IFM Electronic CR2032 Device Manual

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Page 1

Device manual

Input/output module

CompactModule metal

CR2032

80269922 / 00 01 / 2018

Page 2

CompactModul Metall CR2032

Contents

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

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

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

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

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

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

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

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

7�1 PLC configuration in CODESYS 2�3 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8 7�2 PLC configuration in CODESYS 3�5 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9

7�2�1 Heartbeat configuration � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9 7�2�2 SyncMonitoring � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10

7�3 Electronic Data Sheet� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10

8 Parameter setting � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11

8�1 Parameter list � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11

9 Technical data� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 13

10 Fault correction� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 17

10�1 EMCY Object � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 17

11 Object directory� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 18

11�1 Manufacturer Specific Profile Area; index 2000 to 5FFF � � � � � � � � � � � � 18 11�2 Communication Profile Area; index 1000 to 1FFF � � � � � � � � � � � � � � � � � 21

12 Maintenance, repair and disposal� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 27

13 Declaration of conformity � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 27

14 Terms and abbreviations� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 27

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CompactModul Metall CR2032

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 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�

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CompactModul Metall CR2032

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 CR2032 I/O module enables decentralised evaluation of sensor signals and decentralised triggering of actuators and proportional valves�

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

4 Function

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

– analogue inputs (0��10/32 V, 0��20 mA, ratiometric, binary and binary with

diagnosis)

– binary inputs

– binary outputs with diagnostic capability (wire break and short circuit)

– PWM outputs up to 2 A

● There are 1 server SDO and the 4 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 emer- gency object is stored�

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

*) factory default values → 8.1 Parameter list

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CompactModul Metall CR2032

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�

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 connection 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�

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CompactModul Metall CR2032

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 between 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 = 2 A ® 100 % overload = 4 A) Test duration: 5 minutes

6.5 CAGE CLAMP ® connection technology

1: Screw driver 2: Wire

► Insert screw driver and tilt slightly�

> spring opens

► Insert wire� ► Remove screw driver�

> spring closes

6.6 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 4A

2 Supply via clamps

(not via M12 CANin/CANout plug)

3+4 / 5+6 16A

3 Separate supply via clamps

and M12 CANin/CANout plug

4 Supply via clamps

(via M12 CANin/CANout plug)

6+7 16A

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6.7 Examples types of connection

Example 1

CompactModul Metall CR2032

Example 2

Example 3

Example 4

= jumper inserted

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CompactModul Metall CR2032

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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CompactModul Metall CR2032

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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CompactModul Metall CR2032

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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CompactModul Metall CR2032

8 Parameter setting

Automatic saving of the communication and unit parameters can be activated or deactivated by means of the "save all parameters" entry (see 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" (see 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�

8.1 Parameter list

Parameter Index in ob-

ject directory

Manufacturer Specific Profile Area; index 2000 to 5FFF

I/O Configuration 2000 binary inputs/

PWM Frequency 2001 0x64 (100Hz) 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

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

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

Default (factory preset)

outputs

(AutoSave ON)

Change automatically saved

adjustable after PreOp

yes immediately

Change effective

Consumer Heartbeat time

Producer Heartbeat time

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 0xFF (asynchro-

1016 0x00 (Off) adjustable immediately

1017 0x00 (Off) adjustable immediately

adjustable immediately

nous)

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CompactModul Metall CR2032

Parameter Index in ob-

ject directory

Event Timer Trans PDO1 1800 05 0x00 adjustable immediately

COB ID Trans PDO 2 1801 01 0x280 + Node ID adjustable after a reset

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

Event Timer Trans PDO2 1801 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 → 9 Technical data)

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

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

Default (factory preset)

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

Change automatically saved

Change effective

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9 Technical data

LED M12 x1

227

205

PWR DIA

CAN in CAN out

Control systems

\DATEN\100\DB-FORM—PZD/03/12/96

ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen

14.08.2014

CR2032

CompactModule Metal

I/O module

digital and analogue

for R360 system

CANopen interface

Surface electrostatically

coated (cathodic immersion)

10...32 V DC

We reserve the right to make technical alterations without prior notice. CR2032 / page 1

Technical data 8 inputs (4 digital and 4 analogue/digital)

8 outputs (4 digital and 4 digital/PWM)

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 Inputs/Outputs 8 x M12 connector (socket), 5-pole CANin/CANout 2 x M12 connector (plug/socket), 5-pole

Weight 1.35 kg

Inputs 8

can be configured as 4 digital, positive-switching (high side)

