IFM Electronic CR2012 Device Manual

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Page 1

Device manual

CabinetModule

Input/output module

CR2012

80269926 / 00 01 / 2018

Page 2

CabinetModule CR2012

Contents

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

1�1 Symbols used� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 3

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

3 Functions and features � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4

3�1 CAN communication� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4

4 Mounting� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5

4�1 Mounting location � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5 4�2 Fixing � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6 4�3 Cooling � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6

5 Electrical connection� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7

5�1 Connectors � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7 5�2 Fuses � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7

6 Set-up � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8

6�1 PLC configuration in CODESYS 2�3 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8 6�2 PLC configuration in CODESYS 3�5 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9

6�2�1 Heartbeat configuration � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9 6�2�2 SyncMonitoring � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10

6�3 Electronic Data Sheet� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10

7 Parameter setting � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11

7�1 Automatic saving � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11 7�2 Restoring the factory setting� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11 7�3 Communication profiles; Idx 1000 to 1FFF � � � � � � � � � � � � � � � � � � � � � � � 12 7�4 Manufacturer-specific profiles; Idx 2000 to 6FFF � � � � � � � � � � � � � � � � � � � 13 7�5 EMCY objects� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 14 7�6 Boot-up message � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 14

8 Technical data� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 15

8�1 Dimensions, mechanics, electronics � � � � � � � � � � � � � � � � � � � � � � � � � � � � 15 8�2 Connecting, operating and display elements � � � � � � � � � � � � � � � � � � � � � � 16 8�3 Characteristics of the inputs/outputs, test standards and regulations � � � 17 8�4 Wiring � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 18

9 Maintenance, repair and disposal� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 19

10 Approvals/standards � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 19

11 Anhang / Appendix Objektverzeichnis / Object directory� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 20

11�1 Communication profiles; Idx 1000 to 1FFF� � � � � � � � � � � � � � � � � � � � � � � 20 11�2 Manufacturer-specific profiles; Idx 2000 to 6FFF � � � � � � � � � � � � � � � � � � 25

This device manual applies to devices as from the production status CR2012AH

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CabinetModule CR2012

1 Preliminary note

Technische Daten, Zulassungen, Zubehör und weitere Informationen unter www�ifm�com�

1.1 Symbols used

► Instruction > Reaction, result […] Designation of keys, buttons or indications → Cross-reference

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

Information Supplementary note

WARNING

Warning of serious personal injury� Death or serious irreversible injuries may result�

CAUTION

Warning of personal injury� Slight reversible injuries may result�

NOTE

Warning of damage to property�

2 Safety instructions

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

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

The instructions are for authorised persons according to the EMC and low voltage guidelines� The unit must be installed and commissioned by a skilled electrician (programmer or service technician)� 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�

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CabinetModule CR2012

If the unit is not supplied by the mobile on-board system (12/24 V battery operation) it must be ensured that the external voltage is generated and supplied according to the criteria for safety extra-low voltage (SELV) as this is supplied without further measures to the connected controller, the sensors, and the actuators�

The wiring of all signals in connection with the SELV circuit of the unit must also comply with the SELV criteria (safe extra-low voltage, safe electrical separation from other electric circuits)�

If the supplied SELV voltage has an external connection to ground (SELV becomes PELV) the responsibility lies with the user and the respective national regulations for installation must be complied with� All statements in these operating instructions refer to the unit the SELV voltage of which is not grounded�

The terminals may only be supplied with the signals indicated in the technical data or on the unit label and only the approved accessories of ifm electronic gmbh may be connected�

The unit can be operated within a wide temperature range according to the technical specification indicated below� Due to the additional self-heating the housing walls can have high perceptible temperatures when touched in hot environments�

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

3 Functions and features

The device enables decentralised evaluation of sensor signals and decentralised triggering of actuators and proportional valves�

WARNING

The device is not approved for safety tasks with respect to the protection of persons�

3.1 CAN communication

● The device supports binary/analogue inputs/outputs and is therefore classified in the device class “I/O module” to CiA DS 401�

● As regards the input/output functions, the device can be configured and it sup- ports the following functions:

