IFM Electronic CR2011 Device Manual

Device manual

Output module

CR2011

UK

80269929 / 00 01 / 2018

Output Module CR2011

Contents

1 Preliminary note � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 3

2 Safety instructions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 3

3 Function and features� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 3

4 Function � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4

5 Dimensions and mounting � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5

6 Electrical connection� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5

6�1 Wiring � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
6�2 Outputs without current monitoring � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
6�3 Outputs with current monitoring � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6

7 Operating indicators � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6

8 Set-up � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7

8�1 PLC configuration in CODESYS 2�3 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7
8�2 PLC configuration in CODESYS 3�5 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8

8�2�1 Heartbeat configuration � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8
8�2�2 SyncMonitoring � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9

8�3 Electronic Data Sheet� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9

9 Parameter setting � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10

9�1 Parameter list � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10

10 Technical data� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11

10�1 Characteristics of the outputs� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11

10�1�1 Digital outputs � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11
10�1�2 PWM outputs � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 12
10�1�3 Current outputs � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 12

11 Object directory� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 13

11�1 Manufacturer Specific Profile Area; index 2000 to 5FFF � � � � � � � � � � � � 13
11�2 Communication Profile Area; index 1000 to 1FFF � � � � � � � � � � � � � � � � � 15

12 Fault correction� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 18

12�1 EMCY Object � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 18

13 Maintenance, repair and disposal� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 19

14 Declaration of conformity � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 19

15 Terms and abbreviations� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 19

2

Output Module CR2011

1 Preliminary note

Technical data, approvals, accessories and further information at www�ifm�com�

► Instructions
→ Cross-reference

Important note
Non-compliance may result in malfunction or interference�

Information
Supplementary note�

2 Safety instructions

This description is part of the unit� It contains texts and drawings concerning the
correct handling of the controller and must be read before installation or use�

UK

Observe the information of the description� Non-observance of the notes, operati­on which is not in accordance with use as prescribed below, wrong installation or
handling can result in serious harm concerning the safety of people and plant�

The device may only be installed, connected and commissioned by qualified per­sonnel�

Disconnect the device externally before doing any work on it� If necessary, also
disconnect separately supplied output load circuits�

In the case of malfunctions or uncertainties please contact the manufacturer�
Tampering with the device can lead to considerable risks for the safety of people
and plant� It is not permitted and leads to an exclusion of any liability and warranty
claims�

3 Function and features

The CR2011 output module enables decentralised triggering of actuators and pro­portional valves� The coil current can be monitored and controlled via the integra­ted current measurement�

3

Output Module CR2011

4 Function

● The module supports binary and analog outputs and is therefore classified in
the device profile "I/O module" to CiA DS 401�

● As regards the output function the module can be configured� The module
supports 5 operating modes:

- binary outputs with current detection, up to 2�5 A

- binary outputs without current detection, up to 4 A

- PWM outputs with current detection, up to 2�5 A

- PWM outputs without current detection, up to 4 A

- current-controlled PWM outputs, up to 2�5 A

● The function current detection or current control can be selected by means
of the wire connection� With the configuration as binary outputs 8 outputs are
available� With the configuration as PWM outputs 2 outputs each are combined
as a pair (= 4 outputs available)�

● The outputs are activated via CANopen�

● There are 1 server SDO and the 3 default PDOs to CiA DS 401� The PDO
mapping cannot be changed (static PDO mapping)� The default identifiers are
assigned according to the "predefined connection set"�

● The COB IDs of the PDOs as well as the transmission type (synch/asynch) of
the individual PDOs can be configured� The transmission type is stored nonvo­latilely� Changed PDOs (PDO linking) are stored volatilely�

● The module expects a synch object�
The CAN identifier of the synch object can be configured� After a change the ID
is automatically stored non-volatilely�

● The module supports "node guarding"�
The "guard time", "life time factor" and the CAN identifier of the guard object
can be configured and are stored non-volatilely�

