IFM CR0452 Owner's manual

Programming Manual
BasicDisplay
CR0452
Runtime system v03
CODESYS®v2.3
English
7391002 / 04 05 / 2018

2
ifm Programming Manual BasicDisplay CR0452 v03.02 05 / 2018
Contents
Contents
1About this manual 4
1.1 Copyright..............................................................................................................................4
1.2 Overview: documentation modules for CR0452..................................................................5
1.3 What do the symbols and formats mean? ...........................................................................6
1.4 How is this documentation structured?................................................................................7
1.5 History of the instructions (CR0452)..................................................................................7
2Safety instructions 8
2.1 Please note..........................................................................................................................8
2.2 What previous knowledge is required?................................................................................8
2.3 Start-up behaviour of the controller......................................................................................9
2.4 Notes: serial number............................................................................................................9
3System description 10
3.1 Information about the device..............................................................................................10
3.1.1 Accessories................................................................................................................................10
3.2 Hardware description.........................................................................................................11
3.2.1 Hardware setup..........................................................................................................................11
3.2.2 Status-LED.................................................................................................................................14
3.3 Interface description...........................................................................................................15
3.3.1 CAN interfaces...........................................................................................................................15
3.4 Software description ..........................................................................................................16
3.4.1 Software modules for the device................................................................................................16
3.4.2 Programming notes for CODESYS projects...............................................................................19
3.4.3 Operating states.........................................................................................................................22
3.4.4 Performance limits of the device ................................................................................................25
4Configurations 32
4.1 Set up the runtime system .................................................................................................32
4.1.1 Reinstall the runtime system ......................................................................................................33
4.1.2 Update the runtime system.........................................................................................................34
4.1.3 Verify the installation..................................................................................................................34
4.2 Set up the programming system........................................................................................35
4.2.1 Set up the programming system manually .................................................................................35
4.2.2 Set up the programming system via templates...........................................................................39
4.3 Function configuration in general.......................................................................................40
4.3.1 System variables........................................................................................................................40
4.4 Variables............................................................................................................................41
4.4.1 Retain variables..........................................................................................................................42
4.4.2 Network variables.......................................................................................................................43
5ifm function elements 44
5.1 ifm libraries for the device CR0452....................................................................................44
5.1.1 Required libraries .......................................................................................................................44
5.1.2 Library ifm_CR0452_Vxxyyzz.LIB..............................................................................................45
5.1.3 Library ifm_CR0452_Init_Vxxyyzz.LIB .......................................................................................46
5.1.4 Library ifm_PDMsmart_util_Vxxyyzz.LIB....................................................................................46
5.1.5 Library ifm_RAWCan_NT_Vxxyyzz.LIB......................................................................................46
5.1.6 Library ifm_CANopen_NT_Vxxyyzz.LIB.....................................................................................47
5.1.7 Library ifm_J1939_NT_Vxxyyzz.LIB...........................................................................................48

3
ifm Programming Manual BasicDisplay CR0452 v03.02 05 / 2018
Contents
5.2 ifm function elements for the device CR0452....................................................................50
5.2.1 Function element outputs...........................................................................................................51
5.2.2 Function elements: RAW-CAN (Layer 2)....................................................................................52
5.2.3 Function elements: CANopen.....................................................................................................80
5.2.4 Function elements: SAE J1939 ................................................................................................126
5.2.5 Function elements: system.......................................................................................................158
5.2.6 Function elements: graphics.....................................................................................................176
6Diagnosis and error handling 186
6.1 Diagnosis .........................................................................................................................186
6.2 Fault .................................................................................................................................186
6.3 Response to system errors..............................................................................................187
6.3.1 Example process for response to an error message................................................................187
6.4 CAN / CANopen: errors and error handling.....................................................................187
7Appendix 188
7.1 System flags.....................................................................................................................188
7.2 Error tables.......................................................................................................................190
7.2.1 Error flags.................................................................................................................................190
7.2.2 Errors: CAN / CANopen............................................................................................................190
8Terms and abbreviations 191
9Index 205
10 Notizen • Notes • Notes 209

