IFM Ecomat 100 R 360 Series Guida utente

System manual

ecomat 100 type R 360

page 2

System manual ecomat 100 type R 360, April 1999

Guarantee

This manual was written with the utmost care. However, we cannot assume any guarantee for the

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.

page 3

1. General 5

1.1. Safety instructions 5

1.2. Function and features 6

1.3. Controller configuration 7

1.4. Technical data 8

1.5. Mounting of the modules 12

1.6. Electrical connection of the modules 12

1.7. Fusing of the controller modules 12

2. The monitoring function 15

2.1. Hardware setup 15

2.2. Function of the monitoring concept 16

3. Unit I/O configuration 17

3.1. Bidirectional and diagnostic I/O channels 17

3.1.1. Bidirectional inputs/outputs 17

3.1.2. Outputs with diagnostic functions 18

3.2. Fast inputs 19

3.3. The software control configuration 19

3.4. Wiring 19

4. States and operating system 21

4.1. Operating modes 21

4.2. Status LED 22

4.3. Loading the operating sytem 22

4.3. Operating modes 25

5. Error codes and error classes 27

5.1. Reaction to system error 27

6. CAN in the ecomat R 360 29

6.1. Technical specifications 29

6.2. Exchange of data via CAN 29

6.3. CAN errors and error handling 31

6.4. The physical CAN link 33

6.5. General remarks on the CAN utilization 36

6.6. Description of the CAN function blocks 38

6.7. CANopen in the ecomat R 360 44

6.8. The ecomat R 360 as CANopen slave 48

6.9. The ecomat R 360 as CANopen master 59

6.10. Functions for CANopen I/O modules from ifm electronic 78

page 4

7. PWM in the ecomat R 360 87

8. Fast counters in the ecomat R 360 97

9. Other functions in the ecomat R 360 101

9.1. Software reset 101

9.2. Save data in memory and read 102

9.3. Use of the serial interface 106

9.4. Reading the system time 110

9.5. Processing of variables 112

10. Closed-loop control functions 113

10.1. Adjustment rule for a controller 115

11. Functions of the ecomat tdm R 360 127

11.1. Data exchange and variable definition 129

11.2. Setting and resetting of pictures and messages 134

11.3. The unit status and the LEDs 137

11.4. Unit control 144

Annex 1. Address allocation ecomat R 360 147

Annex 1.1. Complete overview 147

Annex 1.2. Inputs 149

Annex 1.3. Outputs 150

Annex 1.4. Allocation outputs – short-circuit and wire-break bits 151

Annex 1.5. The flag range in the ecomat R 360 152

Annex 1.6. CANopen unit interface ecomat R 360 153

Annex 1.7. Object list of the ecomat R 360 154

Annex 1.7.1. Data range communication profile, index 1000 to 1FFF 154

Annex 1.7.2. Range of manufacturer-specific data, index 2000 to 5FFF 161

Annex 1.7.3. Legend to object library 161

Annex 2. Wiring 163

Annex 2.1. Type CR0015 163

Annex 2.2. Type CR0016 164

Annex 2.3. Type CR0017 165

Annex 2.4. Type CR0501 166

page 5

1. General

1.1. Safety instructions

Observe the information of the description. Non-observance of

the notes, operation which is not in accordance with use as

prescribed below, wrong installation or handling can result in

serious harm concerning the safety of persons and plants.

The instructions are for authorised persons according to the

EMC and low voltage guidelines. The controllers must be

installed and commissioned by a skilled electrician (programmer

or service technician).

This description is part of the unit. It contains texts and drawings

concerning the correct handling of the controller and must be

read before installation or use.

If the unit is not supplied by the mobile on-board system (24V

battery operation) it must be ensured that the external voltage is

generated and supplied according to the criteria for safety extra-

low voltage (SELV) as this is supplied without further measures

to the connected controller, the sensors, and the actuators.

The wiring of all signals in connection with the SELV circuit of

the unit must also comply with the SELV criteria (safe extra-low

voltage, safe electrical separation from other electric circuits).

If the supplied SELV voltage as an external connection to

ground (SELV becomes PELV) the responsibility lies with the

user and the respective national regulations for installation must

be complied with. All statements in these operation instructions

refer to the unit the SELV voltage of which is not grounded.

The terminals may only be supplied with the signals indicated in

the technical data or on the unit label and only the approved

accessories of ifm electronic gmbh may be connected.

The unit can be operated within a wide temperature range

according to the technical specification indicated below. Due to

the additional self-heating the housing walls can have high

perceptible temperatures when touched in hot environments.

page 6

In the case of malfunctions or uncertainties please contact the

manufacturer. Tampering with the units can lead to

considerable risks for the safety of persons and plant. It is not

permitted and leads to the exclusion of any liability and warranty

claims.

1.2. Function and features

The controller modules ecomat 100 series R 360 (in the

following text ecomat R 360) are for the user under harsh

operating conditions (e.g. extended temperature range, strong

vibration, intensive EMC interference). They are thus suited for

direct mounting into machines in mobile and rugged

applications. Due to their specification the inputs and outputs

are especially rated for this use. Integrated hardware and

software functions (operating system) offer high protection of

the machine.

The controller ecomat R 360 is approved for safety-

relevant tasks in the field of safety of persons if the

corresponding system test routines are integrated in the

operating system and the application software. The final

classification and the release of the system (hardware and

software) can only be done by the proper supervisory

organisations. The programmer has to obtain information

about the special characteristics of the hardware and

software in the additional documentation which can be

obtained on request.

ifm electronic gmbh

Teichstr. 4

D 45127 Essen

Tel.: 0201 / 2422-0

Fax: 0201 / 2422-303

The application software can easily be created by the user with

the ecolog 100plus software.

