IFM Electronic CR2050, CR2051, CR2052 Device Manual

Device manual

Original Scale Drawing (MTD)

ioControl

CR2050 CR2051 CR2052

UK

80268387 / 00 04 / 2018

ioControl

Contents

1 Preliminary note � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4

1�1 Explanation of symbols � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4

2 Safety instructions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4

2�1 General safety instructions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4 2�2 Target group � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5 2�3 Electrical connection � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5 2�4 Tampering with the unit � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6

3 Functions and features � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6

4 Function � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7

5 Installation� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7

5�1 Mounting surface � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7 5�2 Fixing � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7 5�3 Cable seal � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8

6 Electrical connection� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9

6�1 General electrical connection � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9 6�2 Connection accessories � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10 6�3 Frequency inputs � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10 6�4 Reverse polarity protection� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10 6�5 Supply of the signal generators at the inputs � � � � � � � � � � � � � � � � � � � � � 10 6�6 Fuses � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10 6�7 Examples for connection types � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11

6�7�1 CR2050 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11 6�7�2 CR2051 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 12 6�7�3 CR2052 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 13

7 Operating and display elements � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 14

7�1 Menu structure � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 15 7�2 Status indication of the inputs/outputs (I/O LEDs, yellow) � � � � � � � � � � � � 16

8 Set-up � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 17

8�1 I/O module � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 17

8�1�1 Display mode � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 17 8�1�2 Parameter setting� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 17 8�1�3 List of parameters � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 18

8�2 Controller � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 19

8�2�1 Programming � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 19 8�3 Required documentation � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 19 8�4 Required hardware � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 19

9 Technical data� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 20

9�1 CR2050 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 20 9�2 CR2051 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 26 9�3 CR2052 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 32

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10 Maintenance, repair and disposal� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 39

10�1 Maintenance� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 39 10�2 Cleaning the housing surface � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 39 10�3 Repair� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 39 10�4 Disposal � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 39

11 Approvals/standards � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 39

12 Appendix� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 40

12�1 EMCY Object � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 40 12�2 Object directory CR205x � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 40

12�2�1 Device-specific CR2050� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 44

12�2�2 Device-specific CR2051� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 65

12�2�3 Device-specific CR2052� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 89 12�3 SDOs error messages � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 121

12�3�1 CR2050 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 121

12�3�2 CR2051 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 123

12�3�3 CR2052 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 125

UK

This document is the original instructions� All trademarks and company names used are subject to the copyright of the respective companies�

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1 Preliminary note

This document applies to devices of the type "ioControl" (art� no�: CR2050, CR2051 and CR2052)� It is part of the device�

The document contains information about the correct handling of the device�

Adhere to the safety instructions�

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

1.1 Explanation of symbols

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

Important note

Non-compliance may result in malfunction or interference�

Information

Supplementary note

WARNING

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

CAUTION

Warning of personal injury� Slight reversible injuries may result�

NOTE

Warning of damage to property�

2 Safety instructions

2.1 General safety instructions

● Read this document before setting up the device and keep it during the entire

service life�

● Ensure that the product is suitable for your application and operating conditions

without any restrictions�

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● Improper or non-intended use may lead to malfunctions of the unit, to

unwanted effects in the application or to a loss of the warranty claims�The manufacturer assumes no liability for any consequences caused by tampering with the device or incorrect use by the operator�

● Installation, electrical connection, set-up, operation and maintenance of the

unit must be carried out by qualified personnel authorised and trained by the machine operator�

● After installation, maintenance or repair of the system perform a complete

function check�

● The system installer is responsible for the safety of the system into which the

device is integrated�

2.2 Target group

These instructions are intended for authorised persons according to the EMC and low-voltage directives� The device must be installed, connected and put into operation by a qualified electrician�

UK

2.3 Electrical connection

WARNING

Disconnect the device externally before handling it�

Supply via a mobile on-board system 12/24V battery voltage or safety extra-low voltage (SELV) according to the technical data� The supply is directly transferred to the connected sensors/actuators�

Accessible surfaces of the housing are insulated from the circuits with basic insulation to IEC 61010-1, secondary circuit with max� 32 V DC, supplied from main circuit up to 300 V of overvoltage category II�

The external wiring has to be carried out in a way that ensures the required separation from other circuits�

The cable cross section is to be adapted to the fuse used, taking into account the applicable regulations for the application�

The wiring has to be suitable for the max� temperature reached in the application�

If the supplied SELV voltage is externally grounded (SELV becomes PELV), the responsibility lies with the user and the respective national installation regulations must be complied with�

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

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2.4 Tampering with the unit

WARNING

In case of malfunctions or uncertainties please contact the manufacturer� Any tampering with the device can seriously affect the safety of operators and machinery�

3 Functions and features

The freely programmable controllers of the "ioControl" series are rated for use under difficult conditions (e�g� extended temperature range, strong vibration, intensive EMC interference)� They are suitable for direct installation in mobile machines, even in wet environments�

By means of the application software the user can configure the inputs and outputs to adapt to the respective application� The controllers can be used as CANopen slave, CANopen master or intelligent I/O module (→ 9 Technical data)�

Application-specific extensions and adaptations are possible in conjunction with additional products of the modular ioControl and ecomatmobile Basic design�

WARNING

The "ioControl" series is not approved for safety tasks in the field of safety of persons�

NOTE

The "ioControl" controllers are intended for installation in vehicle bodies, not in engines�

NOTE

The device must only be used within the limits indicated in the technical data (→ 9 Technical data)� If the device is used in a way that is not intended by the manufacturer, the protection supported by the device may be impaired�

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4 Function

● The user can easily create the application software by means of the IEC 61131-

3 compliant programming system CODESYS 2�3� On delivery the devices are pre-configured as CANopen slaves�

● 2 CAN interfaces

● Configurable inputs/outputs

● Status LEDs, I/O Leds and 4-digit 10-segment display

● Operating keys

More information and accessories at www�ifm�com�

5 Installation

5.1 Mounting surface

NOTE

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

► Mount the device on a flat surface� ► Use compensating elements if there is no flat mounting surface available�

UK

Mounting surface

5.2 Fixing

► Insert the enclosed tubular rivets from the back of the module in the 3 fixing

holes�

► Fix the device using 3 washers and M5 screws�

Tighten the screws alternately�

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Use of the tubular rivets

Tightening torque: 2�0 Nm Hole dimensions (→ 9 Technical data)

Screws to be used (examples): Standard

Cylinder screws with hexagon socket (M5 x L) DIN EN ISO 4762

Cylinder screws with hexagon socket and low head (M5 x L) DIN 7984

5.3 Cable seal

NOTE

Protection rating IP 65 / IP 67 is only guaranteed if all ports are sealed by means of connectors or dummy plugs�

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Original Scale Drawing (MTD)

1

3

5

6

7

2

4

878

9

10

11

6 Electrical connection

6.1 General electrical connection

The supply cables and the CAN2 interface are connected via the X1 connector on the bottom of the device� The inputs/outputs, the CAN1 interface and the CAN supply are connected via the Deutsch connectors on the front side of the housing�

Wiring (→ 9 Technical data)

1: Connector 8 2: Connector 6 3: Connector 4 4: Connection 2

Connector area (here e�g� CR0403)

5: CAN1 OUT 6: X1 - Connection cable plug 7: CAN1 IN

8: Connector 1 9: Connector 3 10: Connector 5 11: Connector 7 9

UK

Connector CR2050 CR2051 CR2052 Number

of poles

1 IN00 / IN08 OUT00 / OUT08 IN00 / IN04 6

2 IN01 / IN09 OUT01 / OUT09 OUT00 / OUT04 6

3 IN02 / IN10 OUT02 / OUT10 IN01 / IN05 6

4 IN03 / IN11 OUT03 / OUT11 OUT01 / OUT05 6

5 IN04 / IN12 OUT04 / OUT12 IN02 / IN06 6

6 IN05 / IN13 OUT05 / OUT13 OUT02 / OUT06 6

7 IN06 / IN14 OUT06 / OUT14 IN03 / IN07 6

8 IN07 / IN15 OUT07 / OUT15 OUT03 / OUT07 6

CAN1 IN CAN1 interface 6

CAN1 OUT CAN1 interface (e�g� for looping through) 6

X1 Supply voltage and CAN2 interface 6

NOTE

Wrong connection may cause damage to the device�

► Observe the safety instructions (→ 2.3 Electrical connection)�

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► Basically all supply and signal cables must be laid separately� ► Lay supply and signal cables away from the device using the shortest possible

route�

► All connected cables must be provided with a strain relief max� 400 mm behind

the cable entry�

► Cover unused terminals with dummy plugs / seals�

6.2 Connection accessories

Information about the available accessories at www�ifm�com

6.3 Frequency inputs

CR2050 / CR2052:

► Operate frequency inputs with screened cables so that useful signals are not

affected by external interference�

6.4 Reverse polarity protection

Reverse polarity protection of the operating voltage is only ensured in case of operation on an on-board system in connection with a fuse� In case of operation via a power supply, there is no reverse polarity protection of the operating voltage�

CR2051: There is no reverse polarity protection of the CAN supply voltage, as this voltage is not used within the device�

6.5 Supply of the signal generators at the inputs

CR2050 / CR2052:

► Use sensor voltage VBBS of the corresponding connector as supply voltage for

the signal generators at the inputs (e�g� switches or sensors)�

► If the input (switch or sensor) is supplied via an external voltage, protect this

voltage with max� 3 A�

6.6 Fuses

► The individual electric circuits must be protected in order to protect the whole

system�

Designation Potential Connector: Pin Fuse

VBBSSupply sensors/module 8��32 V DC AMP connector:

Pin 4

VBB1Supply outputs

CR2050: not available CR2051: OUT00, 02, 04, 06, 08, 10, 12, 14 CR2052: not available

VBB2Supply outputs

CR2050: not available CR2051: OUT01, 03, 05, 07, 09, 11, 13, 15 CR2052: OUT00��07

10

8��32 V DC AMP connector:

Pin 4

8��32 V DC AMP connector:

Pin 6

CR2050: 3 A CR2052: 3 A

CR2050: CR2051: ≤ 25 A CR2052: -

CR2050: -

CR2051: ≤ 25 A CR2052: ≤ 25 A

Designation Potential Connector: Pin Fuse

Supply

3 A

Supply

ioControl

V

CAN

Optional supply CAN1 interface

CR2050: connected to VBBS CR2051: no connection to VBBS CR2052: connected to VBB

S

8��32 V DC CAN IN: Pins 3+4

CR2050: CR2051: 3 A CR2052: -

► Connect the ground pins belonging to the supply voltages (GND1, GND2, if

appl� GND

) to the common ground�

CAN

6.7 Examples for connection types

6.7.1 CR2050

Example 1

CAN loop, supply via CAN IN

03/04 V 01/06 GND 02/05

CAN

CAN1

CAN IN CAN OUT

*

S

VBB

GND1n.c.

CR2050

01

04

06

03 n.c.

02/05 CAN2

CAN

V

CAN

GND

CAN1

* Load-Dump

Protection

UK

03/04 01/06 02/05

Example 2

Supply via connectorX1

n.c. n.c.

03/04 V 01/06 GND 02/05

CAN

CAN1

CAN IN CAN OUT

*

S

VBB

GND1n.c.

GND

CAN1

CR2050

01

04

3 A

06

n.c.