4 analogue, 0...10/32 V, 0/4...20 mA, ratiometric

or digital, positive-switching, with diagnostic capability

Sensor supply I

max

400 mA

Outputs 8

can be configured as 4 digital, positive-switching (high side), with diagnostic capability

4 digital, positive-switching (high side), with diagnostic capability or PWM channel

switching current per output max. 2 A

total current max. 16 A

Operating voltage U

10...32 V DC

Current consumption ≤ 60 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 switches 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 hex-code switches in the terminal chamber

or via the CANopen object directory)

Displays 1 LED green (PWR)

1 LED red (diagnosis, DIA)

16 LEDs yellow (status of the inputs / outputs)

CompactModul Metall CR2032

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CompactModul Metall CR2032

Control systems

\DATEN\100\DB-FORM—PZD/03/12/96

CR2032 Technical data

Connecting and operating elements



connection clamps











CAGE CLAMP







 

 

  

  

  

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

Hex-coded rotary switch

Hex-code switch coding

Operating states (LEDs)

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

Node ID

F adjustment via object directory (default)

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

Node ID

F adjustment via object directory (default)

LED Status Description

green

PWR (

) 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)

yellow

IN (

) ON binary output switched

2.0 Hz diagnosis failure

yellow

OUT (

) ON binary output: output switched (ON)

analogue output: PWM preset value ≠ 0

0 hex (= 32 dec)

hex (= 32 dec)

•

ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen

14.08.2014We reserve the right to make technical alterations without prior notice. CR2032 / page 2

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CompactModul Metall CR2032

CR2032 Characteristics of the inputs / outputs

Inputs ■ Digital inputs, with diagnostic capability

Channel 1, 3, 5, 7 (pin 4) Switch-on level 0.7 U

Switch-off level 0.3 U

Input resistance 3.21 kΩ Input frequency max. 50 Hz

Channel 1, 3, 5, 7 (pin 2) ■ Analogue inputs can be configured as ... voltage, current, ratiometric or digital positive-switching

Voltage inputs Input voltage 0...10/32 V Resolution 10 bits Input resistance 50/30 kΩ Input frequency 50 Hz Accuracy ± 1 % FS

Current inputs Input current 0/4...20 mA Resolution 10 bits Input resistance 400 Ω Input frequency 50 Hz Accuracy ± 1 % FS

Ratiometric inputs for potentiometric transducers (e.g. joystick) Function ((U

– ½UB) ÷ ½UB) x 1000 ‰

Value range 0...1000 ‰

Digital inputs, with diagnostic capability Switch-on level 0.7 U

Switch-off level 0.4 U

Input resistance 30 kΩ Input frequency max. 50 Hz

Outputs ■ Semiconductor outputs, with diagnostic capability (wire break and short circuit) Channel 2, 4, 6, 8 (pin 4) short-circuit and overload protected can be configured as ... Switching voltage 10...32 V DC

Switching current max. 2 A

■ PWM outputs PWM frequency 20...250 Hz Pulse duty factor 0...1000 ‰ Resolution 1 ‰ Switching current max. 2 A (referred to PWM value 1000 ‰.)

Channel 2, 4, 6, 8 (pin 2) ■ Semiconductor outputs, with diagnostic capability (wire break and short circuit) can be configured as ... short-circuit and overload protected

Switching voltage 10...32 V DC Switching current max. 2 A

Note also see wiring (following page)

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: 2004, pulses 2a, 3a, 3b, 4, severity level 4, function state A to conducted interference to ISO 7637-2: 2004, pulse 1, 2b, severity level 4, function state C

to ISO 7637-2: 2004, pulse 5, severity level 1, function state A

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

ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen

14.08.2014We reserve the right to make technical alterations without prior notice. CR2032 / page 3

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 16

CompactModul Metall CR2032

Control systems

CR2032 Wiring

(PWM)

Abbreviations

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

ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen

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

14.08.2014We reserve the right to make technical alterations without prior notice. CR2032 / page 4

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CompactModul Metall CR2032

Steuerungssysteme

Input Output

CODESYS 2.3

PLC Configuration

CODESYS 2.3 PLC Configuration

binary inputs Channel #

LED

Pin Pin Channel #

LED

binary outputs

analogue outputs

7 8

chan 4

Bit 3 chan 4

chan 4

Bit 7

5 6

chan 3

Bit 2

chan 3

Bit 6

3 4

chan 2

Bit 1

chan 2

Bit 5

1 2

chan 1

Bit 0

chan 1

Bit 4

CR2032 Assignment of the LEDs to the connections

10 Fault correction

10.1 EMCY Object

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

EMCY Code Error Reg Additional

0x3300 0x05 0x00 "Output Voltage"

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

0x6101 0x11 0x00 "Internal Software"