– analogue inputs – binary inputs – binary outputs – PWM outputs

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CabinetModule CR2012

● There are 1 server SDO and 4 default PDOs according to CiA DS 401�The PDO mapping can be changed (dynamic 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 device expects a synch object� The CAN identifier of the synch object can be configured�

● The device supports “node guarding” and “heartbeat”� The “guard time”, the “life time factor” and the “heartbeat time” can be configured�

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

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

● The device supports a reset function, i�e� the assignment of the parameters to the factory default settings on request� Factory default settings (→ 7.3 Communication profiles; Idx 1000 to 1FFF) and

(→ 7.4 Manufacturer-specific profiles; Idx 2000 to 6FFF)

4 Mounting

4.1 Mounting location

► The device is to be mounted in a dry and enclosed environment (e�g� control

panel of the driver‘s cab, separate control boxes, etc�)�

ATTENTION

The housing must not be exposed to any torsion forces or mechanical stress�

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CabinetModule CR2012

4.2 Fixing

► Fix the device using 2 M4 x L screws via transversely arranged bore holes�

Tighten the screws alternately crosswise�

– Tightening torque: 1�5 Nm – Mounting position: as required – Hole dimensions: (→ 8.1 Dimensions, mechanics, electronics)

4.3 Cooling

► As the internal heating of the electronics is conducted away via the housing,

ensure sufficient heat dissipation�

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CabinetModule CR2012



















5 Electrical connection

5.1 Connectors

The supply cables and inputs/outputs are connected via AMP crimp connectors on the front of the device�

Pin connection (→ 8.4 Wiring)

You can find more information about the available connector accessories at: www�ifm�com → Data sheet direct → CR2012 → Accessories

5.2 Fuses

► To protect the whole system (wiring and device) the individual electric circuits

must be protected with max� 8 A�

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CabinetModule CR2012

6 Set-up

6.1 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�

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�

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CabinetModule CR2012

6.2 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�

6.2.1 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�

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CabinetModule CR2012

6.2.2 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].

6.3 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�

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CabinetModule CR2012

7 Parameter setting

7.1 Automatic saving

Automatic saving of the communication and device parameters can be activated or deactivated by means of the “save parameter” entry (object directory, index 1010, S-Idx 01)�

● Value 0x00: There is no automatic saving� Changed parameters are only valid until the device is switched off or until the next reset�

● Value 0x01: Changed parameters will be saved if the string “save” is written in S-Idx 01� Otherwise changed parameters are only valid until the device is switched off or until the next reset�

● Value 0x02: Changed parameters are saved automatically�

7.2 Restoring the factory setting

With the function “restore” (object directory, index 1011, subindex 01) the factory default values can be restored (except for the baud rate and the node ID)� They become valid with the next power on�

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CabinetModule CR2012

7.3 Communication profiles; Idx 1000 to 1FFF

Parameters Index in

object directory

COB ID Synch Object 1005 00 0x80 adjustable after PreOp

Communication Cycle 1006 00 0x00 (Off) adjustable immediately

Guard Time 100C 00 0x00 (Off) adjustable immediately

Life Time Factor 100D 00 0x00 adjustable immediately

Save Parameter 1010 01 0x02 (AutoSave ON) yes immediately

COB-ID EMCY 1014 00 0x80 + node ID adjustable after a reset

Consumer Heartbeat Time 1016 01 0x00 (Off) adjustable immediately

Producer Heartbeat Time 1017 00 0x00 (Off) adjustable immediately

COB-ID Rx PDO 1 1400 01 0x200 + node ID adjustable after PreOp

Trans Type Rx PDO 1 1400 02 0x01 (synchronous) adjustable immediately

COB-ID Rx PDO 2 1401 01 0x300 + node ID adjustable after PreOp

Trans Type Rx PDO 2 1401 02 0x01 (synchronous) adjustable immediately

COB-ID Tx PDO 1 1800 01 0x180 + node ID adjustable after PreOp

Default value (factory preset)

