integrates the files belonging to the target into the project:
*.TRG, *.CFG, *.CHM, *.INI, *.LIB
►If required, add further libraries to the project (*.LIB).
Certain libraries automatically integrate further libraries into the project.
Some functions in ifm libraries (ifm_*.LIB) e.g. are based on functions in CoDeSys®libraries
(3S_*.LIB).

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ifm System Manual ecomatmobile SmartController (CR2500, CR2502) V05
Configurations Set up programming system
4.1 Set up programming system
4.1.1 Set up programming system manually
Setup the target
When creating a new project in CoDeSys®the target file corresponding to the controller must be
loaded. It is selected in the dialogue window for all hardware and acts as an interface to the hardware
for the programming system.
Figure: Target system settings
At the same time, all important libraries and the PLC configuration are loaded when selecting the
target. These can be removed by the programmer or complemented by further libraries, if necessary.
NOTE:
The software versions suitable for the selected target must always be used:
•of the operating system (CRnnnn_Vxxyyyzz.H86),
•of the PLC configuration (CRnnnn_Vxx.CFG),
•of the device library (CRnnnn_Vxxyyyzz.LIB),
•and the further files (→chapter Overview of the files and libraries used, →page 275)
CRnnnn device article number
Vxx: 00...99 target version number
yy: 00...99 release number
zz: 00...99 patch number
The basic file name (e.g. "CR0032") and the software version number "xx" (e.g. "02") must always have
the same value! Otherwise the controller goes to the STOP mode.
The values for "yy" (release number) and "zz" (patch number) do not have to match.
Also note: the following files must also be loaded:
•The for the project required internal libraries (designed in IEC1131),
•the configuration files (*.CFG)
•and the target files (*.TRG).

ifm System Manual ecomatmobile SmartController (CR2500, CR2502) V05
Configurations Set up programming system
15
Activating the PLC configuration
During the configuration of the programming system (→previous section) automatically also the PLC
configuration was carried out.
The point [PLC Configuration] is reached via the tab [Resources]. Double-click on [PLC Configuration]
to open the corresponding window.
►Click on the tab [Resources] in CoDeSys®:
►Double-click on [PLC Configuration] in the left column.
> Display of the current PLC configuration (→following figure):
Based on the configuration the following is available in the program environment for the user:
•All important 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.
•The structure of the inputs and outputs
These can be directly symbolically designated (highly recommended!) in the window [PLC
Configuration] (example →figure below) and are available in the whole project as [Global
Variables].

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ifm System Manual ecomatmobile SmartController (CR2500, CR2502) V05
Configurations Set up programming system
4.1.2 Set up programming system via templates
ifm offers ready-to-use templates (program templates) for a fast, simple, and complete setting up of
the programming system.
NOTE
When installing the ecomatmobile CD "Software, Tools and Documentation", projects with templates
have been stored in the program directory of your PC:
…\ifm electronic\CoDeSys V…\Projects\Template_CDVxxyyzz
►Open the requested template in CoDeSys via:
[File] > [New from template…]
> CoDeSys creates a new project which shows the basic program structure. It is strongly
recommended to follow the shown procedure.
→chapter Set up programming system via templates (→page 16)
How do you set up the programming system fast and simply?
►In the CoDeSys menu select: [File] > [New from template...]
►Select directory of the current CD, e.g. ...\Projects\TEMPLATE_CDV010500:

ifm System Manual ecomatmobile SmartController (CR2500, CR2502) V05
Configurations Set up programming system
17
►Find article number of the unit in the list, e.g. CR2500 as CANopen master:
►How is the CAN network organised?
Do you want to work on layer 2 basis or is there a master with several slaves (for CANopen)?
(Here an example: CANopen-Slave, →figure above)
►Confirm the selection with [Open].
> A new CoDeSys project is generated with the following folder structure (left):
Example for CR2500 as CANopen master: Another example for CR1051 as CANopen slave:
(via the folder structures in Templates →Section About the ifm Templates, →page 18).
►Save the new project with [file] > [Save as...], and define suitable directory and project name.
►Configuration of the CAN network in the project:
Double click the element [PLC configuration] above the tabulator [resources] in the CoDeSys
project.
►Right mouse click in the entry [CR2500, CANopen Master]
►Click in the context menu [Append subelement]:
> A list of all available EDS files appears in the extended context menu.