03 n.c.

02/05 CAN2

CAN

03/04V 01/06 02/05

* Load-Dump

Protection

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Supply

3 A

Supply

6.7.2 CR2051

Example 1

CAN loop, low load, supply via CAN IN

Example 2

medium load, common fuse

**additional protection required if common fuse > 3 A

3 A**

GND

03/04 V 01/06 GND 02/05

CAN

GND

CAN1

CAN IN CAN OUT

/

*

S

1

VBB

GND1VBB2GND

2

CAN2

CR2051

06

03/04 V

CAN

01/06 GND

CAN

04

01

03

02/05

GND

02/05 CAN1

CAN IN CAN OUT

/

*

S

1

VBB

GND1VBB2GND

2

CAN2

CR2051

06

04

GND

01

GND

03

02/05

CAN

CAN1

CAN

03/04V 01/06 02/05

* Load-Dump

Protection

CAN

CAN1

CAN

03/04V 01/06 02/05

* Load-Dump

Protection

max. 25 A

Supply

Example 3

max. load

3 A

03/04 V

01/06 GND 02/05

CR2051

CAN

CAN1

CAN IN CAN OUT

/

*

S

1

VBB

GND1VBB2GND

2

CAN2

CAN

GND

CAN1

* Load-Dump

03/04V 01/06 02/05

Protection

04

01

03

02/05

06

GND GND

15...25 A

max. 25 A

Protection against overvoltage from the vehicle's on-board system is only ensured if the connection VBBS/VBB1 is protected with at least 15 A (example 3) or if all voltages are protected by means of a common fuse (examples 1 and 2)�

12

6.7.3 CR2052

Supply

3 A

Supply

ioControl

Example 1

CAN loop, low load, supply via CAN IN

Example 2

low load, common fuse

03/04 V

01/06 GND 02/05

CAN

GND

CAN1

CAN IN CAN OUT

S

VBB

1

GND

*

2

VBB

2

CR2052

01

04

03/04 V

01/06 GND 02/05

CAN

CAN1

CAN IN CAN OUT

S

VBB

1

GND

06

*

2

VBB

03 GND

2

02/05 CAN2

GND

CR2052

01

04

06

03 GND

02/05 CAN2

CAN

V

CAN1

CAN

03/04 01/06 02/05

* Load-Dump

Protection

CAN

V

CAN1

CAN

03/04 01/06 02/05

* Load-Dump

Protection

UK

Example 3

max. load

GND GND

3 A

Supply

03/04 V

01/06 GND 02/05

CAN

GND

CAN1

CAN IN CAN OUT

S

VBB

1

GND

*

2

VBB

2

CR2052

01

04

GND

3 A

06

03 GND

GND

15...25 A

02/05 CAN2

CAN

V

CAN1

CAN

03/04 01/06 02/05

* Load-Dump

Protection

Protection against overvoltage from the vehicle's on-board system is only ensured if the connection VBB2 is protected with at least 15 A (example 3) or if all voltages are protected by means of a common fuse (examples 1 and 2)�

13

ioControl

Original Scale Drawing (MTD)

7 Operating and display elements

1

8

7

6

5

4

3

1 2

Indicators

10-segment display (→ 9 Technical data)

1

2

3

1: I/O LEDs (yellow) 2: Power LED (green) 3: Mode LED (green) 4: Application LEDs LED A��LED D (green) 5: Lock LED (green) 6: Diagnostics LED (red) 7: 4-digit 10-segment display

1: UP button 2: DOWN button 3: ENTER button

Operating elements

Pushbutton functions (→ 8.1 I/O module)�

14

7.1 Menu structure

The following description of the menu structure refers to the factory setting as I/O module� When the device is configured as a controller, the corresponding menu structure has to be defined (see system manual ioControl)�

1

ioControl

Node ID

Baud rate

Error code 1

Error code 2

Error code 3

Error code 4

+

>10 s

nodE

BAUD

>10 s

uLoc

+

-123

20

50

100

125

250

500

2

UK

1...125

1: Display mode (→ 8.1.1)

2: Editing mode (→ 8.1.2)

List of parameters: (→ 8.1.3)

800

1000

1

Loc

15

ioControl

7.2 Status indication of the inputs/outputs (I/O LEDs, yellow)

I/O configuration

(see attached object directory)

0 (not used) Off

1 (digital input BL) Off Input signal FALSE

2 (digital output BH) Off Output signal FALSE

3 (voltage input 10 V) Off

4 (PWM output) Off PWM = 0

5 (current-controlled output) Off Current value ≤ 20 mA

6 (voltage input 32 V, ratiometric) Off

7 (current input 20 mA) Off

LED status Description

On Input signal TRUE

On Output signal TRUE

On PWM > 0

On Current value ≤ 20 mA

2 Hz Fault at the input

9 (voltage input 32 V) Off

10 (digital input BL) Off Input signal FALSE

On Input signal TRUE

11 (digital input BL, mit Diagnose) Off Input signal FALSE

On Input signal TRUE

2 Hz Fault at the input

12 (digital input BH) Off Input signal FALSE

On Input signal TRUE

14 (frequency input) Off

2 Hz Fault at the input

15 (digital output BH, with diagnostics) Off Output signal FALSE

On Output signal TRUE

2 Hz Fault at the output

16 (digital output BH, with diagnostics, short-circuit proof and overload protected)

Off Output signal FALSE

On Output signal TRUE

2 Hz Fault at the output

18 (resistor input) Off

20 (interval measurement) Off

16

2 Hz Fault at the input

ioControl

8 Set-up

8.1 I/O module

On delivery the device is configured as I/O module�

After power on the 10-segment display indicates the article number of the device, followed by the set node ID�

8.1.1 Display mode

If the green Lock LED is on, the device is in display mode� The device can only indicate the set node ID and baud rate and, if appl�, error messages; parameters cannot be edited�

► Press the DOWN button�

> The device displays the set baud rate�

► Press the DOWN button�

> The device displays error code 1, if applicable�

► Press the DOWN button again�

> Every time the DOWN button is pressed, the device displays another error

code, if applicable�

► Use the UP button to go back�

Max� 4 different error codes can occur and be displayed:

Error code Description

SH Short circuit to GND

UK

OP Wire break

oL Excessive current

Comm Communication error

If no button is activated for 10 s, the device displays the set node ID�

8.1.2 Parameter setting

► Press UP and DOWN simultaneously for at least 10 s to change to the editing

mode�

> Green Lock LED goes out�

> Parameters can be edited�

> "uLoc" is displayed for 5 s

> "nodE" is displayed

► Press the ENTER button�

> The device displays the set node ID�

17

ioControl

> The 1st digit to be edited flashes�

► Use the UP and DOWN buttons to set the requested value�

► Use the ENTER button to go to the next digit�

> The 2nd digit to be edited flashes�

► Use the UP and DOWN buttons to set the requested value�

► Use the ENTER button to go to the next digit�

> The 3rd digit to be edited flashes�

► Use the UP and DOWN buttons to set the requested value�

► Press the ENTER button�

> The set node ID is confirmed�

> "nodE" is displayed

► Press the DOWN button�

> "BAUD" is displayed

► Press the ENTER button�

> The device displays the set baud rate�

► Use the UP and DOWN buttons to set the requested value�

► Press the ENTER button�

> The set baud rate is confirmed�

Changes of the parameters are only applied after a reset of the device�

Exit the editing mode:

► Press UP and DOWN simultaneously for at least 10 s�

> Green Lock LED on�

> Parameters cannot be edited�

> "Loc" is displayed for 5 s, then the set node ID is displayed

If no button is activated for 30 s, the device automatically finishes the editing mode�

8.1.3 List of parameters

Parameters Function Value range Default value

nodE Node ID of the device 1��125 125

BAUD Baud rate 20, 50, 100, 125, 250, 500, 800, 1000 250 kBit/s

18

ioControl

8.2 Controller

The device can be configured as a controller� The existing menu structure and the properties as I/O module will be lost�

8.2.1 Programming

The user can easily create the application software by means of the IEC 61131-3 compliant programming system CODESYS 2�3�

WARNING

The user is responsible for the safe function of the application programs which he created himself� If necessary, he must additionally carry out an approval by corresponding supervisory and test organisations according to the national regulations�

UK

For notes on the setting of the CAN ID and the baud rate when used as CANopen slave, refer to the system manual�

8.3 Required documentation

In addition to the CODESYS programming system, the following documents are required for programming and set-up of the device:

● Programming manual CODESYS V2�3

(alternatively as online help)

● System manual ioControl

(alternatively as online help)

The manuals can be downloaded from the internet: www�ifm�com

8.4 Required hardware

If used as mobile controller a CAN interface for connection to a PC or notebook is required to load the application program to the device�

Example:

● CAN/RS232 USB interface CANfox

● Adapter cable for CANfox

You can find more information about the available accessories at: www�ifm�com

19

ioControl

Control systems

Original Scale Drawing (MTD)

9 Technical data

9.1 CR2050

CR2050

I/O module

digital and analogue

for R360 system

CANopen slave

Mobile controller

Programming

to IEC 61131-3

16 inputs

2 CAN interfaces

8��32 V DC

1: ENTER button

76 17

8

7

6

5

4

3

205,5

234,2

3

1 2

40,5

27,4

11

6,9

1

2

4

8,7

2: UP/DOWN buttons 3: 10-segment display 4: DEUTSCH connector

6,9

52

5

5: AMP connector

Technical data Modular control system

Usable as CANopen slave or intelligent I/O module

Mechanical data

Housing Housing: PA6/6�6

Display: PA

Pushbuttons: silicone

Dimensions (H x W x D) 234 x 76 x 40�5 mm (without tubular rivet)

Installation Fixing by means of 3 M5 screws to DIN EN ISO 4762 or DIN 7984, 3 tubular

rivets to DIN 7340 and 3 washers to DIN EN ISO 7092 (tubular rivets and

washers are supplied)

Connection Supply: MCP2�8 6 poles for connector TE-AMP 1745078-1

Inputs/outputs: Deutsch DT04-6S 6 poles

Contacts: AMP: CuFe tin-plated; Deutsch: CuZn, gold-plated

Inputs CAN1 interface Operating voltage, CAN2

8 x 6 poles 2 x 6 poles 1 x 6-poles

Protection rating IP 65 and IP 67 (all connectors inserted)

Operating/storage temperature -40��85° C / -40��85° C

Max� perm� relative humidity 90%, non condensing

Max� height above sea level 2000 m

Pollution degree 2

Weight 500 g

Electrical data

Operating voltage 8��32 V DC

Current consumption 100 mA (at 24 V DC) / 185 mA (at 12 V DC) / max� 300 mA

Overvoltage Undervoltage detection Undervoltage shutdown

36 V for t ≤ 10 s

≤ 7.8 V

if U

B

if U

≤ 7.0 V

B

Processor Freescale PowerPC, 50 MHz

Memory (total) 592 Kbytes RAM / 1536 Kbytes Flash / 1 Kbyte FRAM

Memory allocation See system manual ioControl and

www�ifm�com

20

CR2050 Technical data

Control systems

Device monitoring Undervoltage monitoring

Watchdog function

Checksum test for program and system

Excess temperature monitoring

CAN interfaces 1 and 2 Baud rate Communication protocol

20 Kbits/s…1 Mbits/s (default CAN1: 250 Kbits/s, CAN2: 250 Kbits/s)

CANopen, CiA DS 301 version 4, CiA DS 401 version 1�4

CAN interface 2�0 A/B, ISO 11898

or SAE J 1939 or free protocol

Software/Programming

Programming system CODESYS version 2�3 (IEC 61131-3)