4
ifm Programming Manual BasicDisplay CR0452 v03.02 05 / 2018
About this manual Copyright
1About this manual
Copyright ..................................................................................................................................................4
Overview: documentation modules for CR0452.......................................................................................5
What do the symbols and formats mean?................................................................................................6
How is this documentation structured? ....................................................................................................7
History of the instructions (CR0452) ......................................................................................................7
202
>
1.1 Copyright
6088
© 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, (→www.as-interface.net)
• CAN is the property of the CiA (CAN in Automation e.V.), Germany (→ www.can-cia.org)
• CODESYS™ is the property of the 3S – Smart Software Solutions GmbH, Germany (→www.codesys.com)
• DeviceNet™ is the property of the ODVA™ (Open DeviceNet Vendor Association), USA (→ www.odva.org)
• EtherNet/IP® is the property of the →ODVA™
• EtherCAT®is a registered trade mark and patented technology, licensed by Beckhoff Automation GmbH, Germany
• IO-Link®(→www.io-link.com) is the property of the →PROFIBUS Nutzerorganisation e.V., Germany
• ISOBUS is the property of the AEF – Agricultural Industry Electronics Foundation e.V., Deutschland
(→www.aef-online.org)
• Microsoft®is the property of the Microsoft Corporation, USA (→www.microsoft.com)
• Modbus®is the property of the Schneider Electric SE, France (→www.schneider-electric.com)
• PROFIBUS®is the property of the PROFIBUS Nutzerorganisation e.V., Germany (→www.profibus.com)
• PROFINET®is the property of the →PROFIBUS Nutzerorganisation e.V., Germany
• Windows®is the property of the →Microsoft Corporation, USA

5
ifm Programming Manual BasicDisplay CR0452 v03.02 05 / 2018
About this manual Overview: documentation modules for CR0452
>
1.2 Overview: documentation modules for CR0452
22853
The documentation for this devices consists of the following modules:
(Downloads from ifm's website →www.ifm.com )
Document
Contents / Description
Data sheet
Technical data in a table
Installation instructions
(are supplied with the
device)
Instructions for installation, electrical installation, and commissioning
Technical data
Programming manual
Functions of the setup menu of the device
Creation of a CODESYS project with this device
Target settings with CODESYS
Programming of the device-internal PLC with CODESYS
Description of the device-specific CODESYS function libraries
System manual
"Know-How ecomatmobile"
Know-how about the following topics (examples):
Overview Templates and demo programs
CAN, CANopen
Control outputs
Visualisations
Overview of the files and libraries

6
ifm Programming Manual BasicDisplay CR0452 v03.02 05 / 2018
About this manual What do the symbols and formats mean?
>
1.3 What do the symbols and formats mean?
203
The following symbols or pictograms illustrate the notes in our instructions:
WARNING
Death or serious irreversible injuries may result.
CAUTION
Slight reversible injuries may result.
NOTICE
Property damage is to be expected or may result.
Important note
Non-compliance can result in malfunction or interference
Information
Supplementary note
►...
Request for action
>...
Reaction, result
→...
"see"
abc
Cross-reference
123
0x123
0b010
Decimal number
Hexadecimal number
Binary number
[...]
Designation of pushbuttons, buttons or indications

7
ifm Programming Manual BasicDisplay CR0452 v03.02 05 / 2018
About this manual How is this documentation structured?
>
1.4 How is this documentation structured?
204
1508
This documentation is a combination of different types of manuals. It is for beginners and also a
reference for advanced users. This document is addressed to the programmers of the applications.
How to use this manual:
Refer to the table of contents to select a specific subject.
Using the index you can also quickly find a term you are looking for.
At the beginning of a chapter we will give you a brief overview of its contents.
Abbreviations and technical terms →Appendix.
In case of malfunctions or uncertainties please contact the manufacturer at:
Contact →www.ifm.com
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:
→www.ifm.com
>
1.5 History of the instructions (CR0452)
15324
What has been changed in this manual? An overview:
Date
Theme
Change
2014-03-24
Visualisation limits
Information concerning the permissible drawing area
2014-04-29
FB CAN_REMOTE_RESPONSE
More precise description of the function block
ENABLE
2014-05-12
Limitations CAN
Limitations added for CAN, CANopen and CAN J1939
2014-06-30
Name of the documentation
"System manual" renamed as "Programming manual"
2015-01-13
Structure of documentation for error codes, system
flags
• error flags:
now only in the appendix, chapter System flags
• CAN / CANopen errors and error handling:
now only in the system manual "Know-How"
•error codes, EMCY codes:
now in the appendix, chapter Error tables
2015-03-10
Available memory
Description improved
2017-01-13
Software manual for CODESYS 2.3
hint to download from the ifm homepage removed
2018-07-09
List of the ifm branch offices
removed

