ifm Catalogue Control Systems GB 09

8/9/2019 ifm Catalogue Control Systems GB 09

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Inclinometers

2-axis inclination sensorThe automation of vehicles and mobile machines can nolonger be imagined without controller electronics andsensors. Often the horizontal alignment of machines ormachine parts is an important requirement for reliableoperation. Typical examples are mobile cranes or accessplatforms.The inclinometer detects precisely the deviations of thetwo measurement axes (X and Y direction). As the sen-sor must often be mounted at difficult positions in thevehicle, special attention has been given to the mecha-nical and electrical properties of the sensor during deve-lopment. The high accuracy is achieved with measuringcells which operate to the conductometric principle. The

change in conductivity of a liquid is determined. Depen-ding on the sensor inclination the electrodes are sur-rounded by a different level of liquid. This results in abehaviour comparable to that of a potentiometer. Dueto a suitable arrangement of the electrodes the signedvalues for the two axes are obtained.

Parameter setting of the displayresolution via the CAN bus.

Compact and robust design.

Signal output via CAN or via twoanalogue current interfaces.

CAN interface with CANopen protocol.

e1 type approval of the GermanFederal Office for Motor Traffic.

Connectors and splitter boxes

Type Description Orderno.

Adapter cable for CAN deviceswith M12 connector (5-pole) EC2062

Socket M128-pole, straight, 2 m E80021

Socket M128-pole, angled, 2 m E80022

Socket M12wirable, 5-pole, straight E11511

Further connectors and splitter boxes are availablestarting on page 127Further accessories are available starting on page 143

Application example

InclinometerZero point levelling and position detection of mobile machines

Angularrange

Numberof axes

Resolution /accuracy

Interface Deviceconnection

Wiringdiagram

no.

Draw-ingno.

Orderno.

15 2 0.001 / 0.025 CAN M12 25 1 CR210145 2 0.1 / 0.5 analogue / CAN M12 27 2 CR2102

Common technical data

Housing: aluminiumTemperature range: -30...80 CProtection rating: IP 67Ub: 10...32 V DCCurrent consumption: 80 mA (at 24 V DC)Interface: CANCANopen: CiA DS 301 V 3 (V 4 CR2102)

profile WDP 410Baud rate: 20...1,000 Kbits/sCE, e1 (only CR2102)

You can find scale drawings from page 187

Sensors for mobile applications Inclinationsensors Sensors with CAN interface

110

Inclinationsensors

Page

Sensorsfor mobile applications

SensorswithCANinterface

110 -111

Analogue sensors / switches

112 -113

Inductivesensors


Inductiveefector m sensors

114 -117

Pressuresensors


Pressure sensorsfor mobilehydraulic

applications

118 -119

Inclination sensors

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Block diagram CR2101

8-bit Controller

EEPROM

CAN

3

1

4

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sensor hybrid

clock

+UB

reset

+UB5

Block diagram CR2102

16-bit Controller

EEPROMCAN

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Iout-Y GALclockgenerator

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HeaderSectionHeading

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Arrow = You are hereOther headings

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LeftSpecial features of the unitsRecommended accessoriesand connectors

Product descriptionNotes for further details

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RightTechnical data

Block diagram, wiring diagrams of theunits or common technical data

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General information Notes and explanations

List of articles Order numbersin alphanumeric order

Mobile controllers Controllers and software

I/O modules I/O moduleswith CANopen interface

Dialogue modules Displays, input modulesand camera systems

Signal convertersFrequency, current and voltage converters

Diagnosis and service Remote maintenance and data memory,CAN interface and CAN diagnosis

Sensors for mobile applications

Inclination sensors,inductive sensors,

pressure sensors

Connection technology M12 connectors for sensorsand actuators

Accessories Accessories for control systems

Technical informationand customer service

Wiring diagramsScale drawingsTechnical glossary ifm information and ordering service

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Notes and explanations

General introduction 6 - 20

General information

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Mobile machines and installations are often specially tailored to the applica-tions and thus very expensive. Consequently, a high uptime of these cost-intensive machines and installations is of utmost priority. The machine needsto provide extensive, simple and reliable diagnostic information enablingoperators to locate faults quickly, therefore reducing downtime. Safe oper-ating concepts, adapted to the respective operating situation, help to avoidincorrect handling. Displays provide the necessary overview for the operator.The operating and system states must be stored for statistics and documen-tation by means of an operational data logger. Due to increasing legalrequirements for the machine manufacturers the systems are becomingmore and more complex. Against this background, networked electronicsystems 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 aremounted where data are provided or required. In addition, the componentsmust be easy to mount and handle in case of service. This is achieved by themechanical design as well as by easy and clear integration during program-ming.Last but not least the components and devices used must withstand extrememechanical, climatic and electrical conditions and reliably function for a longtime. All above-mentioned requirements aim at: The development of relia-ble, cost-optimised and thus competitive machines.

General introductionGeneral information Notes and explanations

6

Control technology for mobile applicationsLife today cannot be imagined without electronics in modern motor vehiclesand mobile machines. Many necessary and convenient functions could notbe implemented without electronic support. In contrast to electronics inconsumer goods and normal industrial applications such as packaging

machines and conveyors the requirements for components for mobile appli-cations are much higher.

Modern shredder for wood and wood waste. Only an extremely

powerful control system such asecomatmobileallows safe and reliable opera-tion. When therecycling material is processed thewhole machineand thus also theelectronics areexposed to highimpacts.

The electronicsare protected by means of special housing and installation con-cepts. As the elec-tronics are in-

stalled within themachine thecomponents areexposed to hightemperaturesfrom the diesel engine.

Requirements

The components need to be carefully selected, mainly because of the ex-treme mechanical stress caused by impacts and shocks and the use at extremeoperating temperatures. The direct influence of dirt, humidity and wateroften cannot be excluded in field applications. Therefore a high protectionrating and a special selection of the materials are required for the devices.In addition to mechanical and environmental influences, electrical interferenceaffecting the whole system as well as individual devices, have to be takeninto account. A wide supply voltage range and well-adapted protectivemeasures ensure safe operation of the devices even in case of large voltagefluctuations by the battery / generator system. Strong conducted or radiatedinterference must not influence the function either.

