ifm Catalogue Control Systems GB 09

www.ifm.com/gb/mobile

Control systems for mobile vehicles Catalogue 2009 / 2010

fluid sensors and diagnostic systems position sensors and object recognition

bus, identification and control systems

The easy way to find what you are looking for Header 1

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Sensors for mobile applications

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Inclination sensors

Sensors with CAN interface

Inclination sensors

Signal output via CAN or via two analogue current interfaces.

Angular range

Number of axes

Resolution / accuracy

Interface

Device connection

Wiring diagram no.

Drawing no.

Order no.

±15°

2

0.001° / 0.025°

CAN

M12

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CR2101

±45°

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0.1° / 0.5°

analogue / CAN

M12

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CR2102

Block diagram CR2101

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Dialogue modules

Application example

I/O modules

e1 type approval of the German Federal Office for Motor Traffic.

+UB

clock

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Sensors with CAN interface

Analogue sensors / switches

110 - 111

112 - 113

Inclination sensors Page

Socket M12 8-pole, straight, 2 m

E80021

Socket M12 8-pole, angled, 2 m

E80022

Socket M12 wirable, 5-pole, straight

Sensors for mobile applications

+UB EEPROM

Connection technology

E11511

Common technical data

+UB

Housing: aluminium Temperature range: -30...80 °C Protection rating: IP 67 Ub: 10...32 V DC Current consumption: 80 mA (at 24 V DC) Interface: CAN CANopen: CiA DS 301 V 3 (V 4 CR2102) profile WDP 410 Baud rate: 20...1,000 Kbits/s CE, e1 (only CR2102)

reset

D MUX

clock A Iout-X

I

Iout-Y

I

U U

CAN

A A

sensor D D

GAL clock generator

16-bit μController EEPROM

You can find scale drawings from page 187

Sensors for mobile applications

Pressure sensors for mobile hydraulic applications

Pressure sensors 114 - 117

118 - 119

110

7

Sensors for mobile applications

4

Block diagram CR2102

Inductive efector m sensors

Inductive sensors

1

3

Signal converters

EC2062

2 5

Order no.

Adapter cable for CAN devices with M12 connector (5-pole)

Further connectors and splitter boxes are available starting on page 127

Further accessories are available starting on page 143

Sensors for mobile applications

Description

Accessories

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Type

8-bit μController

Technical information and customer service

The automation of vehicles and mobile machines can no longer be imagined without controller electronics and sensors. Often the horizontal alignment of machines or machine parts is an important requirement for reliable operation. Typical examples are mobile cranes or access platforms. The inclinometer detects precisely the deviations of the two measurement axes (X and Y direction). As the sensor must often be mounted at difficult positions in the vehicle, special attention has been given to the mechanical and electrical properties of the sensor during development. The high accuracy is achieved with measuring cells which operate to the conductometric principle. The change in conductivity of a liquid is determined. Depending on the sensor inclination the electrodes are surrounded by a different level of liquid. This results in a behaviour comparable to that of a potentiometer. Due to a suitable arrangement of the electrodes the signed values for the two axes are obtained.

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sensor hybrid

CAN

Connectors and splitter boxes

111

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14 Technical data

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15 Block diagram, wiring diagrams of the units or common technical data 16 Current section

Left 10 Special features of the units 11 Recommended accessories and connectors 12 Product description 13 Notes for further details

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Diagnosis and service

reset

Inclinometers 2-axis inclination sensor

14

Mobile controllers

CAN interface with CANopen protocol.

List of articles

Compact and robust design.

General information

Inclinometer Zero point levelling and position detection of mobile machines

Parameter setting of the display resolution via the CAN bus.

16

Notes and explanations

List of articles

Order numbers in alphanumeric order

23 - 25

Mobile controllers

Controllers and software

27 - 51

I/O modules

I/O modules with CANopen interface

53 - 67

Dialogue modules

Displays, input modules and camera systems

69 - 85

Diagnosis and service

Remote maintenance and data memory, CAN interface and CAN diagnosis

87 - 99

Sensors for mobile applications

Inclination sensors, inductive sensors, pressure sensors

101 - 119

Signal converters

Frequency, current and voltage converters

121 - 127

Connection technology

M12 connectors for sensors and actuators

129 - 136

Accessories

Accessories for control systems

139 - 152

Technical information and customer service

Wiring diagrams Scale drawings Technical glossary ifm information and ordering service

156 - 178 180 - 195 196 - 200 202 - 211

General information

General information

Technical information and customer service

Accessories

Connection technology

Signal converters

Sensors for mobile applications

Diagnosis and service

Dialogue modules

I/O-modules

Mobile controllers

List of articles

5 - 20

3

Accessories

Connection technology

Signal converters

Sensors for mobile applications

Diagnosis and service

Dialogue modules

General introduction

Technical information and customer service

6 - 20 I/O-modules

Notes and explanations Mobile controllers

List of articles

General information

General information

5

General information

Notes and explanations

General introduction

Control technology for mobile applications Life today cannot be imagined without electronics in modern motor vehicles and mobile machines. Many necessary and convenient functions could not be implemented without electronic support. In contrast to electronics in consumer goods and “normal” industrial applications such as packaging machines and conveyors the requirements for components for mobile applications are much higher. Requirements Mobile machines and installations are often specially tailored to the applications and thus very expensive. Consequently, a high uptime of these costintensive machines and installations is of utmost priority. The machine needs to provide extensive, simple and reliable diagnostic information enabling operators to locate faults quickly, therefore reducing downtime. Safe operating concepts, adapted to the respective operating situation, help to avoid incorrect handling. Displays provide the necessary overview for the operator. The operating and system states must be stored for statistics and documentation by means of an operational data logger. Due to increasing legal requirements for the machine manufacturers the systems are becoming more and more complex. Against this background, networked electronic systems are used in order to reduce wiring complexity. The bus system enables the decentralised arrangement of powerful input / output modules close to the sensors and actuators. The components are mounted where data are provided or required. In addition, the components must be easy to mount and handle in case of service. This is achieved by the mechanical design as well as by easy and clear integration during programming. Last but not least the components and devices used must withstand extreme mechanical, climatic and electrical conditions and reliably function for a long time. All above-mentioned requirements aim at: The development of reliable, cost-optimised and thus competitive machines.

Modern shredder for wood and wood waste. Only an extremely powerful control system such as ecomatmobile allows safe and reliable operation. When the recycling material is processed the whole machine and thus also the electronics are exposed to high impacts.

Electronic requirements The components need to be carefully selected, mainly because of the extreme mechanical stress caused by impacts and shocks and the use at extreme operating temperatures. The direct influence of dirt, humidity and water often cannot be excluded in field applications. Therefore a high protection rating and a special selection of the materials are required for the devices. In addition to mechanical and environmental influences, electrical interference affecting the whole system as well as individual devices, have to be taken into account. A wide supply voltage range and well-adapted protective measures ensure safe operation of the devices even in case of large voltage fluctuations by the battery / generator system. Strong conducted or radiated interference must not influence the function either.

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The electronics are protected by means of special housing and installation concepts. As the electronics are installed within the machine the components are exposed to high temperatures from the diesel engine.

List of articles Mobile controllers

The most important functional units Modern mobile machines consist of different segments. The automation components of the ecomatmobile control system, particularly suited for mobile applications, can be used for various tasks in these segments. Depending on the requirements they assume for example controlling, monitoring or displaying functions. Networking is made via the CAN bus with the CANopen protocol.

The mobile crane at the construction site. Only a sensible and reliable machine control can meet the requirements.

I/O-modules

For device networking the CAN bus has become the successful standard in the last few years. Whereas for the high volume production of passenger cars special, optimised and well-adapted protocols are used, the CANopen protocol has become indispensable in mobile machines. Manufacturer and industry-specific protocols, such as diagnostic engine data according to SAE J 1939, the agricultural bus system (ISO bus) and the truck-trailer interface for articulated lorries can be coupled to the machine process via gateways.

General information

Notes and explanations

Sensors for mobile applications

Diagnosis and service

Dialogue modules

Segment drive In contrast to utility vehicles, often consisting of a truck and a body (e.g. a refuse truck), special machines are assembled from single elements by the manufacturer. The drive is therefore precisely adapted to the machine and the later task (e.g. a mobile crane). It has to fulfil two essential tasks, on highway as a vehicle and off highway operation as a construction machine. If safe operation on the highway is to be possible the control components must meet safety requirements for road traffic use, defined by e1 type approval. Without e1 type approval the operating permit is invalid. When the vehicle arrives at the site where it is used it becomes a construction machine. Now, different conditions apply. The vehicle has to be suited for off-road use and needs to be easily manoeuvrable. The control components used are thus switched to the respective operating situation.

Technical information and customer service

Accessories

Connection technology

Signal converters

Segment diesel engine So-called industrial engines are mainly used in construction machines. These are engines which are ideally tailored to the requirements of the machine builder. Depending on the mechanical design and the performance rating they can be used for different purposes. Modern engines moreover feature a CAN interface which is accessible for the user. It is mainly designed according to the US standard SAE J 1939. In this standard the different CAN identifiers are assigned to the specific data of the engine, such as operating temperature, oil pressure, torque or rotational speed. For the control of the operating process these data are filtered by means of the gateway function of the R 360 controller and – if necessary – also processed with the software. It is also possible to use the R 360 gateway function to connect two networks operating at different transmission rates.

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General information

Notes and explanations

General introduction

Segment input and output The machine is operated by means of different control elements. By using cabinet modules, I/O modules for use in operating and control panels, the information from joysticks, switches and pushbuttons is transmitted to the process controller via CAN bus where it is processed. The PDM360 graphic display informs the operator about the machine’s operational status. Meaningful symbols and texts help to quickly locate possible errors. Operational and diagnostic data can be stored on memory cards if necessary. In case of service they provide significant information on the application and the cause of the failure. If, in addition, the CAN / GSM radio modem CANcom is integrated into the network error messages can directly be sent to the service department or to the machine manufacturer. Especially with machines which are used worldwide considerable service cost savings can be made. Segment working element or vehicle body This segment is the actual operating process of the machine. Decentralised output modules trigger the hydraulic valves. For the operation of proportional valves these modules also feature current-controlled PWM outputs. The current value is transmitted via the bus and controlled by the module. Furthermore sensor signals are read by the bus modules and transmitted to the process controller. In small machines as well as in large and complex systems whole functional units are controlled by intelligent slave modules such as the SmartController. These freely programmable devices directly process all relevant signals of the corresponding machine function. Depending on the type of machine or vehicle only status messages and processed data are transmitted to other participants in the network.

The CAN / GSM radio modem directly transmits machine data and error messages to the service department.

Robust I/O modules for decentralised use in mobile applications

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Notes and explanations

List of articles Mobile controllers I/O-modules Dialogue modules Diagnosis and service Sensors for mobile applications

B2 standards special safety requirements

Connection technology

product standards

Signal converters

type B standards B1 standards general safety requirements

type C standards special safety requirements for individual machines

Accessories

safety group standards

type A standards basic safety requirements for all machines

Classification of the different safety standards for machines and installations.

Technical information and customer service

basic safety standards

General information

Safety technology There are functions in almost all mobile machines which may endanger material and persons. Many movements cannot be secured due to the machine’s size and the extreme conditions under which they are used. This also explains why only a few, instructed people are allowed into the operating areas of these systems. Of course the manufacturers do their best to design safe machines which minimise the risk of accidents. Today, every manufacturer has to comply with the general regulations for a safe machine design. But as these regulations and standards apply for many different machines they cannot be precisely adapted to the function of a special machine. Therefore there is an increasing number of product standards which are specifically tailored to these requirements. In some types of applications (e.g. vehicle lifts) there have been clear, defined product standards for some time now. The employers’ liability insurance associations also often have clear requirements towards the manufacturers of machines. For this reason there is an increasing demand for certified electronic assemblies for mobile machines. The SafetyController can be used in applications which require components up to safety category 3. The safety concept monitors all internal and external functions and safely switches off in the case of an error. In future the CANopen protocol will also be used for the transmission of safe data. The protocol addition CANopen Safety enables the transmission of safe and ”non-safe“ data on the same bus cable.

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General information

Notes and explanations

General introduction

Requirements for mobile and robust machine concepts Electronic components are not only increasingly used in “normal” motor vehicles but also in modern mobile machines and installations. The following points sum up the main reasons for this development: High uptime of the machines and installations to minimise downtime costs. Extensive, simple and safe system diagnosis for fast error location directly by the operators. Safe and simple handling via displays and other input modules according to the respective operating situation. Simple handling for mounting and service of the components in use owing to the modular concept. Reduced wiring by means of decentralisation: Powerful input / output modules are used where data are provided or required. Documentation of the operating and system states by means of an operational data logger. With real-time clock, statistic and protocol functions informative system reports can be created. These requirements can only be met with components precisely developed and made for the corresponding application. ifm electronic develops and makes such automation components and systems. This includes a wide range of sensing and control products e.g. proximity switches, pressure sensors, complex control systems and much more.

ecomatmobile stands for high reliability under extreme operating conditions.

ecomatmobile, control technology for extreme conditions The components presented in this catalogue have been developed and optimised for increased requirements in close co-operation with our customers over a period of several years. ifm electronic now supplies a sophisticated control and automation system which conforms to the needs of the market. In addition to flexibility and performance attention was given to the following points: Use even at extreme operating temperatures. Safety under extreme mechanical stress caused by impacts and shocks. Use even with direct exposure to dirt, water and humidity Operational reliability despite strong supply voltage fluctuations by the battery / generator system. Insensitivity to conducted and radiated interference in the whole electrical system. Application-related networking possible with the CAN bus system suitable for mobile applications. All components withstand impacts and shocks as well as electrical interference.

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WAN, Internet TCP/IP

List of articles Mobile controllers I/O-modules Dialogue modules

The CAN bus is used to read, write and process sensor and actuator signals.

Sensors for mobile applications

networking

Especially when several machine parts are interconnected CAN offers decisive advantages.