Change saved automatically

Change effective

Trans Type Tx PDO 1 1800 02 0xFF (asynchronous) adjustable immediately

Inhibit Timer Tx PDO 1 1800 03 0x0000 adjustable immediately

Event Timer Tx PDO 1 1800 05 0x00 adjustable immediately

COB-ID Tx PDO 2 1801 01 0x280 + node ID adjustable after PreOp

Trans Type Tx PDO 2 1801 02 0x01 (synchronous) adjustable immediately

Inhibit Timer Tx PDO 2 1801 03 0x0000 adjustable immediately

Event Timer Tx PDO 2 1801 05 0x00 adjustable immediately

The life time factor 0 is interpreted as 1�The first guard protocol is interpreted as "start guarding” even if guarding is not yet active at that time (guard time = 0)�

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7.4 Manufacturer-specific profiles; Idx 2000 to 6FFF

CabinetModule CR2012

Parameters Index in object

7.5 EMCY objects

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

EMCY code Error reg Additional

code

0x6100 0x11 0x00 "Internal Software":

0x6101 0x11 0x00 "Internal Software":

0x8100 0x11 0x00 "Monitoring" (guarding error)

0x8120 0x11 0x00 "Communication" (CAN error passive)

0x8200 0x11 0x00 "Monitoring" (synch error)

Description

overflow of an Rx queue; e�g� frequency of the Rx PDOs too high only external reset via an entry in 1003 00

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

no guard object is received for "guard time" x "life time factor" reset with the next communication

CAN controller has passed into the CAN error passive state

for "communication cycle" no synch object is received; only in OPERATIONAL reset with the next synch OBJ or PREOP

7.6 Boot-up message

The module sends a boot-up message after application of the supply voltage or after a reset, to inform a CANopen master in the network about its presence or a restart� To ensure the compatibility with older device versions, a boot-up message is sent in accordance with CANopen specifications DS-301 V3 and V4�

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8 Technical data

Control systems

8.1 Dimensions, mechanics, electronics

CabinetModule CR2012

CR2012

CabinetModule

I/O module

digital and analogue

163

18 LED

±1

for R 360 system

16 inputs/outputs

42,3

CANopen interface

10...32 V DC

Application Connection of operating and display elements to CAN bus

to be installed in driver’s cabs, control panels or control boxes

Structure PCB without housing

Dimensions (l xwxh) 163 x 63 x 29±1mm

Installation via 2 transversely arranged bore holes

Protection IP00 (PCB without housing), to EN60529

4,5

(for mechanical protection potted in a potting tub)

142,3

Possible I/O-configurations 8 digital inputs (also see wiring) 4 digital/analogue inputs (to be configured via CANopen)

2 digital inputs/outputs, analogue outputs (to be configured via CANopen)

Inputs, digital for positive-switching sensor signals, switches or pushbuttons

Inputs, analogue • ratiometric, query of potentiometric signal transmitters (e.g. joystick) (to be configured via CANopen) • absolute, conversion of input voltage (0...10 V) in 8-bit value

Outputs for triggering pilot lights etc.

Connections AMP crimp connector, to be clipped into place and thus vibration-resistant,

Inputs/outputs 2 plugs, 18 poles Operating voltage and CAN bus 1 plug, 6 poles

Operating voltage U

Current consumption ≤ 100 mA, without load (external fuse with max. 5 A)

Operating/storage temperature -40...+85°C / -40...+85°C

Controller 16 bits Fujitsu MB90F543

Interface CAN interface 2.0 B, ISO 11898

Baud rate 20 Kbits/s...1 Mbit/s (default setting 125 Kbits/s)

Controller 16 bits Fujitsu MB90F543

Communication profile CANopen, CiA DS 301 version 4, CiA DS 401 version 2.1

Programming system from CoDeSys 2.3 via EDS

Node ID (default) hex 20 (= dec 32)

Status LED CANopen: 2 LEDs (green, red)

Accessories Order no. EC2053 (to be ordered separately) Plug set for CabinetModules, wirable, consisting of:

adjustable via rotary switch (1...14) or CANopen object directory (1...127)

2 digital inputs/outputs (to be configured via CANopen)

protected against reverse polarity

10...32 V DC

adjustable via rotary switches or CANopen object directory

Inputs/outputs: 16 LEDs (yellow)

AMP crimp housing, 1 x 6 poles, 2x18 poles

incl. crimp contacts (Junior Power Timer)

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CabinetModule CR2012

Control systems

8.2 Connecting, operating and display elements

CR2012 Technical data

Operating and indicating elements Connector



Rotary switch



hex-coded





Baud rate









Node ID



AMP Crimp connector



Hex-code switch coding

Operating states (LEDs)

