IFM Electronic CR2031 Device Manual

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Device manual

Output module

CompactModule Metal

CR2031

80269921 / 00 01 / 2018

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CompactModule Metall CR2031

Contents

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

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

3 Function and features� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4

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

5 Mounting� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5

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

6�1 M12 sockets � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6 6�2 Tightening torque of the cover screws (terminal chamber) � � � � � � � � � � � � 6 6�3 M16 cable gland � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6 6�4 Definition of short-circuit and overload protection � � � � � � � � � � � � � � � � � � � 6 6�5 CAGE CLAMP ® connection technology � � � � � � � � � � � � � � � � � � � � � � � � � � 7 6�6 Types of connection and fuses� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7 6�7 Examples types of connection � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8

7 Set-up � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9

7�1 PLC configuration in CODESYS 2�3 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9 7�2 PLC configuration in CODESYS 3�5 � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10

7�2�1 Heartbeat configuration � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10 7�2�2 SyncMonitoring � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11

7�3 Electronic Data Sheet� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11

8 Parameter setting � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 12

8�1 Parameter list � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 12

9 Programming � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 14

9�1 General� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 14 9�2 Programming function � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 14 9�3 Data structures � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 15

9�3�1 Function CR2031 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 16 9�3�2 Data structure CR2031 ConfigStruct � � � � � � � � � � � � � � � � � � � � � � � � 17 9�3�3 Data structure: CR2031 InOutStruct � � � � � � � � � � � � � � � � � � � � � � � � 18

10 Technical data� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 20

11 Fault correction � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 24

11�1 EMCY Object � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 24

12 Object directory� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 25

12�1 Manufacturer Specific Profile Area; index 2000 to 5FFF � � � � � � � � � � � � 25 12�2 Communication Profile Area; index 1000 to 1FFF � � � � � � � � � � � � � � � � � 27

13 Maintenance, repair and disposal� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 30

14 Declaration of conformity � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 31

15 Terms and abbreviations� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 31

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CompactModule Metall CR2031

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 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�

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 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�

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CompactModule Metall CR2031

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 Function and features

The CR2031 I/O module enables decentralised triggering of actuators and proportional valves� The coil current can be monitored and controlled via the integrated current measurement�

4 Function

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

● As regards the output functions, the module can be configured and it supports the following functions:

– binary outputs with/without current detection; up to 4 A

– PWM outputs with/without current detection; up to 4 A

– current-controlled PWM outputs, up to 4 A

– selectable current measuring range 0��1 A or 0��4 A�

● 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 module expects a synch object� The CAN identifier of the synch object can be configured�

● The module supports "node guarding" and "heartbeat"� The "guard time",the "life time factor" and the "heartbeat time"can be configured� When there are no heartbeat or node guarding signals, the outputs are automatically switched off by the operating system�

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

● The module stores the last error� The error code of the corresponding emergency object is stored�

● The module supports a reset function, i�e� assignment of the parameters to the factory default values* upon request�

● The CR2031 I/O module ist not approved for safety-relevant tasks in the field of safety of persons�

*) factory default values → 8.1 Parameter list�

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CompactModule Metall CR2031

5 Mounting

To protect the module against mechanical stress it must be mounted so that it lies completely flat on an even mounting surface� To do so, three cylinder screws with hexagon socket (M5 x L) to DIN 912 or DIN 7984 must be used�

preferred Mounting variants wrong

To avoid contact corrosion between the mounting screws and the module housing, do not use any stainless steel screws or nickel-plated screws! In very corrosive environments such as extremely salty air, we recommend to use screws with surface finishing on a zinc/nickel basis with thick-film passivation and sealing� For normal corrosive requirements zinc-plated screws are sufficient�

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CompactModule Metall CR2031

6 Electrical connection

To guarantee the electrical interference protection of the module, the housing must be connected to GND (e�g� to the ground of the vehicle)�

Due to the maximum operating temperature of 85 °C and the internal heating of the unit, the respective minimum rated temperature of the con-nection cable must be taken into account�

6.1 M12 sockets

► Use sockets with gold-plated contacts�

► Use protective caps (supplied) for unconnected connectors of the I/O module�

6.2 Tightening torque of the cover screws (terminal chamber)

To close the terminal chamber the cover screws are tightened with a tightening torque of 1�2 Nm�

6.3 M16 cable gland

Use a suitable cable to ensure ingress resistance of the M16 cable gland�

If the M12 connectors are used for the device supply and CAN connection, close the terminal chamber with the supplied M16 cover plug (remove the cable gland and insert the M16 cover plug)�

6.4 Definition of short-circuit and overload protection

● Short-circuit test:

All outputs must withstand a short-circuit current limited to 60 A flowing bet ween output and ground (GND) or supply voltage (+VBB)� Test duration: 3 minutes

● Overload test:

Outputs must not be destroyed by a 100 % overload�

(e.g. nominal switching current IN = 4 A → 100 % overload = 8 A)

Test duration: 5 minutes

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6.5 CAGE CLAMP ® connection technology