8
ifm Programming Manual BasicDisplay CR0452 v03.02 05 / 2018
Safety instructions Please note
2Safety instructions
Please note...............................................................................................................................................8
What previous knowledge is required? ....................................................................................................8
Start-up behaviour of the controller..........................................................................................................9
Notes: serial number ................................................................................................................................9
213
>
2.1 Please note
6091
11779
No characteristics are warranted with the information, notes and examples provided in this manual.
With the drawings, representations and examples given no responsibility for the system is assumed
and no application-specific particularities are taken into account.
►The manufacturer of the machine/equipment is responsible for ensuring the safety of the
machine/equipment.
►Follow the national and international regulations of the country in which the machine/installation is
to be placed on the market!
WARNING
Non-observance of these instructions can lead to property damage or personal injury.
ifm electronic gmbh does not assume any liability in this regard.
►The acting person must have read and understood the safety instructions and the corresponding
chapters in this manual before working on and with this device.
►The acting person must be authorised to work on the machine/equipment.
►The acting person must have the qualifications and training required to perform this work.
►Adhere to the technical data of the devices!
You can find the current data sheet on the ifm website.
►Note the installation and wiring information as well as the functions and features of the devices!
→supplied installation instructions or on the ifm website.
Homepage →www.ifm.com
>
2.2 What previous knowledge is required?
215
This document is intended for people with knowledge of control technology and PLC programming
with IEC 61131-3.
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.

9
ifm Programming Manual BasicDisplay CR0452 v03.02 05 / 2018
Safety instructions Start-up behaviour of the controller
>
2.3 Start-up behaviour of the controller
6827
15233
11575
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 the watchdog responded because the cycle time was too long
• Error elimination after an E-stop
To ensure safe controller behaviour:
►monitor the voltage supply in the application program.
►In case of an error switch off all relevant outputs in the application program.
►Additionally monitor actuators which can cause hazardous movements in the application program
(feedback).
►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.
>
2.4 Notes: serial number
20780
►In the user's production facility, draw a diagram of the controller network in the machine. Enter the
serial number of each controller installed into the network diagram.
►Before downloading a software component, read out this serial number and check the network
diagram to make sure that you are accessing the right controller.

10
ifm Programming Manual BasicDisplay CR0452 v03.02 05 / 2018
System description Information about the device
3System description
Information about the device..................................................................................................................10
Hardware description..............................................................................................................................11
Interface description ...............................................................................................................................15
Software description...............................................................................................................................16
975
>
3.1 Information about the device
15407
This manual describes of the ecomatmobile family for mobile machines of ifm electronic gmbh:
BasicDisplayXL: CR0452
The display is part of the family of the BasicController: CR040n, CR041n, CR043n.
>
3.1.1 Accessories
15406
A wide range of accessories is available for the BasicDisplay. Examples:
EC0404
Frame for front panel mounting of CR0452
EC0406
RAMmount set for using CR0452 as a desktop unit
EC0452
Cable for power supply and CAN between the display and the BasicController when the
cover EC0402 is used
EC0454
5 m cable for power supply and CAN between the display and the BasicController
---
"Maintenance Tool" software for updating firmware, runtime system and application
program
Download →www.ifm.com
You can find accessories for the article on ifm's website:
→www.ifm.com > Select your country > [Data sheet search] > article no. > [Accessories]

11
ifm Programming Manual BasicDisplay CR0452 v03.02 05 / 2018
System description Hardware description
3.2 Hardware description
Hardware setup ......................................................................................................................................11
Status-LED .............................................................................................................................................14
14081
3.2.1 Hardware setup
Available memory...................................................................................................................................12
Colour display of the CR0452 ................................................................................................................13
Operating elements of CR0452..............................................................................................................13
Key LEDs dimmable...............................................................................................................................13
Connection on the rear panel of the housing .........................................................................................13
15269
Protection IP 65
on the front panel when mounted: Protection IP 67

12
ifm Programming Manual BasicDisplay CR0452 v03.02 05 / 2018
System description Hardware description
>
Available memory
13736
>
FLASH memory
13053
FLASH memory (non-volatile, slow memory)
overall existing in the device
1 536 kByte
Thereof the following memory areas are reserved for ...
maximum size of the application program
128 kByte
data other than the application program
read data with FB FLASH_READ (→p. 160)
(files: 128 bytes less for header)
64 kByte
The remaining rest of the memory is reserved for system internal purposes.
>
SRAM
14027
SRAM (volatile, fast memory)
overall existing in the device
SRAM indicates here all kinds of volatile and fast memories.
592 kByte
Thereof the following memory areas are reserved for ...
data reserved by the application program
128 kByte
The remaining rest of the memory is reserved for system internal purposes.
>
FRAM
2262
FRAM (non-volatile, fast memory)
overall existing in the device
FRAM indicates here all kinds of non-volatile and fast memories.
2 kByte
Thereof the following memory areas are reserved for ...
variables in the application program, declared as VAR_RETAIN
128 Byte
fixed as remanent defined flags (%MB0...127)
128 Byte
The remaining rest of the memory is reserved for system internal purposes.