● The module generates an emergency object� The COB ID of the EMCY object
can be configured�

● The module stores the last 4 errors� The error code of the corresponding emer-
gency object is stored�

● The module supports a reset function, i�e� assignment of the parameters to the
factory default values (→ 9.1 Parameter list) upon request�

4

5 Dimensions and mounting

12

4

6

8

3

5

7

18

22

4,7

107

152

5

4,5

28,5

39

7,5

60

M12x1

PWR

DIA

34

Output Module CR2011

UK

► Use suitable washers�

Tightening torque of the fixing screws:
max� 1�8 Nm

6 Electrical connection

To protect the whole system (wiring and output module) the individual elec­tric circuits must be protected with max� 16A�

6.1 Wiring

core colour potential

Operating voltage

CAN interface

6.2 Outputs without current monitoring

M12 connector PIN connection

red 10 ��� 30 V DC

black GND

white CAN_H

blue CAN_L

green CAN_GND

4 switching output L+

3 external voltage -

5 n�c�

5

1

2

5

Output Module CR2011

34

6.3 Outputs with current monitoring

M12 connector PIN connection

4 switching output L+

2 (measuring resistor integrated) external voltage -

5 n�c�

7 Operating indicators

LED colour Status Description

OFF no supply voltage

module in the stand-by mode

ON

green

flashing

2 Hz

OFF communication o�k�

red

ON

CANopen state: PREOPERATIONAL / PREPARED
outputs = OFF

module active
CANopen state: OPERATIONAL
outputs are updated

communication disturbed

- NodeGuard error (if NodeGuarding is active)

- no synch objects (if synch monitoring is active)

5

1

2

yellow OUT ON

binary output: output is active / ON
analog output: PWM preset value is unequal to 0
preset current value > absolute value 100

6

Output Module CR2011

8 Set-up

8.1 PLC configuration in CODESYS 2.3

Parameter setting of the device functions and of the CAN interface is directly done
from the application programmed with CODESYS 2�3� To do so, the "Electronic
Data Sheet" (EDS) is integrated via the CODESYS PLC configuration�

UK

CODESYS dialogue "PLC configuration" (example)

For a description of the setting and application of the "PLC configuration“ dialogue
see the CODESY manual and the CODESYS online help�

7

Output Module CR2011

8.2 PLC configuration in CODESYS 3.5

The "Electronic Data Sheet“ (EDS) is installed in the [Device Repository]� Proceed
as follows in the main menu:

► Click on [Tools] / [Device Repository]�

► Select [Fieldbuses] / [CiA CANopen] / [CiA Remote Device] and click on [In-

stall]�

► Select EDS file and click on [Open]�

> In CODESYS 3�5 the devices are integrated as CiA remote devices in the de-

vice tree under a [CANopen_Manager] element�

The CANopen communication is configured via the CODESYS configuration
editor�

8.2.1 Heartbeat conguration

The function [Reset Node] must be activated on the tab [General] so that the
device applies the parameters set for heartbeat monitoring of the CANopen
Manager�

8

Output Module CR2011

8.2.2 SyncMonitoring

To activate the device-internal monitoring of the Sync cycle, the monitoring time
has to be written into the object directory entry 0x1006� This is possible by
supplementing the SDO list in the CANopen configurator or during the operating
time via the function block COP_SDOwrite�

The monitoring time is indicated in microseconds [μs].