CompactModule Metall CR2031

1: Screwdriver 2: Wire

► Insert screw driver and tilt slightly�

> Spring opens�

► Insert wire� ► Remove screw driver�

> Spring closes�

6.6 Types of connection and fuses

To protect the whole system (wiring and module) the individual electric circuits are to be protected using fuses according to the type of connection and jumper settings� The M12 plugs are designed for max� 4 A, the clamps for max� 16 A�

Example Connection (→ 6.7) Jumpers Fuse

1 Supply via M12 CANin/CANout plug 3+4 / 5+6+7 4 A

3 Separate supply via clamps and M12 CANin/CANout plug 6+7

Supply via clamps 3+4 / 5+6 16 A

(not via M12 CANin/CANout plug)

3+4 / 5+6 16 A

16 A 4 A

Supply via clamps

(via M12 CANin/CANout plug)

6+7

Note: Do not use examples 3 and 4 with the I/O modules CR2032 and CR2033 in one supply line�

16 A 4 A

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CompactModule Metall CR2031

6.7 Examples types of connection

Example 1

Example 2

Example 3

Example 4

= jumper inserted

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CompactModule Metall CR2031

7 Set-up

7.1 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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CompactModule Metall CR2031

7.2 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�

7.2.1 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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CompactModule Metall CR2031

7.2.2 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].

7.3 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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CompactModule Metall CR2031

8 Parameter setting

Automatic saving of the communication and unit parameters can be activated or deactivated by means of the "save all parameters" entry (→ 12 Object directory, index 1010)� When the value 0x02 is entered into SIdx 01, all parameters are automatically saved if changes were made�

With the value 0x00 there is no automatic saving, i�e� changed parameters will only be valid until the unit is switched off or until the next reset is made�

With the function "restore" (→ 12 Object directory, 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�

Control characteristics (index 2004��7)

The current control behaviour can be parameterised separately for each channel pair in the P and I values� For each of the 4 output pairs the max� load current [mA] has to be indicated� By means of this value the respective measuring range (1 A or 4 A) is automatically selected�

8.1 Parameter list

Parameter Index in ob-

ject directory

Manufacturer Specific Profile Area; index 2000 to 5FFF

I/O Configuration 2000 binary outputs adjustable after PreOp

PWM Frequency 2001 0x64 (100 Hz) adjustable after PreOp

Control parameters (P/I values, max� current)

Channel 1/2 2004 -- adjustable after PreOp Channel 3/4 2005 -- adjustable after PreOp Channel 5/6 2006 -- adjustable after PreOp Channel 7/8 2007 -- adjustable after PreOp

Node ID *) 20F0, 20F1 0x20 (0d32) yes after a reset

Baud rate *) 20F2, 20F3 0x04 (125 Kbits/s) yes after a reset

Communication Profile Area; Index 1000 to 1FFF

COB ID Synch Objekt 1005 0x80 adjustable after a reset

Default (factory preset) Change

automatically saved

Change effective

Communication Cycle 1006 0x00 (Off) adjustable immediately

Guard Time 100C 0x00 (Off) adjustable immediately

Life Time Factor 100D 0x00 adjustable immediately

Save Parameter 1010 0x02

(AutoSave ON)

COB ID EMCY 1014 0x80 + Node ID adjustable after a reset

Consumer Heartbeat time 1016 0x00 (Off) adjustable immediately

Producer Heartbeat time 1017 0x00 (Off) adjustable immediately

yes immediately

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CompactModule Metall CR2031

Parameter Index in ob-

ject directory

COB ID Rec PDO 1 1400 01 0x200 + Node ID adjustable after a reset

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

COB ID Rec PDO 2 1401 01 0x300 + Node ID adjustable after a reset

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

COB ID Trans PDO 1 1800 01 0x180 + Node ID adjustable after a reset

Trans Type Trans PDO 1 1800 02 0x01 (synchronous) adjustable immediately

Event Timer Trans PDO1 1800 05 0x00 adjustable 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)�

*) Observe the position of the hex-code switch! Entries in the object directory are only valid if the hex-code switches for baud rate (S1) and/or node ID (S2, S3) are in the position "F"� (For position and coding of the hex-code switches see connecting and operating elements → 10 Technical data)

Default (factory preset) Change

automatically saved

Change effective

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

0b�� = binary value 0d�� = decimal numerical value

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

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CompactModule Metall CR2031

9 Programming

9.1 General

The I/O module must be initialised as CANopen slave with the CANopen start functions "COP_MSTR_BOOTUP" and "COP_MSTR_MAIN" by the R 360 master and set to the state "OPERATIONAL" (LED "PWR"flashes, 2 Hz)�

9.2 Programming function

If the function "CR2031" is integrated into the program, this automatically ensures a continuous updating of the I/O data in the controller� The function "CR2031" is in the library "CR2031_x�lib" of the programming software CODESYS� If no configuration data are transferred to the I/O module, the device operates with the default values set at the factory�

Before commissioning change the node ID of the I/O module set at the factory, if necessary� Check whether the baud rate of the master and that of the module are identical or set accordingly (also see notes on hex-code switch → 8.1)�

Default values: Switch position

baud rate = 0x04 (= 125 Kbits/s) S1 = "F“

node ID = 0x20 (= 0d32) S2, S3 = "F“

Screen shot of the CODESYS programming platform

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CompactModule Metall CR2031

9.3 Data structures

The CR2031 configuration and I/O data are transferred via data structures� The structure as well as other variable types must be declared in the declaration part� For configuration data the declaration part can already contain an assignment of values�

In the program access to a structure component can be represented as follows:

Screen shot of the CODESYS programming platform

More programming examples of the I/O module can be obtained from ifm electronic upon request�

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CompactModule Metall CR2031

9.3.1 Function CR2031

Function: CR2031

Library: CR2031_x�lib

Purpose: Sets parameters and reads

the configuration and I/O data of the input/output module CR2031

–

Parameter:

Name Data type Description

Inputs

ENABLE BOOL TRUE: function processing

INIT BOOL TRUE: function initialisation

FALSE: cyclical function call

CR2031

ENABLE

INIT

NODE_ID

CFG_READ

CFG_WRITE

CFG_DATA

RX_TYPE

TX_TYPE

SYNC

IO_DATA

CGF_RESULT

IO_RCV––

NODE_ID BYTE Node identifier

CFG_READ BOOL TRUE: read the current configuration of the I/O module

CFG_WRITE BOOL TRUE: write the current configuration of the I/O module

CFG_DATA DWORD Address of the configuration data (data structure)

RX_TYPE BYTE Receive transmission type (default = 0; synch acyclic)

TX_TYPE BYTE Transmit Transmission Type (default = 1; synch cyclic)

SYNC BOOL CANopen synchronisation cycle (system variable COB_SYNC)

IO_DATA DWORD Address of the input/output data (data structure)

Ausgänge

CFG_RESULT BYTE 1 = configuration read or written successfully

2 = configuration not yet read or written 3 = configuration cannot be read or written (missing or incorrect node ID or faulty device)

IO_RCV BOOL TRUE: for one cycle if new data were transmitted

If not described otherwise, a "FALSE" signal with boolean data types is always the negation of the described "TRUE" signal�

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9.3.2 Data structure CR2031 CongStruct

CompactModule Metall CR2031

Data

CR2031 ConfigStruct

structure:

Purpose: Parameter and configuration

data can be written or read� The data structure is assigned to the function input "CFG_DATA" via the ADR operator�

Structure components:

Name Data type Description

TYPE CR2031 ConfigStruct STRUCT

GUARDTIME: TIME; LIFETIME: BYTE; Ch1: BYTE; (*2000/1*) (*0,2,4,5*) Ch2: BYTE; (*2000/2*) (*0,2,4,5*) Ch3: BYTE; (*2000/3*) (*0,2,4,5*) Ch4: BYTE; (*2000/4*) (*0,2,4,5*) Ch5: BYTE; (*2000/5*) (*0,2,4,5*) Ch6: BYTE; (*2000/6*) (*0,2,4,5*) Ch7: BYTE; (*2000/7*) (*0,2,4,5*) Ch8: BYTE; (*2000/8*) (*0,2,4,5*) PwmFrq: BYTE; (*2001/0*) P_Value1_2: BYTE; (*2004/1*) I_Value1_2: BYTE; (*2004/2*) Max_Current1_2: WORD; (*2004/3*) : P_Value7_8: BYTE; (*2007/1*) I_Value7_8: BYTE; (*2007/2*)

Max_Current7_8: WORD; (*2007/3*) END_STRUCT END_TYPE

GUARDTIME TIME Guarding time of the module [ms]

LIFETIME BYTE Lifetime of the module

Ch1 BYTE Config� channel 1

0 = disabled (OFF) 2 = binary output * 4 = analogue output (PWM) 5 = analogue output (PWM; current-controlled)

Ch2 BYTE Config� channel 2

0 = disabled (OFF) 2 = binary output * 4 = analogue output (PWM) 5 = analogue output (PWM; current-controlled)

Ch3 BYTE Config� channel 3

0 = disabled (OFF) 2 = binary output * 4 = analogue output (PWM) 5 = analogue output (PWM; current-controlled)

: : :

Ch8 BYTE Config� channel 8

0 = disabled (OFF) 2 = binary output * 4 = analogue output (PWM) 5 = analogue output (PWM; current-controlled)

PwmFrq BYTE PWM frequency in Hz; 20 to 250 Hz (default 100 Hz)

P_Value1_2 BYTE P value of the current control function channel pair 1/2

value in % referred to the preset-actual value difference (default 50)

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CompactModule Metall CR2031

Name Data type Description

I_Value1_2 BYTE I value of the current control function channel pair 1/2

value in % referred to the preset-actual value difference (default 20)

Max_ Current1_2 WORD max� possible load current in mA channel pair 1/2 current at 1000‰

PWM (default 4000 mA)

P_Value3_4 BYTE P value of the current control function channel pair 3/4

value in % referred to the preset-actual value difference (default 50)

I_Value3_4 BYTE I value of the current control function channel pair 3/4

value in % referred to the preset-actual value difference (default 20)

Max_ Current3_4 WORD max� possible load current in mA channel pair 3/4 current at 1000‰

PWM (default 4000 mA)

P_Value5_6 BYTE P value of the current control function channel pair 5/6

value in % referred to the preset-actual value difference (default 50)