13
ifm Programming Manual BasicDisplay CR0452 v03.02 05 / 2018
System description Hardware description
>
Colour display of the CR0452
15258
Designation
Data
Technology
TFT
Screen diagonal
4.3" (10.9 cm)
Aspect ratio
16:9
Resolution
480 x 272 pixels
Colour depth
8 bits = 256 colours via defined colour palette
►Create image as a 256-colour file!
Background illumination
LED
dimmable in 1 % steps
Setting a) can be changed temporarily and b) can be preset (stored)
>
Operating elements of CR0452
15260
The display is fitted with the following operating elements:
4 function keys [F1]...[F4]
backlit with LEDs
1 rocker switch
as a combination of 4 independent keys
backlit with LEDs
1 [OK] key
backlit with LED
1 [ESC] key
backlit with LED
All keys work independently of each other.
The device detects several simultaneously pressed keys and evaluates them.
>
Key LEDs dimmable
8369
►All operating elements are backlit with LEDs.
Night design of the operating elements:
The LEDs for all operating elements can only be dimmed together:
Flag KEY_BACKLIGHT_CTRL
>
Connection on the rear panel of the housing
8351
M12 connector, A-coded, for supply and CAN:
Illustration
Pin
Designation
Note
1
n.c.
----
2
VBB
8...32 V DC
3
GND
terminal 31
4
CAN_H
5
CAN_L

14
ifm Programming Manual BasicDisplay CR0452 v03.02 05 / 2018
System description Hardware description
>
3.2.2 Status-LED
7998
The operating states are indicated by the integrated status LED (default setting).
LED colour
Display
Description
Off
Permanently off
No operating voltage
Orange
Briefly on
Initialisation or reset checks
(time frame = 200 ms)
Green
Flashing with 5 Hz
no runtime system loaded
(time frame = 200 ms)
Green
Flashing with 2 Hz
Application = RUN
(time frame = 200 ms)
Green
Permanently on
Application = STOP
or: no application loaded
Red
Flashing with 5 Hz
Application = stopped because of undervoltage
(time frame = 200 ms)
Red
Flashing with 10 Hz
Application = STOP with error
application program is stopped
Cause: exceeded timeout of the application or visualisation:
Delete the application!
PowerOn reset
Reload the application into the device
(time frame = 200 ms)
Red
Permanently on
Application = STOP and FATAL ERROR
Cause: software watchdog has failed
PowerOn reset
If without success:
Goto Bootloader
PowerOn reset
Reload the BasicSystem into the device
Reload the application into the device
If without success:
Hardware error: send device to ifm!
The status LED can be changed by the programming system for the operating states STOP and RUN.
>
Control the LED in the application program
15481
Via SET_LED frequency and color of the status LED can be changed in the application program.
The use of the LED function block in the application program replaces the system setting of the
status LED in the RUN state.

15
ifm Programming Manual BasicDisplay CR0452 v03.02 05 / 2018
System description Interface description
>
3.3 Interface description
CAN interfaces .......................................................................................................................................15
14098
3.3.1 CAN interfaces
CAN: interfaces and protocols................................................................................................................15
14101
Connections and data →data sheet
>
CAN: interfaces and protocols
15270
15271
The device is equipped with only one CAN interface.
The interface can be used with the following functions:
• RAW-CAN (Layer 2): CAN on level 2 (→chapter Function elements: RAW-CAN (Layer 2) (→p. 52))
• CANopen master / CANopen slave (→ chapter Function elements: CANopen (→p. 80))
• CANopen network variables (via CODESYS) (→ chapter Network variables (→p. 43))
• SAE J1939 (for drive management, →chapter Function elements: SAE J1939 (→p. 126))
• Bus load detection
• Error frame counter
• Download interface
• 100 % bus load without package loss
15272
The following CAN interfaces and CAN protocols are available in this ecomatmobile device:
CAN interface
CAN 1
CAN 2
CAN 3
CAN 4
Default download ID
ID 127
ID 126
ID 125
ID 124
CAN protocols
CAN Layer 2
Interface does not
exist
Interface does not
exist
Interface does not
exist
CANopen
SAE J1939
Standard baud rate = 250 Kbits/s
All CAN interfaces can operate with all CAN protocols at the same time. The IDs used must not
impair each other!