Electronic requirements

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For device networking the CAN bus has become the successful standard inthe last few years. Whereas for the high volume production of passengercars special, optimised and well-adapted protocols are used, the CANopenprotocol has become indispensable in mobile machines. Manufacturer andindustry-specific protocols, such as diagnostic engine data according to SAE

J 1939, the agricultural bus system (ISO bus) and the truck-trailer interfacefor articulated lorries can be coupled to the machine process via gateways.

The most important functional unitsModern mobile machines consist of different segments. The automationcomponents of the ecomat mobile control system, particularly suited formobile applications, can be used for various tasks in these segments.Depending on the requirements they assume for example controlling, moni-toring or displaying functions. Networking is made via the CAN bus with theCANopen protocol.

Segment driveIn 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 themanufacturer. The drive is therefore precisely adapted to the machine andthe later task (e.g. a mobile crane). It has to fulfil two essential tasks, onhighway as a vehicle and off highway operation as a construction machine.If safe operation on the highway is to be possible the control componentsmust meet safety requirements for road traffic use, defined by e1 type ap-proval. Without e1 type approval the operating permit is invalid.When the vehicle arrives at the site where it is used it becomes a construc-tion machine. Now, different conditions apply. The vehicle has to be suitedfor off-road use and needs to be easily manoeuvrable. The control compo-nents used are thus switched to the respective operating situation.

Segment diesel engineSo-called industrial engines are mainly used in construction machines. Theseare engines which are ideally tailored to the requirements of the machinebuilder. Depending on the mechanical design and the performance ratingthey can be used for different purposes. Modern engines moreover featurea CAN interface which is accessible for the user. It is mainly designed accord-ing to the US standard SAE J 1939. In this standard the different CAN iden-tifiers are assigned to the specific data of the engine, such as operating tem-perature, oil pressure, torque or rotational speed.For the control of the operating process these data are filtered by means ofthe gateway function of the R 360 controller and if necessary also pro-cessed with the software. It is also possible to use the R 360 gateway func-tion to connect two networks operating at different transmission rates.

The mobile craneat the construc-

tion site. Only a sensible and

reliable machinecontrol can meet

the requirements.



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Segment working element or vehicle bodyThis segment is the actual operating process of the machine. Decentralisedoutput modules trigger the hydraulic valves. For the operation of proportion-al valves these modules also feature current-controlled PWM outputs. Thecurrent value is transmitted via the bus and controlled by the module.Furthermore sensor signals are read by the bus modules and transmitted tothe process controller.In small machines as well as in large and complex systems whole functionalunits are controlled by intelligent slave modules such as the SmartController.These freely programmable devices directly process all relevant signals of thecorresponding machine function. Depending on the type of machine orvehicle only status messages and processed data are transmitted to otherparticipants in the network.

Segment input and outputThe machine is operated by means of different control elements. By usingcabinet modules, I/O modules for use in operating and control panels, theinformation from joysticks, switches and pushbuttons is transmitted to theprocess controller via CAN bus where it is processed. The PDM360 graphic

display informs the operator about the machines operational status.Meaningful symbols and texts help to quickly locate possible errors. Opera-tional and diagnostic data can be stored on memory cards if necessary. Incase of service they provide significant information on the application andthe cause of the failure. If, in addition, the CAN / GSM radio modem CANcomis integrated into the network error messages can directly be sent to the serv-ice department or to the machine manufacturer. Especially with machineswhich are used worldwide considerable service cost savings can be made.

The CAN / GSMradio modem

directly transmitsmachine data

and error messages to the serv-

ice department.

Robust I/O mod-ules for decentral-ised use in mobileapplications




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Safety technologyThere are functions in almost all mobile machines which may endangermaterial and persons. Many movements cannot be secured due to themachines size and the extreme conditions under which they are used. Thisalso explains why only a few, instructed people are allowed into the opera-

ting areas of these systems. Of course the manufacturers do their best todesign safe machines which minimise the risk of accidents. Today, everymanufacturer has to comply with the general regulations for a safe machinedesign. But as these regulations and standards apply for many differentmachines they cannot be precisely adapted to the function of a specialmachine. Therefore there is an increasing number of product standardswhich are specifically tailored to these requirements.In some types of applications (e.g. vehicle lifts) there have been clear, defi-ned product standards for some time now. The employers liability insuranceassociations also often have clear requirements towards the manufacturersof machines.For this reason there is an increasing demand for certified electronic assem-blies for mobile machines. The SafetyController can be used in applicationswhich require components up to safety category 3. The safety conceptmonitors all internal and external functions and safely switches off in thecase of an error. In future the CANopen protocol will also be used for thetransmission of safe data. The protocol addition CANopen Safety enablesthe transmission of safe and non-safe data on the same bus cable.

type Astandards

basicsafety

requirementsfor all machines

basic safety standards

safety groupstandards

productstandards

B1 standardsgeneralsafety

requirements

B2 standardsspecialsafety

requirements

type C standardsspecial

safety requirementsfor individual machines

type B standards

Classificationof the different

safety standardsfor machines and installations.




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ecomat mobile , control technology for extreme conditionsThe components presented in this catalogue have been developed and opti-mised for increased requirements in close co-operation with our customersover a period of several years. ifm electronic now supplies a sophisticatedcontrol and automation system which conforms to the needs of the market.In addition to flexibility and performance attention was given to thefollowing 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 humidityOperational reliability despite strong supply voltage fluctuationsby the battery / generator system.Insensitivity to conducted and radiated interferencein the whole electrical system.Application-related networking possible with the CAN bus systemsuitable for mobile applications.

Requirements for mobile and robust machine conceptsElectronic components are not only increasingly used in normal motorvehicles 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 downtimecosts.Extensive, simple and safe system diagnosis for fast error locationdirectly by the operators.Safe and simple handling via displays and other input modulesaccording to the respective operating situation.Simple handling for mounting and service of the componentsin use owing to the modular concept.Reduced wiring by means of decentralisation: Powerful input / outputmodules are used where data are provided or required.Documentation of the operating and system states by meansof 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 developedand made for the corresponding application.ifm electronic develops and makes such automation components andsystems. This includes a wide range of sensing and control products e.g. pro-ximity switches, pressure sensors, complex control systems and much more.

ecomatmobile stands for highreliability under extreme oper-ating conditions.

All componentswithstand impacts

and shocks aswell as electrical

interference.