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

Code

Description

Supply voltage V

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�

of the outputs is missing

BBO

Only external reset via an entry in 1003 00

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

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CompactModul Metall CR2032

EMCY Code Error Reg Additional

Code

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

0xFF00 0x81 bit coded "Device Specific"

00 KK LL 00 00

Description

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�

0b 0000 0001 channel 2, pin 4 short circuit 0b 0000 0010 channel 4, pin 4 short circuit 0b 0000 0100 channel 6, pin 4 short circuit 0b 0000 1000 channel 8, pin 4 short circuit 0b 0001 0000 channel 2, pin 2 short circuit 0b 0010 0000 channel 4, pin 2 short circuit 0b 0100 0000 channel 6, pin 2 short circuit 0b 1000 0000 channel 8, pin 2 short circuit

0b 0000 0001 channel 2, pin 4 wire break 0b 0000 0010 channel 4, pin 4 wire break 0b 0000 0100 channel 6, pin 4 wire break 0b 0000 1000 channel 8, pin 4 wire break 0b 0001 0000 channel 2, pin 2 wire break 0b 0010 0000 channel 4, pin 2 wire break 0b 0100 0000 channel 6, pin 2 wire break 0b 1000 0000 channel 8, pin 2 wire break

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

11 Object directory

11.1 Manufacturer Specific Profile Area; index 2000 to 5FFF

Index S-Idx Name Type Default Description

2000 0 I/O

Configuration

2000 1 Configuration

input channel 1, pin 4

2000 2 Configuration

output channel 2, pin 4

u8, ro 0x10 Number of the entries

(= number of the I/O channels)

u8, rw 0x0A0 0 = OFF

A = binary input B = binary input with diagnosis

u8, rw 0x02 0 = OFF

2 = binary output 4 = analogue output (PWM)

2000 3 Configuration

input channel 3, pin 4

u8, rw 0x0A 0 = OFF

A = binary input B = binary input with diagnosis

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CompactModul Metall CR2032

Index S-Idx Name Type Default Description

2000 4 Configuration

output channel 4, pin 4

2000 5 Configuration

output channel 5, pin 4

2000 6 Configuration

output channel 6, pin 4

2000 7 Configuration

input channel 7, pin 4

2000 8 Configuration

output channel 8, pin 4

2000 9 Configuration

input channel 1, pin 2

u8, rw 0x02 0 = OFF

2 = binary output 4 = analogue output (PWM)

u8, rw 0x0A 0 = OFF

A = binary input B = binary input with diagnosis

u8, rw 0x02 0 = OFF

2 = binary output 4 = analogue output (PWM)

u8, rw 0x0A 0 = OFF

A = binary input B = binary input with diagnosis

u8, rw 0x02 0 = OFF

2 = binary output 4 = analogue output (PWM)

u8, rw 0x03 0 = OFF

3 = voltage 0��10,000 mV 6 = ratiometric 0��1000 ‰ 7 = current 0��20,000 µA 9 = voltage 0��32,000 mV A = binary input with analogue evaluation B = binary input with analogue evaluation (with diagnosis)

2000 0A Configuration

output channel 2, pin 2

2000 0B Configuration

input channel 3, pin 2

2000 0C Configuration

output channel 4, pin 2

2000 0D Configuration

input channel 5, pin 2

u8, rw 0x02 0 = OFF

2 = binary output

u8, rw 0x03 0 = OFF

u8, rw 0x02 0 = OFF

2 = binary output

u8, rw 0x03 0 = OFF

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CompactModul Metall CR2032

Index S-Idx Name Type Default Description

2000 0E Configuration

output channel 6, pin 2

2000 0F Configuration

input channel 7, pin 2

2000 10 Configuration

output channel 8, pin 2

2001 0 PWM

Frequency

20F0 20F1

0 Setting of the

Node ID *)

u8, rw 0x02 0 = OFF

2 = binary output

u8, rw 0x03 0 = OFF

u8, rw 0x02 0 = OFF

2 = binary output

u8, rw 0x64 (100 Hz) Setting in Hz (20��250 Hz)

If an invalid value is entered, the previous value remains valid�

u8, rw 0x20 (= 0d32) The node ID used to access the mod-

ule in the CANopen network�

20F2 20F3

*) 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�

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 → 9 Technical data)

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

0b�� = bit coded 0d�� = decimal value

0 Setting of the

Baud rate *)

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

1000 kBaud 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

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11.2 Communication Profile Area; index 1000 to 1FFF

Index S-Idx Designation Type Default Description

1000 0 Device type u32, ro 0x000F0191 Profile 401;