Switch Position Description

S1 0 1000 Kbits/s

Baud rate 1 800 kBits/s

2 500 Kbit/s 3 250 Kbit/s 4 125 Kbit/s 5 100 Kbit/s 6 50 Kbit/s 7 20 Kbit/s

8...E not defined F adjustment via object directory (default)

S2 0 not defined

Node-ID 1...E 1...14

F adjustment via object directory (default)

LED State Description

PWR (green) OFF no supply voltage

ON module in stand-by mode

CANopen status: PREOPERATIONAL / PREPARED outputs = OFF

1 x ON module in stop mode

CANopen status: STOP outputs = OFF

2.5 Hz module active CANopen status: OPERATIONAL outputs are updated

DIA (red) OFF communication OK

ON communication disturbed, CAN bus OFF

1 x ON communication disturbed:

• CAN error warning level exceeded

2 x ON • node guard / heartbeat error

(if node guarding / heartbeat is activated)

3 x ON • no synch objects

(if synch monitoring is activated)

IN (yellow) OFF input not switched

ON input switched

OUT (yellow) OFF binary output not switched (OFF)

analogue output: PWM preset value < 1% measuring range

ON binary output switched (ON)

analogue output: PWM preset value > 2% measuring range

•

ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen

25.04.2013We reserve the right to make technical alterations without prior notice! CR2012 / page 2

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CabinetModule CR2012

Control systems

8.3 Characteristics of the inputs/outputs, test standards and regulations

CR2012 Characteristics of the inputs / outputs

Inputs

Channels 1...4, channels 9...12 • 8 inputs for positive sensor signals

Channels 7...8, channels 15...16 • 4 inputs for positive sensor signals

Channels 5...6, channels 13...14 • 4 inputs, to be configured via CANopen:

Outputs

Channels 7, 15 • 2 positive-switching outputs; short-circuit and overload protected;

Channels 8, 16 • 2 PWM outputs (high side), variable frequency

For each input the pins +UBand Bin INx are available

Can be used as an alternative to the 4 outputs. For input and output one pin is available (double configuration). The inputs can be used to read back the output signals.

Current consumption I

= 4 mA (for UB= 10 V)

= 17 mA (for UB= 30 V)

Switching threshholds HIGH = 8 V LOW = 2.5 V Switching frequency 25 Hz max. (for ti = tp)

for ratiometric measurement for potentiometric transducers (e.g. joystick) For each input the pins +U

, Ana INx and GND are available

Input resistance typ. 50 kΩ Resolution based on 1/2 supply voltage U

= ± 200 steps (for UB= 12 V), ± 400 steps (for UB= 24 V)

for absolute value measurement 0...10 V For each input the pins Ana INx and GND are available Input resistance typ. 50 kΩ Resolution 8 bits Accuracy typ. ± 2 LSB

as binary inputs For each input the pins +U

and Bin INx are available

Input resistance typ. 50 kΩ Switching threshhold at 1/2 supply voltage U

the supply voltage U

is switched without additional fuse.

The output states can be read back (see inputs). For each input the pins Bin OUTx and GND are available.

When inductive loads are switched, free-wheeling diodes must be connected in parallel with the load! Switching current max. 500 mA

PWM frequency 20...250 Hz Pulse duty factor 0...1000 ‰ Resolution 1 ‰ Switching current max. 500 mA

Test standards and regulations

Immunity to to ISO 7637-2, pulses 2a, 3a, 3b, 4, severity level 4, function state A conducted interference to ISO 7637-2, pulse 5, severity level 3, function state A

to ISO 7637-2, pulse 1, 2b, severity level 4, function state C

Immunity to interfering fields to UN/ECE-R10 at 100V/m (E1 type approval)

and EN 61000-6-2: 2005 (CE)

Interference emission to UN/ECE-R10 (E1 type approval)

and EN 61000-6-3: 2007 (CE)

Tests for railway applications EN 50155 clause 12.2 mechanical/climatic tests

EN 50121-3-2 EMC noise emission and noise immunity

additional information on request

ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen

25.04.2013We reserve the right to make technical alterations without prior notice! CR2012 / page 3