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CAN The fieldbus for mobile machinesThe basicsAt the beginning of the 1980s a bus system was developed in co-operationwith some automotive manufacturers, which preferably was to be used forengine management. About 20 years later this bus system CAN (Controller

Area Network) has become the standard in modern vehicles and mobilemachines and installations. When several machine parts (e.g. engine, driveand operating function) are networked to form a whole system, CAN pro-vides decisive advantages. Also, when the CAN bus was developed, the spe-cial operating conditions had already been taken into account.Therefore ifm electronic also uses this safe and reliable bus system for theecomat mobile control system.The Controller Area Network (CAN) is defined in the international stan-dard ISO 11898. It is based on the Producer / Consumer Network Model.It allows data to be very efficiently distributed to the other network partici-pants by means of the broadcast method. At the same time the Producer / Consumer Model also allows communication according to the master / slaveor peer-to-peer principles. These different principles are used depending onthe type of mobile machine and its special design.

WAN, Internet TCP/ IP

LAN, H1, Ethernet, Profinet

Interbus, DeviceNet, Modbus,

Profibus, CAN

AS-interface

visualisation

control

processing

input/output

networking

The CAN busis used to read,write and process

sensor and actua-tor signals.

Especially when several machine parts are inter-connected CANoffers decisiveadvantages.

The CAN communication servicesIrrespective of the network configuration the transmission of the messagesalways takes place between a sending node (producer) and a receiving node(consumer). With CAN data transmission no addresses are assigned to theindividual participants. Instead, each message to be transmitted (e.g. oiltemperature, rotational engine speed) is given a clear identification mark(identifier) which is valid in the whole network. This identifier also definesthe priority of the message.This ensures that even in the case of simultaneous access by several partici-pants the more important message is transmitted first. In contrast to otherbus systems the messages are not assigned a target address but an identifi-cation mark (identifier). The message can be clearly identified by means ofthis identifier. CAN is therefore not a participant-oriented protocol but amessage-oriented protocol.




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identifier

start of message

data CRC

controlbits

end of message

Structure of theCAN message.

The user data0 to 8 data bytes can be transmitted in the data field. It contains the actualinformation for the other network participants.Help and protective information for error detectionIn contrast to other bus systems, the CAN protocol does not acknowledgereceived data. If a bus participant detects an error, e.g. because of a faultychecksum (CRC), it immediately sends an error message and thus causes theabortion of the transmission or the rejection of the correct messages alreadyreceived by the other participants. It is therefore ensured that all participantshave correct and uniform data. Since the error message is directly transmit-ted the sender can repeat the disturbed message immediately, as opposed tofieldbus systems (they wait until a defined acknowledgement time haselapsed).CAN data safetyWith the introduction of safety-related systems in mobile machines andinstallations the requirements for the safety of data transmission have in-creased. To avoid dangerous states the data protection must be high and theprobability of undiscovered errors must be low.Errors mainly occur if data are distorted by external influences (e.g. electro-magnetic interference). A sensible statement on error probability can beachieved by means of a calculation model.If a data rate of 500 Kbits/s, an average bus load of 50 % and an averagemessage 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 yearand an error rate of 0.7 errors/s the statistical mean value is one undiscov-ered error in 1000 years.

Designing a CAN systemWith CAN, equal network participants (e.g. controllers, sensors, decentral-ised input / output modules) are interconnected via a serial bus. The electricalconnection is a three-wire line, consisting of the CANH, CANL and CANGNDcables which are, depending on the requirements, screened or unscreened.




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Node 1 Node n

1 2 0

CAN_H

CAN_L

CAN Bus Line 1 2 0

General structure of aCAN network.

0

1000

bus length [m]

b a u

d r a

t e [ K b i t s

/ s ]

51000010 50 100 200 1000

500

200

100

50

20

10

The maximumdata transmission

rate depends onthe length of the

bus cable.

The structure of the networkThe ISO 11898 standard assumes a line structure of the CAN network. Inaddition the CANH and CANL cables must be provided with a 120 termi-nating resistor on each end.

Ideally, no spur should lead to the bus participants (node 1... node n) becausedepending on the total cable length and the transmission time, reflectionsmay occur on the bus. However, in practice this requirement often cannot beimplemented. In order to avoid that the spurs to a bus participant (e.g. to anI/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 ofall spurs in the whole system should not exceed 30 m. In any case a networkdesign should be examined under real conditions (field test) in practice.The length of the bus cable depends on the characteristics of the bus con-nection (cable, connector), the cable resistance and the necessary transmis-sion rate (baud rate). As described above, the length of the spurs must alsobe considered for the network design. Simplified, the following dependence

between bus length and baud rate can be assumed:




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In general, these are machines with fewer operating functions. Only a fewcontroller inputs and outputs are needed.

Controller module with suitable I/O configuration (e.g. CR0020).Dialogue module to display system states and diagnostic data. Depen-ding on the requirements a PDM360 display with graphic capabilities(e.g. CR1050) or the PDM360 smart display (e.g. CR1070).

Automation of a mobile machineWhich devices are suited for the individual applications mainly depends onthe design of the machine or installation. Also, the service and mountingconcept is important for the device selection.For the sake of simplicity a distinction is made between three concepts:

Typical applications:Equipment mounted on agricultural machines, access platforms, compactconstruction machines, simple monitoring and diagnostic modules.

Machines with distributed intelligenceMachines, which can be split up in logical function blocks, can often be op-erated with several stand-alone controller modules. The input and outputrequirement of these machines is higher and often includes several independ-ent controller elements. Only a few data have to be exchanged between theindividual 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 graphiccapabilities (e.g. CR1051) or the PDM360 smart display (e.g. CR1070).

Typical applications:Complex construction machines, mobile cranes, aircraft tractors, multiple-unit vehicles, fork-lift trucks.

Machines with central controller

F1esc F2 F3 F4 F5 F6

Typical exampleof a machinewith a central controller.

Extreme shockand vibration:

Reliable functionof the sensitive

electronics must be guaranteed

under harshoperating condi-

tions as well.

Distributed intelligence: In

the different functional

segments of mobile cranes

segment-specificcontrol units are

often used.