Diagnosis and service

CAN – The fieldbus for mobile machines The basics At the beginning of the 1980s a bus system was developed in co-operation with some automotive manufacturers, which preferably was to be used for engine management. About 20 years later this bus system – CAN (Controller Area Network) – has become the standard in modern vehicles and mobile machines and installations. When several machine parts (e.g. engine, drive and operating function) are networked to form a whole system, CAN provides decisive advantages. Also, when the CAN bus was developed, the special operating conditions had already been taken into account. Therefore ifm electronic also uses this safe and reliable bus system for the ecomatmobile control system. The “Controller Area Network” (CAN) is defined in the international standard ISO 11898. It is based on the Producer / Consumer Network Model. It allows data to be very efficiently distributed to the other network participants by means of the broadcast method. At the same time the Producer / Consumer Model also allows communication according to the master / slave or peer-to-peer principles. These different principles are used depending on the type of mobile machine and its special design.

General information

Notes and explanations

visualisation LAN, H1, Ethernet, Profinet

processing

Signal converters

Interbus, DeviceNet, Modbus, Profibus, CAN

AS-interface Connection technology

control

Accessories

input/output

Technical information and customer service

The CAN communication services Irrespective of the network configuration the transmission of the messages always takes place between a sending node (producer) and a receiving node (consumer). With CAN data transmission no addresses are assigned to the individual participants. Instead, each message to be transmitted (e.g. oil temperature, rotational engine speed) is given a clear identification mark (identifier) which is valid in the whole network. This identifier also defines the priority of the message. This ensures that even in the case of simultaneous access by several participants the more important message is transmitted first. In contrast to other bus systems the messages are not assigned a target address but an identification mark (identifier). The message can be clearly identified by means of this identifier. CAN is therefore not a participant-oriented protocol but a message-oriented protocol.

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General information

Notes and explanations

General introduction

station 1

station 2

process message

generate message

check message

station 3

station 4 process message

check message

check message

receive message

receive message

CAN is not a participant-oriented but a messageoriented protocol.

send message receive message

In this example station 2, as the producer, generates a message and gives it to the bus. All other CAN participants receive this message at the same time as consumers and check the identifier of the sent message. On the basis of the identifier each receiver decides whether it has to process the message (in the example stations 1 and 4) or whether no reaction is required (in the example station 3). This mechanism is called acceptance filtering. Transmission according to the broadcast method thus relieves the network because several consumers can be addressed by a single message at the same time. As each participant in the network is constantly “listening” all participants have the same data information. Complex synchronisation and data management are not necessary. Due to the definition of certain identifiers which are used by a transmitter for its messages and which at the same time trigger a reaction of one receiver peer-to-peer connections can also be established. In this case all nodes are listening but only one participant reacts due to the identifier of the sent message. Peer-to-peer communication represents a possible variant to the broadcast communication. Peer-to-peer connections are mainly used for the transmission of device configuration data or for the upload / download of programs. The allocation of the identifiers to the respective messages of the bus participants can also be carried out in such a way that communication is centrally managed via a master. Such a master / slave architecture is recommended when new nodes are to be integrated into a CAN network without considerable configuration efforts. These only have to establish a communication channel to the master module, which then forwards the messages. Given that the bus is only accessed when data are to be transmitted the bus loading can be easily controlled and monitored. The structure of a CAN message The identifier A CAN message is composed of three main parts: The identifier, the data field and the help and protective information for the data transmission. The identifier can be used as an 11-bit or 29-bit variant. 2,048 different messages can be distinguished by means of the 11-bit identifier. This is sufficient for most CAN protocols such as CANopen. The extended 29-bit identifier is for example used in agricultural technology and also for the exchange of engine data in accordance with SAE J 1939. Due to the large amount of different messages possible (536,870,912) certain information and data can be assigned to specific identifiers. For example this then allows all engine manufacturers to use the same specific messages.

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An agricultural machine with centralised control unit.

Notes and explanations

data

Structure of the CAN message.

General information

end of message

List of articles

identifier

control bits

CRC

Mobile controllers

start of message

Connection technology

Signal converters

Sensors for mobile applications

Diagnosis and service

Dialogue modules

I/O-modules

The user data 0 to 8 data bytes can be transmitted in the data field. It contains the actual information for the other network participants. Help and protective information for error detection In contrast to other bus systems, the CAN protocol does not acknowledge received data. If a bus participant detects an error, e.g. because of a faulty checksum (CRC), it immediately sends an error message and thus causes the abortion of the transmission or the rejection of the correct messages already received by the other participants. It is therefore ensured that all participants have correct and uniform data. Since the error message is directly transmitted the sender can repeat the disturbed message immediately, as opposed to fieldbus systems (they wait until a defined acknowledgement time has elapsed). CAN data safety With the introduction of safety-related systems in mobile machines and installations the requirements for the safety of data transmission have increased. To avoid dangerous states the data protection must be high and the probability of undiscovered errors must be low. Errors mainly occur if data are distorted by external influences (e.g. electromagnetic interference). A sensible statement on error probability can be achieved by means of a calculation model. If a data rate of 500 Kbits/s, an average bus load of 50 % and an average message length of 80 bits are assumed you obtain the following values: With an operating time for the system of 8 hours a day on 365 days a year and an error rate of 0.7 errors/s the statistical mean value is one undiscovered error in 1000 years.

Technical information and customer service

Accessories

Designing a CAN system With CAN, equal network participants (e.g. controllers, sensors, decentralised input / output modules) are interconnected via a serial bus. The electrical connection is a three-wire line, consisting of the CANH, CANL and CANGND cables which are, depending on the requirements, screened or unscreened.

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General information

Notes and explanations

General introduction

The structure of the network The ISO 11898 standard assumes a line structure of the CAN network. In addition the CANH and CANL cables must be provided with a 120 Ω terminating resistor on each end.

General structure of a CAN network.

Node n

Node 1

CAN_H

120

120

CAN Bus Line

CAN_L

The maximum data transmission rate depends on the length of the bus cable.

baud rate [Kbits/s]

Ideally, no spur should lead to the bus participants (node 1... node n) because depending on the total cable length and the transmission time, reflections may occur on the bus. However, in practice this requirement often cannot be implemented. In order to avoid that the spurs to a bus participant (e.g. to an I /O module) cause system errors they should not exceed a certain length. Spurs up to a length of 2 m are considered to pose no problem. The sum of all spurs in the whole system should not exceed 30 m. In any case a network design should be examined under real conditions (field test) in practice. The length of the bus cable depends on the characteristics of the bus connection (cable, connector), the cable resistance and the necessary transmission rate (baud rate). As described above, the length of the spurs must also be considered for the network design. Simplified, the following dependence between bus length and baud rate can be assumed:

1000 500 200 100 50 20 10 5 0

10

50

100

200

1000

10000 bus length [m]

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Notes and explanations

List of articles

General information

CANopen To make things even simpler for the CAN user the standardised protocol layer CANopen is based on the existing definitions. More and more manufacturers of machines and installations join to form “user groups” to make their specific definitions on the basis of these standards. This is why CAN with the protocol layer CANopen provides the future-oriented and flexible basis for a bus system in mobile machines and installations.

Connection technology

Signal converters

Sensors for mobile applications

Diagnosis and service

Dialogue modules

I/O-modules

Mobile controllers

General information on CANopen The CAN functions described above control the physical link and the data transmission between the bus participants. For a practical CAN application this means that the programmer is responsible for the definition of the data protocol for the specific application. To obtain a uniform protocol for networking different CAN participants CANopen has been defined. It defines the meaning of the data for the corresponding device type (e.g. I /O module, drive, encoder, etc.). With these definitions the application programmer can access many components from different manufacturers with CANopen capability without any intensive work on the protocol. CANopen participants which belong to the same device family have their data organised in the same way. The characteristics of these device classes are indicated in the “device profiles”. Despite this definition the basic CAN structure which allows each bus participant to send messages (data) to the network is maintained. Only the network master (NMT master) exists once and is used, among others, for the initialisation and monitoring of the system. A list of device parameters is defined in CANopen nodes in the object directory (OD) in which all settings are described and stored. It does not only serve as a device description but also as an interface for the access to the data by other CANopen devices. Larger, non time-critical data volumes are transmitted via “Service Data Objects” (SDOs). In addition there are at least two “Process Data Objects” (PDOs) for transmitting and receiving time-critical process data. Monitoring of the participants and the network is also carried out via CAN objects. The “Nodeguarding Object” or the “Heartbeat” monitors if a participant responds within a defined time. “Emergency Objects” are transmitted for the display of hardware and software errors.

Technical information and customer service

Accessories

CAN in ecomatmobile components All devices described in this catalogue with CAN interface support the CANopen protocol. When using CANopen devices from ifm electronic configuration can be carried out by means of the programming software and the control modules (network master) but also by means of external tools (PC software, CANview analyser). Which tool is best suited depends on the complexity and on the system requirements. ifm electronic supports project engineers and programmers with the appropriate tools and services.

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General information

Notes and explanations

General introduction

Automation of a mobile machine Which devices are suited for the individual applications mainly depends on the design of the machine or installation. Also, the service and mounting concept is important for the device selection. For the sake of simplicity a distinction is made between three concepts: Machines with central controller In general, these are machines with fewer operating functions. Only a few controller inputs and outputs are needed. Controller module with suitable I / O configuration (e.g. CR0020). Dialogue module to display system states and diagnostic data. Depending on the requirements a PDM360 display with graphic capabilities (e.g. CR1050) or the PDM360 smart display (e.g. CR1070).

F1 esc

F2

F3

F4

F5

Extreme shock and vibration: Reliable function of the sensitive electronics must be guaranteed under harsh operating conditions as well.

F6

Typical example of a machine with a central controller.

Typical applications: Equipment mounted on agricultural machines, access platforms, compact construction machines, simple monitoring and diagnostic modules. Machines with distributed intelligence Machines, which can be split up in logical function blocks, can often be operated with several stand-alone controller modules. The input and output requirement of these machines is higher and often includes several independent controller elements. Only a few data have to be exchanged between the individual controllers. Two or more controller modules with suitable I /O configuration (e.g. CR0020 / CR0505). Each module has its own application program. Data, which are important for the whole system, are provided via the CAN bus. Dialogue module to display system states and diagnostic data. Depending on the requirements a PDM360 colour display with graphic capabilities (e.g. CR1051) or the PDM360 smart display (e.g. CR1070). Typical applications: Complex construction machines, mobile cranes, aircraft tractors, multipleunit vehicles, fork-lift trucks.

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Distributed intelligence: In the different functional segments of mobile cranes segment-specific control units are often used.

Notes and explanations

I/O-modules

Mobile controllers

List of articles

General information

Machines with decentralised control technology For reducing the wiring complexity a decentralised machine design is recommended. Several decentralised input / output modules are connected to a central controller. Via the CAN bus the data are read and processed in the controller and then transferred again to the I / O modules. Depending on the complexity of the installation the correct design of the bus system must be ensured. Controller module with suitable I / O configuration (e.g. CR0505). One or several decentralised input / output modules which are networked via the CAN bus (CANopen protocol). Dialogue module to display system states and diagnostic data. Depending on the requirements a PDM360 display with graphic capabilities (e.g. CR1051) or the PDM360 smart display (e.g. CR1070).

Dialogue modules

CAN slaves

F2

F3

F4

F5

F6

Diagnosis and service

F1 esc

Sensors for mobile applications

CAN master

Signal converters

CAN/CANopen

Connection technology

Typical example of a machine with a decentralised controller.

Accessories

Typical applications: Complex construction machines, drilling tools, municipal vehicles.

Technical information and customer service

Decentralised control technology is often used in municipal vehicles.

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General information

Notes and explanations

General introduction

3 steps to define the mobile control system Step 1: Definition of the automation concept First the automation concept must be defined. It depends on the size of the machine and complexity of the control task. Integration of the system components and after-sale service must also be taken into account when the system is designed. Small compact machines are often fitted with a central control system. If necessary, some actuators, e.g. remote valve blocks, are connected to the system via a CAN module. Since components without the required protection rating are often used they are mounted in a control cabinet. For practical reasons the controller is then also installed there.

If there is a control cabinet anyway, the controller is often also mounted there for practical reasons.

If it is possible from a technical and commercial point of view, the structure should be decentralised. To do so, the machine is divided into logical function units. Hydraulic valve blocks, sensors and machine specific functions are divided into a clearly structured network. The advantage: In case of a service only individual modules have to be checked and replaced, if necessary. The following points should be taken into account for the system design. Where are the system components positioned? Are they protected against extreme mechancial stress (e.g. impact from stones or other debris on the connector system)? Extreme temperatures (e.g. hot asphalt) can also influence the components. Which wiring is chosen (material and cable design)? Where are the cables routed?

Node 2

Node 3

Node 1

Node 2

Node 3

Node 1

Node 2

Node 3

Node 1

CAN_L

Node 4

Ring

Node 5

CAN_H

CAN_H

CAN_H CAN_L

When the CAN network is designed, the network structure must be taken into account.

CAN_L

Node 4

Node 5

Linie / Line

Node 4

Node 5

Stern / Star

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Notes and explanations

Mobile controllers

List of articles

General information

How can an optimum network structure be implemented? Which operating concept is planned? Conventional design with mechanical switches and pushbuttons wired onto the controller module or an I /O module? Or is the machine to be operated via a dialogue module, e.g. PDM360? Which diagnostic and service functions are planned? Are system messages to be displayed or transferred via CANcom / GPS with position information of the machine, if needed? Can functions be grouped? In particular for the implemention of relaycontrolled systems using CAN modules and operating functions in dialogue modules often reduces the number of the required inputs and outputs.

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Safety requirements

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Dialogue modules Diagnosis and service

Keypad PDM360 PDM360 PDM360 compact smart •

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Machines with cabin

•

Machines with open control panel

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•

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Engine diagnosis

•

•

•

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•

Signal converters

Sensors for mobile applications

•

Dialogue modules

Connection technology

Classic Smart Cabinet Compact Smart Cabinet Extended

Small application Complex machines

I /O modules

Accessories

Classic

16 bit Conrollers

Irrespective of the application ecomatmobile always offers a solution.