16
ifm Programming Manual BasicDisplay CR0452 v03.02 05 / 2018
System description Software description
>
3.4 Software description
Software modules for the device............................................................................................................16
Programming notes for CODESYS projects...........................................................................................19
Operating states .....................................................................................................................................22
Performance limits of the device ............................................................................................................25
14107
3.4.1 Software modules for the device
Bootloader ..............................................................................................................................................17
Runtime system......................................................................................................................................17
Application program................................................................................................................................17
Libraries..................................................................................................................................................18
14110
The software in this device communicates with the hardware as below:
software module
Can user change the module?
By means of what tool?
Application program
with libraries
yes
CODESYS,
MaintenanceTool
Runtime system *)
Upgrade yes
Downgrade yes
MaintenanceTool
Bootloader
no
---
(Hardware)
no
---
*) The runtime system version number must correspond to the target version number in the CODESYS target system setting.
→chapter Set up the target (→p. 36)
Below we describe this software module:

17
ifm Programming Manual BasicDisplay CR0452 v03.02 05 / 2018
System description Software description
>
Bootloader
14111
On delivery ecomatmobile controllers only contain the boot loader.
The boot loader is a start program that allows to reload the runtime system and the application
program on the device.
The boot loader contains basic routines...
• for communication between hardware modules,
• for reloading the operating system.
The boot loader is the first software module to be saved on the device.
>
Runtime system
14112
Basic program in the device, establishes the connection between the hardware of the device and the
application program.
→chapter Software modules for the device (→p. 16)
On delivery, there is normally no runtime system loaded in the controller (LED flashes green at 5 Hz).
Only the bootloader is active in this operating mode. It provides the minimum functions for loading the
runtime system, among others support of the interfaces (e.g. CAN).
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.
The runtime system is provided with this documentation on a separate data carrier. In addition, the
current version can be downloaded from the website of ifm electronic gmbh:
→www.ifm.com
>
Application program
15274
14118
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. 8340
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.

18
ifm Programming Manual BasicDisplay CR0452 v03.02 05 / 2018
System description Software description
>
Libraries
15409
ifm electronic offers several libraries (*.LIB) to match each device containing program modules for
the application program. Examples:
Library
Use
ifm_CR0452_Vxxyyzz.LIB
Device-specific library
Must always be contained in the application program!
ifm_RawCAN_NT_Vxxyyzz.LIB
(optional)
when a CAN interface of the device is to be operated with CAN
Layer 2
ifm_CANopen_NT_Vxxyyzz.LIB
(optional)
when a CAN interface of the device is to be operated as
CANopen master or CANopen slave
ifm_J1939_NT_Vxxyyzz.LIB
(optional)
when a CAN interface of the device is to communicate with a
motor control
Details: →chapter ifm libraries for the device CR0452 (→p. 44)

19
ifm Programming Manual BasicDisplay CR0452 v03.02 05 / 2018
System description Software description
>
3.4.2 Programming notes for CODESYS projects
FB, FUN, PRG in CODESYS .................................................................................................................19
Note the cycle time!................................................................................................................................20
Important note to program the device ....................................................................................................20
Creating application program .................................................................................................................21
Using ifm maintenance tool....................................................................................................................22
Distribution of the application program...................................................................................................22
7426
Here you receive tips how to program the device.
►See the notes in the CODESYS programming manual.
>
FB, FUN, PRG in CODESYS
15410
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 may contain maximum 8000 function elements; in this device maximum 512
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 function block call in a function:
• every time there is an additional initialisation call and
• the data of the last call gets lost.

20
ifm Programming Manual BasicDisplay CR0452 v03.02 05 / 2018
System description Software description
>
Note the cycle time!
8006
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.
>
Important note to program the device
20763
Applies to the following devices:
• BasicController relay CR0431
►For the time of programming interconnect the connections B:1 (VBB15) and B:8 (VBBs).
Otherwise programming is not possible.
Background:
The controller resets all outputs when programming begins, also SUPPLY_SWITCH.
Without VBB15 the controller would be separated from the voltage supply and is switched off.
When the controller is switched on again, the device is in bootloader mode.
The programmer has to load the Basic System to the device again.
Then reload the application program to the device.