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How can an optimum network structure be implemented?Which operating concept is planned? Conventional design with mecha-nical switches and pushbuttons wired onto the controller module or anI/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 messa-ges to be displayed or transferred via CANcom / GPS with position infor-mation of the machine, if needed?Can functions be grouped? In particular for the implemention of relay-controlled systems using CAN modules and operating functions in dialo-gue modules often reduces the number of the required inputs andoutputs.

Step 2: Selection of the componentsIn most cases selection of the system components is based on the neededdata. So the number of the inputs and outputs and their function must beconsidered. The controllers and I/O modules of the ecomat mobile systemare configurable in many ways. Almost all requirements for the systemdesign can therefore be implemented.If components are mounted in the exposed part of the machine, the devicesshould have the protection rating IP 67.The CompactModules are an excellent choice for applications that are toextend the machine functions at a later point in time. Even if machines witha variety of options are made, compact modules are the first choice. Flexibil-ity of the SmartModules is fully utilised if they are connected using a pre-wired cable harness.The controllers and modules of the Cabinet series are intended for use in thecab or control cabinets.For machines with open control panels, using a monochrome PDM360 withtransflective display is recommended, as even frontal sun radiation does notinfluence readability.

Irrespective of the applicationecomatmobilealways offersa solution.



SmallapplicationComplexmachines

Safetyrequire-

ments

Machineswith cabin

Enginediagnosis

Machineswith opencontrol panel

16 bit Conrollers

ClassicExtended

Smart Cabinet

32 bit Conroller

Classic Compact Smart Cabinet Keypad PDM360 PDM360compact

PDM360smart

I /O modules Dialogue modules


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Step 3: Programming and network configurationThe R 360 controllers are programmed with the software CoDeSys. All therequired functions for parameter setting of the CANopen modules, trig-gering of the dialogue modules and for the complex control functions areavailable.

It makes sense to implement the machine functions with individual softwaremodules, so-called function blocks, and to test them individually. The soft-ware can then be organised more clearly. Function blocks have one moreadvantage. Implemented functions can be grouped in libraries and used inanother project later on.Extensive software tools support the programmer to implement the applica-tion. The downloader program enables loading of the controller softwareindependently of the programming system. This function is mainly used inproduction because downloading can be automated via an easy batch pro-cessing.In combination with the CAN interface CANview, the bus monitoring soft-ware CANmon enables exact monitoring of the communication data on thebus.

Depending on the monitoring profile selected the data are commented andfiltered. Incorrect settings can be determined quickly and reliably.

programmingprojection

documentationevaluation

CANmem CANcomG S M

SD-Card

visualisationevaluation

internet

From projectionup to visualisationecolog softwarein practice.

CAN busmonitoring with

CANmon.




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Control systems 24 - 25

List of articles

23

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Orderno.

Approvals Cataloguepage

CP9006 49 85CP9008 49 85

CR0020 37CR0032 39CR0200 41CR0301 47CR0302 47CR0303 47CR0505 37CR1050 81CR1051 81CR1052 79CR1053 79CR1055 79CR1056 79CR1060 81CR1070 77CR1071 77CR1500 67CR2012 65CR2014 65CR2016 65CR2031 61CR2032 61CR2033 61

CR2101 111CR2102 111CR2500 43CR2512 63CR2513 63CR3001 127CR3002 127CR3003 127CR3004 127CR3101 97CR3105 95CR3106 95

CR7020 45CR7200 45CR7505 45E10735 151E10736 151E10737 151E11048 151E11049 151E11187 135E11277 135E11416 134E11417 134E11418 134

Orderno.


E11419 134E11420 134

E11504 132E11505 132E11506 132E11511 130E11589 130E11590 132E11591 135E11592 135E11593 135E11594 135E11595 135E11596 130E11597 130E11598 132E11599 132E11622 135E11898 141E11949 135E21137 136E21138 136E21139 136E73004 146E80021 131

E80022 131EC1021 150EC1410 147EC1411 147EC1412 147EC1413 147EC1450 148EC1451 148EC1452 146EC1453 146EC1520 142EC1521 142

EC1522 143EC1523 143EC2013 141EC2015 152EC2016 152EC2019 113EC2025 127EC2032 144EC2034 144EC2036 150EC2045 113EC2046 141EC2049 127

Orderno.


EC2050 143EC2053 142

EC2056 143EC2058 145EC2059 150EC2060 113EC2061 113EC2062 143EC2063 144EC2068 140EC2070 99EC2071 99EC2074 51EC2075 142EC2076 145EC2077 140EC2080 140EC2081 140EC2082 113EC2083 146EC2084 141EC2086 141EC2088 144EC2089 142EC2090 142

EC2091 145EC2092 150EC2093 150EVC001 130EVC002 130EVC003 130EVC004 130EVC005 130EVC006 130EVC010 134EVC011 134EVC012 134

EVC013 134EVC014 134EVC015 134EVC016 134EVC017 134EVC018 134EVC019 134EVC030 134EVC031 134EVC032 134EVC033 134EVC034 134EVC055 135

List of articles Order numbersin alphanumeric order Control systems

24



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Orderno.


EVC056 135EVC057 135

EVC058 135EVC059 135EVC060 135EVC061 135EVC062 135EVC063 136EVC064 136EVC065 136EVC066 136EVC067 136EVC068 136EVC069 136EVC070 131EVC071 131EVC072 131EVC073 131EVC074 131EVC075 131EVC076 132EVC077 132EVC078 132EVC079 132EVC080 132

EVC081 132EVC094 133EVC095 132EVT010 130EVT011 130EVT012 130EVT013 130EVT014 130EVT015 130EVT043 135IFM203 117IFM204 117

IFM205 115IFM206 115IFM207 117IFM208 117IFM209 115IFM210 115IGM200 117IGM201 117IGM202 117IGM203 117IGM204 115IGM205 115IGM206 115

Orderno.