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CabinetModule CR2012

Control systems



8.4 Wiring

CR2012 Wiring

View of the unit



Wiring



















Plug X1

Pin Potential Inputs Outputs

1 channel 1 Bin IN 1 – – – 2 +U

3 channel 2 Bin IN 2 – – – 4 +U

5 channel 3 Bin IN 3 – – – 6 +U

7 channel 4 Bin IN 4 – – – 8 +U 9 +U

10 +U

11 channel 5 Bin IN 5 Ana IN 5 – – 12 channel 6 Bin IN 6 Ana IN 6 – – 13 GND 14 GND 15 channel 7 Bin IN 7 – Bin OUT 7 16 GND 17 channel 8 Bin IN 8 – Bin OUT 8 PWM 8 18 GND

Plug X2

1 channel 9 Bin IN 9 – – – 2 +U

3 channel 10 Bin IN 10 – – – 4 +U

5 channel 11 Bin IN 11 – – – 6 +U

7 channel 12 Bin IN 12 – – – 8 +U 9 +U

10 +U

11 channel 13 Bin IN 13 Ana IN 13 – – 12 channel 14 Bin IN 14 Ana IN 14 – – 13 GND 14 GND 15 channel 15 Bin IN 15 – Bin OUT 15 16 GND 17 channel 16 Bin IN 16 – Bin OUT 16 PWM 16 18 GND

Plug X3

1 +U

2 GND 3 +U

4 GND 5 CAN_L 6 CAN_H

ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen

25.04.2013We reserve the right to make technical alterations without prior notice! CR2012 / page 4

Page 19

CabinetModule CR2012

9 Maintenance, repair and disposal

► Do not open the housing, as the device does not contain any components

which must be maintained by the user� The device must only be repaired by the manufacturer�

► Dispose of the device in accordance with the national environmental regula-

tions�

10 Approvals/standards

Test standards and regulations (→ 8 Technical data)

The CE Declaration of Conformity and the E1 approval are available at: www�ifm�com → Data sheet direct → CR2012 → Approvals

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CabinetModule CR2012

11 Anhang / Appendix Objektverzeichnis / Object directory

11.1 Communication profiles; Idx 1000 to 1FFF

Index S-Idx Name Type Default Description

1000 0 device type ro u32 0x000F0191 I/O-module profile DS401

digital/analogue inputs/outputs

1001 0 error register ro u8 0x00

1003 0 pre-definded error field rw u8 0x00 up to 4 entries in error history

supported error history can be deleted by writing '0' to this entry

1 error history ro u32 0x00000000

2 error history ro u32 0x00000000

3 error history ro u32 0x00000000

4 error history ro u32 0x00000000

1005 0 COB ID SYNC rw u32 0x00000080

1006 0 communication cycle

period

1008 0 device name ro str CR2012

1009 0 HW Version ro str HW Vx�x

100A 0 SW Version ro str SW Vx�x

100C 0 guard time rw u16 0x0000 time in ms

100D 0 life time factor rw u8 0x00 if no "node guarding" is received

rw u32 0x00000000 max� time between 2 synch

objects in µs; useful resolution = 1 ms

within this time the module expects a "node guarding" of the network master 0 = node guarding deactivated

for "guard time" x "life time", the module generates an EMCY the result form "guard time" x "life time" must be between 0 and 65535

1010 0 number of save

options

1 save parameter rw u32 0x00000002 0x00000000 = no save

1011 0 number of restore

options

1 restore default

parameter

ro u8 0x01

0x00000001 = saving all parameters after the string 'save' is written to this entry 0x00000002 = auto save

ro u8 0x01

rw u32 0x00000001 restore all parameters to default

value after next reset if the string 'load' is written to this entry

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CabinetModule CR2012

Index S-Idx Name Type Default Description

1014 0 COB ID EMCY rw u32 0x40000080

+ NodeID

1016 0 number of monitored

devices

1 consumer heartbeat

time

1017 0 producer heartbeat

time

1018 0 number of identity

objects

1 vendor ID ro u32 0x0069666D

1400 0 highest numbered

subindex Receive PDO 1

ro u8 0x01

rw u32 0x00000000 heartbeat monitoring time for

rw u16 0x0000 time interval [ms] where the

ro u8 0x04

ro u8 0x02

module generates EMCY messages (bit 30 = 1)