UK

8.3 Electronic Data Sheet

The EDS contains the description of all parameters and I/O data of the device in a
format defined by CANopen� The EDS files are provided for all CANopen slaves by
ifm electronic�

The EDS files are available at www�ifm�com�

9

Output Module CR2011

9 Parameter setting

With the function "restore" (, index 1011) the parameters (except the baud rate and
the node ID) can be assigned to the factory default values� With the next power on
they become valid�

9.1 Parameter list

Parameter

Manufacturer Specific Profile Area; index 2000 to 5FFF

I/O Configuration 2000 8 binary outputs yes after Pre-Op

PWM Frequency 2001 0x64 (= 100 Hz) yes after Pre-Op

Node ID 20F0, 20F1 0x20 (= 32) yes after Pre-Op

Baud rate 20F2, 20F3 0x03 (= 125 kBit/s) yes after Pre-Op

Communication Profile Area; index 1000 to 1FFF

COB ID Synch Object 1005 0x80 yes immediately

Communication Cycle 1006 0 (Off) yes after Pre-Op

Guard Time 100C 0 (Off) yes immediately

Life Time Factor 100D 0 (Off) yes immediately

COB ID Guarding 100E 0x700 + Node ID yes immediately

COB ID EMCY 1014 0x80 + Node ID yes immediately

COB ID Rec PDO 1 1400 01 0x200 + Node ID no immediately

Object directory
index

Default value
(factory preset)

Change
automatically
saved

Change effective

Trans Type Rec PDO 1 1400 02 synchronous 1 yes immediately

COB ID Rec PDO 2 1401 01 0x300 + Node ID no immediately

Trans Type Rec PDO 2 1401 02 synchronous 1 yes immediately

COB ID Trans PDO 1 1800 01 0x180 + Node ID no immediately

Trans Type Trans
PDO 1

1800 02 after a change yes immediately

The life time factor 0 is interpreted as 1�

The first guard protocol is assessed as "start guarding" even if guarding is not
active at this time (guard time = 0)�

10

Output Module CR2011

10 Technical data

Housing 8-channel splitter box made of polyamide (PA) with integrated electronics,

fully potted

Dimensions 152x 60 x 22 mm (L x W x H)

Device connection PUR/PVC cable 2 m,

2 x 1�5mm² (operating voltage) / 3 x 0�5mm² (CAN interface)
M12 connector for outputs

Operating temperature -25���85 °C

Storage temperature -40���90 °C

UK

Protection rating,protection
class

Operating voltage (UB) 10���30 V DC

Current consumption ≤ 100 mA, without external load

Indicators LED green: run LED

Interface CAN interface - ISO 11898 version 2�0

Baud rate 10 Kbits/s ���1 Mbits/s

Communication profile CANopen

Device profile I/O module to CiA DS401, CiA DS301 V3�0

CAN Full-CAN

Node ID (default) hex 20 (= 32)

IP 67 III

LED red: diagnostic LED
LED yellow: output status

10.1 Characteristics of the outputs

10.1.1 Digital outputs

8 semiconductor outputs, short-circuit/overload protected

Switching voltage 10 ��� 30 V DC

Switching current max� 2 A (with current monitoring)

max� 4 A (without current monitoring)

Total current max� 16 A

Current monitoring of 2 channels each can be selected by means of wire connection, the following channels
are combined: 1+2, 3+4, 5+6, 7+8

11

Output Module CR2011

10.1.2 PWM outputs

With the configuration as PWM output two outputs each are combined�
The output signal is present at one of the two outputs while the other output is OFF (left/right function, up/
down function)�
It is possible to immediately switch over from one output to the other�
The following channels are combined: 1+2; 3+4, 5+6, 7+8�

PWM frequency 20 ��� 150 Hz

Pulse/break ratio 1 ��� 1000 ‰

Resolution 1 ‰

Load current max� 4 A (referred to the PWM value 1000 ‰�)

With smaller PWM values this current value is reduced�

Value range -1000 ��� +1000 ‰

> +1000 ‰ are rounded to +1000 ‰
< -1000 ‰ are rounded to -1000 ‰

Value output 0 ��� +1000 ‰ are present at the odd-numbered outputs (1, 3, 4, 7)

-1000 ��� 0 ‰ are present at the even-numbered outputs (2, 4, 6, 8)

10.1.3 Current outputs

With the configuration as current output two outputs each are combined: 1+2, 3+4, 5+6, 7+8