Technical information and customer service

32 bit Conroller

I/O-modules

Step 2: Selection of the components In most cases selection of the system components is based on the needed data. So the number of the inputs and outputs and their function must be considered. The controllers and I/O modules of the ecomatmobile system are configurable in many ways. Almost all requirements for the system design can therefore be implemented. If components are mounted in the exposed part of the machine, the devices should have the protection rating IP 67. The CompactModules are an excellent choice for applications that are to extend the machine functions at a later point in time. Even if machines with a variety of options are made, compact modules are the first choice. Flexibility of the SmartModules is fully utilised if they are connected using a prewired cable harness. The controllers and modules of the Cabinet series are intended for use in the cab or control cabinets. For machines with open control panels, using a monochrome PDM360 with transflective display is recommended, as even frontal sun radiation does not influence readability.

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19

General information

Notes and explanations

General introduction

Step 3: Programming and network configuration The R 360 controllers are programmed with the software CoDeSys. All the required functions for parameter setting of the CANopen modules, triggering of the dialogue modules and for the complex control functions are available. It makes sense to implement the machine functions with individual software modules, so-called function blocks, and to test them individually. The software can then be organised more clearly. Function blocks have one more advantage. Implemented functions can be grouped in libraries and used in another project later on. Extensive software tools support the programmer to implement the application. The “downloader” program enables loading of the controller software independently of the programming system. This function is mainly used in production because downloading can be automated via an easy batch processing. In combination with the CAN interface CANview, the bus monitoring software CANmon enables exact monitoring of the communication data on the bus. Depending on the monitoring profile selected the data are commented and filtered. Incorrect settings can be determined quickly and reliably.

CAN bus monitoring with CANmon.

programming projection

documentation evaluation

visualisation evaluation

From projection up to visualisation ecolog software in practice.

SD-Card

CANmem

CANcom

GSM

internet

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Technical information and customer service

Accessories

Connection technology

Signal converters

Sensors for mobile applications

Diagnosis and service

Dialogue modules

I/O-modules

Mobile controllers

List of articles

General information

Notes and explanations

21

Accessories

Connection technology

Signal converters

Sensors for mobile applications

Diagnosis and service

Dialogue modules

Control systems

Technical information and customer service

Mobile controllers

Order numbers in alphanumeric order 24 - 25

23

I/O-modules

List of articles

General information

List of articles

Order numbers in alphanumeric order

List of articles

Order no.

Approvals

Catalogue page

Order no.

Control systems

Approvals

Catalogue page

Order no.

Approvals

Catalogue page

CP9006

49 85

E11419

134

EC2050

143

CP9008

49 85

E11420

134

EC2053

142

CR0020

37

E11504

132

EC2056

143

CR0032

39

E11505

132

EC2058

145

CR0200

41

E11506

132

EC2059

150

CR0301

47

E11511

130

EC2060

113

CR0302

47

E11589

130

EC2061

113

CR0303

47

E11590

132

EC2062

143

CR0505

37

E11591

135

EC2063

144

CR1050

81

E11592

135

EC2068

140

CR1051

81

E11593

135

EC2070

99

CR1052

79

E11594

135

EC2071

99

CR1053

79

E11595

135

EC2074

51

CR1055

79

E11596

130

EC2075

142

CR1056

79

E11597

130

EC2076

145

CR1060

81

E11598

132

EC2077

140

CR1070

77

E11599

132

EC2080

140

CR1071

77

E11622

135

EC2081

140

CR1500

67

E11898

141

EC2082

113

CR2012

65

E11949

135

EC2083

146

CR2014

65

E21137

136

EC2084

141

CR2016

65

E21138

136

EC2086

141

CR2031

61

E21139

136

EC2088

144

CR2032

61

E73004

146

EC2089

142

CR2033

61

E80021

131

EC2090

142

CR2101

111

E80022

131

EC2091

145

CR2102

111

EC1021

150

EC2092

150

CR2500

43

EC1410

147

EC2093

150

CR2512

63

EC1411

147

EVC001

130

CR2513

63

EC1412

147

EVC002

130

CR3001

127

EC1413

147

EVC003

130

CR3002

127

EC1450

148

EVC004

130

CR3003

127

EC1451

148

EVC005

130

CR3004

127

EC1452

146

EVC006

130

CR3101

97

EC1453

146

EVC010

134

CR3105

95

EC1520

142

EVC011

134

CR3106

95

EC1521

142

EVC012

134

CR7020

45

EC1522

143

EVC013

134

CR7200

45

EC1523

143

EVC014

134

CR7505

45

EC2013

141

EVC015

134

E10735

151

EC2015

152

EVC016

134

E10736

151

EC2016

152

EVC017

134

E10737

151

EC2019

113

EVC018

134

E11048

151

EC2025

127

EVC019

134

E11049

151

EC2032

144

EVC030

134

E11187

135

EC2034

144

EVC031

134

E11277

135

EC2036

150

EVC032

134

E11416

134

EC2045

113

EVC033

134

E11417

134

EC2046

141

EVC034

134

E11418

134

EC2049

127

EVC055

135

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24

Order numbers in alphanumeric order

117

EVC058

135

IIM201

117

EVC059

135

IIM202

117

EVC060

135

IIM203

117

EVC061

135

IIM208

115

EVC062

135

IIM209

115

EVC063

136

IIM210

115

EVC064

136

IIM211

115

EVC065

136

IN5281

117

EVC066

136

IN5282

117

EVC067

136

O2M110

83

EVC068

136

PA3020

119

EVC069

136

PA3021

119

131

PA3022

119

131

PA3023

119

EVC072

131

PA3024

119

EVC073

131

PA3026

119

EVC074

131

PA3060

119

EVC075

131

PA9020

119

EVC076

132

PA9021

119

EVC077

132

PA9022

119

EVC078

132

PA9023

119

EVC079

132

PA9024

119

EVC080

132

PA9026

119

EVC081

132

PA9060

119

EVC094

133

PP2001

151

EVC095

132

PP7550

119

EVT010

130

PP7551

119

EVT011

130

PP7552

119

EVT012

130

PP7553

119

EVT013

130

PP7554

119

EVT014

130

PP7556

119

EVT015

130

EVT043

135

IFM203

117

IFM204

117

IFM205

115

IFM206

115

IFM207

117

IFM208

117

IFM209

115

IFM210

115

IGM200

117

IGM201

117

IGM202

117

IGM203

117

IGM204

115

IGM205

115

IGM206

115

Technical information and customer service

EVC070 EVC071

List of articles

115

IIM200

Mobile controllers

IGM207

135

I/O modules

135

Dialogue modules

EVC056 EVC057

General information

Catalogue page

Diagnosis and service

Approvals

Sensors for mobile applications

Order no.

Signal converters

Catalogue page

Connection technology

Approvals

Accessories

Order no.

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25

General information

28 - 33 34 - 35

ClassicController 16 bit ClassicController 32 bit ExtendedController 16 bit SmartController 16 bit SafetyController 16 bit CabinetController 16 bit CoDeSys software and tools Starter set

36 38 40 42 44 46 48 50 -

Technical information and customer service

Accessories

Connection technology

Signal converters

Sensors for mobile applications

37 39 41 43 45 47 49 51

Dialogue modules

System description Selection chart

Diagnosis and service

Controllers and software

I/O-modules

Mobile controllers

List of articles

Mobile controllers

27

Mobile controllers

Controllers and software

System description

Introduction In the meantime the 3rd generation of the ecomatmobile controller is available. Due to the new and extended functions it is a universal and userfriendly control system used in a wide range of applications worldwide. The powerful 16-bit microcontroller enables a very short cycle time of the application program. The large program memory allows the processing of complex application programs. A second integrated 8-bit microcontroller monitors the important system functions such as cycle time or hardware timer. All common data types like BIT, WORD, STRING, REAL (floating decimal point) and extensive function libraries are available to the user for programming. They are used to solve among others mathematical tasks (e.g. arithmetic, trigonometric and standardisation functions) and implement control functions (e.g. PID controller, synchro controller). Libraries for CAN and CANopen communication, exchange of data with dialogue modules and different gateway functions (e.g. SAE J 1939) offer the programmer a convenient software interface to the other network components. In addition to digital inputs and outputs the controller also has analogue ports. Inputs for fast signals up to 50 kHz can additionally be used. Each device has 8 or 16 PWM outputs, some of which are current-controlled. The inputs and outputs are protected against interference and overload. The ports support diagnostic functions for signal monitoring. All devices have a wide-range power supply for operation in 12 / 24V on-board supply systems. Integrated safety functions monitor the program run and reliably switch off the outputs, if necessary (SafetyController).

The 3rd generation of the controller family: R360.

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Controllers and software

Technical information and customer service

Accessories

Connection technology

Signal converters

Sensors for mobile applications

Diagnosis and service

Dialogue modules

I/O-modules

Mobile controllers

List of articles

General information

Important technical data for the R360 controller Mechanical resistance to exteme shocks High protection rating (IP 67) for outdoor use Powerful microcontrollers (C167CS or TriCore 1796) for short cycle times Increased functional reliability by means of permanent check sum test of the program and system 8-bit parallel processor to monitor the main processor Load-dump resistance Diagnostic functions for inputs and outputs Current-controlled PWM channels Current, voltage and ratiometric measurement through parameter setting of analogue channels 0...30 kHz frequency inputs with the option to connect incremental encoders Monitoring and measurement of the supply voltage and device temperature 2 or 4 CAN interfaces with CANopen protocol and free protocol (layer 2) for program download and communication Serial RS-232 interface for program download and communication Use as safety-related controller according to IEC 61508 / EN 13849 Free programming to IEC 61131-3 with the standardised languages function block diagram (FBD), ladder diagram (LD), instruction list (IL), sequential function chart (SFC) and structured text (ST)

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29

Mobile controllers

Controllers and software

System description

ClassicController The ClassicController is the basic device of the R360 controller family. The first generation was a universal platform for a wide range of applications with its numerous configurable inputs and outputs. The latest generation of this controller is available in two types, they enable implementation of many device variants due to their flexible configuration. The great advantage: storage at the OEM and for service on site is considerably reduced. The ClassicController is available as 16-bit variant with 24 or 40 inputs and outputs and as 32-bit variant with 32 multifunctional inputs and outputs. The function is defined in the user program. ExtendedController Like the ClassicController, the ExtendedController supports the various functions of the configurable inputs / outputs and interfaces. In one housing it provides up to 80 inputs / outputs, connection is made via two 55-way connectors. Depending on the selected mode the ExtendedController can be used with simple or dual CPU function. As default, 80 inputs / outputs are available. All functions are managed by the central CPU and programmed via a user program to IEC 61131-3. In the “dual CPU” mode the user can access two separately programmable controllers with 40 inputs / outputs each. But the internal synchronised data interface still enables easy exchange between separately running processors.

High flexibility for a wide range of applications: The ClassicController.

SmartController The SmartController performs different control functions. Programmable to IEC 61131-3 like all controllers of the ecomat moble system, it can be adapted to different requirements. Whether it serves as an intelligent slave in a distributed system, as gateway between different CAN systems (SAE J 1939 / CANopen) or as controller for small stand-alone machines, the SmartController performs all tasks. In this device it is also possible to set the parameters of the input and output function via the user program. SafetyController The ClassicController for safety-related appliations up to the safety category 3 (EN 954-1) is called SafetyController. In this device special test routines for hardware and software monitoring are implemented. Nevertheless, the controllers are easily and conveniently programmable via CoDeSys. Due to the certification of the hardware, operating system software and programming tools it is easy for the project engineer to get the approval for the machine. Full concentration can be given to the application program.

Basic device structure in controllers up to the safety category 3.

feedback signals

signal generator

control electronics

machine decoupling control electronics

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Controllers and software

Mobile controllers

List of articles

General information

CabinetController The CabinetController is suitable for signal processing, in particular in operating panels. To connect the switches, sensors and actuators the important potentials are available at the device connectors. No further terminals are needed. The flat design enables integration in dashboards and operating panels. The CabinetController is also used in control cabinets of small standalone machines. Free programming via CoDeSys enables evaluation and processing of the signals directly where they are provided.

Diagnosis and service

Dialogue modules

I/O-modules

For installation in dashboards and operating panels: The CabinetController.

Connection technology

Signal converters

Sensors for mobile applications

Configurability Analogue inputs The analogue inputs can be configured via the user program. They can be used as 0/4...20 mA current inputs and as voltage inputs. In the function voltage input the measuring range 0...10 V or 0...32 V can be selected. If the operating mode 0...32 V is selected it is possible to read back the system supply voltage. This allows the measurement to be performed ratiometrically. Potentiometers or joysticks can then be evaluated without additional reference voltage. Supply voltage fluctuations have no influence on the measured value. As an alternative, an analogue channel can also be evaluated as a digital input.

Accessories

Block diagram of the analogue inputs.

UB

Technical information and customer service

reference voltage

analogue input voltage voltage measurement 0… 10/ 32 V

current measurement

EMC filter

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Mobile controllers

Controllers and software

System description

Digital inputs Depending on the controller, digital inputs are available with different configuration options. In addition to the protective mechanisms against interference the digital inputs are internally evaluated via an analogue converter. This enables diagnosis of the input signals. In the application software the input signal is provided as bit information. For some of the digital inputs the reference potential is selectable. The input can then be adapted to positive or negative signals.

Block diagram high-side / low-side input for negative and positive sensor signals

digital input EMC filter

voltage

High-side input for negative sensor signals.

UB

Low-side input for positive sensor signals.

UB Sensor

Sensor

GND

GND

Inputs with special input filters enable a frequency and period measurement up to 50 kHz. Due to a software function block for CoDeSys encoders can be easily and conveniently evaluated.

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32

Controllers and software

List of articles Dialogue modules

UB

UB

Last / load

GND Low-side output for negative signal.