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ifm System Manual ecomatmobile SmartController (CR2500, CR2502) V05
Configurations Set up programming system
►Select requested element, e.g. "System R360": I/O CompactModule CR2011 (EDS)".
The EDS files are in directory C:\…\CoDeSys V…\Library\PLCConf\.
> The window [PLC configuration] changes as follows:
►Set CAN parameters, PDO mapping and SDOs for the entered slave according to the
requirements. Note: Better deselect [Create all SDOs].
►With further slaves proceed as described above.
►Save the project!
This should be a sufficient description of your project. You want to supplement this project with further
elements and functions?
→chapter Supplement project with further functions (→page 23)
About the ifm templates
As a rule the following templates are offered for each unit:
•ifm_template_CRnnnnLayer2_Vxxyyzz.pro for the operation of the unit with CAN layer 2
•ifm_template_CRnnnnMaster_Vxxyyzz.pro for the operation of the unit as CAN master
•ifm_template_CRnnnnSlave_Vxxyyzz.pro for the operation of the unit as CAN slave
The templates described here are for:
- CoDeSys from version 2.3.9.6
- on the ecomatmobile-CD from version 010500
The templates all have the same structures.
The selection of this program template for CAN operation already is an important basis for a
functioning program.

ifm System Manual ecomatmobile SmartController (CR2500, CR2502) V05
Configurations Set up programming system
19
Folder structure in general
The POUs are sorted in the following folders:
Folder Description
CAN_OPEN for Controller and PDM,
CAN operation as master or slave:
contains the functions for CANopen.
I_O_CONFIGURATION for Controller,
CAN operation with layer 2 or as master or slave:
Functions for parameter setting of the operating modes of the inputs and outputs.
PDM_COM_LAYER2 for Controller,
CAN operation as layer 2 or as slave:
Functions for basis communication via layer 2 between PLC and PDM.
CONTROL_CR10nn for PDM,
CAN operation with layer 2 or as master or slave:
Contains functions for image and key control during operation.
PDM_DISPLAY_SETTINGS for PDM,
CAN operation with layer 2 or as master or slave:
Contains functions for adjusting the monitor.
Programs and functions in the folders of the templates
The above folders contain the following programs and functions (= POUs):
POUs in the folder
CAN_OPEN
Description
CANopen for Controller and PDM,
CAN operation as master:
Contains the following parameterised POUs:
- CAN1_MASTER_EMCY_HANDLER
(→Function CANx_MASTER_EMCY_HANDLER, →page 118),
- CAN1_MASTER_STATUS (→Function CANx_MASTER_STATUS, →page 123),
- SELECT_NODESTATE (→down).
CANopen for Controller and PDM,
CAN operation as slave:
Contains the following parameterised POUs:
- CAN1_SLAVE_EMCY_HANDLER
(→Function CANx_SLAVE_EMCY_HANDLER, →page 131),
- CAN1_SLAVE_STATUS (→Function CANx_SLAVE_STATUS, →page 136),
- SELECT_NODESTATE (→down).
Objekt1xxxh for Controller and PDM,
CAN operation as slave:
Contains the values [STRING] for the following parameters:
- ManufacturerDeviceName, e.g.: 'CR1051'
- ManufacturerHardwareVersion, e.g.: 'HW_Ver 1.0'
- ManufacturerSoftwareVersion, e.g.: 'SW_Ver 1.0'

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ifm System Manual ecomatmobile SmartController (CR2500, CR2502) V05
Configurations Set up programming system
POUs in the folder
CAN_OPEN
Description
SELECT_NODESTATE for PDM,
CAN operation as master or slave:
Converts the value of the node status [BYTE] into the corresponding text [STRING]:
4 →'STOPPED'
5 →'OPERATIONAL'
127 →'PRE-OPERATIONAL'
POUs in the folder
I_O_CONFIGURATION
Description
CONF_IO_CRnnnn for Controller,
CAN operation with layer 2 or as master or slave:
Parameterises the operating modes of the inputs and outputs.
POUs in the folder
PDM_COM_LAYER2
Description
PLC_TO_PDM for Controller,
CAN operation with layer 2 or as slave:
Organises the communication from the Controller to the PDM:
- monitors the transmission time,
- transmits control data for image change, input values etc.
TO_PDM for Controller,
CAN operation with layer 2 or as slave:
Organises the signals for LEDs and keys between Controller and PDM.
Contains the following parameterised POUs:
- PACK (→3S),
- PLC_TO_PDM (→up),
- UNPACK (→3S).
POUs in the folder
CONTROL_CR10nn
Description
CONTROL_PDM for PDM,
CAN operation with layer 2 or as master or slave:
Organises the image control in the PDM.
Contains the following parameterised POUs:
- PACK (→3S),
- PDM_MAIN_MAPPER,
- PDM_PAGECONTROL,
- PDM_TO_PLC (→down),
- SELECT_PAGE (→down).