System manual ecomat mobile Controller R360 2.3 2006-07 GB, ifm
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System Manual
Controller Range R 360
for CoDeSys from version 2.3
System manual ecomat mobile Controller R 360 Date 28/07/2006, for CoDeSys from V 2.3
and Target version V04.xx.xx
Note about the guarantee
This manual was written with the utmost care. However, we cannot assume any guarantee for its
contents.
Since errors cannot be avoided despite all efforts we appreciate any comment.
We reserve the right to make technical alterations to the product which might result in a change
of contents of the manual.
II
Manual – ecomat mobile Controller R 360
Contents
1.
Things you should know........................................................1-1
1.1.
Required knowledge............................................................................... 1-1
1.2.
Structure of the manual.......................................................................... 1-1
Finding what you’re looking for ................................................................. 1-1
2.
General information ...............................................................2-1
2.1.
Safety instructions ................................................................................. 2-1
2.2.
Intended use............................................................................................ 2-1
2.3.
Control configuration ............................................................................. 2-3
3.
The monitoring function of the Classic and
ExtendedControllers .......................................................................3-1
3.1.
Hardware setup....................................................................................... 3-1
3.2.
Function principle of delayed disconnection....................................... 3-2
3.3.
Function principle of the monitoring system ....................................... 3-3
3.4.
Feedback on outputs.............................................................................. 3-3
4.
Device configuration ..............................................................4-1
4.1.
Digital and PWM outputs........................................................................ 4-1
4.2.
Digital inputs ........................................................................................... 4-2
4.3.
Fast inputs............................................................................................... 4-3
4.4.
Analog inputs .......................................................................................... 4-3
4.5.
Configuring the input and output functions......................................... 4-4
Classic and ExtendedController................................................................ 4-4
CabinetController ...................................................................................... 4-8
SmartController......................................................................................... 4-9
4.6.
Control modes of the ExtendedController...........................................4-11
4.7.
Configuring
the programming system................................................ 4-13
Activating the PLC configuration............................................................. 4-14
4.8.
Terminal assignment ............................................................................ 4-16
5.
Operating states and operating system ...............................5-1
R
III
5.1.
Operating states...................................................................................... 5-1
5.2.
Status LED ............................................................................................... 5-2
5.3.
Loading the operating system ............................................................... 5-2
5.4.
Control modes......................................................................................... 5-4
6.
Error codes and diagnostics information ............................ 6-1
6.1.
Response to system error...................................................................... 6-1
7.
Notes about programming and system resources ............. 7-1
Watchdog behaviour ................................................................................. 7-2
8.
CAN in the ecomat controller................................................ 8-1
8.1.
General information ................................................................................ 8-1
8.2.
CAN data exchange ................................................................................ 8-2
8.3.
CAN errors and error handling .............................................................. 8-2
8.4.
Physical connection to the CAN bus..................................................... 8-4
8.5.
General notes about the use of CAN..................................................... 8-8
8.6.
Description of the CAN function blocks ............................................... 8-9
8.7.
CANopen in the ecomat R 360 ............................................................. 8-18
8.8.
CANopen support in CoDeSys ............................................................ 8-23
8.9.
Functions for using the second CAN interface to SAE J 1939 and
ISO 11992 ............................................................................................... 8-31
9.
PWM in the ecomat controller............................................... 9-1
9.1.
PWM signal processing and current control ........................................ 9-1
10.
High-speed counters in the ecomat controller ................. 10-1
10.1.
Counter functions for frequency and period measurement.............. 10-1
11.
Other functions of the ecomat controller........................... 11-1
11.1.
Software reset ....................................................................................... 11-1
11.2.
Saving, reading and converting data .................................................. 11-2
11.3.
Data access and verification .............................................................. 11-10
11.4.
Processing interrupts ......................................................................... 11-16
11.5.
Sending data through the built-in SSC interface.............................. 11-22
11.6.
Using the serial interface ................................................................... 11-27
IV
Manual – ecomat mobile Controller R 360
11.7.
Reading the system time.....................................................................11-33
11.8.
Processing variables ...........................................................................11-35
11.9.
Processing analog values...................................................................11-37
12.
Closed-loop control functions in the ecomat controller ...12-1
12.1.
Setting method for closed-loop controllers ....................................... 12-3
12.2.
Controller function blocks ................................................................... 12-3
13.
Appendix - controller address assignment........................13-1
13.1.
Inputs CR0xxx/CR030x/CR250x........................................................... 13-1
CR0xxx inputs......................................................................................... 13-1
CR03xx inputs ........................................................................................ 13-5
CR25xx inputs ........................................................................................ 13-7
13.2.
Outputs CR0xxx / CR030x / CR250x.................................................... 13-8
CR0xxx outputs ...................................................................................... 13-8
CR03xx outputs .....................................................................................13-11
CR25xx outputs .................................................................................... 13-13
13.3.
Other system markers ........................................................................ 13-14
14.
Alphabetical index ................................................................14-1
R
V
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