PWM frequency 20 ��� 150 Hz

Control range 100 ��� 2000 mA

Control resolution 2�5 mA

Setting resolution 1 mA

Precision ± 2% FS

Load current max� 2 A

Load resistance min. 12 Ω for UB = 24 V DC

min. 6 Ω for UB = 12 V DC

Value range -2000 ��� +2000 mA

Values > +2000 mA are rounded to +2000 mA�

< -2000 mA are rounded to -2000 mA�
0 ��� +100 mA are rounded to +100 mA�

-100 ��� 0 mA are rounded to -100 mA�

Value output 100 ��� 2000 mA are present at the odd-numbered outputs (1, 3, 4, 7)

-2000 ��� -100 mA are present at the even-numbered outputs (2, 4, 6, 8)

Free-wheel diode
is integrated!

12

To avoid a falsification of the measuring result, no external free-wheel diode
must be connected in parallel with the load in operating mode "current­controlled output"�

Output Module CR2011

11 Object directory

11.1 Manufacturer Specific Profile Area; index 2000 to 5FFF

Index S-Idx Designation Type Default Description

2000 0

2000 1

2000 2

2000 3

2000 4

I/O

Configuration

Output

channel

1+2 *)

Output

channel

3+4 *)

Output

channel

5+6 *)

Output

channel

7+8 *)

u8, ro 0x04

u8, rw 0x02

u8, rw 0x02

u8, rw 0x02

u8, rw 0x02

Number of the entries
= number of the output channels

configuration channel pair 1/2 *)
0 = OFF
2 = binary output
4 = analog output (PWM)
5 = analog output (current-controlled)

configuration channel pair 3/4 *)
0 = OFF
2 = binary output
4 = analog output (PWM)
5 = analog output (current-controlled)

configuration channel pair 5/6 *)
0 = OFF
2 = binary output
4 = analog output (PWM)
5 = analog output (current-controlled)

configuration channel pair 7/8 *)
0 = OFF
2 = binary output
4 = analog output (PWM)
5 = analog output (current-controlled)

UK

2001 0

2002 0

2002 1

2002 2

2002 3

2002 4

PWM

Frequency

Actual Current

Values

Actual Current

Value

Channel 1/2

Actual Current

Value

Channel 3/4

Actual Current

Value

Channel 5/6

Actual Current

Value

Channel 7/8

Setting in Hz

u8, rw

u8, ro 0x04

u8, ro Current values in mA

u8, ro Current values in mA

u8, ro Current values in mA

u8, ro Current values in mA

0x64

(100 Hz)

Range = 20 Hz to 150 Hz
Values below 20 Hz or above 150 Hz are not
accepted� The existing value remains valid�

Number of the entries
= number of the measuring channels of current

13

Output Module CR2011

Index S-Idx Designation Type Default Description

20F0 0

20F1 0

Setting of the
Node ID

Setting of the
Node ID

u8, rw

u8, rw

0x20
(= 32)

0x20
(= 32)

The node ID used to access the output module in
the CANopen network�

The node ID used to access the output module in
the CANopen network�

A change is only accepted if the entries 20F0 and 20F1 contain the same changed value�
Values below 1 /above 127 are not accepted�
After setting of the node ID a reset must be made (switch off the module for a short time) so that the new
entries become valid�

Baud rate of the CAN network
0 = 1000 kBaud
1 = 500 kBaud
2 = 250 kBaud
3 = 125 kBaud
4 = 100 kBaud

20F2 0

Setting of the
Baud Rate

u8, rw 0x03

5 = 50 kBaud
6 = 20 kBaud
7 = 10 kBaud

20F3 0

Setting of the
Baud Rate

u8, rw 0x03 Baud rate of the CAN network (as before)

A change is only accepted if the entries 20F2 and 20F3 contain the same changed value� Values above 7
are not accepted�
After setting of the node ID a reset must be made (switch off the module for a short time) so that the new
entries become valid�

*) The combined output channels are always configured the same way�

Explanation of the abbreviations:
0x��� = hexadecimal value

0b��� = bit coded
0d��� = decimal value

str = string
rw = read-write
ro = read only
u8 = unsigned 8 bit
u16 = unsigned 16 bit
u32 = unsigned 32 bit

14

Output Module CR2011

11.2 Communication Profile Area; index 1000 to 1FFF

Index S-Idx Designation Type Default Description

1000 0 Device Type u32, ro 0xF0191 Profile 401; outputs, binary and analog

Bit-coded to profile 301, the following is
supported:

1001 0 Error Register u8, ro 0x00

1003 0

Pre-defined
Error field

u8, ro 0x04 An error list with 4 entries is supported�

0b 0000 0000 no error
0b 0000 0001 generic error
0b 0001 0000 communication error
0b 1000 0000 manufacturer specific

UK

1003 1 - 4 Error History u32, ro 0x00

1004 0

1004 1

1004 2

1005 0

1006 0

1008 0 Device Name str, ro CR2012

1009 0 HW version str, ro x�x Hardware version

100A 0 SW version str, ro x�x Software version

Number of
PDOs

Number of
synch� PDOs

Number of
asynch� PDOs

COB ID
synch objekt

Communic�
Cycle

u32, ro 0x20001 1 transmit PDO, 2 receive PDOs

u32, ro 0x20001 All PDOs can be transmitted synchronously�

u32, ro 0x20001 All PDOs can be transmitted asynchronously�

u32, rw 0x80000080

u32, rw 0x00000000

Error occured, coded according to the EMCY
list, the last error is in the sub-index 1�

- Module expects synch message (bit 31 = 1)

- Module generates no synch message (bit 30
= 0)

- 11-bit identifier system (bit 29 = 0)

- Identifier of the synch message

Max. time between 2 synch objects in μs.
Useful resolution = 1ms�

100B 0 Node ID u32, ro Only for information

Time in ms�
Within this time the output module expects a

100C 0 Guard Time u16, rw 0x0000

100D 0

100E 0

100F 0

Life Time
Factor

COB ID
Guarding

Number of
SDOs

u8, rw 0x00

u32, rw

0x00000700
+Node ID

"node guarding" of the network master� If the
value 0 is entered here, this function is not
supported�

If no "node guarding" is received for "guard
time" x "life time", the output module switches
the outputs off� The CANopen state is not
changed� The result from "guard time" x "life
time" must be between 0 and 65535�

CAN identifier of the node guard object

Not implemented, only the default SDO is
supported�

15

Output Module CR2011

Index S-Idx Designation Type Default Description

1010 0

1010 1

1011 0

1011 1

1014 0

1200 0 Server SDOs u8, ro 0x02 Number of the entries

1200 1

Number of
save options

"save all
parameters”

Number of
restore
options

"reset for all
parameters”

COB ID

Emergency

COB ID
Rec SDO

u8, ro 0x01 Number of the "save" options

u32, rw 0x02

u8, ro 0x01 Number of the "restore" options

u32, rw 0x01

u32, rw

u32, ro

0x40000080
+Node ID

0x600 +
Node ID

All parameters are automatically saved after a
change�

If the string "load" is entered here, the parame­ters are assigned to the factory default values
and are valid after the next reset�

- Output module does not react to external
EMCY message (bit 31 = 1)

- Output module generates EMCY message
(bit 30 = 1)

- 11-bit ID (bit 29 = 0)