Technical information and customer service

Accessories

Connection technology

Signal converters

Further important functions: Gateway functions All controllers have at least one CAN interface which is used to transfer data, e.g. to the decentralised input / output modules or to a dialogue module through the CANopen protocol. The CANopen protocol enables fast and flexible connection to the bus. Controllers with more than one CAN interface can be used as gateway. Two different CAN networks can be easily connected to each other. They enable direct processing of for example control and diagnostic data of diesel engines with SAE J 1939 protocol. As an alternative the second CAN interface can also be used for freely definable CAN messages (CAN layer 2). For the SmartController CR2501 the second interface is designed as “truck-trailer interface” to ISO 11992. Programmable to IEC 61131-3 Programming via CoDeSys with the programming languages from the standard IEC 61131-3 enables the user to create clear and easy application software. Function libraries are available for the special hardware functions (e.g. gateway SAE J 1939 / CANopen).

Sensors for mobile applications

Diagnosis and service

Last / load

GND

Mobile controllers

Here triggering of the proportional hydraulic functions is performed by current-controlled PWM outputs.

I/O-modules

High-side output for positive signal.

General information

Digital and PWM outputs For the controller outputs three types can be differentiated: High-side digital outputs with or without diagnostic function High-side digital outputs with or without diagnostic function and additional PWM mode PWM outputs with or without current control function Current-controlled PWM outputs are mainly used to trigger proportional hydraulic functions. The Classic and ExtendedControllers also enable selection of high and lowside outputs. This allows the implementation of H bridges, e.g. to trigger directional electric motors, in these devices.

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33

Mobile controllers

Controllers and software

Selection chart

Type

Total numbers of inputs / outputs

Interfaces

Area of appl.

TÜV approval IEC 61508 EN 13849

Page

CAN

RS-232

CAN gateway function

Field

Control cabinet

40

2

1

•

•

–

–

36

24

2

1

•

•

–

–

36

32

4

1

•

•

–

–

38

80

4

2

•

•

–

–

40

12

2

1

•

•

–

–

42

40

2

1

•

•

–

•

44

24

2

1

•

•

–

•

44

80

4

2

•

•

–

•

44

42

1

1

–

–

•

–

46

36

1

1

–

–

•

–

46

42

2

1

•

–

•

–

46

Mobile controllers R360 ClassicController 16 bit

ClassicController 32 bit

ExtendedController 16 bit

SmartController 16 Bit

SafetyController 16 Bit

SafetyController 16 Bit

CabinetController, 42 I/O

CabinetController, 36 I/O

CabinetController, 42 I/O

34

Controllers and software

Interfaces

Area of appl.

TÜV approval IEC 61508 EN 13849

Page General information

Total numbers of inputs / outputs

RS-232

CAN gateway function

Field

Control cabinet

12

2

1

•

–

–

–

50

–

Download via CAN

Download via RS-232

–

–

–

–

48

List of articles

CAN

Starter set

Mobile controllers

Starter set

System software for mobile controllers

Technical information and customer service

Accessories

Connection technology

Signal converters

Sensors for mobile applications

Diagnosis and service

Dialogue modules

CoDeSys + tools

I/O-modules

Type

35

Mobile controllers

Controllers and software

ClassicController

Inputs for analogue, digital, diagnostic and pulse signals. Digital, PWM or current-controlled outputs, H-bridge function. Freely programmable to IEC 61131-3. 2 gateway interfaces, protocols for CANopen, SAE J 1939, ISO 11992. e1 type approval of the German Federal Office for Motor Traffic.

ClassicController 16 bit Robust controller for mobile use

Connectors and splitter boxes

The ClassicController has been specially developed for use in vehicles and mobile machines. Many years of experience with the development and construction of mobile controllers have been applied to the new device generation. The user can select the requested function of the inputs and outputs through parameter setting. Thus the same controller module can be used for different requirements. This reduces storage. In addition to the flexible I/O level each controller module is equipped with two CAN interfaces. A freely programmable CAN gateway can be implemented for coupling different networks. It supports all important bus protocols. This enables an easy exchange of SAE J 1939 engine and CANopen data. Different transmission rates and the transparent or preprocessing exchange of data between the networks are supported. The user can easily integrate all functions in the application program via programming to IEC 61131-3.

Description

Order no.

Connector AMP 55-pole wirable, with contacts

EC2013

Connector wired cable length 2.5 m

EC2046

Connector wired cable length 1.2 m

EC2086

Cable with connector cores sealed individually, 1.2 m

EC2084

Programming software CoDeSys + tools, German

CP9006

Programming software CoDeSys + tools, English

CP9008

Further connectors and splitter boxes are available starting on page 129

Further accessories are available starting on page 139

Mobile controllers

Type

ClassicController

ExtendedController

SmartController

SafetyController

CabinetController

CoDeSys software and tools

Starter set

36 - 39

40 - 41

42 - 43

44 - 45

46 - 47

48 - 49

50 - 51

Controllers and software Page

36

Controllers and software

Inputs Inputs dig. / Inputs Inputs Outputs Outdigital / frequency digital digital digital / PWM / puts analogue (pos. / neg.) (pos. / neg.) curr.-controlled digital

Outputs digital PWM

Function H-bridge

Wiring diagram no.

Drawing no.

Order no.

8

8

8

16

8

12

4

2

1

1

CR0020

24

8

8

–

8

8

–

–

–

2

1

CR0505

Diagnosis and service

Dialogue modules

I/O modules

Mobile controllers

40

List of articles

Inputs / outputs total

General information

ClassicController 16 Bit Analogue, digital, diagnostic and pulse inputs Digital, PWM or current-controlled outputs, H-bridge function

Block diagram VBBS

5V

3.3 V reset

VBBR

Sensors for mobile applications

Application example

watchdog

16-bit μController

address decoder

digital IN TEST

clock Connection technology

analogue IN

RS 232

Common technical data

Signal converters

digital OUT

RAM 2x128 kbytes

CAN 1

FRAM 32 kbytes

CAN 2

Flash 2048 kbytes

Accessories

55-pole connection

VBBO

Technical information and customer service

Housing: metal Connection: 55-pole AMP connector Temperature range: -40...85 °C Protection rating: IP 67 Ub: 10...32 V DC Switching current outputs: 4 A / 2 A Interfaces: 2 x CAN 2.0, 1 x RS-232 Program memory: 768 kB flash Data memory: 128 kB SRAM, 128 kB flash Data memory (non volatile): 17 kB CE, e1, appr. for railway applic. (EN 50155) You can find scale drawings from page 180

37

Mobile controllers

Controllers and software

ClassicController

Inputs for analogue, digital, diagnostic and pulse signals. Digital, PWM or current-controlled outputs, H-bridge function. Freely programmable to IEC 61131-3. 4 gateway interfaces, protocols for CANopen, SAE J 1939, ISO 11992. e1 type approval of the German Federal Office for Motor Traffic.

ClassicController 32 bit Robust controller for mobile use

Connectors and splitter boxes

The ClassicController has been specially developed for use in vehicles and mobile machines. Many years of experience with the development and construction of mobile controllers have been applied to the new device generation. The user can select the requested function of the inputs and outputs through parameter setting. Thus the same controller module can be used for different requirements. This reduces storage. In addition to the flexible I/O level each controller module is equipped with four CAN interfaces. A freely programmable CAN gateway can be implemented for coupling different networks. It supports all important bus protocols. This enables an easy exchange of SAE J 1939 engine and CANopen data. Different transmission rates and the transparent or preprocessing exchange of data between the networks are supported. The user can easily integrate all functions in the application program via programming to IEC 61131-3.

Description

Order no.

Connector AMP 55-pole wirable, with contacts

EC2013

Connector wired cable length 2.5 m

EC2046

Connector wired cable length 1.2 m

EC2086

Cable with connector cores sealed individually, 1.2 m

EC2084

Programming software CoDeSys + tools, German

CP9006

Programming software CoDeSys + tools, English

CP9008

Further connectors and splitter boxes are available starting on page 129

Further accessories are available starting on page 139

Mobile controllers

Type

ClassicController

ExtendedController

SmartController

SafetyController

CabinetController

CoDeSys software and tools

Starter set

36 - 39

40 - 41

42 - 43

44 - 45

46 - 47

48 - 49

50 - 51

Controllers and software Page

38

Controllers and software

16

16

16

16

16

Outputs digital PWM

Function H-bridge

Wiring diagram no.

Drawing no.

Order no.

16

2

3

1

CR0032

16

Diagnosis and service

Dialogue modules

I/O modules

Mobile controllers

32

Inputs Inputs dig. / Inputs Inputs Outputs Outdigital / frequency digital digital digital / PWM / puts analogue (pos. / neg.) (pos. / neg.) curr.-controlled digital

List of articles

Inputs / outputs total

General information

ClassicController 32 Bit Analogue, digital, diagnostic and pulse inputs Digital, PWM or current-controlled outputs, H-bridge function

Block diagram input group 16 channels EMC protection

signal processing

output group 16 channels

switching between sections and operating modes

digital and PWM output current measurement and diagnosis

output terminal

Connection technology

Signal converters

input terminal

Sensors for mobile applications

Application example

Impedance transformation comparator

ADC, counter, ...

current measurement, PWM, diagnosis

Accessories

main processor 32-bit CPU Infineon TriCore 1796 FRAM

S-RAM

supply terminals

EMC protection

Technical information and customer service

reference voltage output

virt. COM port (USB hardware)

CAN interface

RS-232 interface

relay

CAN interface

1.5 V

CAN interface

3.3 V

CAN interface

5.0 V

special functions test input, LED

relay 10...32 V

Housing: metal Connection: 55-pole AMP connector Temperature range: -40...85 °C Protection rating: IP 67 Ub: 10...32 V DC Switching current outputs: 4 A / 2 A Interfaces: 4 x CAN, 1 x RS-232, 1 x USB Program memory: 1.25 MB flash Data memory: 256 kB SRAM Data memory (non volatile): 56 kB FRAM CE, e1, appr. for railway applic. (EN 50155)

coprocessor voltage monitoring watchdog

Common technical data

voltage supply

You can find scale drawings from page 180

39

Mobile controllers

Controllers and software

ExtendedController

Inputs for analogue, digital, diagnostic and pulse signals. Digital, PWM or current-controlled outputs, H-bridge function. Freely programmable to IEC 61131-3. 2 gateway interfaces, protocols for CANopen, SAE J 1939, ISO 11992. Extended ClassicController with 80 input / output channels.

ExtendedController 16 bit Twin-packed mobile controller

Connectors and splitter boxes

If many inputs and outputs are required in mobile machines and installations, the ExtendedController is used. Like the ClassicController, it supports the numerous functions of the configurable inputs / outputs and interfaces. Depending on the selected operating system the ExtendedController can be used with single or dual CPU function. As default, 80 inputs and outputs are available. Furthermore, this operating mode supports two CAN interfaces for the freely programmable CAN gateway functions. All these functions are managed by the central CPU and programmed via a user program to IEC 61131-3. In the “dual CPU” mode the user can access two separately programmable controllers with 40 inputs / outputs each. But the internal synchronised data interface still enables easy exchange between the separately running application processes. The ExtendedController additionally supports up to four CAN interfaces in this operating mode.

Description

Order no.

Connector AMP 55-pole wirable, with contacts

EC2013

Connector wired cable length 2.5 m

EC2046

Connector wired cable length 1.2 m

EC2086

Cable with connector cores sealed individually, 1.2 m

EC2084

Programming software CoDeSys + tools, German

CP9006

Programming software CoDeSys + tools, English

CP9008

Further connectors and splitter boxes are available starting on page 129

Further accessories are available starting on page 139

Mobile controllers

Type

ClassicController

ExtendedController

SmartController

SafetyController

CabinetController

CoDeSys software and tools

Starter set

36 - 39

40 - 41

42 - 43

44 - 45

46 - 47

48 - 49

50 - 51

Controllers and software Page

40

Controllers and software

16

16

16

32

16

24

Outputs digital PWM

Function H-bridge

Wiring diagram no.

Drawing no.

Order no.

8

4

1

2

CR0200

Diagnosis and service

Dialogue modules

I/O modules

Mobile controllers

80

Inputs Inputs dig. / Inputs Inputs Outputs Outdigital / frequency digital digital digital / PWM / puts analogue (pos. / neg.) (pos. / neg.) curr.-controlled digital

List of articles

Inputs / outputs total

General information

ExtendedController 16 bit Compact design with 80 inputs / outputs

Block diagram (present twice in the device) VBBS

5V

3.3 V reset

VBBR

Sensors for mobile applications

Application example

watchdog

16-bit μController

address decoder

digital IN TEST

clock Connection technology

analogue IN

RS 232

Common technical data

Signal converters

digital OUT

RAM 2x128 kbytes

CAN 1

FRAM 32 kbytes

CAN 2

Flash 2048 kbytes

Accessories

55-pole connection

VBBO

Technical information and customer service

Housing: metal Connection: 55-pole AMP connector Temperature range: -40...85 °C Protection rating: IP 67 Ub: 10...32 V DC Switching current outputs: 4 A / 2 A Interfaces: 4 x CAN 2.0, 2 x RS-232 Program memory: 768 kB flash Data memory: 128 kB SRAM, 128 kB flash Data memory (non volatile): 17 kB CE, e1, appr. for railway applic. (EN 50155) You can find scale drawings from page 180

41

Mobile controllers

Controllers and software

SmartController

Usable as intelligent I/O module or CANopen master. Gateway functions, CANopen, SAE J 1939. Configurable I/O functions. Freely programmable to IEC 61131-3. e1 type approval of the German Federal Office for Motor Traffic.

SmartController 16 bit Universal controller

Connectors and splitter boxes

In small machines or applications where preprocessing of signals and data is required compact and very powerful controller modules are used. The SmartController R360 has the required features. Depending on the configuration it can fulfil the different requirements. It can therefore be used as a compact controller. The integrated CANopen interface enables a flexible and powerful extension of the system with further intelligent and standard I/O modules. If the two CAN interfaces are used, a freely programmable CAN gateway for coupling different networks is available which supports all important bus protocols. This enables an easy exchange of SAE J 1939 engine and CANopen data. Different transmission rates and the transparent or preprocessing exchange of data between networks are supported.