node n monitoring of only one node is supported 0x0nntttt = monitoring time [ms] 0x0nntttt = node number (if nn or tttt = 0, no monitoring is carried out)

module generates a producer heartbeat

1 COB ID Receive

PDO 1

2 transmission type Rec

PDO 1

1401 0 highest numbered

subindex Receive PDO 2

1 COB ID Receive

PDO 2

2 transmission type Rec

PDO 2

1600 0 number of application

objects linked with Rec PDO 1

1 1st mapping object

Rec PDO 1

2 2nd mapping object

Rec PDO 1

rw u32 0x00000200

+ NodeID

rw u8 0x01 0x01��0xF0 = synch cyclic

ro u8 0x02

rw u32 0x00000300

+ NodeID

rw u8 0x01 0x01��0xF0 = synch cyclic

rw u8 0x01

rw u32 0x08010062 index 6200, subindex 1, 8 bits

rw u32 0x00000000 no object

PDO is valid (bit 31 = 0)

0xFE��0xFF = asynch (immediately)

PDO is valid (bit 31 = 0)

0xFE��0xFF = asynch (immediately)

3 3rd mapping object

Rec PDO 1

4 4th mapping object

Rec PDO 1

rw u32 0x00000000 no object

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CabinetModule CR2012

Index S-Idx Name Type Default Description

5 5th mapping object

Rec PDO 1

6 6th mapping object

Rec PDO 1

7 7th mapping object

Rec PDO 1

8 8th mapping object

Rec PDO 1

1601 0 number of application

objects linked with Rec PDO 2

1 1st mapping object

Rec PDO 2

2 2nd mapping object

Rec PDO 2

3 3rd mapping object

Rec PDO 2

4 4th mapping object

Rec PDO 2

rw u32 0x00000000 no object

rw u8 0x02

rw u32 0x10011464 index 6414 subindex 1, 16 bits

rw u32 0x10021464 index 6414 subindex 2, 16 bits

rw u32 0x00000000 no object

5 5th mapping object

Rec PDO 2

6 6th mapping object

Rec PDO 2

7 7th mapping object

Rec PDO 2

8 8th mapping object

Rec PDO 2

1800 0 highest numbered

subindex Transmit PDO 1

1 COB ID Transmit

PDO 1

2 transmission type

Trans PDO 1

3 inhibit timer Trans

PDO 1

5 event timer Trans

PDO 1

rw u32 0x00000000 no object

ro u8 0x05

rw u32 0x00000180

+ NodeID

rw u8 0xFF 0x01��0xF0 = synch cyclic

rw u16 0x0000 min� interval for transmission (in

rw u16 0x0000 max transfer break in trans type

PDO is valid (bit 31 = 0)

0xFE��0xFF = asynch (immediately)

100 µs)

"asynch" (0��65535 ms) when this time has elapsed the PDO is transferred even if the appl� event has not occurred

1801 0 highest numbered

subindex Transmit PDO 2

ro u8 0x05

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CabinetModule CR2012

Index S-Idx Name Type Default Description

1 COB ID Transmit

PDO 2

2 transmission type

Trans PDO 2

3 inhibit timer Trans

PDO 2

5 event timer Trans

PDO 2

1A00 0 number of application

objects linked with Trans PDO 1

1 1st mapping object

Trans PDO 1

2 2nd mapping object

Trans PDO 1

3 3rd mapping object

Trans PDO 1

rw u32 0x00000280

+ NodeID

rw u8 0x01 0x01��0xF0 = synch cyclic

rw u16 0x0000 min� interval for transmission (in

rw u16 0x0000 max transfer break in trans type

rw u8 0x01

rw u32 0x10010061 index 6100, subindex 1, 16 bits

rw u32 0x00000000 no object

PDO is valid (bit 31 = 0)

0xFE��0xFF = asynch (immediately)

100 µs)

"asynch" (0��65535 ms) when this time has elapsed the PDO is transferred even if the appl� event has not occurred