Inputs 16 (conﬁ gurable)

Conﬁ gurations

Number Description

8 digital for positive / negative sensor signals

analogue (0…10/32 V DC, 0��20 mA, ratiometric)

ioControl

B

L/BH

A

UK

4 digital for positive sensor signals

resistance measurement (0.016...30 kΩ)

4 digital for positive sensor signals

digital for negative sensor signals*

frequency (≤ 30 kHz)

* not available in the I/O module (CANopen slave)

Indicators

I/O LEDs 16 x LED orange

(default setting: status indication of the corresponding input)

Power LED (PWR) LED green

(default setting: indication of the system status)

Mode LED (M) LED green

(default setting: indicates that the node ID is displayed)

Application LEDs (A��D) 4 x LED green

Lock LED (lock symbol) 1 x LED green

(default setting: locking of the set parameters)

Diagnostics LED (DIA) 1 x LED red

(default setting: indication of an error)

Display 4-digit 10-segment display (two colours: red/green)

(default setting: indication of the baud rate or the node ID)

Operating states when used as mobile controller

LED State Description

– Permanently off No operating voltage PWR + DIA 1 x on Initialisation or reset checks PWR 5 Hz No operating system loaded

2 Hz Application running (RUN) Permanently on Application stopped (STOP)

DIA 10 Hz Application stopped (STOP with error)

5 Hz Application stopped due to undervoltage Permanently on System error (fatal error)

B

L

R B

L

B

H

FRQ

ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen

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21

ioControl

Control systems

CR2050 Technical data

Operating elements

Pushbuttons ENTER, UP, DOWN

Pushbuttons (default setting) Setting of the CAN ID / baud rate

Input characteristics

Analogue inputs (B IN00 - Connection 1, Pin 5 IN01 - Connection 2, Pin 5 IN02 - Connection 3, Pin 5 IN03 - Connection 4, Pin 5 IN04 - Connection 5, Pin 5 IN05 - Connection 6, Pin 5 IN06 - Connection 7, Pin 5 IN07 - Connection 8, Pin 5

can be conﬁ gured as...

, BH, A)

L

● Voltage inputs Input voltage 0��10 V or 0��32 V Resolution 12 bits Accuracy ± 1% FS Input resistance 65.6 kΩ (0...10 V), 50.7 kΩ (0...32 V) Input frequency ≤ 500 Hz

● Current inputs, with diagnostic capability Input current 0 … 20 mA Resolution 12 bits Accuracy ± 1% FS Input resistance 400 Ω Input frequency ≤ 500 Hz At a current of > 23 mA the input is switched to the voltage input!

● Voltage inputs, 0��32 V, ratiometric Function (U

÷ UB) x 1000 ‰

IN

Value range 0��1000 ‰ Input resistance 50.7 kΩ

● Binary voltage inputs for positive sensor signals Switch-on level Switch-off level < 0�3 U

> 0�7 U

B

Input resistance 3.2 kΩ Input frequency 50 Hz Diagnostics wire break

> 0�95 U

B

Diagnostics short circuit < 1 V

● Binary voltage inputs for negative sensor signals Switch-on level Switch-off level < 0�3 U

> 0�7 U

B

Input resistance 3.2 kΩ Input frequency 50 Hz

Digital inputs (B

L

, R) IN08 - Connection 1, Pin 2 IN10 - Connection 3, Pin 2 IN12 - Connection 5, Pin 2 IN14 - Connection 7, Pin 2

can be conﬁ gured as...

ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen

● Binary voltage inputs for positive sensor signals Switch-on level Switch-off level < 0�3 U

> 0�7 U

B

Input resistance 3.2 kΩ Input frequency 50 Hz Diagnostics wire break

> 0�95 U

B

Diagnostics short circuit < 1 V

● Resistor input Measuring range 0.016…30 kΩ Accuracy ± 2% FS: 16 Ω...3 kΩ

± 5 % FS: 3...15 kΩ ± 10 % FS: 15...30 kΩ

We reserve the right to make technical alterations without prior notice! 20 April 2018CR2050 / page 3

22

CR2050 Technical data

Control systems

Frequency inputs (BL, BH, FRQ) IN09 - Connection 2, Pin 2 IN11 - Connection 4, Pin 2 IN13 - Connection 6, Pin 2 IN15 - Connection 8, Pin 2

can be conﬁ gured as…

● Frequency inputs

Input resistance 3.2 kΩ Input frequency ≤ 30 kHz Switch-on level

> 0�7 U

Switch-off level < 0�3 U

B

● Binary voltage inputs for positive sensor signals Switch-on level Switch-off level < 0�3 U

> 0�7 U

B

Input resistance 3.2 kΩ Input frequency 50 Hz Diagnostics wire break*

> 0�95 U

B

Diagnostics short circuit* < 1 V

● Binary voltage inputs for negative sensor signals* Switch-on level Switch-off level < 0�3 U

> 0�7 U

B

Input resistance 3.2 kΩ Input frequency 50 Hz

* not available in the I/O module (CANopen slave)

ioControl

UK

Max� total current of the CAN supply + sensor supplies V

CAN

+ VBB

S

1�5 A

ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen

We reserve the right to make technical alterations without prior notice! 20 April 2018CR2050 / page 4

23

ioControl

Control systems

CR2050 Technical data

Test standards and regulations

CE mark EN 61000-6-2 Electromagnetic compatibility (EMC)

EN 61000-6-4 Electromagnetic compatibility (EMC)

E1 marking*

Climatic tests EN 60068-2-30 Damp heat, cyclic

Mechanical tests ISO 16750-3 Test VII; Vibration, random

Chemical resistance ISO 16750-5:2010 AA, AB, BA, BD, CC, DB, DC, DD

UN/ECE-R10 Radiation of interference

ISO 7637-2 Pulse 1, severity level: IV; function state C

EN 60068-2-78 Damp heat, constant

EN 60068-2-52 Salt spray test

EN 60068-2-6 Vibration, sinusoidal

ISO 16750-3 Bump

Noise immunity

Radiation of interference

Immunity with 100 V/m

Pulse 2a, severity level: IV; function state A Pulse 2b, severity level: IV; function state C Pulse 3a, severity level: IV; function state A Pulse 3b, severity level: IV; function state A Pulse 4, severity level: IV; function state B Pulse 5, severity level: III; function state C (data valid for the 24 V system) Pulse 4, severity level: III; function state C (data valid for the 12 V system)

upper temperature 55°C, number of cycles: 6

Test temperature 40°C / 93% RH, Test duration: 21 days

Severity level 3 (vehicle)

Mounting location vehicle body

10��500 Hz; 0�72 mm/10 g; 10 cycles/axis

30 g/6 ms; 24,000 shocks

Note The EC declaration of conformity and approvals can be found at:

* in preparation

www�ifm�com

ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen

24

We reserve the right to make technical alterations without prior notice! 20 April 2018CR2050 / page 5

CR2050 Technical data

Control systems

Original Scale Drawing (MTD)

P_MZ_e100_0092

Wiring

03/04 VBB 02 05

Con. 7

01/06 GND

S

IN14 IN06

1

VBB

IN15 IN07

GND

ioControl

S

03/04

02 05

01/06

Con. 8

1

LED assignment

1: LED IN15 2: LED IN07 3: LED IN13 4: LED IN05 5: LED IN11 6: LED IN03 7: LED IN09 8: LED IN01 9: LED IN08 10: LED IN00 11: LED IN10 12: LED IN02 13: LED IN12 14: LED IN04 15: LED IN14 16: LED IN06

03/04 VBB 02 05

Con. 5

01/06 GND

03/04 VBB 02 05

Con. 3

01/06 GND

03/04 VBB 02 05

Con. 1

01/06 GND

03/04 V 02 05

CAN IN

01/06 GND

CR2050

S

IN12 IN04

S

IN10 IN02

S

IN08 IN00

CAN

CAN1_H CAN1_L

CAN

S

03/04

VBB

IN13

02 CAN2_L

05 CAN2_H

16

15

14

13

12

11

10

9

IN05

GND

VBB

IN11 IN03

GND

VBB

IN09 IN01

GND

CAN

V CAN1_H CAN1_L GND

* Load-Dump

Protection

1

*

S

VBB

GND1n.c.

01

04

06

03 n.c.

X1

CAN

02 05

01/06

03/04

01/06

03/04

01/06

03/04

01/06

8

6

4

02 05

Con. 6

Con. 4

Con. 2

CAN OUT

1

2

3

4

5

6

7

8

UK

1

S

1

S

1

7

5

3

1 2

Abbreviations A

ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen

We reserve the right to make technical alterations without prior notice! 20 April 2018CR2050 / page 6

B

H

B

L

FRQ R VBB V

CAN

Analogue Binary high side Binary low side Frequency / pulse input Resistor input Supply sensors/module

S

Supply CAN connector

25

ioControl

Control systems

Original Scale Drawing (MTD)

9.2 CR2051

CR2051

I/O module

digital and analogue

for R360 system

CANopen slave

Mobile controller

Programming

to IEC 61131-3

16 outputs

2 CAN interfaces

8��32 V DC

1: ENTER button

76 17

8

7

6

5

4

3

205,5

234,2

3

1 2

40,5

27,4

11

6,9

1

2

4

8,7

2: UP/DOWN buttons 3: 10-segment display 4: DEUTSCH connector

6,9

52

5

5: AMP connector

Technical data Modular control system

Usable as CANopen slave or intelligent I/O module

Mechanical data

Housing Housing: PA6/6�6

Display: PA

Pushbuttons: silicone

Dimensions (H x W x D) 234 x 76 x 40�5 mm (without tubular rivet)

Installation Fixing by means of 3 M5 screws to DIN EN ISO 4762 or DIN 7984, 3 tubular

rivets to DIN 7340 and 3 washers to DIN EN ISO 7092 (tubular rivets and

washers are supplied)

Connection Supply: MCP2�8 6 poles for connector TE-AMP 1745078-1

Inputs/outputs: Deutsch DT04-6S 6 poles

Contacts: AMP: CuFe tin-plated; Deutsch: CuZn, gold-plated

Inputs CAN1 interface Operating voltage, CAN2

8 x 6 poles 2 x 6 poles 1 x 6-poles

Protection rating IP 65 and IP 67 (all connectors inserted)

Operating/storage temperature -40��85° C / -40��85° C

Max� perm� relative humidity 90%, non condensing

Max� height above sea level 2000 m

Pollution degree 2

Weight 500 g

Electrical data

Operating voltage 8��32 V DC

Current consumption 104 mA (at 24 V DC) / 185 mA (at 12 V DC) / max� 300 mA

Overvoltage Undervoltage detection Undervoltage shutdown

36 V for t ≤ 10 s

≤ 7.8 V

if U

B

if U

≤ 7.0 V

B

Processor Freescale PowerPC, 50 MHz

Memory (total) 592 Kbytes RAM / 1536 Kbytes Flash / 1 Kbyte FRAM

Memory allocation See system manual ioControl and

www�ifm�com

ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen

We reserve the right to make technical alterations without prior notice! 15 Aug 2017CR2051 / page 1