- ID = 0x80 + node ID
CAN identifier can be changed by the user�

– SDO is valid (bit 31 = 0)
– CAN ID of the receive SDO

1200 2

1400 0

1400 1 COB ID u32, rw

1400 2 Trans Type u8, rw 0x01

1401 0

1401 1 COB ID u32, rw

1401 2 Trans Type u8, rw 0x01

COB ID
Trans SDO

Receive
PDO 1

Receive
PDO 2

u32, ro

u8, ro 0x02

u8, ro 0x02

0x580 +
Node ID

0x200 +
Node ID

0x300 +
Node ID

– SDO is valid (bit 31 = 0)
– CAN ID of the transmit SDO

Number of the entries receive PDO1
Binary outputs

- PDO is valid (bit 31 = 0)

- CAN ID of the 1st receive PDO

0 x 00 = synch acyclic
0x01���0xF0 = synch cyclic, number of the
synch objects between two accesses
0xFC / 0xFD = not implemented
0xFE = asynch manuf� specific event, outputs
are updated immediately
0xFF = asynch device profile event, outputs
are updated immediately

Number of the entries receive PDO2
Analog outputs

- PDO is valid (bit 31 = 0)

- CAN ID of the 2nd receive PDO

0x00 = synch acyclic
0x01���0xF0 = synch cylic,
outputs are only updated after "n" synch
objects
n = 0x01 (1) ��� 0xF0 (240)
0xFC / 0xFD not implemented
0xFE = asynch man� spec� event;
outputs are updated immediately
0xFF = asynch device profile event;
outputs are updated immediately

16

Index S-Idx Designation Type Default Description

Output Module CR2011

1600 0

1600 1

1601 0

1601 1

1601 2

Mapping Rec
PDO 1

Index in
the object
directory

Mapping Rec
PDO 2

Index in
the object
directory

Index in
the object
directory

u32, ro 0x01

u32, rw 0x6200 01

u32, ro 0x04

u32, r0 0x6410 01

u32, r0 0x6410 02

Number of the application objects linked with
the binary output PDO

6200 Sldx 01 contains 1 byte (binary outputs)
0b 0000 0001 = Out 1
0b 0000 0010 = Out 2
0b 0000 0100 = Out 3
0b 0000 1000 = Out 4
0b 0001 0000 = Out 5
0b 0010 0000 = Out 6
0b 0100 0000 = Out 7
0b 1000 0000 = Out 8

Number of the application objects linked with
the analog output PDO

6410 Sldx 01 contains the preset value of the
analog output channel 1 or 2� The value is in­terpreted as pulse/break ratio in ‰ or as preset
current value (depending on the configuration
of the index 2000)�

6410 Sldx 02 contains the preset value of the
analog output channel 3 or 4� The value is in­terpreted as pulse/break ratio in ‰ or as preset
current value (depending on the configuration
of the index 2000)�

UK

Index in

1601 3

1601 4

1800 0 Trans PDO 1 u8, ro 0x02

1800 1 COB ID u32, rw

1800 2 Trans Type u8, rw 0xFF

1A00 0

the object
directory

Index in
the object
directory

Mapping
Trans PDO 1

u32, r0 0x6410 03

u32, r0 0x6410 04

0x180 +
Node ID

u32, ro 0x04 Number of the linked application objects

6410 Sldx 03 contains the preset value of the
analog output channel 5 or 6� The value is in­terpreted as pulse/break ratio in ‰ or as preset
current value (depending on the configuration
of the index 2000)�

6410 Sldx 04 contains the preset value of the
analog output channel 7 or 8� The value is in­terpreted as pulse/break ratio in ‰ or as preset
current value (depending on the configuration
of the index 2000)�

Number of the entries transmit PDO1, (actual
current values)

- PDO is valid (bit 31 = 0)

- CAN ID of the 1st transmit PDO

0x00 = synch acyclic
0x01���0xF0 = synch cyclic, number of the
synch objects between two transmissions
0xFC / 0xFD = not implemented
0xFE / 0xFF = PDO is not transmitted