IGM207 115IIM200 117

IIM201 117IIM202 117IIM203 117IIM208 115IIM209 115IIM210 115IIM211 115IN5281 117IN5282 117

O2M110 83PA3020 119PA3021 119PA3022 119PA3023 119PA3024 119PA3026 119PA3060 119PA9020 119PA9021 119PA9022 119PA9023 119PA9024 119PA9026 119

PA9060 119PP2001 151PP7550 119PP7551 119PP7552 119PP7553 119PP7554 119PP7556 119

Order numbersin alphanumeric order

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System descriptionMobile controllers Controllers and software

28

IntroductionIn the meantime the 3rd generation of the ecomat mobile controller is avail-able. Due to the new and extended functions it is a universal and user-friendly control system used in a wide range of applications worldwide.The powerful 16-bit microcontroller enables a very short cycle time of theapplication program. The large program memory allows the processing ofcomplex application programs. A second integrated 8-bit microcontrollermonitors the important system functions such as cycle time or hardwaretimer.All common data types like BIT, WORD, STRING, REAL (floating decimalpoint) and extensive function libraries are available to the user for program-ming. They are used to solve among others mathematical tasks (e.g. arith-metic, trigonometric and standardisation functions) and implement controlfunctions (e.g. PID controller, synchro controller). Libraries for CAN andCANopen communication, exchange of data with dialogue modules and dif-ferent gateway functions (e.g. SAE J 1939) offer the programmer a conven-ient software interface to the other network components.

In addition to digital inputs and outputs the controller also has analogueports. Inputs for fast signals up to 50 kHz can additionally be used. Eachdevice has 8 or 16 PWM outputs, some of which are current-controlled. Theinputs and outputs are protected against interference and overload.The ports support diagnostic functions for signal monitoring. All deviceshave a wide-range power supply for operation in 12/24V on-board supplysystems. Integrated safety functions monitor the program run and reliablyswitch off the outputs, if necessary (SafetyController).

The 3rd gene-ration of thecontroller family:R360.


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Controllers and software

29

Important technical data for the R360 controllerMechanical resistance to exteme shocksHigh protection rating (IP 67) for outdoor usePowerful microcontrollers (C167CS or TriCore 1796) for short cycle times

Increased functional reliability by means of permanentcheck sum test of the program and system8-bit parallel processor to monitor the main processorLoad-dump resistanceDiagnostic functions for inputs and outputsCurrent-controlled PWM channelsCurrent, voltage and ratiometric measurement throughparameter setting of analogue channels0...30 kHz frequency inputs with the option to connectincremental encodersMonitoring and measurement of the supply voltageand device temperature2 or 4 CAN interfaces with CANopen protocol and free protocol(layer 2) for program download and communicationSerial RS-232 interface for program download and communicationUse as safety-related controller according to IEC 61508 / EN 13849Free programming to IEC 61131-3 with the standardised languagesfunction block diagram (FBD), ladder diagram (LD), instruction list (IL),sequential function chart (SFC) and structured text (ST)


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30

SmartControllerThe SmartController performs different control functions. Programmable toIEC 61131-3 like all controllers of the ecomat moble system, it can be adapt-ed to different requirements. Whether it serves as an intelligent slave in adistributed system, as gateway between different CAN systems (SAE J 1939 / CANopen) or as controller for small stand-alone machines, the SmartCon-troller performs all tasks. In this device it is also possible to set the parame-ters of the input and output function via the user program.

SafetyControllerThe ClassicController for safety-related appliations up to the safety category 3(EN 954-1) is called SafetyController. In this device special test routines forhardware and software monitoring are implemented. Nevertheless, the con-trollers are easily and conveniently programmable via CoDeSys. Due to thecertification of the hardware, operating system software and programmingtools it is easy for the project engineer to get the approval for the machine.Full concentration can be given to the application program.

High flexibility for a wide range

of applications:The Classic-Controller.

ClassicControllerThe ClassicController is the basic device of the R360 controller family. Thefirst generation was a universal platform for a wide range of applicationswith 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 consider-ably reduced.The ClassicController is available as 16-bit variant with 24 or 40 inputs andoutputs and as 32-bit variant with 32 multifunctional inputs and outputs.The function is defined in the user program.

ExtendedControllerLike the ClassicController, the ExtendedController supports the various func-tions of the configurable inputs / outputs and interfaces. In one housing itprovides up to 80 inputs / outputs, connection is made via two 55-way con-nectors.Depending on the selected mode the ExtendedController can be used withsimple or dual CPU function. As default, 80 inputs / outputs are available. Allfunctions are managed by the central CPU and programmed via a user pro-gram to IEC 61131-3.In the dual CPU mode the user can access two separately programmablecontrollers with 40 inputs / outputs each. But the internal synchronised datainterface still enables easy exchange between separately running processors.

signalgenerator

machine

feedback signals

decoupling

controlelectronics

control

electronics

Basic device struc-ture in controllersup to the safety category 3.



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CabinetControllerThe CabinetController is suitable for signal processing, in particular in oper-ating panels. To connect the switches, sensors and actuators the importantpotentials are available at the device connectors. No further terminals areneeded. The flat design enables integration in dashboards and operating

panels. The CabinetController is also used in control cabinets of small stand-alone machines. Free programming via CoDeSys enables evaluation and pro-cessing of the signals directly where they are provided.

ConfigurabilityAnalogue inputsThe analogue inputs can be configured via the user program. They can beused as 0/4...20 mA current inputs and as voltage inputs. In the functionvoltage input the measuring range 0...10 V or 0...32 V can be selected. If theoperating mode 0...32 V is selected it is possible to read back the systemsupply voltage. This allows the measurement to be performed ratiometri-cally. Potentiometers or joysticks can then be evaluated without additionalreference voltage. Supply voltage fluctuations have no influence on themeasured value. As an alternative, an analogue channel can also be evalu-ated as a digital input.

For installation indashboards and operating panels:The CabinetCon-troller.

EMCfilter

analogue input

c u r r e n

t m e a s u r e m e n

t

v o l t a g e m e a s u r e m e n

t

0 1

0 / 3 2 V

voltage

referencevoltage

UB

Block diagramof the analogueinputs.



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32

Digital inputsDepending on the controller, digital inputs are available with different confi-guration options. In addition to the protective mechanisms against interfer-ence 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 thereference potential is selectable. The input can then be adapted to positiveor negative signals.

Inputs with special input filters enable a frequency and period measurementup to 50 kHz. Due to a software function block for CoDeSys encoders can be

easily and conveniently evaluated.

EMCfilter

digital input

voltage

Block diagramhigh-side / low-side input for negativeand positive

sensor signals

Low-side input for positive sensor

signals.

GND

Sensor

UB

High-side input for negative

sensor signals.