26

CR2051 Technical data

Control systems

Device monitoring Undervoltage monitoring

Watchdog function

Checksum test for program and system

Excess temperature monitoring

CAN interfaces 1 and 2 Baud rate Communication protocol

20 Kbits/s…1 Mbits/s (default CAN1: 250 Kbits/s, CAN2: 250 kBit/s)

CANopen, CiA DS 301 version 4, CiA DS 401 version 1�4

CAN interface 2�0 A/B, ISO 11898

or SAE J 1939 or free protocol

Software/Programming

Programming system CODESYS version 2�3 (IEC 61131-3)

Outputs 16 (conﬁ gurable)

Conﬁ gurations

Number Description

4 positive-switching (high side), 4 A, diagnostics

PWM output (20…250 Hz), 4A, diagnostics current-controlled 0�02…4 A

4 positive-switching (high side), 2�5 A, diagnostics

PWM output (20…250 Hz), 2�5A, diagnostics current-controlled 0�02…2�5 A

4 positive-switching (high side), 4 A, diagnostics

PWM output (20…250 Hz), 4A

4 positive-switching (high side), 2�5 A, diagnostics

PWM output (20…250 Hz), 2�5A

ioControl

B

H

PWM PWM

I

B

H

PWM PWM

I

B

H

PWM B

H

PWM

UK

Indicators

I/O LEDs 16 x LED orange

(default setting: status indication of the corresponding output)

Power LED (PWR) LED green

(default setting: indication of the system status)

Mode LED (M) LED green

(default setting: indicates that the node ID is displayed)

Application LEDs (A��D) 4 x LED green

Lock LED (lock symbol) 1 x LED green

(default setting: locking of the set parameters)

Diagnostics LED (DIA) 1 x LED red

(default setting: indication of an error)

Display 4-digit 10-segment display (two colours: red/green)

(default setting: indication of the baud rate or the node ID)

Operating states when used as mobile controller

LED State Description

– Permanently off No operating voltage PWR + DIA 1 x on Initialisation or reset checks PWR 5 Hz No operating system loaded

2 Hz Application running (RUN) Permanently on Application stopped (STOP)

DIA 10 Hz Application stopped (STOP with error)

5 Hz Application stopped due to undervoltage Permanently on System error (fatal error)

ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen

We reserve the right to make technical alterations without prior notice!

CR2051 / page 2

15 Aug 2017

27

ioControl

Control systems

CR2051 Technical data

Operating elements

Pushbuttons ENTER, UP, DOWN

Pushbuttons (default setting) Setting of the CAN ID / baud rate

Output characteristics

Digital outputs (B OUT00 - Connection 1, Pin 5 OUT01 - Connection 2, Pin 5 OUT02 - Connection 3, Pin 5 OUT03 - Connection 4, Pin 5

can be conﬁ gured as ...

, PWM, PWMI)

H

● Semiconductor outputs, positive switching (high side), short-circuit proof and

overload protected� Diagnosis via current feedback (wire break / overload) Diagnosis via voltage feedback, pullup resistance can be deactivated (wire break / short circuit)

Switching voltage 8��32 V Switching current ≤ 4 Load resistance ≥ 3 Ω (at 12 V DC)

Current measuring range 0,02��6 A

● PWM outputs Output frequency 20��250 Hz Pulse/pause ratio 1��1000 ‰ Switching current ≤ 4 A Current measuring range 0,02��6 A

● Current-controlled output Output frequency 20��250 Hz Control range 0,02��4 A Setting resolution 1 mA Max� inrush current ≤ 24 A

A

≥ 6 Ω (at 24 V DC)

Digital outputs (B OUT04 - Connection 5, Pin 5 OUT05 - Connection 6, Pin 5 OUT06 - Connection 7, Pin 5 OUT07 - Connection 8, Pin 5

can be conﬁ gured as…

, PWM, PWMI)

H

● Semiconductor outputs, positive switching (high side), short-circuit proof and

overload protected� Diagnosis via current feedback (wire break / overload) Diagnosis via voltage feedback, pullup resistance can be deactivated (wire break / short circuit)

Switching voltage 8��32 V Switching current ≤ 2.5 Load resistance ≥ 4.8 Ω (at 12 V DC)

Current measuring range 0,02��4 A

● PWM outputs Output frequency 20��250 Hz Pulse/pause ratio 1��1000 ‰ Switching current ≤ 2.5 A Current measuring range 0,02��4 A

● Current-controlled output Output frequency 20��250 Hz Control range 0�02��2�5 A Setting resolution 1 mA Max� inrush current ≤ 24 A

A

≥ 9.6 Ω (at 24 V DC)

28

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CR2051 / page 4

CR2051 Technical data

Control systems

Digital outputs (BH, PWM) OUT08 - Connection 1, Pin 2 OUT09 - Connection 2, Pin 2 OUT10 - Connection 3, Pin 2 OUT11 - Connection 4, Pin 2

can be conﬁ gured as...

● Semiconductor outputs, positive switching (high side), short-circuit proof and

overload protected� Diagnosis via voltage feedback, pullup resistance can be deactivated (wire break/ short circuit)

Switching voltage 8��32 V Switching current ≤ 2.5

A

● PWM outputs

Output frequency 20��250 Hz Pulse/pause ratio 1��1000 ‰ Switching current ≤ 2.5 A Max� inrush current ≤ 24 A

ioControl

UK

Digital outputs (B OUT12 - Connection 5, Pin 2 OUT13 - Connection 6, Pin 2 OUT14 - Connection 7, Pin 2 OUT15 - Connection 8, Pin 2

can be conﬁ gured as…

, PWM)

H

● Semiconductor outputs, positive switching (high side), short-circuit proof and

overload protected� Diagnosis via voltage feedback, pullup resistance can be deactivated (wire break/ short circuit)

Switching voltage 8��32 V Switching current ≤ 4

A

● PWM outputs

Output frequency 20��250 Hz Pulse/pause ratio 1��1000 ‰ Switching current ≤ 4 A Max� inrush current ≤ 24 A

Free wheel diodes Free wheel diodes for the deactivation of inductive loads are integrated

Overload protection

≤ 5 minutes (at 100% overload)

(valid for all outputs)

Short-circuit protection

≤ 5 minutes

(valid for all inputs and outputs)

Max� total current of the CAN supply V

CAN

1�5 A

Max� total current of the output supplies VBB

/ VBB

1

2

29

ioControl

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CR2051 / page 5

Control systems

CR2051 Technical data

Test standards and regulations

CE mark EN 61000-6-2 Electromagnetic compatibility (EMC)

EN 61000-6-4 Electromagnetic compatibility (EMC)

E1 marking*

UN/ECE-R10 Radiation of interference

ISO 7637-2 Pulse 1, severity level: IV; function state C

Climatic tests EN 60068-2-30 Damp heat, cyclic

EN 60068-2-78 Damp heat, constant

EN 60068-2-52 Salt spray test

Mechanical tests ISO 16750-3 Test VII; Vibration, random

EN 60068-2-6 Vibration, sinusoidal

ISO 16750-3 Bump

Chemical resistance ISO 16750-5:2010 AA, AB, BA, BD, CC, DB, DC, DD

Noise immunity

Radiation of interference

Immunity with 100 V/m

Pulse 2a, severity level: IV; function state A Pulse 2b, severity level: IV; function state C Pulse 3a, severity level: IV; function state A Pulse 3b, severity level: IV; function state A Pulse 4, severity level: IV; function state B Pulse 5, severity level: III; function state C (data valid for the 24 V system) Pulse 4, severity level: III; function state C (data valid for the 12 V system)

upper temperature 55°C, number of cycles: 6

Test temperature 40°C / 93% RH, Test duration: 21 days

Severity level 3 (vehicle)

Mounting location vehicle body

10��500 Hz; 0�72 mm/10 g; 10 cycles/axis

30 g/6 ms; 24,000 shocks

Note The EC declaration of conformity and approvals can be found at:

www�ifm�com

* in preparation

30

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CR2051 / page 6

CR2051 Technical data

Control systems

Con. 7

Con. 8

Con. 5

Con. 6

Con. 3

Con. 4

Con. 1

Con. 2

CAN IN

CAN OUT

X1

Original Scale Drawing (MTD)

P_MZ_e100_0092

Wiring

03/04 n.c.

OUT14

02

OUT06

05 01/06 GND

1

n.c. OUT15 OUT07

GND

ioControl

03/04

02 05

2

01/06

LED assignment

1: LED OUT15 2: LED OUT07 3: LED OUT13 4: LED OUT05 5: LED OUT11 6: LED OUT03 7: LED OUT09 8: LED OUT01 9: LED OUT08 10: LED OUT00 11: LED OUT10 12: LED OUT02 13: LED OUT12 14: LED OUT04 15: LED OUT14 16: LED OUT06

03/04 n.c.

OUT12

02

OUT04

05 01/06 GND

03/04 n.c.

OUT10

02

OUT02

05 01/06 GND

03/04 n.c.

OUT08

02 05

OUT00

01/06 GND

CAN

03/04 V

CAN1_H

02

CAN1_L

05 01/06 GND

CR2051

CAN

03/04

n.c. OUT13

1

*

1

/VBB

1

S

2

VBB

GND

01

04

06

03 GND205 CAN2_H

OUT05

GND

n.c. OUT11 OUT03

GND

n.c. OUT09 OUT01

GND

V CAN1_H CAN1_L GND

* Load-Dump

02 CAN2_L

16

15

14

13

12

11

10

9

2

01/06

03/04

2

01/06

03/04

2

01/06

CAN

03/04

CAN

01/06

Protection

7

5

3

1 2

02 05

1

8

6

4

2

3

4

5

6

7

8

UK

Abbreviations B

Binary high side

H

B PWM PWM VBBS VBB VBB V

Binary low side

L

Pulse width modulation Pulse width modulation, current-controlled

I

Supply sensors/module Supply OUT00, OUT02, OUT04, OUT06, OUT08, OUT10, OUT12, OUT14

1

Supply OUT01, OUT03, OUT05, OUT07, OUT09, OUT11, OUT13, OUT15

2

Supply CAN connector

CAN

31

ioControl

Control systems

Original Scale Drawing (MTD)

9.3 CR2052

CR2052

I/O module

digital and analogue

for R360 system

CANopen slave

Mobile controller

Programming

to IEC 61131-3

8 inputs

8 outputs

2 CAN interfaces

8��32 V DC

1: ENTER button 2: UP/DOWN buttons 3: 10-segment display 4: DEUTSCH connector

76 17

8

7

6

5

4

3

205,5

234,2

3

1 2

6,9

52

40,5

27,4

11

6,9

1

2

4

8,7

5

5: AMP connector

Technical data Modular control system

Usable as CANopen slave or intelligent I/O module

Mechanical data

Housing Housing: PA6/6�6

Display: PA

Pushbuttons: silicone

Dimensions (H x W x D) 234 x 76 x 40�5 mm (without tubular rivet)

Installation Fixing by means of 3 M5 screws to DIN EN ISO 4762 or DIN 7984, 3 tubular

rivets to DIN 7340 and 3 washers to DIN EN ISO 7092 (tubular rivets and

washers are supplied)