17

Output Module CR2011

Index S-Idx Designation Type Default Description

Index in

1A00 1

Explanation of the abbreviations:
0x��� = hexadecimal value

0b��� = bit coded
0d��� = decimal value

the object
directory

12 Fault correction

12.1 EMCY Object

u32, rw

0x2002 01

0x2002 02

0x2002 03

0x2002 04

str = string
rw = read-write
ro = read only
u8 = unsigned 8 bit
u16 = unsigned 16 bit
u32 = unsigned 32 bit

Idx 2002 01 contains the actual current value
channel 1/2
Idx 2002 02 contains the actual current value
channel 3/4
Idx 2002 03 contains the actual current value
channel 5/6
Idx 2002 04 contains the actual current value
channel 7/8

The following error codes to DSP-401 and DSP-301 are supported:

EMCY Code Error Reg

0x5000 0x81 0x00 One channel or several channels not calibrated

0x6100 0x11 0x00

0x6101 0x11 0x00

0x8100 0x11 0x00

0x8200 0x11 0x00

Additional
code

Description

"Internal software":

- Overflow of a Rx queue, e�g� frequency of the RxPDOs is
too high, only external reset via an entry in 1003 00

"Internal software"

- Overflow of a Tx queue, e�g� device does not communicate
with the bus, only external reset via an entry in 1003 00

"Monitoring" (guarding error)

- For the "guard time" x "life time factor" no guard object is
received
Reset after node is active again

"Monitoring " (synch error)

- For "communication cycle" no synch object is received
Only in OPERATIONAL
Reset with the next synch OBJ or PREOP

18

Output Module CR2011

EMCY Code Error Reg

0xFF00 0x81 bit coded

Additional
code

Description

""Device Specific"

- The output current could not be achieved because the load
resistor is too high/small
0000 0001 channel pair 1, 2 load resistor is too high
0000 0010 channel pair 3, 4 load resistor is too high
0000 0100 channel pair 5, 6 load resistor is too high
0000 1000 channel pair 7, 8 load resistor is too high

0001 0000 channel pair 1, 2 load resistor is too small
0010 0000 channel pair 3, 4 load resistor is too small
0100 0000 channel pair 5, 6 load resistor is too small
1000 0000 channel pair 7, 8 load resistor is too small

Only the first error of an error group is indicated�

If there is for example an error "load resistor is too high" on channel pair 1/2 and
then on channel pair 3/4, only the error which occured first is signalled�

CANopen does not allow to send two identical EMCY objects one after the other�

UK

13 Maintenance, repair and disposal

As the input/output module does not contain any components which must be
maintained by the user, the housing must not be opened� The maintenance of the
module may only be carried out by the manufacturer�

The disposal must be carried out according to the corresponding national environ­mental regulations�

14 Declaration of conformity

The CE Declaration of Conformity is available at: www�ifm�com

15 Terms and abbreviations

0b ��� binary value (for bit coding), e�g� 0b0001 0000
0d ��� decimal value, e�g� 0d100
0x ��� hexadecimal value, e�g� 0x64 (= 100 decimal)
Baudrate transmission speed (1 baud = 1 bit/s)
CAL CAN Application Layer

CAN-based network protocol on application level
CAN Controller Area Network (bus system for use in mobile applications)
CAN_H CAN-High; CAN connection /cable with high voltage level
CAN_L CAN-Low; CAN connection /cable with low voltage level
CANopen CAN-based network protocol on application level with an open configuration

interface (object directory)

19

Output Module CR2011

CiA "CAN in Automation e�V�"

(user and manufacturer organisation in Germany /Erlangen)