Description

Order no.

Connector AMP 55-pole wirable, with contacts

EC2013

Connector wired cable length 2.5 m

EC2046

Connector wired cable length 1.2 m

EC2086

Cable with connector cores sealed individually, 1.2 m

EC2084

Programming software CoDeSys + tools, German

CP9006

Programming software CoDeSys + tools, English

CP9008

Further connectors and splitter boxes are available starting on page 129

Further accessories are available starting on page 139

Mobile controllers

Type

ClassicController

ExtendedController

SmartController

SafetyController

CabinetController

CoDeSys software and tools

Starter set

36 - 39

40 - 41

42 - 43

44 - 45

46 - 47

48 - 49

50 - 51

Controllers and software Page

42

Controllers and software

Inputs analogue (V / I)

Inputs dig. / frequency (pos. / neg.)

Inputs digital (pos. / neg.)

Outputs digital / PWM / curr.-controlled

Gateway function 2nd CAN

Wiring diagram no.

Drawing no.

Order no.

8

4

2

2

4

SAE J 1939

4

3

CR2500

Diagnosis and service

Dialogue modules

I/O modules

Mobile controllers

Inputs / outputs total

List of articles

General information

SmartController 16 bit Gateway functions for CANopen, SAE J 1939, ISO 11992 and ISO 11783

Block diagram 5V

+UB

reset watchdog clock

Signal converters

+UB

Sensors for mobile applications

Application example

TEST

CAN 1 CAN 2

EEPROM address decoder

digital IN

RS 232

Common technical data

16 Bit μController

Connection technology

analogue IN

RAM 2x128 kbytes flash 1 Mbyte

Accessories

55-pole connection

digital OUT

external CAN controller

Technical information and customer service

Housing: metal Connection: 55-pole AMP connector Temperature range: -40...85 °C Protection rating: IP 67 Ub: 10...32 V DC Switching current outputs: 4 A Interfaces: 2 x CAN 2.0, 1 x RS-232 Program memory: 192 kB flash Data memory: 64 kB SRAM, 32 kB flash Data memory (non volatile): 3 kB CE, e1, appr. for railway applic. (EN 50155) You can find scale drawings from page 180

43

Mobile controllers

Controllers and software

SafetyController

Safety controller to IEC 61508 / EN 13849 safety category 3. Extended monitoring and test routines for hardware and software. Freely programmable to IEC 61131-3. CAN interface with CANopen and CANopen safety protocol. e1 type approval of the German Federal Office for Motor Traffic.

R360 SafetyController 16 bit Safety-related controller

Connectors and splitter boxes

For control tasks with increased safety requirements the SafetyController R360 is available. Due to its integrated hardware and software function applications to IEC 61508 / EN 13849 can be controlled and monitored. Permanent checks of the CPU, memory and other hardware by the operating system and extended diagnostic functions of the outputs enable a continuous monitoring of the control process. All important system information for the application program can be found in the easy and clear programming system CoDeSys to IEC 61131-3. Software tools enable safe and reliable loading of the approved software for the machine production as well. Via the CAN interface and CANopen protocol the SafetyController can be connected to further non safetyrelated controllers or input / output modules of the R360 device family.

Description

Order no.

Connector AMP 55-pole wirable, with contacts

EC2013

Connector wired cable length 2.5 m

EC2046

Connector wired cable length 1.2 m

EC2086

Cable with connector cores sealed individually, 1.2 m

EC2084

Programming software CoDeSys + tools, German

CP9006

Programming software CoDeSys + tools, English

CP9008

Further connectors and splitter boxes are available starting on page 129

Further accessories are available starting on page 139

Mobile controllers

Type

ClassicController

ExtendedController

SmartController

SafetyController

CabinetController

CoDeSys software and tools

Starter set

36 - 39

40 - 41

42 - 43

44 - 45

46 - 47

48 - 49

50 - 51

Controllers and software Page

44

Controllers and software

Inputs Inputs dig. / Inputs Inputs Outputs Outdigital / frequency digital digital digital / PWM / puts analogue (pos.) (pos. / neg.) curr.-controlled digital

Outputs digital PWM

Function H-bridge

Wiring diagram no.

Drawing no.

Order no.

8

8

8

4

8

12

4

2

5

1

CR7020

24

8

8

–

4

8

–

–

–

6

1

CR7505

80

16

16

16

8

16

24

8

4

5

2

CR7200

Diagnosis and service

Dialogue modules

I/O modules

Mobile controllers

40

List of articles

Inputs / outputs total

General information

R360 SafetyController Analogue, digital, diagnostic and pulse inputs Digital, PWM or current-controlled outputs, H-bridge function (to IEC 61508 / EN 13849)

Block diagram VBBS

5V

3.3 V reset

VBBR

Sensors for mobile applications

Application example

watchdog

16-bit μController

address decoder

digital IN TEST

clock Connection technology

analogue IN

RS 232

Common technical data

Signal converters

digital OUT

RAM 2x128 kbytes

CAN 1

FRAM 32 kbytes

CAN 2

Flash 2048 kbytes

Accessories

55-pole connection

VBBO

Technical information and customer service

Housing: metal Connection: 55-pole AMP connector Temperature range: -40...75 °C Protection rating: IP 67 Ub: 10...32 V DC Switching current outputs: 4 A / 2 A Interfaces: 2 x CAN 2.0, 1 x RS-232 Program memory: 768 kB flash Data memory: 128 kB SRAM, 128 kB flash Data memory (non volatile): 17 kB CE, e1, appr. for railway applic. (EN 50155) You can find scale drawings from page 180

45

Mobile controllers

Controllers and software

CabinetController

Inputs for analogue, digital, diagnostic and pulse signals. Digital outputs designed as solidstate outputs or potential-free relays. Usable as a controller for cockpit or operating panels. Freely programmable to IEC 61131-3. e1 type approval of the German Federal Office for Motor Traffic.

CabinetController 16 bit Space-saving control cabinet solution

Connectors and splitter boxes

For large mobile machines cabins for operators are often used. In the environment around the driver's workplace many signals, e.g. from switches, joysticks and signal indicators are generated. To ensure a low-cost connection of these signals to the process controller, they are collected at a central point, preprocessed and transferred via CANopen. The CabinetController has been developed for this application. Its flat design enables integration in dashboards and operating panels. To connect the switches, sensors and actuators all important potentials are brought out to the connectors. But the CabinetController is also used in small compact machines. Here the controller is often directly installed in a control cabinet. Therefore a high protection rating and robust housing are not required. All other important data of a mobile controller comply with those of the other controllers from the ecomat mobile family.

Description

Order no.

Plug set for CR0301, CR0302

EC2075

Plug set for CR0303

EC2090

RS-232 programming adapter for CR0301, CR0302

EC2076

Cable with connector AMP 6-pole, wired, 1.2 m

EC1520

Cable with connector AMP 10-pole, wired, 1.2 m

EC1521

Cable with connector AMP 14-pole, wired, 1.2 m

EC1522

Cable with connector AMP 18-pole, wired, 1.2 m

EC1523

Further connectors and splitter boxes are available starting on page 129

Further accessories are available starting on page 139

Mobile controllers

Type

ClassicController

ExtendedController

SmartController

SafetyController

CabinetController

CoDeSys software and tools

Starter set

36 - 39

40 - 41

42 - 43

44 - 45

46 - 47

48 - 49

50 - 51

Controllers and software Page

46

Controllers and software

Inputs digital / analogue (V / I)

Inputs digital / frequency

Inputs digital

Outputs digital / PWM

Outputs relay

Wiring diagram no.

Drawing no.

Order no.

8/8

4/4

8/–

4/4

10 / –

7

4

CR0301

36

8/8

4/4

8/–

4/8

–/–

8

5

CR0302

42

8/8

4/4

12 / 4

12 / 8

–/6

9

6

CR0303

EC1521 10 poles

EC1522 14 poles

EC1523 18 poles

CR0301

1

2

–

3

CR0302

1

2

–

2

CR0303

2

2

–

3

Sensors for mobile applications

EC1520 6 poles

Diagnosis and service

Cable for CabinetController

Signal converters

Application example

Dialogue modules

I/O modules

Mobile controllers

42

List of articles

Inputs / outputs total

General information

R360 CabinetController Integration in dashboards and operating panels

Connection technology

Block diagram CR0301, CR0302 5V

+UB +UB

reset watchdog

digital OUT

CR0301, CR0302 Housing: open with potting Connectors.: 18-, 10-, 6-pole AMP Temperature range: -40...85 °C Protection rating: IP 20; Ub: 10...32 V DC Switch. curr. output: PNP 2 A, relays 2/10 A Interfaces: 1 x CAN 2.0, 1 x RS232 Program memory: 192 kB flash Data memory: 64 kB SRAM, 32 kB flash Data memory (non volatile): 3 kB CE, e1, appr. for railway applic. (EN 50155)

analogue IN

16-bit μController

digital IN

EEPROM

Technical information and customer service

Common technical data

Accessories

clock

except for CR 0302

address decoder

TEST

RAM 2x128 kbytes

RS 232

Flash 512 kbytes

CAN 1 Amp

+UB

You can find scale drawings from page 180

47

Mobile controllers

Controllers and software

CoDeSys software and tools

Usable on common Windows PCs. Easy networking of the devices with the PC by means of the CAN bus. Standardised software interface with DDE or OLE technology. Powerful interfaces, e.g. for GPS data or FTP transfer. User-friendly and easy to use.

CoDeSys + tools Powerful programming software

Connectors and splitter boxes

The importance of the software keeps increasing in mobile control technology as well. Therefore it is necessary for the user to have compatible and easy-to-use programs for software creation, parameter setting and remote maintenance. The programming tool CoDeSys to IEC 61131-3 provides the programmer with different program languages (FBD, LD, SFC, IL and ST) for fast project implementation and management. A powerful visualisation module for the graphic representation of the machine and installation functions completes the package. Via the integrated target visualisation the drawn graphic elements can be directly loaded to the graphic display PDM360. In addition to the programming tool, the software CANcom Basisstation provides a powerful PC tool for remote monitoring and maintenance. It is also possible to exchange the application software in the networked controllers via this interface.

Description

Order no.

CAN-PC interface CANview RS-232

EC2070

CAN-PC interface CANview USB

EC2071

Further connectors and splitter boxes are available starting on page 129

Further accessories are available starting on page 139

Mobile controllers

Type

ClassicController

ExtendedController

SmartController

SafetyController

CabinetController

CoDeSys software and tools

Starter set

36 - 39

40 - 41

42 - 43

44 - 45

46 - 47

48 - 49

50 - 51

Controllers and software Page

48

Controllers and software

Language

Use for PDM 360

Programming interface

Data carrier

Order no.

2.3

German

yes

yes

RS-232, CAN, Ethernet

CD-ROM

CP9006

2.3

English

yes

yes

RS-232, CAN, Ethernet

CD-ROM

CP9008

List of articles

Version CoDeSys

Diagnosis and service

Dialogue modules

I/O modules

Mobile controllers

Use for R 360

General information

CoDeSys programming and diagnostic software Software tools for the ecomatmobile system

Screenshot

Technical information and customer service

Accessories

Connection technology

Signal converters

Sensors for mobile applications

CD structure

You can find scale drawings from page 180

49

Mobile controllers

Controllers and software

Starter set

Easy system introduction. Wired hardware components. Integrated simulator for analogue and digital signals. Two CAN interfaces to test all CAN / gateway functions. Programming system, examples and documentation on CD-ROM.

R360 starter set Complete set for learning and testing.

Connectors and splitter boxes

If you have no experience with programming via CoDeSys, the R360 starter set gives you an easy and convenient introduction to the R360 controller hardware and to the different CoDeSys programming languages. The package contains all the required hardware components – from the controller, power supply to the complete cable harness with integrated simulator for input and output signals. The required programming software, documentation and other tools are contained on the enclosed CD. The printed brief instructions allow easy and successful introduction to the first project with the R360 starter set. But the starter set also offers many advantages for the experienced programmer. Program parts can be developed, tested and optimised without much input irrespective of the overall application. The CAN interfaces brought out from the cable harness enable development and optimisation of network programs.

Description

Order no.

Spring terminal box

EC2032

Further connectors and splitter boxes are available starting on page 129

Further accessories are available starting on page 139

Mobile controllers

Type

ClassicController

ExtendedController

SmartController

SafetyController

CabinetController

CoDeSys software and tools

Starter set

36 - 39

40 - 41

42 - 43

44 - 45

46 - 47

48 - 49

50 - 51

Controllers and software Page

50

Controllers and software

Version CoDeSys

Language

Programming interface

Data carrier

Wiring diagram no.

Order no.