Connection Supply: MCP2�8 6 poles for connector TE-AMP 1745078-1

Inputs/outputs: Deutsch DT04-6S 6 poles

Contacts: AMP: CuFe tin-plated; Deutsch: CuZn, gold-plated

Inputs Outputs CAN1 interface Operating voltage, CAN2

4 x 6 poles 4 x 6 poles 2 x 6 poles 1 x 6 poles

Protection rating IP 65 and IP 67 (all connectors inserted)

Operating/storage temperature -40��85° C / -40��85° C

Max� perm� relative humidity 90%, non condensing

Max� height above sea level 2000 m

Pollution degree 2

Weight 500 g

Electrical data

Operating voltage 8��32 V DC

Current consumption 105 mA (at 24 V DC) / 188 mA (at 12 V DC) / max� 300 mA

Overvoltage Undervoltage detection Undervoltage shutdown

36 V for t ≤ 10 s

≤ 7.8 V

if U

B

if U

≤ 7.0 V

B

Processor Freescale PowerPC, 50 MHz

Memory (total) 592 Kbytes RAM / 1536 Kbytes Flash / 1 Kbyte FRAM

Memory allocation See system manual ioControl and

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CR2052 / page 1

32

15 Aug 2017

CR2052 Technical data

Control systems

Device monitoring Undervoltage monitoring

Watchdog function

Checksum test for program and system

Excess temperature monitoring

CAN interfaces 1 and 2 Baud rate Communication protocol

20 Kbits/s…1 Mbits/s (default CAN1: 250 Kbits/s, CAN2: 250 kBit/s)

CANopen, CiA DS 301 version 4, CiA DS 401 version 1�4

CAN interface 2�0 A/B, ISO 11898

or SAE J 1939 or free protocol

Software/Programming

Programming system CODESYS version 2�3 (IEC 61131-3)

Inputs 8 (conﬁ gurable)

Conﬁ gurations

Number Description

4 digital for positive / negative sensor signals

analogue (0…10/32 V DC, 0��20 mA, ratiometric)

frequency (≤ 30 kHz)

4 digital for positive sensor signals

resistance measurement (0.016...30 kΩ)

ioControl

B

L/BH

A FRQ

B

L

R

UK

Outputs 8 (conﬁ gurable)

Conﬁ gurations

Number Description

4 positive-switching (high side), 4 A, diagnostics

PWM output (20…250 Hz), 4A, diagnostics current-controlled 0�02…4 A

4 positive-switching (high side), 2�5 A, diagnostics

PWM output (20…250 Hz), 2�5A, diagnostics current-controlled 0�02…2�5 A

Indicators

I/O LEDs 16 x LED orange

(default setting: status indication of the corresponding input)

Power LED (PWR) LED green

(default setting: indication of the system status)

Mode LED (M) LED green

(default setting: indicates that the node ID is displayed)

Application LEDs (A��D) 4 x LED green

Lock LED (lock symbol) 1 x LED green

(default setting: locking of the set parameters)

Diagnostics LED (DIA) 1 x LED red

(default setting: indication of an error)

Display 4-digit 10-segment display (two colours: red/green)

(default setting: indication of the baud rate or the node ID)

B

H

PWM PWM

B

H

PWM PWM

I

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CR2052 / page 2

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33

ioControl

Control systems

CR2052 Technical data

Operating states when used as mobile controller

Operating elements

Pushbuttons ENTER, UP, DOWN

Pushbuttons (default setting) Setting of the CAN ID / baud rate

Input characteristics

Analogue inputs (B

, BH, A, FRQ)

L

IN00 - Connection 1, Pin 5 IN01 - Connection 3, Pin 5 IN04 - Connection 1, Pin 2 IN05 - Connection 3, Pin 2

can be conﬁ gured as...

LED State Description

– Permanently off No operating voltage PWR + DIA 1 x on Initialisation or reset checks PWR 5 Hz No operating system loaded

2 Hz Application running (RUN) Permanently on Application stopped (STOP)

DIA 10 Hz Application stopped (STOP with error)

5 Hz Application stopped due to undervoltage Permanently on System error (fatal error)

● Voltage inputs Input voltage 0��10 V or 0��32 V Resolution 12 bits Accuracy ± 1% FS Input resistance 65.6 kΩ (0...10 V), 50.7 kΩ (0...32 V) Input frequency ≤ 500 Hz

● Current inputs, with diagnostic capability Input current 0 … 20 mA Resolution 12 bits Accuracy ± 1% FS Input resistance 400 Ω Input frequency ≤ 500 Hz At a current of > 23 mA the input is switched to the voltage input!

● Voltage inputs, 0��32 V, ratiometric Function (U

÷ UB) x 1000 ‰

IN

Value range 0��1000 ‰ Input resistance 50.7 kΩ

● Binary voltage inputs for positive sensor signals Switch-on level Switch-off level < 0�3 U

> 0�7 U

B

Input resistance 3.2 kΩ Input frequency 50 Hz Diagnostics wire break

> 0�95 U

B

Diagnostics short circuit < 1 V

● Binary voltage inputs for negative sensor signals Switch-on level Switch-off level < 0�3 U

> 0�7 U

B

Input resistance 3.2 kΩ Input frequency 50 Hz

● Frequency inputs Input resistance 3.2 kΩ Input frequency ≤ 30 kHz Switch-on level Switch-off level < 0�3 U

> 0�7 U

B

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34

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CR2052 / page 3

15 Aug 2017

CR2052 Technical data

Control systems

Digital inputs (BL, R) IN02 - Connection 5, Pin 5 IN03 - Connection 7, Pin 5 IN06 - Connection 5, Pin 2 IN07 - Connection 7, Pin 2

can be conﬁ gured as…

● Binary voltage inputs for positive sensor signals

Switch-on level Switch-off level < 0�3 U

> 0�7 U

B

Input resistance 3.2 kΩ Input frequency 50 Hz Diagnostics wire break

> 0�95 U

B

Diagnostics short circuit < 1 V

● Resistor input Measuring range 0.016…30 kΩ Accuracy ± 2% FS: 16 Ω...3 kΩ

± 5 % FS: 3...15 kΩ ± 10 % FS: 15...30 kΩ

Output characteristics

Digital outputs (B OUT00 - Connection 2, Pin 5 OUT01 - Connection 4, Pin 5 OUT02 - Connection 6, Pin 5 OUT03 - Connection 8, Pin 5

can be conﬁ gured as ...

, PWM, PWMI)

H

● Semiconductor outputs, positive switching (high side), short-circuit proof and

overload protected� Diagnosis via current feedback (wire break / overload) Diagnosis via voltage feedback, pullup resistance can be deactivated (wire break / short circuit)

Switching voltage 8��32 V Switching current ≤ 4

A

Load resistance ≥ 3 Ω (at 12 V DC)

≥ 6 Ω (at 24 V DC)

Current measuring range 0,02��6 A

● PWM outputs Output frequency 20��250 Hz Pulse/pause ratio 1��1000 ‰ Switching current ≤ 4 A Current measuring range 0,02��6 A

● Current-controlled output Output frequency 20��250 Hz Control range 0,02��4 A Setting resolution 1 mA Max� inrush current ≤ 24 A

ioControl

UK

ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen

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CR2052 / page 4

15 Aug 2017

35

ioControl

Control systems

CR2052 Technical data

Digital outputs (BH, PWM, PWMI) OUT04 - Connection 2, Pin 2 OUT05 - Connection 4, Pin 2 OUT06 - Connection 6, Pin 2 OUT07 - Connection 8, Pin 2

can be conﬁ gured as…

● Semiconductor outputs, positive switching (high side), short-circuit proof and

overload protected� Diagnosis via current feedback (wire break / overload) Diagnosis via voltage feedback, pullup resistance can be deactivated (wire break / short circuit)

Switching voltage 8��32 V Switching current ≤ 2.5

A

Load resistance ≥ 4.8 Ω (at 12 V DC)

≥ 9.6 Ω (at 24 V DC)

Current measuring range 0,02��4 A

● PWM outputs Output frequency 20��250 Hz Pulse/pause ratio 1��1000 ‰ Switching current ≤ 2.5 A Current measuring range 0,02��4 A

● Current-controlled output Output frequency 20��250 Hz Control range 0�02��2�5 A Setting resolution 1 mA Max� inrush current ≤ 24 A

Free wheel diodes Free wheel diodes for the deactivation of inductive loads are integrated

Overload protection

≤ 5 minutes (at 100% overload)

(valid for all outputs)

Short-circuit protection

≤ 5 minutes

(valid for all inputs and outputs)

Max� total current of the CAN supply + sensor supplies V

CAN

+ VBB

S

1�5 A

Max� total current of the output supplies VBB

2

ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen

36

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CR2052 / page 5

15 Aug 2017

CR2052 Technical data

Control systems

Test standards and regulations

CE mark EN 61000-6-2 Electromagnetic compatibility (EMC)

EN 61000-6-4 Electromagnetic compatibility (EMC)

E1 marking*

Climatic tests EN 60068-2-30 Damp heat, cyclic

Mechanical tests ISO 16750-3 Test VII; Vibration, random

Chemical resistance ISO 16750-5:2010 AA, AB, BA, BD, CC, DB, DC, DD

UN/ECE-R10 Radiation of interference

ISO 7637-2 Pulse 1, severity level: IV; function state C

EN 60068-2-78 Damp heat, constant

EN 60068-2-52 Salt spray test

EN 60068-2-6 Vibration, sinusoidal

ISO 16750-3 Bump

Noise immunity

Radiation of interference

Immunity with 100 V/m

Pulse 2a, severity level: IV; function state A Pulse 2b, severity level: IV; function state C Pulse 3a, severity level: IV; function state A Pulse 3b, severity level: IV; function state A Pulse 4, severity level: IV; function state B Pulse 5, severity level: III; function state C (data valid for the 24 V system) Pulse 4, severity level: III; function state C (data valid for the 12 V system)

upper temperature 55°C, number of cycles: 6

Test temperature 40°C / 93% RH, Test duration: 21 days

Severity level 3 (vehicle)

Mounting location vehicle body

10��500 Hz; 0�72 mm/10 g; 10 cycles/axis

30 g/6 ms; 24,000 shocks

ioControl

UK

Note The EC declaration of conformity and approvals can be found at:

* in preparation

www�ifm�com

ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen

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CR2052 / page 6

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37

ioControl

Control systems

Original Scale Drawing (MTD)

P_MZ_e100_0092

CR2052 Technical data

Wiring

03/04 VBB

02 05

Con. 7

01/06 GND

S

IN07 IN03

1

n.c. OUT07 OUT03

GND

03/04

02 05

01/06

Con. 8

2

LED assignment

Con. 5

Con. 3

Con. 1

CAN IN

1: LED OUT07 2: LED OUT03 3: LED OUT06 4: LED OUT02 5: LED OUT05 6: LED OUT01 7: LED OUT04 8: LED OUT00 9: LED IN04 10: LED IN00 11: LED IN05 12: LED IN01 13: LED IN06 14: LED IN02 15: LED IN07 16: LED IN03