I_Value5_6 BYTE I value of the current control function channel pair 5/6

value in % referred to the preset-actual value difference (default 20)

Max_ Current5_6 WORD max� possible load current in mA channel pair 5/6 current at 1000‰

PWM (default 4000 mA)

P_Value7_8 BYTE P value of the current control function channel pair 7/8

value in % referred to the preset-actual value difference (default 50)

I_Value7_8 BYTE I value of the current control function channel pair 7/8

value in % referred to the preset-actual value difference (default 20)

Max_ Current7_8 WORD max� possible load current in mA channel pair 7/8 current at 1000‰

PWM (default 4000 mA)

*) default

**) Mode 5 is only available if connection is made via the outputs with current monitoring (see also wiring → 10 Technical data)�

9.3.3 Data structure: CR2031 InOutStruct

Data

CR2031 InOutStruct

structure:

Purpose: The current I/O data of the

module are read or written� The data structure is assigned to the function input "IO_DATA" via the ADR operator�

TYPE CR2031 inOutStruct STRUCT

BinOut1: BOOL; BinOut2: BOOL; BinOut3: BOOL; BinOut4: BOOL; BinOut5: BOOL; : BinOut8: BOOL; AnaOut1_2: INT; : AnaOut7_8: INT; ActCurrent1_2: WORD; :

ActCurrent7_8: WORD; END_STRUCT END_TYPE

Page 19

CompactModule Metall CR2031

Structure components:

Name Data type Description

BinOut1 BOOL Output status channel 1 (if Ch1 configuration = 2)

BinOut2 BOOL Output status channel 2 (if Ch2 configuration = 2)

BinOut3 BOOL Output status channel 3 (if Ch3 configuration = 2)

BinOut4 BOOL Output status channel 4 (if Ch4 configuration = 2)

BinOut5 BOOL Output status channel 5 (if Ch5 configuration = 2)

BinOut6 BOOL Output status channel 6 (if Ch6 configuration = 2)

BinOut7 BOOL Output status channel 7 (if Ch7 configuration = 2)

BinOut8 BOOL Output status channel 8 (if Ch8 configuration = 2)

AnaOut1_2 INT Analogue output value

(if Ch1_2 config� = 4 or 5) channel 1 or 2

AnaOut3_4 INT Analogue output value

(if Ch3_4 config� = 4 or 5) channel 3 or 4

AnaOut5_6 INT Analogue output value

(if Ch5_6 config� = 4 or 5) channel 5 or 6

AnaOut7_8 INT Analogue output value

(if Ch7_8 config� = 4 or 5) channel 7 or 8

ActCurrent1_2 WORD Actual current value [mA], channel 1 or 2

ActCurrent3_4 WORD Actual current value [mA], channel 3 or 4

ActCurrent5_6 WORD Actual current value [mA], channel 5 or 6

ActCurrent7_8 WORD Actual current value [mA], channel 7 or 8

*) The odd-numbered channels 1, 3, 5, 7 are active if the variable contains a positive value� The even-numbered channels 2, 4, 6, 8 are active if the variable contains a negative value�

**) The actual current value can only be read if connection is made via the outputs with current monitoring (see also wiring → 10 Technical data)�

Page 20

CompactModule Metall CR2031

LED M12 x1

227

205

PWR DIA

CAN in CAN out

Control systems

CR2031

CompactModule Metal

Output module

digital and analogue

for R360 system

CANopen interface

Surface electrostatically

coated (cathodic immersion)

10...32 V DC

Technical data 8 digital / PWM outputs

with integrated current measurement

Housing Die-cast zinc housing with 8 outputs and terminal chamber

surface electrostatically coated (cathodic immersion), black

Dimensions (l x w x h) 227 x 77 x 39 mm (without cable gland)

Installation Screw connection by means of 3 M5 x l screws to DIN 912 or DIN 7984

Connections

Operating voltage and CAN bus 7-pole terminal strip with CAGE CLAMP

connection technology

(2 x 2-pole / 1 x 3-pole) 0.08...4 mm

(AWG 28...AWG 12), nominal current 20 A

Identical potentials can be linked using a jumper header

(GND and U

potentials linked upon delivery)

Cable entry via M16 cable gland Outputs 8 x M12 connector (socket), 5-pole CANin/CANout 2 x M12 connector (plug/socket), 5-pole

Weight 1.2 kg

Outputs 8

can be configured as digital, positive-switching (high side)

PWM channel,

or current-controlled channel

switching current per output max. 4 A

total current max. 16 A

Operating voltage U

10...32 V DC

Current consumption ≤ 50 mA (without external load at 24 V DC)

Operating temperature – 40...85 °C

Storage temperature – 40...85 °C

Protection IP 67

Interface CAN interface 2.0 B, ISO 11898

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

(adjustable using hex-code switch in the terminal chamber

or via the CANopen object directory)

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

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

(adjustable using 2 hex-code switches in the terminal chamber

or via the CANopen object directory)

Indication 1 LED green (PWR)

1 LED red (diagnosis, DIA)

8 LEDs yellow (status of the outputs)

10 Technical data

Page 21

CR2031 Technical data

Connecting and operating elements

Hex-code switch coding

Operating states (LEDs)