GND

Sensor

UB



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Digital and PWM outputsFor the controller outputs three types can be differentiated:

High-side digital outputs with or without diagnostic functionHigh-side digital outputs with or without diagnostic functionand additional PWM modePWM outputs with or without current control function

Current-controlled PWM outputs are mainly used to trigger proportionalhydraulic functions.The Classic and ExtendedControllers also enable selection of high and low-side outputs. This allows the implementation of H bridges, e.g. to triggerdirectional electric motors, in these devices.

Low-sideoutput for negative signal.

GND

Last/load

UB

High-sideoutput for

positive signal.

GND

Last/load

UB

Further important functions:

Gateway functionsAll 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 modulethrough the CANopen protocol. The CANopen protocol enables fast and fle-xible connection to the bus.Controllers with more than one CAN interface can be used as gateway. Twodifferent CAN networks can be easily connected to each other. They enabledirect processing of for example control and diagnostic data of diesel en-gines with SAE J 1939 protocol. As an alternative the second CAN interfacecan also be used for freely definable CAN messages (CAN layer 2). For theSmartController CR2501 the second interface is designed as truck-trailerinterface to ISO 11992.Programmable to IEC 61131-3Programming via CoDeSys with the programming languages from the stan-dard IEC 61131-3 enables the user to create clear and easy application soft-ware. Function libraries are available for the special hardware functions (e.g.gateway SAE J 1939 / CANopen).

Here triggeringof the propor-

tional hydraulicfunctions is per-

formed by cur-rent-controlled PWM outputs.



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RS-232

Totalnumbers of

inputs /outputs

TV approvalIEC 61508EN 13849

Interfaces

CAN CANgatewayfunction

Type PageArea of appl.

Field Controlcabinet

Selection chart Mobile controllers Controllers and software

34

80 4 2

ClassicController 16 bit

ExtendedController 16 bit

40 2 1

24 2 1


32 4 1

Mobile controllers R360

SmartController 16 Bit

SafetyController 16 Bit

SafetyController 16 Bit

12 2 1

CabinetController, 42 I/O


40 2 1

24 2 1

42 1 1

80 4 2

1 1 36


2 1 42

40

44

44

46

36

36

38

44

42

46

46


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35

RS-232

Totalnumbers of

inputs /outputs

TV approvalIEC 61508EN 13849

Interfaces

CAN CANgatewayfunction

Type PageArea of appl.

Field Controlcabinet

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Down-load via

CAN

Down-load viaRS-232

CoDeSys + tools

System software for mobile controllers

Starter set

12 2 1

48

50


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Robust controller for mobile useThe ClassicController has been specially developed foruse in vehicles and mobile machines. Many years ofexperience with the development and construction ofmobile controllers have been applied to the new devicegeneration.The user can select the requested function of the inputsand outputs through parameter setting. Thus the samecontroller module can be used for different require-ments. This reduces storage. In addition to the flexibleI/O level each controller module is equipped with twoCAN interfaces. A freely programmable CAN gatewaycan be implemented for coupling different networks. Itsupports all important bus protocols. This enables aneasy exchange of SAE J 1939 engine and CANopendata. Different transmission rates and the transparent orpreprocessing exchange of data between the networksare supported. The user can easily integrate all functionsin the application program via programming to IEC61131-3.

Inputs for analogue, digital,diagnostic and pulse signals.

Digital, PWM or current-controlledoutputs, H-bridge function.

Freely programmableto IEC 61131-3.

2 gateway interfaces, protocols forCANopen, SAE J 1939, ISO 11992.




Connector AMP 55-polewirable, with contacts EC2013

Connector wiredcable length 2.5 m EC2046


Cable with connectorcores sealed individually, 1.2 m EC2084

Programming software CoDeSys+ tools, German CP9006

Programming software CoDeSys+ tools, English CP9008


Mobile controllers Controllers and softwareClassicController

36

Controllersandsoftware

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Mobile controllersClassic-

Controller

36 - 39

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40 - 41

Smart-Controller

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44 - 45

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46 - 47

CoDeSys softwareand tools

48 - 49

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Robust controller for mobile useThe ClassicController has been specially developed foruse in vehicles and mobile machines. Many years ofexperience with the development and construction ofmobile controllers have been applied to the new devicegeneration.The user can select the requested function of the inputsand outputs through parameter setting. Thus the samecontroller module can be used for different require-ments. This reduces storage. In addition to the flexibleI/O level each controller module is equipped with fourCAN interfaces. A freely programmable CAN gatewaycan be implemented for coupling different networks. Itsupports all important bus protocols. This enables aneasy exchange of SAE J 1939 engine and CANopendata. Different transmission rates and the transparent orpreprocessing exchange of data between the networksare supported. The user can easily integrate all functionsin the application program via programming to IEC61131-3.















Mobile controllers Controllers and softwareClassicController

38


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Application example

ClassicController 32 BitAnalogue, digital, diagnostic and pulse inputsDigital, PWM or current-controlled outputs, H-bridge function

Inputs /outputs

total

Inputsdigital /

analogue

Inputs dig. /frequency

(pos. / neg.)

Inputsdigital

(pos. / neg.)

Inputsdigital

Outputsdigital / PWM /curr.-controlled

Out-puts

digital

OutputsdigitalPWM

FunctionH-bridge

Wiringdiagram

no.

Draw-ingno.

Orderno.

32 16 16 16 16 16 16 16 2 3 1 CR0032

Common technical dataHousing: metalConnection: 55-pole AMP connectorTemperature range: -40...85 CProtection rating: IP 67Ub: 10...32 V DCSwitching current outputs: 4 A / 2 AInterfaces: 4 x CAN, 1 x RS-232, 1 x USBProgram memory: 1.25 MB flashData memory: 256 kB SRAMData memory (non volatile): 56 kB FRAMCE, e1, appr. for railway applic. (EN 50155)



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Block diagram

input group 16 channels

inputterminal

EMCprotection

signalprocessing

digital and PWM outputcurrent measurement and diagnosis

outputterminal

relay

v i r t . C

O M

p o r t

( U S B h a r d w a r e

)

R S - 2 3

2 i n t e r f a c e

C A N i n t e r f a c e




s p e c i a

l f u n c t

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t e s t

i n p u

t , L E D

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v o l t a g e m o n

i t o r i n g

w a t c h d o g

relay

supplyterminals

EMCprotection

voltagesupply

1 0 . . . 3

2 V 5.0 V

1.5 V

switching between sectionsand operating modes

Impedance transformationcomparator

main processor 32-bit CPU Infineon TriCore 1796

S-RAM FRAM

current measurement,PWM, diagnosisADC, counter, ...