03/04 VBB

IN06

02

IN02

05 01/06 GND

03/04 VBB

IN05

02 05

IN01

01/06 GND

03/04 VBB

IN04

02

IN00

05 01/06 GND

CAN

03/04 V

CAN1_H

02

CAN1_L

05 01/06 GND

CR2052

CAN

S

1

S

1

S

1

*

1

S

2

VBB

GND

01

04

06

X1

02 CAN2_L

03 GND205 CAN2_H

16

15

14

13

12

11

10

9

n.c. OUT06 OUT02

2

GND

n.c. OUT05 OUT01

2

GND

n.c. OUT04 OUT00

2

GND

CAN

V CAN1_H CAN1_L

CAN

GND

* Load-Dump

Protection

7

5

3

1 2

03/04

01/06

03/04

01/06

03/04

01/06

03/04

01/06

8

6

4

02 05

Con. 6

Con. 4

Con. 2

CAN OUT

1

2

3

4

5

6

7

8

Abbreviations A

ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen

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38

R FRQ B

H

B

L

PWM PWM VBBS VBB V

CAN

Analogue Resistor input Frequency / pulse input Binary high side Binary low side Pulse width modulation Pulse width modulation, current-controlled

I

Supply sensors/module Supply OUT01��OUT07

2

Supply CAN connector

CR2052 / page 7

15 Aug 2017

ioControl

10 Maintenance, repair and disposal

10.1 Maintenance

The device does not contain any components that need to be maintained by the user�

10.2 Cleaning the housing surface

► Disconnect the device� ► Clean the device from dirt using a soft, chemically untreated and dry cloth� ► In case of heavy dirt, use a damp cloth�

The following agents are not suited for cleaning the device: Chemicals dissolving plastics such as isopropanol, methylated spirit, benzine, thinner, alcohol, acetone or ammonia�

Micro-fibre cloths without chemical additives are recommended�

UK

10.3 Repair

► The device must only be repaired by the manufacturer�

Observe the safety instructions (→ 2.4 Tampering with the unit)

10.4 Disposal

► Dispose of the device in accordance with the national environmental

regulations�

11 Approvals/standards

Test standards and regulations (→ 9 Technical data)

The EC declaration of conformity and approvals can be found at: www�ifm�com

39

ioControl

12 Appendix

12.1 EMCY Object

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

EMCY code Error reg Additional code Description

0x6100 0x11 0x00 Internal Software

Overflow of an Rx queue e�g� frequency of the Rx PDOs is too high�

Reset only externally via entry in the index 0x1003 SubIdx 00�

0x6101 0x11 0x00 Internal Software

Overflow of a Tx queue e�g� device does not communicate with the bus�

Reset only externally via entry in the index 0x1003 SubIdx 00�

0x8100 0x11 0x00 Monitoring (Guarding Error)

No guard object is received for „guard time“ x „life time factor“�

Reset with the next communication�

0x8200 0x11 0x00 Monitoring (Synch Error)

For "communication cycle" no synch object is received

Only in OPEATIONAL�

Reset with the next synch OBJ or PREOP�

CANopen does not provide for two identical EMCY objects to be sent consecutively�

12.2 Object directory CR205x

Obligatory objects (index 0x1000…0x1FFF):

Index S-idx Designation Data type Default Details

0x1001 Device type ro UDINT 0x000F0191 Device type

0x1001 Error register ro USINT 0 Error register bitcoded to profile

301

Permissible values: 0b0000 0000 = no error 0b0000 0001 = generic error 0b0001 0000 = communication error 0b1000 0000 = manufacturer specific

40

Index S-idx Designation Data type Default Details

ioControl

0x1018 0x00 Device

identification Number of entries

0x01 Vendor-ID ro UDINT 0x0069666D Vendor ID oft he device according

0x02 Product code ro STRING 0 Product code of the device

0x03 Revision

number

0x04 Serial

number

0x1003 0x00 Predefined

error field

Number of entries

0x01 Error history ro UDINT 0 Error occured, coded according to

ro USINT 0x04 Device identification

to CiA specifikation

ro UDINT 0 Revision number of the device

UK

ro UDINT 0 Serial number of the device

rw UDINT 0 An error list with 4 entries is

supported

EMCY list

The last error is indicated in the sub-index 1

0x02 Error history ro UDINT 0 Error occured, coded according to

0x03 Error history ro UDINT 0 Error occured, coded according to

0x04 Error history ro UDINT 0 Error occured, coded according to

0x05 Error history ro UDINT 0 Error occured, coded according to

0x1005 COB-ID

synch message

0x1006 Communi-

cation cycle period

EMCY list

rw UDINT 0x0000 0080 Identifier of the synch message

Bit 30 = 0 → device generates no

synch message

Bit 30 = 1 → device generates a

synch message

Bit 29 = 0 → 11 bit ID

Bit 29 = 1 → ID = 0x80 + node ID

rw UDINT 0 Max� time between 2 synch objects

in [µs]

Control resolution = 1 ms

0x1008 Manufacturer

device name

0x1009 Manufacturer

hardware version

ro STRING CR205x Device designation (CR2050 or

CR2051 or CR2052)

ro STRING V00�00�00 Hardware version

41

ioControl

Index S-idx Designation Data type Default Details

0x100A Manufacturer

ro STRING V00�00�00 Software version software version

0x100C Guard time rw UINT 0 Within this time in [ms] the device

expects a „node guarding“ of the master oft he system�

0 = this function is not supported�

The monitoring oft he node with „node guarding“ or „heartbeat“ is only possible as an alternative!

0x100D Lifetime

factor

rw USINT 0 If for „guard time“ • “lifetime” no

"node guarding" was received, the device switches off the outputs� The device changes the CANopen status to PREOP�

Default: "guard time" • "lifetime" = 0��65535

0x1010 0x00 Store para-

ro USINT 0x01 Number of “save options” meters

Largest sub-index supported

0x01 Save all

parameters

0x1011 0x00 Restore

default parameters

Largest sub-index supported

0x01 Restore

all default parameters

0x1014 COBId

Emergency

rw UDINT 2 Automatic saving of all parameters

changed

0 = AutoSave OFF

2 = AutoSave ON

ro USINT 0x01 Number of "restore options"

rw UDINT 0x01 If the String "load" is entered here,

the default parameters set at the factory are restored and become valid after the next reset�

rw UDINT 0x80 + node ID Bit 31 = 0 → EMCY is valid

Bit 31 = 1 → EMCY is not valid

Bit 29 = 0 → 11-bit ID

Bit 29 = 1 → ID = 0x80 + node ID

CAN identifier can be changed by the user�

42

Index S-idx Designation Data type Default Details

ioControl

0x1016 0x00 Consumer

heartbeat times

Nums consumer heartbeat time

0x01 Consumer

heartbeat time

0x1017 Producer

heartbeat time

ro USINT 0x01 Heartbeat monitoring time for the

node

Number of devices monitored = 1

rw UDINT 0 Heartbeat monitoring time for the

node

Format: 0x0nntttt

tttt = monitoring time [ms]

nn = node number

if nn=0 or tttt=0 → no monitoring

The monitoring of the node with „node guarding“ or „heartbeat“ is only possible as an alternative!

rw UINT 0 Time intervall [ms] during which

the device generates a producer heartbeat

UK

43

ioControl

12.2.1 Device-specic CR2050

Transmit PDO communication parameters (index 0x1800…0x18FF):

Index S-idx Designation Data type Default Details

0x1800 0x00 Transmit

PDO Communication Parameter Number of entries

0x01 COBID used

by PDO

0x02 transmission

type

0x03 inhibit time rw UINT 0 delay time in the transmission

ro USINT 0x05 Configuration transmit PDO 1

number of entries = 5

rw UDINT 0x180 +

Node ID

rw USINT 0xFF 0x00 = synch acyclic

CAN ID of the transmit PDO 1

Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid

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

type "asynch" before the PDO is transmitted again at the earliest� (0��65535 • 100 µs)

0x04 reserved rw USINT 0 reserve

0x05 event time rw UINT 0 max� transfer break in the transmissi-

on type „asynch" (0��65535 ms) When this time has elapsed, the PDO is transferred even if the appl� event has not accured�

44

Index S-idx Designation Data type Default Details

ioControl

0x1801 0x00 Transmit

PDO Communication Parameter Number of entries

0x01 COBID used

by PDO

0x02 transmission

type

0x03 inhibit time rw UINT 0 delay time in the transmission

ro USINT 0x05 Configuration transmit PDO 2

number of entries = 5

rw UDINT 0x280 +

Node ID

rw USINT 0x01 0x00 = synch acyclic

CAN ID of the transmit PDO 2

Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid

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

type "asynch" before the PDO is transmitted again at the earliest� (0��65535 • 100 µs)

UK

0x04 reserved rw USINT 0 reserve

0x05 event time rw UINT 0 max� transfer break in the transmissi-

on type „asynch" (0��65535 ms) When this time has elapsed, the PDO is transferred even if the appl� event has not accured�

45

ioControl

Index S-idx Designation Data type Default Details

0x1802 0x00 Transmit

PDO Communication Parameter Number of entries

0x01 COBID used

by PDO

0x02 transmission

type

0x03 inhibit time rw UINT 0 delay time in the transmission

ro USINT 0x05 Configuration transmit PDO 3

number of entries = 5

rw UDINT 0x380 +

Node ID

rw USINT 0x01 0x00 = synch acyclic

CAN ID of the transmit PDO 3

Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid

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

type "asynch" before the PDO is transmitted again at the earliest� (0��65535 • 100 µs)

0x04 reserved rw USINT 0 reserve

0x05 event time rw UINT 0 max� transfer break in the transmissi-

on type „asynch" (0��65535 ms) When this time has elapsed, the PDO is transferred even if the appl� event has not accured�

46

Index S-idx Designation Data type Default Details

ioControl

0x1803 0x00 Transmit

PDO Communication Parameter Number of entries

0x01 COBID used

by PDO

0x02 transmission

type

0x03 inhibit time rw UINT 0 delay time in the transmission

ro USINT 0x05 Configuration transmit PDO 4

number of entries = 5

rw UDINT 0x480 +

Node ID

rw USINT 0x01 0x00 = synch acyclic

CAN ID of the transmit PDO 4

Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid

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

type "asynch" before the PDO is transmitted again at the earliest� (0��65535 • 100 µs)

UK

0x04 reserved rw USINT 0 reserve

0x05 event time rw UINT 0 max� transfer break in the transmissi-

on type „asynch" (0��65535 ms) When this time has elapsed, the PDO is transferred even if the appl� event has not accured�

47

ioControl

Index S-idx Designation Data type Default Details

0x1804 0x00 Transmit

PDO Communication Parameter Number of entries

0x01 COBID used

by PDO

0x02 transmission

type

0x03 inhibit time rw UINT 0 delay time in the transmission

ro USINT 0x05 Configuration transmit PDO 5

number of entries = 5

rw UDINT 0x181 +

Node ID

rw USINT 0x01 0x00 = synch acyclic

CAN ID of the transmit PDO 5

Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid

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

type "asynch" before the PDO is transmitted again at the earliest� (0��65535 • 100 µs)

0x04 reserved rw USINT 0 reserve

0x05 event time rw UINT 0 max� transfer break in the transmissi-

on type „asynch" (0��65535 ms) When this time has elapsed, the PDO is transferred even if the appl� event has not accured�

48

Index S-idx Designation Data type Default Details

ioControl

0x1805 0x00 Transmit

PDO Communication Parameter Number of entries

0x01 COBID used

by PDO

0x02 transmission

type

0x03 inhibit time rw UINT 0 delay time in the transmission

ro USINT 0x05 Configuration transmit PDO 6

number of entries = 5

rw UDINT 0x281 +

Node ID

rw USINT 0x01 0x00 = synch acyclic

CAN ID of the transmit PDO 6

Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid

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

type "asynch" before the PDO is transmitted again at the earliest� (0��65535 • 100 µs)