Control systems

LED Status Description

PWR (

green

) OFF no supply voltage

ON module in stand-by mode

CANopen status: PREOPERATIONAL / PREPARED outputs = OFF

2.0 Hz module active CANopen status: OPERATIONAL outputs are updated

DIA (

red

) OFF communication OK

ON communication disturbed

• node guard / heartbeat error (if node guarding / heartbeat is activated)

• no synch objects (if synch monitoring is activated)

OUT (

yellow

) ON binary output: output switched (ON)

analogue output: PWM preset value ≠ 0 current preset value > 20

Switch Position Description

S1 0 1000 Kbits/s

Baud rate 1 800 Kbits/s

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

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

S2 0...7 high nibble, e.g. 2

0 hex (= 32 dec)

Node ID

F adjustment via object directory (default)

S3 0...E low nibble, e.g. 20

hex (= 32 dec)

Node ID

F adjustment via object directory (default)

•

12 34 567

PWR DIA

CAN in CAN out

S1 S2 S3

CAN GND +VBB

Hex-coded rotary switch

CAGE CLAMP

connection clamps

Jumper headers upon delivery: 3+4 / 5+6+7

CompactModule Metall CR2031

Page 22

CompactModule Metall CR2031

CR2031 Characteristics of the outputs

Digital outputs 8 semiconductor outputs; short-circuit and overload protected

Switching voltage 10...32 V DC Switching current max. 4 A Total current max. 16 A The current measurement of 2 channels each can be selected by means of the wire connections. The following channels are combined: 1+2, 3+4, 5+6, 7+8

PWM outputs With the configuration as "PWM output" two outputs each are combined

(1+2, 3+4, 5+6, 7+8). PWM frequency 20...250 Hz Pulse duty factor 50...1000 ‰ Resolution 1 ‰ Switching current max. 4 A Total current max. 16 A

Current outputs With the configuration as "current-controlled output" two outputs each are combined

(1+2, 3+4, 5+6, 7+8). PWM frequency 20...250 Hz Control range 20...1000 mA / 80...4000 mA Control resolution 1 mA / 4 mA (see control parameters) Setting resolution 1 mA Control characteristics can be set via the object directory (see control parameters) Accuracy ± 2% FS Switching current max. 4 A Load resistance min. 12 / 3 Ω (at U

= 12 V DC)

min. 24 / 6 Ω (at U

= 24 V DC)

Control parameters By indicating the max. load current [mA] for each output pair the respective control

or value range (1000 or 4000 mA) is automatically selected. In addition the P/I behaviour of the current controller can be parameterised for each output pair.

Free-wheel diode is integrated! To avoid errors in the measuring result, no external free-wheel diode must be

connected in parallel with the load in the "current-controlled output" operating mode.

Test standards and regulations

Climatic test Damp heat to EN 60068-2-30, test Db

(≤ 95% rel. humidity, non-condensing) Salt mist test to EN 60068-2-52, test Kb, severity level 3 Protection test to EN 60529

Mechanical resistance Vibration to EN 60068-2-6, test Fc

Shock to EN 60068-2-27, test Ea Bump to EN 60068-2-29, test Eb

Immunity to ISO 7637-2, pulses 2, 3a, 3b, 4, severity level 4, function state A to conducted interference to ISO 7637-2, pulse 5, severity level 1, function state A

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

Immunity according to UN/ECE-R10 at 100 V/m (E1 type approval) to interfering fields and DIN EN 61000-6-2 (CE)

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

and DIN EN 61000-6-3 (CE)

Control systems

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

Page 23

Control systems

Outputs











CAN IN





























CAN OUT





CAN Interface / Supply



























Outputs





































































































Abbreviations

CANH= CAN interface (high) CANL= CAN interface (low) GNDO= ground (output) GNDS= ground (module)

PWM = output for pulse-width modulated signals VBBC= operating voltage (via CANin/CANout plug) VBBO= operating voltage (output) VBBS= operating voltage (module)

CR2031 Wiring

CompactModule Metall CR2031

Page 24

CompactModule Metall CR2031

11 Fault correction

11.1 EMCY Object

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

EMC Code Error Reg Additional

Code

0x3300 0x05 0x00 "Output Voltage"

0x6100 0x11 0x00 "Internal Software“ Overflow of a Tx queue,

0x6101 0x11 0x00 "Internal Software"

0x6200 0x81 bit coded "User Software"

0x8000 0x11 0x00 "Monitoring" (Synch Error)

Description

Supply voltage VBBO of the outputs is missing

e�g� frequency of the RxPDOs is 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

I/O configuration is not permissible� EMCY object contains faulty channel pair, each bit represents a channel pair� 0000 0010 channel pair 1, 2 0000 1000 channel pair 3, 4 0010 0000 channel pair 5, 6 1000 0000 channel pair 7, 8

For "communication cycle" no synch object is received (only in OPERATIONAL)� Reset with the next synch OBJ or PREOP�

0x8130 0x11 0x00 "Monitoring" (Guarding Error/Heartbeat Error)

For "guard time" x "life time factor" no guard object is received or heartbeat object outside the expected time� Reset after node is active again�

0xFF00 0x81 bit-codiert "Device Specific"

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

Only the first error of an error group is indicated�

If there is for example an error "load resistor is too high/small" on channel 1 and then on channel 2, only the error which occured first is signalled� CANopen does not allow to send two identical EMCY objects one after the other�

Page 25

CompactModule Metall CR2031

12 Object directory

12.1 Manufacturer Specific Profile Area; index 2000 to 5FFF

Index S-Idx Designation Type Default Description

2000 0 I/O Konfiguration u8, ro 0x08 Number of the entries

(= number of the output channels)

2000 1 Configuration

channel 1 (output)

2000 2 Configuration

channel 2 (output)

2000 3 Configuration

channel 3 (output)

2000 4 Configuration

channel 4 (output)

2000 5 Configuration

channel 5 (output)

2000 6 Configuration

channel 6 (output)

u8, rw 0x02 0 = OFF

2 = binary output 4 = analogue output (PWM) 5 = analogue output (current-controlled)

u8, rw 0x02 0 = OFF

2 = binary output 4 = analogue output (PWM) 5 = analogue output (current-controlled)

u8, rw 0x02 0 = OFF

2 = binary output 4 = analogue output (PWM) 5 = analogue output (current-controlled)

u8, rw 0x02 0 = OFF

2 = binary output 4 = analogue output (PWM) 5 = analogue output (current-controlled)

u8, rw 0x02 0 = OFF

2 = binary output 4 = analogue output (PWM) 5 = analogue output (current-controlled)

u8, rw 0x02 0 = OFF

2 = binary output 4 = analogue output (PWM) 5 = analogue output (current-controlled)

2000 7 Configuration

channel 7 (output)

2000 8 Configuration

channel 8 (output)

2001 0 PWM

Frequency

2002 0 Actual current

values

2002 1 Current values

channel 1, 2

2002 2 Current values

channel 3, 4

u8, rw 0x02 0 = OFF

2 = binary output 4 = analogue output (PWM) 5 = analogue output (current-controlled)

u8, rw 0x02 0 = OFF

2 = binary output 4 = analogue output (PWM) 5 = analogue output (current-controlled)

u8, rw 0x64

(100 Hz)

u8, ro 0x04 Number of the entries

u8, ro – Actual current value in mA

Setting in Hz (20��250 Hz) If an invalid value is entered, the previous value remains valid�

(= number of the current measuring channels)

Page 26

CompactModule Metall CR2031

Index S-Idx Designation Type Default Description

2002 3 Current values

channel 5, 6

2002 4 Current values

channel 7, 8

2004 0 Control parame-

ters channel 1, 2

2004 1 P value channel

1, 2

2004 2 I value channel

1, 2

2004 3 max� current

channel 1, 2

2005 0 Control parame-

ters channel 3, 4

2005 1 P value channel

3, 4

u8, ro – Actual current value in mA

u8, ro 0x03 Number of the entries

(= number of the control parameters)

u8, rw 0x32 P value of the current control function channel

1, 2 (= value in % referred to the preset- actual value difference)

u8, rw 0x14 I value of the current control function channel

1, 2 (= value in % referred to the preset- actual value difference)

u16, rw 0xFA0 max� possible load current in mA (= current at

1000‰ PWM)

u8, ro 0x03 Number of the entries

(= number of the control parameters)

u8, rw 0x32 P value of the current control function channel

3, 4 (= value in % referred to the preset- actual value difference)

2005 2 I value channel

3, 4

2005 3 max� current

channel 3, 4

2006 0 Control parame-

ters channel 5, 6

2006 1 P value channel

5, 6

2006 2 I value channel

5, 6

2006 3 max� current

channel 5, 6

2007 0 Control parame-

ters channel 7, 8

2007 1 P value channel

7, 8

u8, rw 0x14 I value of the current control function channel

3, 4 (= value in % referred to the preset- actual value difference)

u16, rw 0xFA0 max� possible load current in mA (= current at

1000‰ PWM)

u8, ro 0x03 Number of the entries

(= number of the control parameters)

u8, rw 0x32 P value of the current control function channel

5, 6 (= value in % referred to the preset- actual value difference)

u8, rw 0x14 I value of the current control function channel

5, 6 (= value in % referred to the preset- actual value difference)

u16, rw 0xFA0 max� possible load current in mA (= current at

1000‰ PWM)

u8, ro 0x03 Number of the entries

(= number of the control parameters)

u8, rw 0x32 P value of the current control function channel

7, 8 (= value in % referred to the preset- actual value difference)

2007 2 I value channel

7, 8

2007 3 max� current

channel 7, 8

u8, rw 0x14 I value of the current control function channel

7, 8 (= value in % referred to the preset- actual value difference)

u16, rw 0xFA0 max� possible load current in mA (= current at

1000‰ PWM)

Page 27

Index S-Idx Designation Type Default Description

CompactModule Metall CR2031

20F0 20F1 **)

20F2 20F3

**)

*) Observe hex-code switch position! Entries under 20F0/20F1 and 20F2/20F3 are only valid if the hex-code switches for baud rate (S1) and/or node ID (S2, S3) are in the position "F"� (For position and coding of the hex-code switches see connecting and operating elements → 10 Technical data)