4 4th mapping object

Trans PDO 1

5 5th mapping object

Trans PDO 1

6 6th mapping object

Trans PDO 1

7 7th mapping object

Trans PDO 1

8 8th mapping object

Trans PDO 1

1A01 0 number of application

objects linked with Trans PDO 2

1 1st mapping object

Trans PDO 2

2 2nd mapping object

Trans PDO 2

3 3rd mapping object

Trans PDO 2

rw u32 0x00000000 no object

rw u8 0x04

rw u32 0x10010164 index 6401, subindex 1, 16 bits

rw u32 0x10020164 index 6401, subindex 2, 16 bits

rw u32 0x10030164 index 6401, subindex 3, 16 bits

4 4th mapping object

Trans PDO 2

5 5th mapping object

Trans PDO 2

rw u32 0x10040164 index 6401, subindex 4, 16 bits

rw u32 0x00000000 no object

Page 24

CabinetModule CR2012

Index S-Idx Name Type Default Description

6 6th mapping object

Trans PDO 2

7 7th mapping object

Trans PDO 2

8 8th mapping object

Trans PDO 2

rw u32 0x00000000 no object

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CabinetModule CR2012

11.2 Manufacturer-specific profiles; Idx 2000 to 6FFF

Index S-Idx Name Type Default Description

2000 0 number of IOs ro u8 0x10

1 configuration channel 1rw u8 0x01 0x00 = off

0x01 = binary input

2 configuration channel 2rw u8 0x01 0x00 = off

0x01 = binary input

3 configuration channel 3rw u8 0x01 0x00 = off

0x01 = binary input

4 configuration channel 4rw u8 0x01 0x00 = off

0x01 = binary input

5 configuration channel 5rw u8 0x03 0x00 = off

0x01 = binary input 0x03 = analog input absolute (voltage 0��10 V; 0x00��0xFF) 0x06 = analog input ratiometric

6 configuration channel 6rw u8 0x03 0x00 = off

0x01 = binary input 0x03 = analog input absolute (voltage 0��10 V; 0x00��0xFF) 0x06 = analog input ratiometric

7 configuration channel 7rw u8 0x02 0x00 = off

0x01 = binary input 0x02 = binary output + read back input

8 configuration channel 8rw u8 0x02 0x00 = off

0x01 = binary input 0x02 = binary output + read back input 0x04 = analogue output (PWM 20��250 Hz)

9 configuration channel 9rw u8 0x01 0x00 = off

0x01 = binary input

A configuration channel 10rw u8 0x01 0x00 = off

0x01 = binary input

B configuration channel 11rw u8 0x01 0x00 = off

0x01 = binary input

C configuration channel 12rw u8 0x01 0x00 = off

0x01 = binary input

D configuration channel 13rw u8 0x03 0x00 = off

0x01 = binary input 0x03 = analog input absolute (voltage 0��10 V; 0x00��0xFF) 0x06 = analog input ratiometric

Page 26

CabinetModule CR2012

Index S-Idx Name Type Default Description

E configuration channel 14rw u8 0x03 0x00 = off

0x01 = binary input 0x03 = analog input absolute (voltage 0��10 V; 0x00��0xFF) 0x06 = analog input ratiometric

F configuration channel 15rw u8 0x02 0x00 = off

0x01 = binary input 0x02 = binary output + read back input

10 configuration channel 16rw u8 0x02 0x00 = off

0x01 = binary input 0x02 = binary output + read back input 0x04 = analogue output (PWM 20��250 Hz)

2001 0 PWM frequency rw u8 0x64 20��250 Hz

PWM frequency for channel 8 and 16

20F0 0 CANopen node ID rw u8 0x20 1��127

20F1 0 CANopen node ID rw u8 0x20 The entries 20F0/20F1 must

always contain identical values� The new entries are valid after a reset (switching the module off/on)� Values outside the permissible ranges will be rejected�

20F2 0 CAN baud rate rw u8 0x03 0 = 1000 Kbaud

1 = 500 Kbaud 2 = 250 Kbaud 3 = 125 Kbaud 4 = 100 Kbaud 5 = 50 Kbaud 6 = 20 Kbaud

20F3 0 CAN baud rate rw u8 0x03 The entries 20F2/20F3 must

always contain identical values� The new entries are valid after a reset (switching the module off/on)� Values outside the permissible ranges will be rejected�

20F4 0 auto start rw u16 0x00 Time after reaching

Preoperational State to change to Operational State� 0��5000 ms 0 = auto start deactivated