r e f e r e n c e

v o l t a g e o u

t p u

t

output group 16 channels

3.3 V


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ExtendedController 16 bit

Twin-packed mobile controllerIf many inputs and outputs are required in mobilemachines and installations, the ExtendedController isused. Like the ClassicController, it supports the nume-rous functions of the configurable inputs / outputs andinterfaces.Depending on the selected operating system the Exten-dedController can be used with single or dual CPU func-tion. As default, 80 inputs and outputs are available.Furthermore, this operating mode supports two CANinterfaces for the freely programmable CAN gatewayfunctions. All these functions are managed by the cen-tral CPU and programmed via a user program to IEC61131-3.In the dual CPU mode the user can access two sepa-rately programmable controllers with 40 inputs / out-puts each. But the internal synchronised data interfacestill enables easy exchange between the separately run-

ning application processes. The ExtendedControlleradditionally supports up to four CAN interfaces in thisoperating mode.

Inputs for analogue, digital, diagnosticand pulse signals.




Extended ClassicController with80 input / output channels.










Mobile controllers Controllers and softwareExtendedController

40


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36 - 39

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Application example

ExtendedController 16 bitCompact design with 80 inputs / outputs

Inputs /outputs

total

Inputsdigital /

analogue


(pos. / neg.)

Inputsdigital

(pos. / neg.)

Inputsdigital


Out-puts

digital

OutputsdigitalPWM

FunctionH-bridge

Wiringdiagram

no.

Draw-ingno.

Orderno.

80 16 16 16 32 16 24 8 4 1 2 CR0200

Common technical dataHousing: metalConnection: 55-pole AMP connectorTemperature range: -40...85 CProtection rating: IP 67Ub: 10...32 V DCSwitching current outputs: 4 A / 2 AInterfaces: 4 x CAN 2.0, 2 x RS-232Program memory: 768 kB flashData memory: 128 kB SRAM, 128 kB flashData memory (non volatile): 17 kBCE, e1, appr. for railway applic. (EN 50155)



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Block diagram (present twice in the device)

VBBS

16-bit Controller

digital OUT

clock

5 V

watchdog

analogue IN

digital IN

TEST

RS 232

RAM2x128 kbytes

FRAM32 kbytes

addressdecoder

reset

VBBO

VBBR

3.3V

5 5 - p o

l e c o n n e c t

i o n

CAN 1

CAN 2Flash

2048 kbytes


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SmartController 16 bit

Universal controllerIn small machines or applications where preprocessingof signals and data is required compact and very power-ful controller modules are used. The SmartControllerR360 has the required features. Depending on the con-figuration it can fulfil the different requirements.It can therefore be used as a compact controller. Theintegrated CANopen interface enables a flexible andpowerful extension of the system with further intelligentand standard I/O modules.If the two CAN interfaces are used, a freely programm-able CAN gateway for coupling different networks isavailable which supports all important bus protocols.This enables an easy exchange of SAE J 1939 engine andCANopen data. Different transmission rates and thetransparent or preprocessing exchange of data betweennetworks are supported.

Usable as intelligent I/O moduleor CANopen master.

Gateway functions,CANopen, SAE J 1939.

Configurable I/O functions.












Mobile controllers Controllers and softwareSmartController

42


Page


Controller

36 - 39

Extended-Controller

40 - 41

Smart-Controller

42 - 43

Safety-Controller

44 - 45

Cabinet-Controller

46 - 47


48 - 49

Starter set

50 - 51


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Application example

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

Inputs /outputs

total

Inputsanalogue

(V / I)


(pos. / neg.)

Inputsdigital

(pos. / neg.)


Gatewayfunction2nd CAN

Wiringdiagram

no.

Draw-ingno.

Orderno.

8 4 2 2 4 SAE J 1939 4 3 CR2500

Common technical dataHousing: metalConnection: 55-pole AMP connectorTemperature range: -40...85 CProtection rating: IP 67Ub: 10...32 V DCSwitching current outputs: 4 AInterfaces: 2 x CAN 2.0, 1 x RS-232Program memory: 192 kB flashData memory: 64 kB SRAM, 32 kB flashData memory (non volatile): 3 kBCE, e1, appr. for railway applic. (EN 50155)



G e n e r a l

i n f o r m a t

i o n

L i s t o f a r

t i c l e s

M o b

i l e

c o n t r o

l l e r s

I / O m o d u l e s

D i a l o g u e

m o d u l e s

D i a g n o s

i s

a n d s e r v

i c e

S e n s o r s

f o r m o b

i l e

a p p l

i c a t

i o n s

S i g n a l

c o n v e r t e r s

C o n n e c

t i o n

t e c h n o

l o g y


T e c h n

i c a l

i n f o r m a t

i o n


s e r v

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43

Block diagram

16 Bit Controller EEPROM

digital OUT

+UB clock

5 V

resetwatchdog

5 5 - p o

l e c o n n e c t

i o n

+UB

analogue IN

digital IN

TEST

RS 232

CAN 1

CAN 2

RAM2x128 kbytes

flash1 Mbyte

external CANcontroller

addressdecoder


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R360 SafetyController 16 bit

Safety-related controllerFor control tasks with increased safety requirements theSafetyController R360 is available. Due to its integratedhardware and software function applications toIEC 61508 / EN 13849 can be controlled and monitored.Permanent checks of the CPU, memory and other hard-ware by the operating system and extended diagnosticfunctions of the outputs enable a continuous monito-ring of the control process. All important system infor-mation for the application program can be found in theeasy and clear programming system CoDeSys to IEC61131-3. Software tools enable safe and reliable loa-ding of the approved software for the machine produc-tion as well.Via the CAN interface and CANopen protocol the Safe-tyController can be connected to further non safety-related controllers or input / output modules of theR360 device family.

Safety controller to IEC 61508 /EN 13849 safety category 3.

Extended monitoring and testroutines for hardware and software.


CAN interface with CANopenand CANopen safety protocol.