**) The entries 20F0/20F1 and 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�

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

0b�� = binary value 0d�� = decimal numerical value

0 Setting of the

Node ID *)

0 Setting of the

Baud rate *)

u8, rw 0x20

(= 0d32)

u8, rw 0x04 Baud rate of the CAN network 0 = 1000 kBaud

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

1 = 800 kBaud 2 = 500 kBaud 3 = 250 kBaud 4 = 125 kBaud (default) 5 = 100 kBaud 6 = 50 kBaud 7 = 20 kBaud

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

12.2 Communication Profile Area; index 1000 to 1FFF

Index S-Idx Designation Type Default Description

1000 0 Device type u32, ro 0x00030191 Profile 401;

Inputs and outputs, binary and analogue

1001 0 Error register u8, ro 0x00 Bit-coded to profile 301, the following is sup-

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

1003 0 Pre-defined

errorfield

1003 1 Error history u64, ro 0x00 Error occured, coded according to the EMCY

1005 0 COB ID

synch objekt

1006 0 Communic�

Cycle

u8, ro 0x00 An error list with 4 entries is supported�

list, the last error is in the sub- index 1�

u32, rw 0x00000080 Module generates no synch message (bit 30

= 0) 11-bit identifier system (bit 29 = 0) Identifier of the synch message

u32, rw 0x00000000 Max� time between 2 synch objects in µs Useful

resolution = 1ms

1008 0 Device name str, ro CR2031 Device name

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

Page 28

CompactModule Metall CR2031

Index S-Idx Designation Type Default Description

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

100C 0 Guard time u16, rw 0x0000 Time in ms

Within this time the output module expects a "node guarding" of the network master� If the value 0 is entered here, this function is not supported� Note: Node monitoring with "node guarding" or "heartbeat" can only to be used as an alternative�

100D 0 Life time

factor

1010 0 Number of

save options

1010 1 "Save all

parameters”

1011 0 Number

of restore options

1011 1 "Reset for all

parameters”

1014 0 COB ID

Emergency

u8, rw 0x00 If no "node guarding" is received for "guard

time" x "life time", the module switches the outputs off� The module changes the CANopen status to PREOP� The result from "guard time" x "life time" must be between 0 and 65535�

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

u32, rw 0x02 Automatic saving of all changed parameters

OFF/ON� 0 = AutoSave OFF 2 = AutoSave ON

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

u32, rw 0x01 If the string "load" is entered here, the parame-

ters are assigned to the factory default values and are valid after the next reset�

u32, rw 0x00000080

+ Node ID

- EMCY is valid (Bit 31 = 0)

- EMCY is not valid (Bit 31 = 1)

- 11 Bit ID (Bit 29 = 0)

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

1016 0 Number

of options Consumer heartbeat time

1016 1 Consumer

heartbeat time

1017 0 Producer

heartbeat time

1018 0 Number

of identity objects

u8, ro 0x01 Number of the monitored units

u32, rw 0x00 Heartbeat monitoring time for node n� Monitor-

ing of only one node is supported� 0x0nntttt = monitoring time [ms] 0x0nntttt = node number (If nn or tttt = 0, no monitoring is carried out) Note: Node monitoring with "node guarding" or "heartbeat" is only to be used as an alternative�

u16, rw 0x00 Time interval [ms] where the inclination sensor

generates a producer heartbeat�

u8, ro 0x01 Device identification

Page 29

CompactModule Metall CR2031

Index S-Idx Designation Type Default Description

1018 1 Vendor ID u32, ro 0x0069666D Vendor ID to CiA specification

1400 0 Receive

PDO 1

1400 1 COB ID

PDO 1

1400 2 Trans Type

PDO 1

1401 0 Receive

PDO 2

1401 1 COB ID

PDO 2

1401 2 Trans Type

PDO 2

u8, ro 0x02 Number of the entries Rec PDO 1

Binary outputs

u32, rw 0x200 +

Node ID

u8, rw 0x01 0x00 = synch acyclic 0x01��0xF0 = synch cylic,

u8, ro 0x02 Number of the entries Rec PDO 2

u32, rw 0x300 +

Node ID

u8, rw 0x01 0x00 = synch acyclic 0x01��0xF0 = synch cylic,

- PDO is valid (bit 31 = 0)

- CAN ID of the 1st Rec PDOs

Outputs are only updated after "n" synch objects� n = 0x01 (1) �� 0xF0 (240) 0xFC/0xFD not implemented 0xFE = asynch manuf� specific event, outputs are updated immediately 0xFF = asynch device profile event, outputs are updated immediately

Analogue outputs

- PDO is valid (Bit 31 = 0)