UK

0x04 reserved rw USINT 0 reserve

0x05 event time rw UINT 0 max� transfer break in the transmissi-

on type „asynch" (0��65535 ms) When this time has elapsed, the PDO is transferred even if the appl� event has not accured�

49

ioControl

Index S-idx Designation Data type Default Details

0x1806 0x00 Transmit

PDO Communication Parameter Number of entries

0x01 COBID used

by PDO

0x02 transmission

type

0x03 inhibit time rw UINT 0 delay time in the transmission

ro USINT 0x05 Configuration transmit PDO 7

number of entries = 5

rw UDINT 0x381 +

Node ID

rw USINT 0x01 0x00 = synch acyclic

CAN ID of the transmit PDO 7

Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid

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

type "asynch" before the PDO is transmitted again at the earliest� (0��65535 • 100 µs)

0x04 reserved rw USINT 0 reserve

0x05 event time rw UINT 0 max� transfer break in the transmissi-

on type „asynch" (0��65535 ms) When this time has elapsed, the PDO is transferred even if the appl� event has not accured�

50

Index S-idx Designation Data type Default Details

ioControl

0x1807 0x00 Transmit

PDO Communication Parameter Number of entries

0x01 COBID used

by PDO

0x02 transmission

type

0x03 inhibit time rw UINT 0 delay time in the transmission

ro USINT 0x05 Configuration transmit PDO 8

number of entries = 5

rw UDINT 0x481 +

Node ID

rw USINT 0x01 0x00 = synch acyclic

CAN ID of the transmit PDO 8

Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid

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

type "asynch" before the PDO is transmitted again at the earliest� (0��65535 • 100 µs)

UK

0x04 reserved rw USINT 0 reserve

0x05 event time rw UINT 0 max� transfer break in the transmissi-

on type „asynch" (0��65535 ms) When this time has elapsed, the PDO is transferred even if the appl� event has not accured�

51

ioControl

Index S-idx Designation Data type Default Details

0x1808 0x00 Transmit

PDO Communication Parameter Number of entries

0x01 COBID used

by PDO

0x02 transmission

type

0x03 inhibit time rw UINT 0 delay time in the transmission

ro USINT 0x05 Configuration transmit PDO 9

number of entries = 5

rw UDINT 0x182 +

Node ID

rw USINT 0x01 0x00 = synch acyclic

CAN ID of the transmit PDO 9

Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid

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

type "asynch" before the PDO is transmitted again at the earliest� (0��65535 • 100 µs)

0x04 reserved rw USINT 0 reserve

0x05 event time rw UINT 0 max� transfer break in the transmissi-

on type „asynch" (0��65535 ms) When this time has elapsed, the PDO is transferred even if the appl� event has not accured�

52

Index S-idx Designation Data type Default Details

ioControl

0x1809 0x00 Transmit

PDO Communication Parameter Number of entries

0x01 COBID used

by PDO

0x02 transmission

type

0x03 inhibit time rw UINT 0 delay time in the transmission

ro USINT 0x05 Configuration transmit PDO 10

number of entries = 5

rw UDINT 0x282 +

Node ID

rw USINT 0x01 0x00 = synch acyclic

CAN ID of the transmit PDO 10

Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid

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

type "asynch" before the PDO is transmitted again at the earliest� (0��65535 • 100 µs)

UK

0x04 reserved rw USINT 0 reserve

0x05 event time rw UINT 0 max� transfer break in the transmissi-

on type „asynch" (0��65535 ms) When this time has elapsed, the PDO is transferred even if the appl� event has not accured�

53

ioControl

Transmit PDO mapping (index 0x1A00…0x1AFF):

Index S-idx Designation Data type Default Details

0x1A00 0x00 Transmit

PDO mapping Number of mapped objects in PDO

0x01 PDO map-

ping

0x02 PDO map-

ping

0x03 PDO map-

ping

0x04 PDO map-

ping

0x05 PDO map-

ping

rw USINT 0x07 mapping transmit PDO 1

number of integrated application objects = 7

rw UDINT 0x6000 0108 Index 0x6000, SubIndex 0x01

binary inputs 00��07: actual values (bit coded)

rw UDINT 0x6000 0208 Index 0x6000, SubIndex 0x02

binary inputs 08…15: actual values (bit coded)

rw UDINT 0x2020 0108 Index 0x2020, SubIndex 0x01

binary inputs 00��07: flag "short circuit" (bit coded)

rw UDINT 0x2020 0208 Index 0x2020, SubIndex 0x02

binary inputs 08…15: flag "short circuit" (bit coded)

rw UDINT 0x2021 0108 Index 0x2021, SubIndex 0x01

outputs 00��07: flag " wire break " (bit coded)

0x06 PDO map-

ping

0x07 PDO map-

ping

rw UDINT 0x2021 0208 Index 0x2021, SubIndex 0x02

outputs 08…15: flag " wire break " (bit coded)

rw UDINT 0x2025 0108 Index 0x2025, SubIndex 0x01

inputs 00��03: flag " overload " (bit coded)

54

Index S-idx Designation Data type Default Details

ioControl

0x1A01 0x00 Transmit

PDO mapping Number of mapped objects in PDO

0x01 PDO map-

ping

0x02 PDO map-

ping

0x03 PDO map-

ping

0x04 PDO map-

ping

rw USINT 0x04 mapping transmit PDO 2 (analogue

inputs) number of integrated application objects = 4

rw UDINT 0x6404 0110 Index 0x6404, SubIndex 0x01

analogue input 00: actual value (depending on the configuration 0x2000)

rw UDINT 0x6404 0210 Index 0x6404, SubIndex 0x02

analogue input 01: actual value (depending on the configuration 0x2000))

rw UDINT 0x6404 0310 Index 0x6404, SubIndex 0x03

analogue input 02: actual value (depending on the configuration 0x2000)

rw UDINT 0x6404 0410 Index 0x6404, SubIndex 0x04

analogue input 03: actual value (depending on the configuration 0x2000)

UK

0x1A02 0x00 Transmit

PDO mapping Number of mapped objects in PDO

0x01 PDO map-

ping

0x02 PDO map-

ping

0x03 PDO map-

ping

0x04 PDO map-

ping

rw USINT 0x04 mapping transmit PDO 3 (analogue

inputs) number of integrated application objects = 4

rw UDINT 0x6404 0510 Index 0x6404, SubIndex 0x05

analogue input 04: actual value (depending on the configuration 0x2000)

rw UDINT 0x6404 0610 Index 0x6404, SubIndex 0x06

analogue input 05: actual value (depending on the configuration 0x2000))

rw UDINT 0x6404 0710 Index 0x6404, SubIndex 0x07

analogue input 06: actual value (depending on the configuration 0x2000)

rw UDINT 0x6404 0810 Index 0x6404, SubIndex 0x08

analogue input 07: actual value (depending on the configuration 0x2000)

55

ioControl

Index S-idx Designation Data type Default Details

0x1A03 0x00 Transmit

PDO mapping Number of mapped objects in PDO

0x01 PDO map-

ping

0x02 PDO map-

ping

0x03 PDO map-

ping

0x04 PDO map-

ping

0x1A04 0x00 Transmit

PDO mapping Number of mapped objects in PDO

rw USINT 0x04 mapping transmit PDO 4

number of integrated application objects = 4

rw UDINT 0x2030 0110 Index 0x2030, SubIndex 0x01

input 08: actual resistor value

rw UDINT 0x2030 0210 Index 0x2030, SubIndex 0x02

input 10: actual resistor value

rw UDINT 0x2030 0310 Index 0x2030, SubIndex 0x03

input 12: actual resistor value

rw UDINT 0x2030 0410 Index 0x2030, SubIndex 0x04

input 14: actual resistor value

rw USINT 0x02 mapping transmit PDO 5 (periode

time IN09, IN11) number of integrated application objects = 2

0x01 PDO map-

ping

0x02 PDO map-

ping

0x1A05 0x00 Transmit

PDO mapping Number of mapped objects in PDO

0x01 PDO map-

ping

0x02 PDO map-

ping

rw UDINT 0x2012 0120 Index 0x2012, SubIndex 0x01

frequency input IN09: periode time of the signal

rw UDINT 0x2012 0220 Index 0x2012, SubIndex 0x02

frequency input IN11: periode time of the signal

rw USINT 0x02 mapping transmit PDO 6 (periode

time IN13, IN15) number of integrated application objects = 2

rw UDINT 0x2012 0320 Index 0x2012, SubIndex 0x03

frequency input IN13: periode time of the signal

rw UDINT 0x2012 0420 Index 0x2012, SubIndex 0x04

frequency input IN15: periode time of the signal

56

Index S-idx Designation Data type Default Details

ioControl

0x1A06 0x00 Transmit

PDO mapping Number of mapped objects in PDO

0x01 PDO map-

ping

0x02 PDO map-

ping

0x03 PDO map-

ping

0x04 PDO map-

ping

0x1A07 0x00 Transmit

PDO mapping Number of mapped objects in PDO

rw USINT 0x04 mapping transmit PDO 7 (duty cycle

of the signal on the frequency input IN09, IN11, IN13, IN15) number of integrated application objects = 4

rw UDINT 0x2014 0110 Index 0x2014, SubIndex 0x01

frequency input IN09: duty cycle of the signal in ‰

rw UDINT 0x2014 0210 Index 0x2014, SubIndex 0x02

frequency input IN11: duty cycle of the signal in ‰

rw UDINT 0x2014 0310 Index 0x2014, SubIndex 0x03

frequency input IN13: duty cycle of the signal in ‰

rw UDINT 0x2014 0410 Index 0x2014, SubIndex 0x04

frequency input IN15: duty cycle of the signal in ‰

rw USINT 0x02 mapping transmit PDO 8 (frequency

on IN09, IN11) number of integrated application objects = 2

UK

0x01 PDO map-

ping

0x02 PDO map-

ping

0x1A08 0x00 Transmit

PDO mapping Number of mapped objects in PDO

0x01 PDO map-

ping

0x02 PDO map-

ping

rw UDINT 0x2015 0120 Index 0x2015, SubIndex 0x01

frequency input IN09: frequency value of the signal in Hz

rw UDINT 0x2015 0220 Index 0x2015, SubIndex 0x02

frequency input IN11: frequency value of the signal in Hz

rw USINT 0x02 mapping transmit PDO 9 (frequency

on IN13, IN15) number of integrated application objects = 2

rw UDINT 0x2015 0320 Index 0x2015, SubIndex 0x03

frequency input IN13: frequency value of the signal in Hz

rw UDINT 0x2015 0420 Index 0x2015, SubIndex 0x04

frequency input IN15: frequency value of the signal in Hz

57

ioControl

Index S-idx Designation Data type Default Details

0x1A09 0x00 Transmit

PDO mapping Number of mapped objects in PDO

0x01 PDO map-

ping

0x02 PDO map-

ping

rw USINT 0x02 mapping transmit PDO 10 (system

flag) number of integrated application objects = 2

rw UDINT 0x2040 0110 Index 0x2040, SubIndex 0x01

supply voltage of the system VBBS

rw UDINT 0x2050 0010 Index 0x2050, SubIndex 0x00

system temperature in °C

Manufacturer-specific objekts (index 0x2000��0x6FFF):

