IFM Electronic CR0451 - Notes

83
ifm System Manual ecomatmobile BasicDisplay (CR0451) V01
CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN)
9.4.1 Notes
8468
FiFo limitations
7555
INFO: FiFo (First In, First Out) = operation of the stack: the data package which was written into a
stack at first will be read at first too. For every identifier there is such one buffer (as a queue) available.
Some RAW-CAN POUs enable transmitting and receiving of several messages in one SPS cycle as
the messages are temporarily stored in a FiFo:
- CAN_TX...,  FBs for RAW-CAN (transmitting messages) (→ page 91
)
- CAN_RX_ENH_FIFO (→ page 106
)
- CAN_RX_RANGE_FIFO (→ page 102
)
The number of FIFo messages is limited. The following limitations of the devices are valid:
Device
Criterion
BasicController: CR040n
BasicDisplay: CR0451
PDM360NG: CR108n
max. FiFo transmit 16 messages 16 messages
max. FiFo receive 32 messages 32 messages
FB feedbacks (overview)
7556
Some POUs return a RESULT message:
RESULT Description
000 00 function block is not active
1...31
10
Global return values; examples:
001 01 FB execution completed without error – data is valid
004 04 FB is being processed – data is cyclically processed
005 05 FB is being processed – still receiving
006 06 FB is being processed – still sending
007 07 FB is being processed – remote for ID active
008 08 function block is active
014 0E FB is active – CANopen configures slaves and sends SDOs
015 0F FB is active – CANopen master is started
32
10
...63
10
FB specific return values
64
10
…127
10
FB specific error messages
128
10
...255
10
Global error messages; examples:
238 EE Error: CANopen configuration is too large and cannot be started
239 EF Error: CANopen master could not be started
240 F0 Error: several modal inputs are active
e.g. CANopen NTM services
241 F1 Error: CANopen state transition is not permitted
242 F2 Error: setting is not possible
247 F7 Error: memory exceeded (length larger than array)
250 FA Error: FiFo is full – data was lost
252 FC Error: CAN multiframe transmission failed
253 FD Error: CAN transmission failed.
Data cannot be sent.
255 FF Error: not enough memory available for the consuming multiframe