Mobile controllers Controllers and softwareSafetyController

44


Page


Controller

36 - 39

Extended-Controller

40 - 41

Smart-Controller

42 - 43

Safety-Controller

44 - 45

Cabinet-Controller

46 - 47


48 - 49

Starter set

50 - 51


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Application example

R360 SafetyControllerAnalogue, digital, diagnostic and pulse inputsDigital, PWM or current-controlled outputs, H-bridge function (to IEC 61508 / EN 13849)

Inputs /outputs

total

Inputsdigital /

analogue


(pos.)

Inputsdigital

(pos. / neg.)

Inputsdigital


Out-puts

digital

OutputsdigitalPWM

FunctionH-bridge

Wiringdiagram

no.

Draw-ingno.

Orderno.

40 8 8 8 4 8 12 4 2 5 1 CR702024 8 8 4 8 6 1 CR750580 16 16 16 8 16 24 8 4 5 2 CR7200

Common technical dataHousing: metalConnection: 55-pole AMP connectorTemperature range: -40...75 CProtection rating: IP 67Ub: 10...32 V DCSwitching current outputs: 4 A / 2 AInterfaces: 2 x CAN 2.0, 1 x RS-232Program memory: 768 kB flashData memory: 128 kB SRAM, 128 kB flashData memory (non volatile): 17 kBCE, e1, appr. for railway applic. (EN 50155)



G e n e r a l

i n f o r m a t

i o n

L i s t o f a r

t i c l e s

M o b

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c o n t r o

l l e r s

I / O m o d u l e s

D i a l o g u e

m o d u l e s

D i a g n o s

i s

a n d s e r v

i c e

S e n s o r s

f o r m o b

i l e

a p p l

i c a t

i o n s

S i g n a l

c o n v e r t e r s

C o n n e c

t i o n

t e c h n o

l o g y


T e c h n

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i n f o r m a t

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s e r v

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45

Block diagram

VBBS

16-bit Controller

digital OUT

clock

5 V

watchdog

analogue IN

digital IN

TEST

RS 232

RAM2x128 kbytes

FRAM32 kbytes

addressdecoder

reset

VBBO

VBBR

3.3V

5 5 - p o

l e c o n n e c t

i o n

CAN 1

CAN 2Flash

2048 kbytes


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CabinetController 16 bit

Space-saving control cabinet solutionFor large mobile machines cabins for operators are oftenused. In the environment around the driver's workplacemany signals, e.g. from switches, joysticks and signalindicators are generated. To ensure a low-cost connec-tion of these signals to the process controller, they arecollected at a central point, preprocessed and transfer-red via CANopen.The CabinetController has been developed for thisapplication. Its flat design enables integration in dash-boards and operating panels. To connect the switches,sensors and actuators all important potentials arebrought out to the connectors. But the CabinetControl-ler is also used in small compact machines. Here thecontroller is often directly installed in a control cabinet.Therefore a high protection rating and robust housingare not required. All other important data of a mobilecontroller comply with those of the other controllersfrom the ecomat mobile family.


Digital outputs designed as solid-state outputs or potential-free relays.

Usable as a controller for cockpitor operating panels.





Plug set for CR0301, CR0302 EC2075

Plug set for CR0303 EC2090

RS-232 programming adapterfor CR0301, CR0302 EC2076

Cable with connectorAMP 6-pole, wired, 1.2 m EC1520





Mobile controllers Controllers and softwareCabinetController

46


Page


Controller

36 - 39

Extended-Controller

40 - 41

Smart-Controller

42 - 43

Safety-Controller

44 - 45

Cabinet-Controller

46 - 47


48 - 49

Starter set

50 - 51


47/212

Application example

R360 CabinetControllerIntegration in dashboards and operating panels

Inputs /outputs

total

Inputs digital /analogue

(V / I)

Inputsdigital /

frequency

Inputsdigital

Outputsdigital /

PWM

Outputsrelay

Wiringdiagram

no.

Draw-ingno.

Orderno.

42 8 / 8 4 / 4 8 / 4 / 4 10 / 7 4 CR030136 8 / 8 4 / 4 8 / 4 / 8 / 8 5 CR030242 8 / 8 4 / 4 12 / 4 12 / 8 / 6 9 6 CR0303

Common technical dataCR0301, CR0302Housing: open with pottingConnectors.: 18-, 10-, 6-pole AMPTemperature range: -40...85 CProtection rating: IP 20; Ub: 10...32 V DCSwitch. curr. output: PNP 2 A, relays 2/10 AInterfaces: 1 x CAN 2.0, 1 x RS232Program memory: 192 kB flashData memory: 64 kB SRAM, 32 kB flashData memory (non volatile): 3 kBCE, e1, appr. for railway applic. (EN 50155)



G e n e r a l

i n f o r m a t

i o n

L i s t o f a r

t i c l e s

M o b

i l e

c o n t r o

l l e r s

I / O m o d u l e s

D i a l o g u e

m o d u l e s

D i a g n o s

i s

a n d s e r v

i c e

S e n s o r s

f o r m o b

i l e

a p p l

i c a t

i o n s

S i g n a l

c o n v e r t e r s

C o n n e c

t i o n

t e c h n o

l o g y


T e c h n

i c a l

i n f o r m a t

i o n


s e r v

i c e

47

Block diagram CR0301, CR0302

16-bit Controller EEPROM

digital OUT

+UB

clock

5 V

resetwatchdog

analogue IN

digital IN

TEST

RS 232

CAN

RAM2x128 kbytes

Flash512 kbytes

addressdecoder

+UB

+UB1 Amp

except for CR 0302

Cable for CabinetController

EC15206 poles

CR0301 1

CR0302

CR0303

1

2 2

2

2 3

2

3

EC152110 poles

EC152214 poles

EC152318 poles


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CoDeSys + tools

Powerful programming softwareThe importance of the software keeps increasing inmobile control technology as well. Therefore it is neces-sary for the user to have compatible and easy-to-useprograms for software creation, parameter setting andremote maintenance.The programming tool CoDeSys to IEC 61131-3 provi-des the programmer with different program languages(FBD, LD, SFC, IL and ST) for fast project implementationand management. A powerful visualisation module forthe graphic representation of the machine and installa-tion functions completes the package. Via the integra-ted target visualisation the drawn graphic elements canbe directly loaded to the graphic display PDM360.In addition to the pr

ifm Catalogue Control Systems GB 09

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