- CAN ID of the 2nd Rec PDOs

1600 0 Mapping Rec

PDO 1

1600 1 Index in

the object directory

1601 0 Mapping Rec

PDO 2

1601 1 Index in

the object directory

1601 2 Index in

the object directory

u32, ro 0x01 Number of the application objects linked with

the binary output PDO

u32, ro 0x6200 01 6200 Sldx 01 contains 1 byte

0b 0000 0001 channel 1 0b 0000 0010 channel 2 0b 0000 0100 channel 3 0b 0000 1000 channel 4 0b 0001 0000 channel 5 0b 0010 0000 channel 6 0b 0100 0000 channel 7 0b 1000 0000 channel 8

u32, ro 0x04 Number of the application objects linked with

the analogue output PDO

u32, ro 0x6411 01 6411 Sldx 01 contains the preset value of the

analogue 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, → 12 Object directory)�

u32, ro 0x6411 02 6411 Sldx 02 contains the preset value of the

analogue output channel 3 or 4� The value is interpreted as pulse/break ratio in ‰ or as preset current value (depending on the configuration)�

Page 30

CompactModule Metall CR2031

Index S-Idx Designation Type Default Description

1601 3 Index in

the object directory

1601 4 Index in

the object directory

1800 0 Trans PDO 1 u8, ro 0x05 Number of the entries Trans PDO 1

1800 1 COB ID

PDO 1

1800 2 Trans Type

PDO 1

u32, ro 0x6411 03 6411 Sldx 03 contains the preset value of the

analogue output channel 5 or 6� The value is interpreted as pulse/break ratio in ‰ or as preset current value (depending on the configuration)�

u32, ro 0x6411 04 6411 Sldx 04 contains the preset value of the

analogue output channel 7 or 8� The value is interpreted as pulse/break ratio in ‰ or as preset current value (depending on the configuration)�

(Actual current value)

u32, rw 0x180 +

Node ID

u8, rw 0x01 0x00 = synch acyclic

- PDO is valid (Bit 31 = 0)

- CAN ID of the 1st Trans PDOs

0x01��0xF0 = synch cyclic; Current values are only transferred after "n" synch objects� n = 0x01 (1) �� 0xF0 (240) 0xFC/0xFD not implemented 0xFE = asynch man� spec� event; Current values are immediately transferred� 0xFF = asynch device profile event; Current values are immediately transferred�

1800 5 Event timer

Trans PDO 1

1A00 0 Mapping

Trans PDO 1

1A00 1 Index in

the object directory

1A00 2 Index in

the object directory

1A00 3 Index in

the object directory

1A00 4 Index in

the object directory

u16,rw 0x00 Max� transfer break

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

u32, ro 0x04 Number of the linked application objects (actual

current values)

u32, ro 0x2002 01 Idx 2002, SIdx 01 contains the actual current

value channel 1/2

u32, ro 0x2002 02 Idx 2002, SIdx 02 contains the actual current

value channel 3/4

u32, ro 0x2002 03 Idx 2002, SIdx 03 contains the actual current

value channel 5/6

u32, ro 0x2002 04 Idx 2002, SIdx 04 contains the actual current

value channel 7/8

13 Maintenance, repair and disposal

As the 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�

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CompactModule Metall CR2031

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

14 Declaration of conformity

For test standards and regulations → 10 Technical data�

The CE Declaration of Conformity and the E1-approval are available at www�ifm�com�

15 Terms and abbreviations

0b �� binary value (for bit coding), e�g� 0b0001 0000 0d �� decimal numerical 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) 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 between 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 analogue 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 61131-3) 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

cycle EMCY Object Emergency Object (alarm message, device indicates an error)

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

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CompactModule Metall CR2031

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� 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

Receive Process Data Object (Rx PDO)

ro read only (unidirectional) rw read-write (bidirectional) Rx-Queue reception buffer s16 data type signed 16 bit SDO Service 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� Server SDO process and parameter set to make the object directory of a network participant available to

other participants (clients)� S-Idx

Subindex within the object directory of a CANopen device (SIdx)

Start Guarding start node guarding str data type string (variable for strings such as text "load")

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CompactModule Metall CR2031

Sync Error missing Sync OBJ in the adjustable communication cycle Sync OBJ synchronisation object for simultaneous update in the complete network or for accepting

process data of the respective parameterised PDOs� 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) transmission buffer u8 (16, 32) data type unsigned 8 (16, 32) bits wo write only

transmit process data object

transmit service data object

IFM Electronic CR2031 Device Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1 Preliminary note

2 Safety instructions

3 Function and features

4 Function

5 Mounting

6 Electrical connection

6.1 M12 sockets

6.2 Tightening torque of the cover screws (terminal chamber)

6.3 M16 cable gland

6.4 Definition of short-circuit and overload protection

6.5 CAGE CLAMP ® connection technology

6.6 Types of connection and fuses

6.7 Examples types of connection

7 Set-up

7.1 PLC configuration in CODESYS 2.3

7.2 PLC configuration in CODESYS 3.5

7.2.2 SyncMonitoring

7.3 Electronic Data Sheet

8 Parameter setting

8.1 Parameter list

9 Programming

9.1 General

9.2 Programming function

9.3 Data structures

9.3.1 Function CR2031

9.3.3 Data structure: CR2031 InOutStruct

10 Technical data

11 Fault correction

11.1 EMCY Object

12 Object directory

12.1 Manufacturer Specific Profile Area; index 2000 to 5FFF

12.2 Communication Profile Area; index 1000 to 1FFF

13 Maintenance, repair and disposal

14 Declaration of conformity

15 Terms and abbreviations