Definition and control body for CAN and CAN-based network protocols
CiA DS Draft Standard (published CiA specification which usually has not been modified or supple-

mented for one year)
CiA DSP Draft Standard Proposal (published CiA specification draft)
CiA WD Work Draft (work draft accepted for discussion within CiA)
CiA DS 301 Specification for CANopen communication profile; describes the basic communication bet-

ween network participants, such as the transfer of process data in real time, the exchange

of data between units or the configuration stage� Depending on the application this is

completed by the following CiA specifications:
CiA DS 401 Device profile for digital and analog I/O modules
CiA DS 402 Device profile for drives
CiA DS 403 Device profile for HMI
CiA DS 404 Device profile for measurement and control technology
CiA DS 405 Specification for interfaces to programmable systems (IEC 1131)
CiA DS 406 Device profile for encoders
CiA DS 407 Application profile for local public transport
COB CANopen Communication Object (PDO, SDO, EMCY, ���)
COB ID CANopen Identifier of a Communication Object
Communication

the synchronisation time to be monitored, max� time between 2 Sync objects
cycle

EMCY Object Emergency Object (alarm message, device indicates an error)
Error Reg Error Register (entry with an error code)
Guarding Error Node or network participant could or can no longer be found

Guard Master: one or several slaves no longer reply

Guard Slave: no polling of the slave
Guard Time During this time the network participant expects a "Node Guarding" of the network master
Heartbeat Cyclic monitoring with parameter setting among network participants�

In contrast to "node guarding" no superior NMT master is required�
ID

(Identifier)

identifies a CAN message� The numerical value of the ID also contains a priority for the

access to the bus system

ID 0 = top priority
Idx index; together with the S index it forms the address of an entry in the object directory
Life Time Factor number of attempts in case of a missing Guarding reply
Monitoring is used to describe the error class (guarding monitoring, synch etc�)
NMT network management
NMT Master/

The NMT master controls the operating states of the NMT slaves
Slaves

Node Guarding adjustable cyclic monitoring of slave network participants by a higher master node as well

as the monitoring of this polling process by the slave participants
Node ID node identifier (identification of a participant in the CANopen network)
Object (OBJ) term for data/messages which can be exchanged in the CANopen network
Object directory contains all CANopen communication parameters of a device as well as device-specific

parameters and data

Access to the individual entries is possible via the index and S index�
Operational Operating state of a CANopen participant

In this mode SDOs, NMT commands and PDOs can be transferred�

20

Output Module CR2011

PDO Process Data Object; in the CANopen network for transfer of process data in real time;

such as the speed of a motor PDOs have a higher priority than SDOs; in contrast to the

SDOs they are transferred without confirmation� PDOs consist of a CAN message with

identifier and up to 8 bytes of user data�
PDO Mapping describes the application data transferred with a PDO�
Pre-Op Preoperational; operating state of a CANopen participant� After application

of the supply voltage each participant automatically goes into this state�

In the CANopen network only SDOs and NMT commands can be transferred

in this mode but no process data�
Prepared (also stopped) operating state of a CANopen participant

In this mode only NMT commands are transferred�
Rec PDO

(Rx PDO)
ro read only (unidirectional)
rw read-write (bidirectional)
RX-Queue reception buffer
s16 data type signed 16 bit
SDO Service Data Object;

Server SDO process and parameter set to make the object directory of a network participant

S-Idx
(SIdx)

Start Guarding start node guarding

str data type string (variable for strings such as text "load")
Sync Error missing Sync OBJ in the adjustable communication cycle
Sync OBJ synchronisation object for simultaneous update in the complete network or

Sync Windows time during which the synchronous PDOs have to be transferred
Time Stamp time stamp to align existing clocks in network participants
Trans Type type of process data transmission; synchronous, asynchronous
Trans PDO

(Tx PDO)
Trans SDO

(Tx SDO)
Tx-Queue transmit service data object
u8 (16, 32) data type unsigned 8 (16, 32) bits
wo write only

Receive Process Data Object

With this object direct access to the object directory of a network participant is possible

(read/write)� An SDO can consist of several CAN messages�

The transfer of the individual messages is confirmed by the addressed participant�

With the SDOs devices can be configured and parameters can be set�

available to other participants (clients)�

Subindex within the object directory of a CANopen device

for accepting process data of the respective parameterised PDOs�

transmit process data object

transmit service data object

UK

21