2500 0 number of 8bit user

variables

ro u8 0x0A Idx 2500��2530 = range which

can be freely used for customerspecific entries

1 8bit user variable 1 rw u8

2 8bit user variable 2 rw u8

Page 27

CabinetModule CR2012

Index S-Idx Name Type Default Description

3 8bit user variable 3 rw u8

4 8bit user variable 4 rw u8

5 8bit user variable 5 rw u8

6 8bit user variable 6 rw u8

7 8bit user variable 7 rw u8

8 8bit user variable 8 rw u8

9 8bit user variable 9 rw u8

A 8bit user variable 10 rw u8

2510 0 number of 16bit user

variables

1 16bit user variable 1 rw u16

2 16bit user variable 2 rw u16

3 16bit user variable 3 rw u16

4 16bit user variable 4 rw u16

5 16bit user variable 5 rw u16

6 16bit user variable 6 rw u16

7 16bit user variable 7 rw u16

8 16bit user variable 8 rw u16

9 16bit user variable 9 rw u16

A 16bit user variable 10 rw u16

2520 0 number of 32bit user

variables

ro u8 0x0A Idx 2500��2530 = range which

can be freely used for customerspecific entries

ro u8 0x0A Idx 2500��2530 = range which

can be freely used for customerspecific entries

1 32bit user variable 1 rw u32

2 32bit user variable 2 rw u32

3 32bit user variable 3 rw u32

4 32bit user variable 4 rw u32

5 32bit user variable 5 rw u32

6 32bit user variable 6 rw u32

7 32bit user variable 7 rw u32

8 32bit user variable 8 rw u32

9 32bit user variable 9 rw u32

A 32bit user variable 10 rw u32

2530 0 number of user strings ro u8 0x02 Idx 2500��2530 = range which

can be freely used for customerspecific entries

1 user string 1 rw str 16 characters

Page 28

CabinetModule CR2012

Index S-Idx Name Type Default Description

2 user string 2 rw str 16 characters

6100 0 number of binary

inputs (16bit)

1 binary inputs ro u8 - bits 0��15: binary inputs channel

6200 0 number of binary

outputs (8bit)

1 binary outputs wo u8 0x00 0b0000 0001 = channel 7

6401 0 number of analogue

inputs

1 analogue input

channel 5

2 analogue input

channel 6

ro u8 0x01

1��16

ro u8 0x01

0b0000 0010 = channel 8 0b0000 0100 = channel 15 0b0000 1000 = channel 16

ro u8 0x04

ro s16 - for configuration absolute

measurement

-> 0x00��0xFF for configuration ratiometric measurement

-> -1000��0��+1000

ro s16 - (see above)

3 analogue input

channel 13

4 analogue input

channel 14

6414 0 number of analogue

outputs (ifm specific)

1 analogue output

channel 8

2 analogue output

channel 16

ro s16 - (see above)

ro u8 0x02

wo u16 0x0000 0��1000 per mille

IFM Electronic CR2012 Device Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1 Preliminary note

1.1 Symbols used

2 Safety instructions

3 Functions and features

3.1 CAN communication

4 Mounting

4.1 Mounting location

4.2 Fixing

4.3 Cooling

5 Electrical connection

5.1 Connectors

5.2 Fuses

6 Set-up

6.1 PLC configuration in CODESYS 2.3

6.2 PLC configuration in CODESYS 3.5

6.2.2 SyncMonitoring

6.3 Electronic Data Sheet

7 Parameter setting

7.1 Automatic saving

7.2 Restoring the factory setting

7.3 Communication profiles; Idx 1000 to 1FFF

7.4 Manufacturer-specific profiles; Idx 2000 to 6FFF

7.5 EMCY objects

7.6 Boot-up message

8 Technical data

8.1 Dimensions, mechanics, electronics

8.2 Connecting, operating and display elements

8.3 Characteristics of the inputs/outputs, test standards and regulations

8.4 Wiring

9 Maintenance, repair and disposal

10 Approvals/standards

11 Anhang / Appendix Objektverzeichnis / Object directory

11.1 Communication profiles; Idx 1000 to 1FFF

11.2 Manufacturer-specific profiles; Idx 2000 to 6FFF