CR2500

2.3

German / English

RS-232, CAN

CD-ROM

18

EC2074

Diagnosis and service

Dialogue modules

I/O modules

Mobile controllers

R360 device

List of articles

General information

R360 starter set with SmartController Easy start with the ecomatmobile system

Schematic diagram

Signal converters

Sensors for mobile applications

Starter set EC2074

RS 232 D- SUB (9 poles)

Connection technology

24V DC connector (2 poles) CAN bus 1 socket (5 poles)

Accessories

CAN bus 2 socket (5 poles)

The set consists of: SmartController (CR2500), programming software CoDeSys, tools and documentation, plug-in power supply with adapter (EU / UK), complete cable harness, simulator for input / output signals, manual with examples, short instructions

%IW6

%QX0.0

%QX0.8

%QX1.0

%QX1.8

%IX0.0

%IX0.8

%IX1.0

%IX1.8

Technical information and customer service

Common technical data I / O simulator box

ecomat 100 System R 360

You can find scale drawings from page 180

51

Technical information and customer service

Accessories

Connection technology

Signal converters

Sensors for mobile applications

Diagnosis and service

System description Selection chart 54 - 57 58

CompactModules metal SmartModules CabinetModules KeypadModule 60 62 64 66 61 63 65 67

53

I/O-modules

Mobile controllers

I/O modules with CANopen interface

Dialogue modules

List of articles

General information

I/O modules

I/O modules with CANopen interface

I/O modules

System description

Introduction Decentralised I /O modules connect binary and analogue sensors and actuators to the controller via the CAN bus. The great advantage over conventional direct wiring: The CAN modules are mounted where the signals are generated. Compared to conventional wiring the number of the cables is considerably reduced. Furthermore, I /O modules also provide functions for signal preprocessing. In the control cabinet, the cabin or directly in the field: The various types and connection technologies provide solutions for almost all applications. The common function of all I /O modules of the ecomatmobile series: They are networked with the other system components by means of the CAN bus via the CANopen protocol. CANopen in I /O modules To obtain a uniform protocol for networking the different CAN participants CANopen was defined in 1996. First the structure of the communication profile was laid down. It defines among others the network configuration, the transmission of process data and the synchronous exchange of data between network participants. To standardise the device and application-specific parameters of the products on the market, further definitions were made in the device profiles. For digital and analogue input / output modules the profile DSP 401 is used. The device parameters are set via the object directory using “service data objects” (SDOs). Additionally, time-critical process data, i.e. the “process data objects” (PDOs), of the sensors and actuators can be exchanged via the object directory. CAN objects also monitor the participants and the network. The “nodeguarding object” or the “heart beat” monitors if a participant responds within a defined time. “Emergency objects” are transmitted for the display of hardware and software errors.

Model of a CANopen I/O module.

CANopen DS301+DSP401 programs

CANopen object directory

device application program

SDO PDO NMT emergency Sync

communication objects application objects

outputs inputs

The input / output functionality of the module is listed by means of application objects which are described in the object directory of the device. Strictly speaking, this also includes objects that are only used in the device. The functionality of the CANopen network is described by means of the communication objects. They are also entered in the object directory. In short: The object directory is the central point for the communication of CANopen devices.

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54

I/O modules with CANopen interface

List of articles

General information

CompactModules metal – the flexible devices with M12 connection technology The CompactModules can be connected using either a 5-wire cable for supply voltage and CAN bus, or using a wired connection cable. To do so, the terminal chamber or the universal M12 connectors on the device are available.

Signal converters Connection technology Accessories Technical information and customer service

The metal CompactModules provide a high flexibility for the configuration of the inputs and outputs. So the user can select between the functions analogue and digital input. The analogue channels can be used as 0...20 mA current inputs and as voltage inputs. In the function voltage input the measuring range 0...10 V or 0...32 V can be selected. If in the operating mode 0...32 V the supply voltage is read back, the measurement is performed ratiometrically. This means without additional reference voltage potentiometers or joysticks can be evaluated. Fluctuation of the supply voltage has no effect on this measured value. The inputs are configured from the user program via the object directory. The outputs can be used as digital and PWM outputs. The module CR2031 also provides current control for the direct control of hydraulic valves. The controller transfers the preset current value to the modules via a PDO. They monitor the preset value and regulate it if necessary. The CAN network is relieved of this task. Unused sockets for sensors and actuators can be sealed with blanking plugs. ifm electronic’s wide selection of connection cables offers the right prewired cable for every application. Straight or angled connection – all cables have the high protection rating IP 67 and are easy to use. For the CompactModule in metal design connection to CAN is also made using wired cables. The CAN drop cables fulfil the specifications of bus wiring and provide the easy and safe handling of “conventional” M12 cables.

Sensors for mobile applications

Diagnosis and service

Dialogue modules

I/O-modules

Mobile controllers

CompactModules can be adapted to the application through parameter setting.

Compact module CR2031 in a harsh environment.

Visit our website: www.ifm.com

55

I/O modules

I/O modules with CANopen interface

System description

SmartModules – devices with central plug for the cable harness The functions of the devices from the SmartModule family can be compared to the devices from the CompactModule series. The difference however is the mechanical design. By means of a central plug they can be directly integrated into the cable harnesses of mobile machines and vehicles. These modules also offer high flexibility for the input and output configuration. The user can define the inputs to be analogue or digital. For the CR2513 the function of the analogue inputs can be additionally defined through parameter setting. Configuration is done from the user program via the object directory. The analogue channels can be used as 0 /4...20 mA current inputs and as voltage inputs. In the function voltage input the measuring range 0...10 V or 0...32 V can be selected. If the operating mode 0...32 V is selected it is possible to read back the system supply voltage. This allows the measurement to be performed ratiometrically. Potentiometers or joysticks can then be evaluated without additional reference voltage. Supply voltage fluctuations have no influence on the measured value. The outputs can be used as digital and PWM outputs. The modules CR2511 and CR2512 also provide a current control for the direct triggering of hydraulic valves. The preset current value is transferred to the modules by the controller via a PDO. They monitor the preset value and regulate it if necessary. The CAN network is relieved of this task. For sensors and actuators all required connection pins are provided on the central plug: supply voltage, ground connection or signal inputs or outputs. If no cable harness is used, the prewired 55-pole connection cables can be used. For higher requirements a sealed version is available.

Standard connection cable.

Sealed connection cable.

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56

The SmartModules are incorporated in the same robust metal housing as the mobile controllers.

I/O modules with CANopen interface

Dialogue modules

Space-saving I /O modules for mounting in the cockpit and operating panels.

Sensors for mobile applications

Diagnosis and service

KeypadModule – the I /O module for the operator In operating panels a large number of keys and signal indicators are often needed. Conventional keys and indicators require much installation space and complex mounting. The KeypadModule has a great advantage, in particular with respect to these two points. Irrespective of whether the device is surface or panel mounted – with few mounting steps and easy wiring on the CAN bus it is quickly ready for use.

Signal converters

Many functions of the KeypadModule can be freely defined through parameter setting.

Connection technology

LED row 1 and arrow keys top left / right

I/O-modules

Mobile controllers

List of articles

General information

CabinetModules – flexibility for operating panels and cockpit CabinetModules are especially suited for processing signals in operating panels and in the cockpit. The flat design enables easy integration in dashboards and operating panels. These devices are also used in smaller machines with decentralised control cabinets. To connect the switches, sensors and actuators the important potentials are made available to the device connectors. This eliminates the need of further terminals. The parameter setting of the inputs and outputs provides the right function for every application. Configuration is done from the user program via the object directory. For four input channels the user can select the function analogue or digital input. For these devices the ratiometric measurement is also supported. This means that for example analogue joysticks can be directly evaluated just by reading back the supply voltage without additional reference voltage. Supply voltage fluctuations then have no influence on the measured value. CabinetModules are an easy option to give analogue joysticks CANbus capability.

Technical information and customer service

Accessories

LED row 2 and arrow keys bottom left / right

Each of the 12 function and 4 arrow keys enables the following operating modes: In the mode “pulse operation” each key is active as long as it is pressed. If needed, a timer on delay is also possible. In addition, the keys also support the operating mode “latching”. They remain active until they are pressed again. Via the IEC function “CR1500” of the CoDeSys programming software the key status is transferred to the application. The status LEDs can be triggered individually. Depending on the operating state they are off, permanently on or flash at 2 freely selectable frequencies. The LED rows are another display option. The individual segments can be triggered in red or green. Additionally, the operating mode “segment row” with or without colour change is possible.

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57

I/O modules with CANopen interface

I/O modules

Type

Total number of inputs / outputs

Selection chart

Inputs analo- digital gue

Outputs keys

PWM / digital / currentcontrolled

PWM / digital

digital

Connection

Page

I/O modules CompactModules metal

SmartModules

8

–

–

–

8

–

–

cable / connector

60

12

4

4

–

–

4

–

cable / connector

60

16

4

4

–

–

8

–

cable / connector

60

12

–

4

–

8

–

–

55-pole connector

62

12

4

4

–

–

4

–

55-pole connector

62

16

4

16

–

–

–

4

connector

64

32

4

12

–

–

4

16

connector

64

–

2x bar graph (10-LED) + 12 LEDs

WAGO cage clamps 5-pole

66

CabinetModule

CabinetModule

KeypadModule KeypadModule 30

58

–

–

16

–

Technical information and customer service

Accessories

Connection technology

Signal converters

Sensors for mobile applications

Diagnosis and service

Dialogue modules

I/O-modules

Mobile controllers

List of articles

General information

I/O modules with CANopen interface

59

I/O modules with CANopen interface

I/O modules

CompactModule metal

Configurable input / output function. Current-control function for hydraulic valves. M12 connector for quick and reliable wiring. CAN interface with CANopen protocol. e1 type approval of the German Federal Office for Motor Traffic.

CompactModule metal Robust modules with M12 connector

Connectors and splitter boxes

If a central controller cannot be used in a mobile machine, decentralised input / output modules are employed. A decentralised structure enables installation of the electronics at the requested machine positions. Due to module networking via the powerful CAN bus with the CANopen protocol for mobile use the application can be quickly implemented. The metal CompactModules are fitted with M12 connectors which are widely used in industry. An extensive line of connection cables allows direct, easy and reliable connection of sensors and actuators. The baud rate and node number are directly set via CANopen commands or by means of integrated code switches in the terminal chamber. For networking the CAN bus via wired drop cables M12 connections and terminating resistors are available. Due to the high protection rating the modules can be directly used in areas with dirt and splashing water.

CompactModule metal

SmartModule

CabinetModule

KeypadModule

60 - 61

62 - 63

64 - 65

66 - 67

I/O modules with CANopen interface Page

60

Description

Order no.

CAN drop jumper plug M12 / socket M12, 0.3 m

E11591

CAN drop jumper plug M12 / socket M12, 2 m

E11593

CAN drop socket wired, M12, 2 m

E11596

CAN drop socket wired, M12, 5 m

E11597

CAN drop connector wired, M12, 2 m

E11598

CAN drop connector wired, M12, 5 m

E11599

Jumper M12 plug / valve plug type A, 1 m, (according to DIN 43650)

E11187

Jumper M12 plug / valve plug type A 2 m, (according to DIN 43650)

E11622

Further connectors and splitter boxes are available starting on page 129

Further accessories are available starting on page 139

I/O modules

Type

I/O modules with CANopen interface

Inputs analogue (V / I)

Inputs digital

Outputs digital / PWM / curr.-controlled

Outputs digital / PWM

Device connection

Wiring diagram no.

Drawing no.

Order no.

–

–

8

–

cable / connector

10

1

CR2031

4

4

–

8

cable / connector

11

2

CR2032

12

4

4

–

4

cable / connector

12

3

CR2033

Diagnosis and service

Dialogue modules

I/O modules

Mobile controllers

8 16

List of articles

Inputs / outputs total

General information

CompactModules metal Baud rate and node number selectable via coding switch

Block diagram +UB

Sensors for mobile applications

Terminal chamber

5V reset

2

4

3

8x

IN / OUT

2

1

4

3

3

4

16-bit μController

CAN 1

+UB

selector

EEPROM Connection technology

2

rotary switch (hex-coded) baud rate

Accessories

1

terminal block

Common technical data

Signal converters

clock

+UB 1

ID

Technical information and customer service

Housing: diecast zinc Connection: M12 sockets Temperature range: -40...85 °C Protection rating: IP 67 Ub: 10...32 V DC Current consumption: 50 mA (at 24 V DC) Switching current: 4 A Interface: CAN CANopen slave CiA DS 401 / DS 301 V 4 Baud rate: 10...1,000 kbits/s CE, e1, appr. for railway applic. (EN 50155) You can find scale drawings from page 182

61

I/O modules with CANopen interface

I/O modules

SmartModule

Configurable input / output function. Current-control function for hydraulic valves. Central plug for quick integration into the cable harness. CAN interface with CANopen protocol. e1 type approval of the German Federal Office for Motor Traffic.

SmartModule High protection rating due to central plug

Connectors and splitter boxes

If a central controller cannot be used in a mobile machine, decentralised input / output modules are employed. A decentralised structure enables installation of the electronics at the requested machine positions. Due to module networking via the powerful CAN bus with CANopen protocol for mobile use the application can be quickly implemented. Moreover wiring complexity is considerably reduced using the bus technology. The SmartModules are fitted with a central plug which is used for connecting all sensors, actuators, the CAN bus and voltage supply. Due to the high protection rating the modules can be directly used in areas with dirt and splashing water. Parameter setting of the inputs and outputs enables use in different applications.

CompactModule metal

SmartModule

CabinetModule

KeypadModule

60 - 61

62 - 63

64 - 65

66 - 67

I/O modules with CANopen interface Page

62

Description

Order no.

Connector AMP 55-pole wirable, with contacts

EC2013

Connection cable wired cable length 1.2 m

EC2086

Connection cable wired cable length 2.5 m

EC2046

Cable with connector cores sealed individually, 1.2 m

EC2084

Further connectors and splitter boxes are available starting on page 129

Further accessories are available starting on page 139

I/O modules

Type

I/O modules with CANopen interface

Inputs analogue (V / I)

Inputs digital

Outputs digital / PWM / curr.-controlled

Outputs digital / PWM

Device connection

Wiring diagram no.

Drawing no.

Order no.

–

4

8

–

55-pole connec.

13

4

CR2512

4

4

–

4

55-pole connec.

14

4

CR2513

Diagnosis and service

Dialogue modules

I/O modules

Mobile controllers

12 12

List of articles

Inputs / outputs total

General information

SmartModules Central plug for sensors, actuators, CAN bus and voltage supply

Block diagram Sensors for mobile applications

Application example

Signal converters

5V

+UB

+UB

clock

CAN 1

μController

Connection technology

IN / OUT EEPROM

Accessories

55-pole connection

reset

Common technical data

Technical information and customer service

Housing: metal Connection: 55-pole connector Temperature range: -40...85 °C Protection rating: IP 67 Ub: 10...32 V DC Current consumption: 50 mA (at 24 V DC) Switching current: 4 A Interface: CAN CANopen slave CiA DS 401 / DS 301 V 4 Baud rate: 10...1,000 kbits/s CE, e1, appr. for railway applic. (EN 50155) You can find scale drawings from page 182

63

I/O modules with CANopen interface

I/O modules

CabinetModule

Inputs for digital and joystick signals. Usable as a controller for cockpit or operating panels. Central plug system for quick integration into the cable harness. CAN interface with CANopen protocol. e1 type approval of the German Federal Office for Motor Traffic.