Inputs and outputs, binary and analogue

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

is supported: 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��4 Error history u32, ro 0x00 Error occured, coded according to

1005 0 COB ID

synch objekt

1006 0 Communic

Cycle�

1008 0 Device name str, ro CR2032 Device name

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

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

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

u8, ro 0x04 An error list with 4 entries is support-

ed�

the EMCY list, the last error is in the subindex 1�

u32, rw 0x00000080 - Module generates no synch mes-

sage (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

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 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�

1010 0 Number of

save options

1010 1 "Save all

parameters”

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

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Index S-Idx Designation Type Default Description

1011 0 Number of re-

store options

1011 1 "reset for all

parameters”

1014 0 COB ID

Emergency

1016 0 Number of

options Consumer heartbeat time

1016 1 Consumer

heartbeat time

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

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

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

u32, rw 0x00000080

+ Node ID

u8, ro 0x01 Number of the monitored units

u32, rw 0x00 Heartbeat monitoring time for node

- 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�

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) Note: Node monitoring with "node guarding" or "heartbeat" is only to be used as an alternative�

1017 0 Producer

heartbeat time

1018 0 Number of

identity objects

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

1400 0 Receive

PDO 1

1400 1 COB ID PDO 1 u32, rw 0x200 +

1400 2 Trans Type

PDO 1

u16, rw 0x00 Time interval [ms] where the incli-

nation sensor generates a producer heartbeat�

u8, ro 0x01 Device identification

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

Binary outputs

- PDO is valid (bit 31 = 0)

Node ID

u8, rw 0x01 0x00 = synch acyclic

- CAN-ID des 1� Rec PDOs

0x01��0xF0 = synch cylic, 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

1401 0 Receive

PDO 2

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

Analogue outputs

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CompactModul Metall CR2032

Index S-Idx Designation Type Default Description

1401 1 COB ID PDO 2 u32, rw 0x300 +

Node ID

1401 2 Trans Type

PDO 2

1600 0 Mapping Rec

PDO 1

1600 1 Index in the

object directory

u8, rw 0x01 0x00 = synch acyclic

u32, ro 0x01 Number of the application objects

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

- PDO is valid (Bit 31 = 0)

- CAN ID of the 2nd Rec PDOs

linked with the binary output PDO

outputs 0b 0000 0001 channel 2, pin 4 0b 0000 0010 channel 4, pin 4 0b 0000 0100 channel 6, pin 4 0b 0000 1000 channel 8, pin 4 0b 0001 0000 channel 2, pin 2 0b 0010 0000 channel 4, pin 2 0b 0100 0000 channel 6, pin 2 0b 1000 0000 channel 8, pin 2

1601 0 Mapping Rec

PDO 2

1601 1 Index in the

object directory

1601 2 Index in the

object directory

1601 3 Index in the

object directory

1601 4 Index in the

object directory

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 2, pin 4� Depending on the configuration of the index 2000 the value can be interpreted as pulse/break ratio in ‰ (PWM)� 0 ‰ = constant OFF 1000 ‰ = constant ON Values > 1000 ‰ are internally rounded off to 1000 ‰

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

value of the analogue output channel 4, pin 4� (see also S-Idx 1)

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

value of the analogue output channel 6, pin 4� (see also S-Idx 1)

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

value of the analogue output channel 8, pin 4� (see also S-Idx 1)

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

Binary inputs

1800 1 COB ID PDO 1 u32, rw 0x180 +

Node ID

- PDO is valid (bit 31 = 0)

- CAN ID of the 1st Trans PDOs

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Index S-Idx Designation Type Default Description

1800 2 Trans Type

PDO 1

u8, rw 0xFF 0x00 = synch acyclic

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

1800 5 Event timer

Trans PDO 1

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�

1801 0 Trans PDO 2 u8, ro 0x05 Number of the entries Trans PDO 2

Analogue inputs

1801 1 COB ID

PDO 2

1801 2 Trans Type

PDO 2

u32, rw 0x280 +

Node ID

- PDO is valid (Bit 31 = 0)

- CAN ID of the 2nd Trans PDOs

u8, rw 0x01 0x00 = synch acyclic

0x01��0xF0 = synch cyclic; Analogue values are only transferred after "n" synch objects� n = 0x01 (1) �� 0xF0 (240) 0xFC/0xFD not implemented 0xFE = asynch man� spec� event; Analogue values are immediately transferred� 0xFF = asynch device profile event; When configured as binary input, a modified value is transferred immediately� Inputs configured as analogue inputs are not concerned, for these inputs the event timer has to be activated�

1801 5 Event timer

Trans PDO 2

1A00 0 Mapping

Trans PDO 1

1A00 1 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 0x01 Number of the linked application

objects (Binary inputs)

u32, ro 0x2020 01 IIdx 2020, Sldx 01 contains the

binary value, channel 1, pin 4 01 00 00 00 00 00 00 00 with diagnosis: FE FF 00 00 00 00 00 00 = short circuit to V

FF FF 00 00 00 00 00 00 = wire break/short circuit to ground

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Index S-Idx Designation Type Default Description

1A00 2 Index in the

object directory

1A00 3 Index in the

object directory

1A00 4 Index in the

object directory

u32, ro 0x2020 02 Idx 2020, Sldx 02 contains the

binary value, channel 3, pin 4 00 00 01 00 00 00 00 00 with diagnosis: 00 00 FE FF 00 00 00 00 = short circuit to VBB 00 00 FF FF 00 00 00 00 = wire break/short circuit to ground

u32, ro 0x2020 03 Idx 2020, Sldx 04 contains the

binary value, channel 5, pin 4 00 00 00 00 01 00 00 00 with diagnosis: 00 00 00 00 FE FF 00 00 = short circuit to VBB 00 00 00 00 FF FF 00 00 = wire break/short circuit to ground

u32, ro 0x2020 04 Idx 2020, Sldx 04 contains the

binary value, channel 7, pin 4 00 00 00 00 00 00 01 00 with diagnosis: 00 00 00 00 00 00 FE FF = short circuit to VBB 00 00 00 00 00 00 FF FF = wire break/short circuit to ground

1A01 0 Mapping Trans

PDO 2

1A01 1 Index in the

object directory

u32, ro 0x04 Number of the linked application

objects Analogue inputs

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

analogue value channel 1, pin 2 voltage 0��10,000 mV ratiometric 0��1000 ‰ current 0��20,000 µA voltage 0��32,000 mV binary input with analogue evaluation 01 00 00 00 00 00 00 00 binary input with analogue evaluation (with diagnosis) FE FF 00 00 00 00 00 00 = short circuit to V FF FF 00 00 00 00 00 00 = wire break/short circuit to ground

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Index S-Idx Designation Type Default Description

1A01 2 Index in the

object directory

1A01 3 Index in the

object directory

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

analogue value channel 3, pin 2 voltage 0��10,000 mV ratiometric 0��1000 ‰ current 0��20,000 µA voltage 0��32,000 mV binary input with analogue evaluation 01 00 00 00 00 00 00 00 binary input with analogue evaluation (with diagnosis) 00 00 FE FF 00 00 00 00 = short circuit to VBB 00 00 FF FF 00 00 00 00 = wire break/short circuit to ground

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

analogue value channel 5, pin 2 voltage 0��10,000 mV ratiometric 0��1000 ‰ current 0��20,000 µA voltage 0��32,000 mV binary input with analogue evaluation 01 00 00 00 00 00 00 00 binary input with analogue evaluation (with diagnosis) 00 00 00 00 FE FF 00 00 = short circuit to V

00 00 00 00 FF FF 00 00 = wire break/short circuit to ground

1A01 4 Index in the

object directory

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

0b�� = bit coded 0d�� = decimal value

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

analogue value channel 7, pin 2 voltage 0��10,000 mV ratiometric 0��1000 ‰ current 0��20,000 µA voltage 0��32,000 mV binary input with analogue evaluation 01 00 00 00 00 00 00 00 binary input with analogue evaluation (with diagnosis) 00 00 00 00 00 00 FE FF = short circuit to VBB 00 00 00 00 00 00 FF FF = wire break/short circuit to ground

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

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CompactModul Metall CR2032

12 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�

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

13 Declaration of conformity

For test standards and regulations → 9 Technical data�

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

14 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

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CompactModul Metall CR2032

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� 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 (also Rx PDO) (Rx PDO)

ro read only (unidirectional) rw read-write (bidirectional) Rx-Queue reception buffer s16 data type signed 16 bit

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CompactModul Metall CR2032

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

(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 for accepting

Sync Windows time during which the synchronous PDOs have to be transferred Time Stamp time stamp to align existing clocks in network participants 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

Subindex within the object directory of a CANopen device

process data of the respective parameterised PDOs�

transmit process data object

transmit service data object

IFM Electronic CR2032 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 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 Technical data

10 Fault correction

10.1 EMCY Object

11 Object directory

11.1 Manufacturer Specific Profile Area; index 2000 to 5FFF

11.2 Communication Profile Area; index 1000 to 1FFF

12 Maintenance, repair and disposal

13 Declaration of conformity

14 Terms and abbreviations