All software functions and programming processes

described in this documentation refer to the ecolog 100plus

programming software the knowledge of which is required

for this description.

The user also has to observe the software versions (especially

the operating system of the R 360 and the function libraries) that

is used. Software levels are marked by suffixed letters in

alphabetic order in the file names (e.g. CR0015_B.DL or TDM-

A.LIB). When revising existing application projects the user

should find out about incompatibilities between the old and the

new versions.

page 7

The user is responsible for the safe functioning of the

application programs which he creates himself. If

necessary, he must additionally obtain an approval

according to the corresponding national regulations by the

relevant testing and supervisory organisations.

1.3. Controller configuration

The ecomat R 360 is a customer or application-specific concept

for series use which means that the control modules have the

optimum configuration to the application. If necessary, special

functions and special hardware solutions can be accomplished.

In general: All descriptions and explanations in this manual

are generally applicable to the controller system ecomat R

360. The appropriate controller configuration for the unit in

use is to be loaded in the programming system (article

number of the unit, CRnnnn = file name controller

configuration CRnnnn_X).

Before using the controller modules you need to check the

availability of certain functions, hardware options, inputs and

outputs are available in the hardware.

page 8

1.4. Technical data

Housing: closed, screened metal housing with flange fastening

Housing dimensions: 225 x 153 x 43 mm (WxHxD), without connector

240 x 153 x 43 mm (WxHxD), with connector

Mounting position: preferably vertical, alternatively horizontal

Connection of the unit: 55-pin connector, latched, protected against reverse polarity,

AMP pr Framatom type housing with crimp connection contacts

AMP junior timer 0.5/2.5 mm2

Operating temperature: -30°C ... +75°C

Storage temperature: -40°C ... +90°C

Protection rating: IP67 (protection for connector, depending on cable version)

Protection class: III

Air humidity: ≤90% rel. air humidity, non-condensing

Supply voltage: UB nominal 12 or 24 V DC (-10% ... +25%)

See type label (reverse polarity protection through connector)

residual ripple: ≤1.5 Vpp, f ≤ 50Hz

reset in case of undervoltage 12 V unit: ≤ + 9.6 V

reset in case of undervoltage 24 V unit: ≤ +12.0 V

overvoltage 12 V unit: ≤ + 17.5 V for t ≤ 10s

overvoltage 24 V unit: ≤ + 36.0 V for t ≤ 10s

Power consumption: ≤ 400 mA, without external load

Processor: CMOS microcontroller C 167C

Display: two-colour-LED red/green for indication of status and error

Device monitoring: 8-bit microcontroller to monitor the C 167C (extended watchdog

function)

check sum test for program and system

under and overvoltage monitoring, excess temperature

monitoring

Memory: 256 kByte program memory

64 kByte data memory (volatile)

with 1 kByte data memory protected against voltage failure

(256 Byte auto-save)

Interface: CAN, Version 2.0 B (ISO/DIS-11898), 10 ... 1000 kBaud

protocol: CANopen or free communication profile

device class: CANopen master/slave; CAN: FullCAN

serial interface RS 232 C, 9,6 kBaud

number of participants: 2 (master/slave)

page 9

Binary input

Low-Side (PNP):

Inputs IX0.0 ... IX0.7: switch-on level UB≥10 V, I ≥3.3 mA

switch-off level UB≤5 V, I ≤1.7 mA

input frequency 50 Hz

Inputs IX0.8 ... IX0.39: switch-on level 0.6 UB... 0.8 UB, I ≥6.7 mA

switch-off level 0.4 UB... 0.2 UB, I ≤1.7 mA

input frequency 50 Hz

Pulse inputs IX0.12 ... IX0.15: input frequency 50 kHz

Pulse inputs IX0.20 ... IX0.23: input frequency 50 kHz

Binary input

High-Side (NPN):

Inputs IX0.8 ... IX0.39: switch-on level 0.05 UB... 0.04 UB, I ≥7.7 mA

switch-off level 0.30 UB... 0.40 UB, I ≤5.1 mA

input frequency 50 Hz

Analog input

Low-Side:

Inputs IW9 ... IW16: input voltage +0 ... 10 V

input impedance ≥50 kΩ

resolution 10 Bit

accuracy ≤ ± 1.0 % FS

page 10

Binary output

High-Side (PNP):

Outputs QX0.0 ... QX0.23: semiconductor output; short-circuit and overload protection,

diagnostic capability as an option

switching voltage 10 ... 17 V (12 V DC); 11 ... 32 V (24 V DC)

switching current 50 mA ... 2.5 A

overload current 5 A

sum current 10 A (per 8 outputs)

output frequency max. 100 Hz (depending on the load)

Outputs QX0.00 ... QX0.07 special specification as PWM output

output frequency max. 1000 Hz

PWM mark/space ratio 1 ... 99%

resolution depending on the PWM frequency

Binary output

Low-Side (NPN):

Outputs QX0.0 ... QX0.23: semiconductor output; short-circuit and overload protection,

diagnostic capability as an option

switching voltage 10 ... 17 V (12 V DC); 11 ... 32 V (24 V

DC)

switching current 50 mA ... 2.5 A

overload current 5 A

sum current 10 A (per 8 outputs)

output frequency max. 100 Hz (depending on the load)

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