CabinetModule For space-saving mounting.

Connectors and splitter boxes

For large mobile machines cabins for operators are often used. In the environment around the driver's workplace many signals, e.g. from switches, joysticks and signal indicators are generated. To ensure a low-cost connection of these signals to the process controller, they are collected at a central point and transferred via the CAN bus to the process controller. The wiring complexity is considerably reduced. The CabinetModules have been developed just for this application. Their flat design enables integration in dashboards and operating panels. To connect switches, joysticks or signal indictors all important potentials are brought out to the connectors. This eliminates the need of further terminals. Due to the parameter setting of the input and output functions the modules can be flexibly adapted to their application.

CompactModule metal

SmartModule

CabinetModule

KeypadModule

60 - 61

62 - 63

64 - 65

66 - 67

I/O modules with CANopen interface Page

64

Description

Order no.

Plug set for CR2012 / CR2014

EC2053

Plug set for CR2016

EC2089

Cable with connector AMP 6-pole, wired, 1.2 m

EC1520

Cable with connector AMP 10-pole, wired, 1.2 m

EC1521

Cable with connector AMP 14-pole, wired, 1.2 m

EC1522

Cable with connector AMP 18-pole, wired, 1.2 m

EC1523

Further connectors and splitter boxes are available starting on page 129

Further accessories are available starting on page 139

I/O modules

Type

I/O modules with CANopen interface

Input voltage analogue inputs

Inputs digital

Outputs digital / PWM

Device connection

Wiring diagram no.

Drawing no.

Order no.

16

4

10 V

16

4/2

plug

15

5

CR2012

16

4

5

12

4/–

plug

16

6

CR2014

32

4

0...10 / 32 V

12

16 / 4

plug

17

7

CR2016

List of articles

Inputs analogue (V)

EC1521 10 poles

EC1522 14 poles

EC1523 18 poles

CR2012

1

–

–

2

CR2014

1

–

–

2

CR2016

1

–

2

2

Sensors for mobile applications

EC1520 6 poles

Diagnosis and service

Cable for CabinetModul

Signal converters

Connection CR2012

Dialogue modules

I/O modules

Mobile controllers

Inputs / outputs total

General information

CabinetModules Integration in dashboards and operating panels

Connection technology

Block diagram CR2012 5V

+UB

Accessories

reset clock +UB

Common technical data 8 Bit μController

CAN 1

EEPROM

Technical information and customer service

IN / OUT

for type CR2012 Housing: open with potting Connection: 18-pole, 6-pole connectors Temperature range: -25...85 °C Protection rating: IP 20; Ub: 10...32 V DC Current consumption: 50 mA (at 24 V DC) Switching current: 500 mA Interface: CAN CANopen slave CiA DS 401 / DS 301 V 3 Baud rate: 10...1,000 kbits/s CE, e1

+UB rotary switch (hex-coded) ID

You can find scale drawings from page 182

65

I/O modules with CANopen interface

I/O modules

KeypadModule

Housing prepared for surface and panel mounting. Status indication via function key LEDs and 10-digit LED rows. Free labelling of the keys via inserted strips. Extensive software library for programming and parameter setting. CAN interface with CANopen protocol.

KeypadModule Flexible KeypadModule For the design of operating and control panels correct positioning of the input elements is essential. For these cases a compact module for surface and panel mounting is required. Depending on the application the assignment and labelling of the keys must also be changed. LEDs and bar graph displays are available to give the operator feedback on key and system states. The KeypadModule provides this flexibility. Via the integrated CAN interface the device can be connected directly to the bus. The CANopen protocol enables easy and flexible parameter setting and convenient exchange of data with the connected process controller. The function library for the programming system supports the easy integration of the device functions in the application program.

I/O modules

CompactModule metal

SmartModule

CabinetModule

KeypadModule

60 - 61

62 - 63

64 - 65

66 - 67

I/O modules with CANopen interface Page

66

I/O modules with CANopen interface

Number of the function keys with LED

Cursor keys

LED bar graph 10-digit

Device connection

Wiring diagram no.

Drawing no.

Order no.

10...30 V DC

12

4

2

Wago cage clamps 5-pole

19

8

CR1500

Diagnosis and service

Dialogue modules

I/O modules

Mobile controllers

Supply voltage

List of articles

General information

KeypadModules Panel and surface mounting possible

Housing: plastic (Noryl) Temperature range: -20...75 °C Protection rating: IP 64 Ub: 10...30 V DC Current consumption: 150 / 250 mA, 24 / 12 V DC Interface: CAN CANopen slave CiA DS 401 / DS 301 V 4 Baud rate: 10...1,000 kbits/s CE, e1

red individual segment in a row of LEDs lighting green

2

green individual segment in a row of LEDs lighting red

3

red individual segment

4

green individual segment

5

red row of segments in a row of LEDs lighting green

6

green row of segments in a row of LEDs lighting red

7

red row of segments

8

green row of segments

9

red row of segments with colour change point (here 5)

10

green row of segments with colour change p. (here 7)

Connection technology

1

Accessories

Common technical data

description

Signal converters

operating mode

Sensors for mobile applications

Operating mode rows of LEDs

You can find scale drawings from page 182

67

Technical information and customer service

Module with housing low. part

General information

System description Selection chart

70 - 73 74 - 75

PDM360 smart PDM360 compact PDM360 dialogue monitors O2M Ethernet camera CoDeSys software

76 78 80 82 84 -

Technical information and customer service

Accessories

Connection technology

Signal converters

Sensors for mobile applications

Diagnosis and service

77 79 81 83 85

Dialogue modules

Displays, input modules and camera systems

I/O-modules

Mobile controllers

List of articles

Dialogue modules

69

Dialogue modules

Displays, input modules and camera systems

System description

Introduction Most machines require an operator for the operating process. Machine states must be indicated and operator inputs must be processed. The typical structure of an operating panel with light indicators, pushbuttons, switches and – depending on the complexity of the machine – additional pointer instruments was predominant in mobile machines and installations until a few years ago. Due to the higher requirements for machines and higher expectations of the users as regards their “mobile workplace” these concepts are no longer up to date. Depending on the size and complexity of the machine, modern dialogue modules are fitted with text or full graphic displays and different operating fields. One unit provides all functions which in case of conventional designs could only be implemented with time-consuming and cost-intensive mounting and wiring of individual components. Due to the individual programming of the dialogue modules the user only sees the situation-dependent information which is relevant. For example the operator gets additional warnings and notes for fault elimination only in case of a machine fault. Due to this situation-dependent display the operating panels have a clearer structure and the operator can concentrate better on the actual work function. Service and maintenance staff also use dialogue modules as an intelligent access to the machine. Due to special pages, which can be password-protected, parameters can be changed in the machine controller and the operating data stored. The maintenance history of the machine can also be read.

Process dialogue monitor PDM360 and PDM360 compact The dialogue monitor PDM360 is such a user interface. With its powerful 32-bit controller and the flexible programming according to IEC 61131-3 it can be used in almost all applications. Depending on the version the 5.7" graphic display is either a monochrome FSTN or TFT colour display. Due to its robust housing (protection rating IP 67) and the different mounting options the unit can be used outside as well as in the cabin. It is designed to be either panel or surface mounted. Communication is done via the CAN bus with the CANopen protocol. The integrated interfaces like Ethernet, USB, RS-232 and 2 x CAN together with the Linux operating system form a universal platform for further networking and communication with other CAN devices, networks or the PC. Due to the integrated PCMCIA slot a standardised and flexible interface is available for system expansion. PDM360 compact.

The central plug of the PDM360.

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70

Displays, input modules and camera systems

List of articles Mobile controllers I/O-modules

Linux model software structure and system interfaces.

General information

The dialogue monitor PDM360 compact is mainly designed as a PDM360. The 3.8-inch display in portrait format has the same resolution in a slimmer housing. For the dialogue monitor PDM360 compact the device connection is made via universal M12 connectors. As an option, the PDM360 compact provides two digital inputs and two digital outputs, for example, for the connection of external operating elements and displays. With the operating system Embedded Linux the specialist can use another software platform. CoDeSys functions in the user program enable direct access to the operating system. Further independent programs can be started, Linux commands (shell commands) and system calls can be executed directly and the file system can be accessed. As Linux is a real multitasking operating system all started programs, for example the CoDeSys runtime system, are executed as independent tasks.

user programs (e. g. CoDeSys runtime system)

Dialogue modules

interface for system calls

Diagnosis and service

operating system (kernel) driver interface kernel driver

driver

driver

driver

PDM360 smart with M12 connector.

Technical information and customer service

Accessories

Connection technology

Process dialogue monitor PDM360 smart The PDM360 smart is a compact graphic display for panel and surface mounting. The monochrome backlit display has a resolution of 128 x 64 pixels. This display can show text in seven different font sizes and monochrome graphics (e.g. bar graphs, symbol bitmaps). Preset and current values from the control process are shown as graphics or text. The keys can be used for internal functions (e.g. set-up menu, editing of preset values) or can be freely used via the user program. The six function keys are arranged directly around the display and can be freely programmed as softkeys. In the application the device is connected via two universal M12 connectors which ensure the voltage supply and connection to the communication interfaces CAN and RS-232. Depending on the device version four digital inputs and four digital outputs are available. The user can connect external switches, sensors and actuators to the additional M12 connectors. The PDM360 smart works without a separate operating system. All important functions are directly integrated in the runtime system and comparable with the R360 controllers. The device library and visualisation functions are the interface for application programming.

Signal converters

Sensors for mobile applications

PDM 360 hardware

PDM360 smart.

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71

Dialogue modules

Displays, input modules and camera systems

System description

Flexible and tried-and-tested RAM mount installation system The PDM360 dialogue units are often installed in vehicles as surface mount devices. On the one hand, a secure fit and, on the other hand, an easy to adjust mechanical system are required. The universal RAM mount system provides both. One ball is mounted at the PDM360 and one in the vehicle. The clamp arm connects the two balls. Depending on the requested device position RAM mount arms can be used in three different lengths. The handle enables ease of use and quick adjustment to almost any position. Due to the patented two-ball system vibrations are intercepted by the holder and therefore not passed on to the device. The stable holder cups ensure a secure fit even for the heavy PDM360 monitors. Programming and network configuration by means of IEC 61131-3 As for the R360 controller family, CoDeSys software is used for programming the PDM360 monitors. The controllers and the PDM360 family are programmed with only one tool. The visualisation editor integrated into the programming package has been an integral part of the software for a long time. With this editor the user can develop static and dynamic visualisation objects and directly show them on the PC or internet browser, e.g. for diagnosis of the connected plc. The target visualisation provides a further option. Due to this hardware-independent technology the created graphical objects are compiled into the IEC code ST (structured text) before downloading to the PDM360. The run time system processes this code on the device and, in combination with a graphic library, displays the objects which have been created on the PC. Vector graphics as well as bit maps can be shown on the individual visualisation pages. At the same time a device-specific control process can be programmed and executed irrespective of the visualisation. The connection to the machine controller is made via the CAN bus. The CANopen protocol provides a universal platform for this. If the PDM360 monitors are used as a network master, the network configurator integrated into the programming software is used to project and configure the connected slaves (e.g. I/O modules). Via the PDOs the process signals are available directly in the dialogue unit as IEC addresses.

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72

RAM mount installation on PDM360 smart.

The PDM360 can be programmed individually and is a very convenient visualisation solution.

Displays, input modules and camera systems

Dialogue modules

I/O-modules

Mobile controllers

List of articles

General information

Convenient: Parameter setting of the PDM360 at the PC.

Sensors for mobile applications Signal converters Connection technology Accessories Technical information and customer service

Ethernet camera O2M for mobile applications In addition to dialogue units to display machine information, camera systems are used in many mobile machines and vehicles to monitor operational areas. They give the user or driver information about blind spots. Today analogue camera systems and monitors often perform this task. Disadvantage: a second screen must be mounted beside the operating panel. With the integrated network technology the O2M camera data is directly displayed on the dialogue module PDM360 (colour) with graphic capability. A separate monitor is no longer needed. Via a simple Ethernet hub or Ethernet switch the camera image can be shown on any number of displays. It is also possible to connect several O2M cameras to a display in this way. The modern CMOS sensor, the powerful controller and the integrated firmware are the basis for image capturing and processing. White adjustment and colour saturation can be set individually, if necessary. The digital capturing and transmission of the image data enable scaling and free positioning of the camera image. With a splitscreen representation, up to four camera images can be simultaneously displayed. In addition, the PDM360 can be used to store individual images on a compact flash card. They can, for example, be used for protocolling. Parameter setting of the camera functions and data transmission are directly done from the application programmed with CoDeSys. Using function blocks the displayed camera images can be mirrored, rotated, zoomed and scaled. If necessary, visualisation elements and the camera image can be shown simultaneously.

Diagnosis and service

As an alternative, the PDM360 monitors can be configured as a terminal. They are then configured as CANopen slaves. The necessary data objects are defined by the programmer, depending on the application. After completion of this communication interface between the machine controller and the dialogue module an EDS is generated and integrated when the machine controller is configured. The PDOs and SDOs are immediately available in this application.

O2M110 with mounting kit.

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73

Displays, input modules and camera systems

Dialogue modules

Type

Display type

Resolution

COG, monochrome

Selection chart

Number of keys

Type of mounting

Programming / data format

Page

128 x 64 pixels

8 function keys + 4 curser keys

surface / panel

CoDeSys 2.3

76

FSTN, monochrome

240 x 320 pixels

3 function keys + 1 pushbutton

surface / panel

CoDeSys 2.3

78

FSTN, monochrome

320 x 240 pixels

3 function keys + 1 pushbutton

surface / panel

CoDeSys 2.3

78

FSTN, monochrome

320 x 240 pixels

6 function keys + encoder with pushbutton

surface / panel

CoDeSys 2.3

80

TFT, colour

320 x 240 pixels

6 function keys + encoder with pushbutton

surface / panel

CoDeSys 2.3

80

–

–

–

Programming software for PDM360 dialogue monitors

84

Displays and input modules PDM360 smart

PDM360 compact

PDM360 compact

PDM360 dialogue monitor

PDM360 dialogue monitor

System software for displays and input modules CoDeSys + tools –

74

Displays, input modules and camera systems

Resolution

Type of sensor

Protocol

320 x 240

CMOS

UDP / IP

Data format

Device connection (connec. / socket)

8-bit Windows bitmap

M12 (5-pole), A-coded / M12 (4-pole), D-coded

Page General information

Type Camera systems

Technical information and customer service

Accessories

Connection technology

Signal converters

Sensors for mobile applications

Diagnosis and service

Dialogue modules

I/O-modules

Mobile controllers

82

List of articles

O2M Ethernet camera

75

Displays, input modules and camera systems

Dialogue modules

PDM360 smart

Text and dialogue display with graphics capability: PDM360 smart. Freely programmable to IEC 61131-3 with target visualisation. 128 x 64 pixels, display with 12 backlit function keys. Closed robust metal housing for surface and panel mounting. CAN interface with CANopen protocol.

PDM360 smart Intelligent compact display

Connectors and splitter boxes

A powerful dialogue module for operation and for the indication of system messages is required in almost all mobile machines today. The PDM360 smart is such a user interface. With its compact design and the flexible programming according to IEC 61131-3 it can be used in almost all applications. Its robust IP 67 housing enables surface and panel mounting outside and in cabins. Communication with the other system components in the machine is carried out via the CAN bus with the CANopen protocol. The additional RS-232 interface and the optional inputs and outputs together form a platform for further networking and communication with other units.

Description

E11596

M12 connector, 5-wire, 2 m

E11598

Jumper M12 plug / M12 socket, 2 m

E11459

Jumper M12 plug / M12 socket, 5 m

E11460

Mounting plate for RAM mount system

EC1410

Mounting arm, 90 mm for RAM mount system

EC1411

Mounting arm, 144 mm for RAM mount system

EC1412

PDM360 smart

PDM360 compact

PDM360 dialogue monitors

O2M Ethernet camera

CoDeSys software

76 - 77

78 - 79

80 - 81

82 - 83

84 - 85

Displays, input modules, camera systems Page

76

Order no.

Socket , M12, 5-wire, 2 m CAN and supply voltage

Further connectors and splitter boxes are available starting on page 129

Further accessories are available starting on page 139

Dialogue modules

Type

Displays, input modules and camera systems

Displaytype

Background illumination

Mounting type

Function keys

Cursor and control keys

Inputs / outputs

Device Wiring connection diagram no.

Drawing no.

Order no.

COG mono.

LED

panel / surf.

6

6

–

2 x M12

20

1

CR1070

128 x 64

COG mono.

LED

panel / surf.

6

6

4/4

4 x M12

21

1

CR1071

Diagnosis and service

Dialogue modules

I/O modules

Mobile controllers

128 x 64

List of articles

Display resolution (pixels)

General information

PDM360 smart Intelligent compact display for use in mobile vehicles

display 128 x 64

flash memory

SRAM

CAN CPU

576 kbyte

RS232

48 kbyte

Signal converters

supply

Sensors for mobile applications

Block diagram

FRAM 128 byte (retain) 1536 byte (remanent)

Connection technology

Application example

digital OUT

Accessories

digital IN

keyboard

Common technical data

Technical information and customer service

Housing: diecast zinc Temperature range: -30...80 °C Protection rating: IP 67 Operating voltage: 10...32 V DC Current consumption: 240 mA (at 24 V DC) Interfaces: CAN, RS232 Program memory: 576 kB flash Data memory: 48 kbytes Data memory (non volatile): 1664 bytes CE, e1 (2005/49/EC), appr. for railway applic. (EN 50155) You can find scale drawings from page 184

77

Displays, input modules and camera systems

Dialogue modules

PDM360 compact

Graphic display for operation and parameter setting of mobile machines. 3.8" display with 3 function keys and encoder with pushbutton. M12 connector for quick and safe wiring. Freely programmable to IEC 61131-3 with target visualisation. CANopen interfaces with CANopen protocol.

PDM360 compact Intelligent compact display

Connectors and splitter boxes

In almost all mobile machines a powerful dialogue unit is needed for machine operation and showing system messages. The PDM360 compact is such a user interface. With its powerful 32-bit controller and flexible programming to IEC 61131-3 it can be used in almost all applications. Its robust IP 67 housing enables surface and panel mounting outside and in the cabin. Communication with the other system components in the machine is made via the CAN bus using the CANopen protocol. The additional Ethernet and RS-232 interfaces as well as the optional inputs and outputs together form a platform for further networking and communication with other units.

Description

E11596

M12 connector, 5-wire, 2 m

E11598

Jumper, M12 plug / RJ45 plug Ethernet

E11898

Mounting plate for RAM mount system

EC1410

Mounting arm, 90 mm for RAM mount system

EC1411

Mounting arm, 231 mm for RAM mount system

EC1413

PDM360 smart

PDM360 compact

PDM360 dialogue monitors

O2M Ethernet camera

CoDeSys software

76 - 77

78 - 79

80 - 81

82 - 83

84 - 85

Displays, input modules, camera systems Page

78

Order no.

Socket , M12, 5-wire, 2 m CAN and supply voltage

Further connectors and splitter boxes are available starting on page 129

Further accessories are available starting on page 139

Dialogue modules

Type

Displays, input modules and camera systems

Backgr. illumination

Mounting type

Function keys

Operating elements

Realtime clock

Inputs / outputs

Device connection

Wiring diagram no.

Drawing no.

Order no.

240 x 320

FSTN mono.

LED

panel / surf.

3/1

1 encoder

no

–

3 x M12

22

2

CR1052

240 x 320

FSTN mono.

LED

panel / surf.

3/1

1 encoder

yes

2/2

4 x M12

23

2

CR1053

FSTN mono.

LED

panel / surf.

3/1

1 encoder

no

–

3 x M12

22

3

CR1055

FSTN mono.

LED

panel / surf.

3/1

1 encoder

yes

2/2

4 x M12

23

3

CR1056

Diagnosis and service

Dialogue modules

I/O modules

320 x 240 320 x 240

List of articles

Display type

Mobile controllers

Display resolution (pixels)

General information

PDM360 compact Process and dialogue monitor for mobile vehicles

flash memory

RTC

supply

display 240 x 320 16 mbyte system

Sensors for mobile applications

Block diagram RAM

16 mbyte system

Signal converters

Application example

CAN CPU 16 mbyte user

16 mbyte user

Connection technology

RS232

Ethernet

Common technical data

digital OUT

/home /home/bin /home/lib /home/project

Accessories

digital IN

keyboard

Technical information and customer service

Housing: diecast zinc Temperature range: -30...80 °C Protection rating: IP 67 Operating voltage: 10...32 V DC Current consumption: 240 mA (at 24 V DC) Interfaces: CAN, RS232, Ethernet Program memory: 32 MB flash Data memory: 32 MB SDRAM Operating system: Linux 2.4.x CE, e1 (2005/49/EC)

You can find scale drawings from page 184

79

Displays, input modules and camera systems

Dialogue modules

PDM360 dialogue monitors

5.7" display with graphic capabilities and background illumination Closed robust metal housing for surface and panel mounting. Night design function for operating keys and input element. Freely programmable to IEC 61131-3 with target visualisation. e1 type approval of the German Federal Office for Motor Traffic.

PDM360 dialogue monitors Convenient user interface

Connectors and splitter boxes

In almost all mobile machines powerful process dialogue modules are nowadays used for operation and visualisation of system messages. The PDM360 is such a user interface. With its powerful 32-bit controller and flexible programming with the CoDeSys target visualisation it can be used in almost all applications. Due to the robust IP 67 housing the PDM360 can be used outside and in cabins. It is for surface or panel mounting. Communication with the other system components in the machine is carried out via the CAN bus with the CANopen protocol. The additional interfaces like Ethernet, USB, RS-232 and the second CAN interface together with the Linux operating system form a universal platform for further networking and communication with other CAN devices, networks or the PC. Furthermore the PDM360 is fitted with a PCMCIA slot for system and memory extension.

Description

EC1452

Fixing set for control cabinet mounting (4 mounting brackets, 4 cylinder screws)

EC1453

Mounting plate for RAM mount system

EC1410

Mounting arm, 144 mm for RAM mount system

EC1412

PDM360 smart

PDM360 compact

PDM360 dialogue monitors

O2M Ethernet camera

CoDeSys software

76 - 77

78 - 79

80 - 81

82 - 83

84 - 85

Displays, input modules, camera systems Page

80

Order no.

Snap in set for panel mounting (4 pieces)

Further connectors and splitter boxes are available starting on page 129

Further accessories are available starting on page 139

Dialogue modules

Type

Displays, input modules and camera systems

Display type

Backlight

Mounting type

Function / pushbuttons

Operating elements

Realtime clock

Device connection (connector)

Wiring diagram no.

Drawing no.

Order no.

FSTN monochr.

LED

panel / surf.

6/1

1 encoder

yes

M23 (19-pole)

24

4

CR1050

TFT colour

LED

panel / surf.

6/1

1 encoder

yes

M23 (19-pole)

24

4

CR1051

320 x 240

FSTN monochr.

CCFL

panel / surf.

6/1

1 encoder

yes

M23 (19-pole)

24

4

CR1060

Diagnosis and service

Dialogue modules

I/O modules

Mobile controllers

320 x 240 320 x 240

List of articles

Display resolution (pixels)

General information

PDM360 dialogue monitors Backlit 5.7" display with graphic capabilities Programming via CoDeSys target visualisation

Block diagram

RTC

Flash Memory

Display 320 x 240

Supply

16 MByte System

Power Control

16 MByte User

CAN 1 CAN 2

RAM 16 MByte System 16 MByte User

CPU

USB

Connection technology

RS 232-2

Signal converters

Sensors for mobile applications

Application example

Keyboard

Ethernet Buzzer RS 232-1

PC-CARD

Accessories

USB Ethernet

Common technical data

Technical information and customer service

Housing: diecast zinc Temperature range: -20...70 °C Protection rating: IP 67 Ub: 10...40 V DC Current consumption: 250 mA (at 24 V DC) Interfaces: 2 x CAN, RS-232, Ethernet Program memory: 8 MB flash Data memory: 16 MB SRAM Operating system: Linux 2.4.x CE, e1, appr. for railway applic. (EN 50155)

You can find scale drawings from page 184

81

Displays, input modules and camera systems

Dialogue modules

Ethernet camera

Camera system for mobile vehicles. Can be used as a rear view camera using its select. image mirror function. Operates all year due to temperaturecontrolled lens heating. Programming and parameter setting interface for CoDeSys 2.3. e1 type approval of the German Federal Office for Motor Traffic.

Camera systems Ethernet camera

Connectors and splitter boxes

In almost all mobile vehicles, users today use displays for indicating vehicle information. At the same time camera systems monitor the operating areas in an increasing number of applications. The robust camera system O2M can be directly connected to the PDM360 dialogue monitor with graphic capability and colour display using integrated Ethernet interfaces. This eliminates the need for a separate monitor. The IP 67 housing enables direct mounting outside the vehicles and machines. Via user-friendly parameter setting and control functions from the CoDeSys application library, image transmission and display are adapted to the requirements of the mobile vehicle. Using function blocks the camera images and visualisation elements can be mirrored, rotated, zoomed, scaled and displayed simultaneously. The modern CMOS sensor, the powerful controller and the integrated firmware are the basis for image capturing and processing. So the user can set, for example, white adjustment and colour saturation individually, if necessary.

Description

E11898

Jumper, M12 plug / M12 plug Ethernet, 2 m, PVC-cable

E21138

Jumper, M12 plug / M12 plug Ethernet, 5 m, PVC-cable

E21139

Socket M12, 2 m black, PUR-cable

EVC001

Socket M12, 5 m black, PUR-cable

EVC002

Mounting set for rod mounting Ø 12mm

E2D110

PDM360 smart

PDM360 compact

PDM360 dialogue monitors

O2M Ethernet camera

CoDeSys software

76 - 77

78 - 79

80 - 81

82 - 83

84 - 85

Displays, input modules, camera systems Page

82

Order no.

Ethernet-jumper, M12-plug D-coded, RJ45 (cross-link)

Further connectors and splitter boxes are available starting on page 129

Further accessories are available starting on page 139

Dialogue modules

Type

Displays, input modules and camera systems

Sensor type

Protocoll

Data format

Device connection plug / socket

Wiring diagram no.

Drawing no.

Order no.

320 x 240

CMOS

UDP/IP

8 Bit Windows® Bitmap

M12 (4-pol.) A-cod. / M12 (4-pol.) D-cod.

25

5

O2M110

Diagnosis and service

Dialogue modules

I/O modules

Mobile controllers

Image resolution

List of articles

General information

Ethernet camera

camera server

3100

camera server

3100

CoDeSys server

3100

Sensors for mobile applications

Software-interface

frame buffer server

Signal converters

Applikation example

Connection technology

image frame buffer

CAM_CTRL 1

Common technical data

CAM_CTRL 2

Accessories

CoDeSys application

CAM_CTRL 3

Technical information and customer service

Housing: diecast zinc Temperature range: -40...85 °C Protection: IP69k Operating voltage: 8..32 V DC Power cons.: < 4 VA (ecl. lens heating) Interfaces: Ethernet 10base-T / 100base-TX Image repetition rate :