Index S-idx Designation Data type Default Details

0x2000 0x00 IO configu-

ration Largest sub-index supported

ro USINT 16 Configuration inputs/outputs

largest supported Sub-index = 32

0x01 Configuration

IN00

0x02 Configuration

IN01

0x03 Configuration

IN02

rw USINT 10 0 = 0x00

3 = 0x03 6 = 0x06 7 = 0x07 9 = 0x09 10 = 0x0A 11 = 0x0B 12 = 0x0C

rw USINT 10 0 = 0x00

3 = 0x03 6 = 0x06 7 = 0x07 9 = 0x09 10 = 0x0A 11 = 0x0B 12 = 0x0C

rw USINT 10 0 = 0x00

3 = 0x03 6 = 0x06 7 = 0x07 9 = 0x09 10 = 0x0A 11 = 0x0B 12 = 0x0C

off Input IN00 0��10 000 mV ratiometric 0��1000 ‰ 0��20 000 µA 0��32 000 mV binary plus switched binary plus switched with diagnosis binary minus switched

off Input IN01 0��10 000 mV ratiometric 0��1000 ‰ 0��20 000 µA 0��32 000 mV binary plus switched binary plus switched with diagnosis binary minus switched

off Input IN02 0��10 000 mV ratiometric 0��1000 ‰ 0��20 000 µA 0��32 000 mV binary plus switched binary plus switched with diagnosis binary minus switched

58

Index S-idx Designation Data type Default Details

ioControl

0x2000 0x04 Configuration

IN03

0x05 Configuration

IN04

0x06 Configuration

IN05

rw USINT 10 0 = 0x00

3 = 0x03 6 = 0x06 7 = 0x07 9 = 0x09 10 = 0x0A 11 = 0x0B 12 = 0x0C

rw USINT 10 0 = 0x00

3 = 0x03 6 = 0x06 7 = 0x07 9 = 0x09 10 = 0x0A 11 = 0x0B 12 = 0x0C

rw USINT 10 0 = 0x00

3 = 0x03 6 = 0x06 7 = 0x07 9 = 0x09 10 = 0x0A 11 = 0x0B 12 = 0x0C

off Input IN03 0��10 000 mV ratiometric 0��1000 ‰ 0��20 000 µA 0��32 000 mV binary plus switched binary plus switched with diagnosis binary minus switched

off Input IN04 0��10 000 mV ratiometric 0��1000 ‰ 0��20 000 µA 0��32 000 mV binary plus switched binary plus switched with diagnosis binary minus switched

off Input IN05 0��10 000 mV ratiometric 0��1000 ‰ 0��20 000 µA 0��32 000 mV binary plus switched binary plus switched with diagnosis binary minus switched

UK

0x07 Configuration

IN06

0x08 Configuration

IN07

0x09 Configuration

IN08

rw USINT 10 0 = 0x00

3 = 0x03 6 = 0x06 7 = 0x07 9 = 0x09 10 = 0x0A 11 = 0x0B 12 = 0x0C

rw USINT 10 0 = 0x00

3 = 0x03 6 = 0x06 7 = 0x07 9 = 0x09 10 = 0x0A 11 = 0x0B 12 = 0x0C

rw USINT 10 0 = 0x00

10 = 0x0A 11 = 0x0B 18 = 0x12

off Input IN06 0��10 000 mV ratiometric 0��1000 ‰ 0��20 000 µA 0��32 000 mV binary plus switched binary plus switched with diagnosis binary minus switched

off Input IN07 0��10 000 mV ratiometric 0��1000 ‰ 0��20 000 µA 0��32 000 mV binary plus switched binary plus switched with diagnosis binary minus switched

off Input IN08 binary plus switched binary plus switched with diagnosis 16…30 000 Ohm

59

ioControl

Index S-idx Designation Data type Default Details

0x2000 0x0A Configuration

IN09

0x0B Configuration

IN10

0x0C Configuration

IN11

0x0D Configuration

IN12

0x0E Configuration

IN13

rw USINT 01 0 = 0x00

01 = 0x01 14 = 0x0E 20 = 0x14

rw USINT 10 0 = 0x00

10 = 0x0A 11 = 0x0B 18 = 0x12

rw USINT 01 0 = 0x00

01 = 0x01 14 = 0x0E 20 = 0x14

rw USINT 10 0 = 0x00

10 = 0x0A 11 = 0x0B 18 = 0x12

rw USINT 01 0 = 0x00

01 = 0x01 14 = 0x0E 20 = 0x14

off Input IN09 binary plus switched frequency 0…30 000 Hz period duration

off Input IN10 binary plus switched binary plus switched with diagnosis 16…30 000 Ohm

off Input IN11 binary plus switched frequency 0…30 000 Hz period duration

off Input IN12 binary plus switched binary plus switched with diagnosis 16…30 000 Ohm

off Input IN12 binary plus switched frequency 0…30 000 Hz period duration

0x0F Configuration

IN14

0x10 Configuration

IN15

0x2012 0x00 Period input ro USINT 4 Largest sub-index supported

0x01 Period durati-

on IN09

0x02 Period durati-

on IN11

0x03 Period durati-

on IN13

0x04 Period durati-

on IN15

rw USINT 10 0 = 0x00

10 = 0x0A 11 = 0x0B 18 = 0x12

rw USINT 01 0 = 0x00

01 = 0x01 14 = 0x0E 20 = 0x14

ro UDINT 0 IN09 period duration [µs]

ro UDINT 0 IN11 period duration [µs]

ro UDINT 0 IN13 period duration [µs]

ro UDINT 0 IN15 period duration [µs]

off Input IN14 binary plus switched binary plus switched with diagnosis 16…30 000 Ohm

off Input IN15 binary plus switched frequency 0…30 000 Hz period duration

60

Index S-idx Designation Data type Default Details

ioControl

0x2013 0x00 Period input

number of periods for average

0x01 Number of

periods IN09

0x02 Number of

periods IN11

0x03 Number of

periods IN13

0x04 Number of

periods IN15

0x2014 0x00 Period input

– ratio value

0x01 Period ratio

value IN09

0x02 Period ratio

value IN11

0x03 Period ratio

value IN13

ro USINT 4 Largest sub-index supported

rw USINT 4 1…255 IN09 number of

periods

rw USINT 4 1…255 IN11 number of

periods

rw USINT 4 1…255 IN13 number of

periods

rw USINT 4 1…255 IN15 number of

periods

ro USINT 4 Largest sub-index supported

ro UINT 0 0…1 000 IN09 marc-to-space

ratio [‰]

ro UINT 0 0…1 000 IN11 marc-to-space

ratio [‰]

ro UINT 0 0…1 000 IN13 marc-to-space

ratio [‰]

UK

0x04 Period ratio

value IN15

0x2015 0x00 Frequency

input

0x01 Frequency

IN09

0x02 Frequency

IN11

0x03 Frequency

IN13

0x04 Frequency

IN15

0x2016 0x00 Timebase ro USINT 4 Largest sub-index supported

0x01 Timebase

IN09

0x02 Timebase

IN11

0x03 Timebase

IN13

ro UINT 0 0…1 000 IN15 marc-to-space

ratio [‰]

ro USINT 4 Largest sub-index supported

ro REAL 1 0…30 000 IN09 frequency [Hz]

ro REAL 1 0…30 000 IN11 frequency [Hz]

ro REAL 1 0…30 000 IN13 frequency [Hz]

ro REAL 1 0…30 000 IN15 frequency [Hz]

rw UINT 50 0…2 000 IN09 timebase [ms]

rw UINT 50 0…2 000 IN11 timebase [ms]

rw UINT 50 0…2 000 IN13 timebase [ms]

0x04 Timebase

IN15

rw UINT 50 0…2 000 IN15 timebase [ms]

61

ioControl

Index S-idx Designation Data type Default Details

0x2020 0x00 Input – short

to supply voltage

0x01 Short to sup-

ply voltage IN00��IN07

0x02 Short to sup-

ply voltage IN08, IN10, IN12, IN14

0x2021 0x00 Input – wire

break

0x01 Wire break

IN00��IN07

ro USINT 2 Largest sub-index supported

ro USINT 0 0 = normal

1 = short circuit

ro USINT 0 0 = normal

1 = short circuit

ro USINT 2 Largest sub-index supported

ro USINT 0 0 = normal

1 = wire break

channels (bit coded) 0b---- ---X = IN00 0b---- --X- = IN01 0b---- -X-- = IN02 0b---- X--- = IN03 0b---X ---- = IN04 0b--X- ---- = IN05 0b-X-- ---- = IN06 0bX--- ---- = IN07

channels (bit coded) 0b---- ---X = IN08 0b---- --X- = IN10 0b---- -X-- = IN12 0b---- X--- = IN14

channels (bit coded) 0b---- ---X = IN00 0b---- --X- = IN01 0b---- -X-- = IN02 0b---- X--- = IN03 0b---X ---- = IN04 0b--X- ---- = IN05 0b-X-- ---- = IN06 0bX--- ---- = IN07

0x02 Wire break

IN08, IN10, IN12, IN14

0x2025 0x00 Input analog

– overcurrent

0x01 Overcurrent

IN00��IN07

ro USINT 0 0 = normal

1 = wire break

ro USINT 1 Largest sub-index supported

ro USINT 0 0 = normal

1 = overcurrent

channels (bit coded) 0b---- ---X = IN08 0b---- --X- = IN10 0b---- -X-- = IN12 0b---- X--- = IN14

channels (bit coded)

0b---- ---X = IN00

0b---- --X- = IN01

0b---- -X-- = IN02

0b---- X--- = IN03

0b---X ---- = IN04

0b--X- ---- = IN05

0b-X-- ---- = IN06

0bX--- ---- = IN07

62

ioControl

Index S-idx Designation Data type Default Details

0x2030 0x00 Input resistor ro USINT 4 Largest sub-index supported

0x01 Resistance

IN08

0x02 Resistance

IN10

0x03 Resistance

IN12

0x04 Resistance

IN14

0x2040 0x00 System supp-

ly voltage VBBS

0x01 VBBS ro USINT 0 VBBS voltage [mV]

0x2050 Device tem-

perature

0x20F0 Node ID rw USINT 125 1…125 node ID

0x20F1 Node ID rw USINT 125 1…125 node ID

ro UINT 0 0…30 000 IN08 resistance

[Ohms]

ro UINT 0 0…30 000 IN10 resistance

[Ohms]

ro UINT 0 0…30 000 IN12 resistance

[Ohms]

ro UINT 0 0…30 000 IN14 resistance

[Ohms]

ro USINT 1 Largest sub-index supported

ro UINT 0 temperature [°C]

[!] value(0x20F0) != value(20F1)

UK

0x20F2 Baud rate rw USINT 3 baud rate

[!] value(0x20F2) != value(20F3)

0 1000 kBit/s

1 800 kBit/s

2 500 kBit/s

3 250 kBit/s

4 125 kBit/s

5 100 kBit/s

6 50 kBit/s

7 20 kBit/s

0x20F3 Baud rate rw USINT 3 baud rate

[!] value(0x20F2) != value(20F3)

0x20F4 Autostart rw UINT 0 not used

0x20F5 Lock edit

mode

rw USINT 0 0 = edit mode unlocked

1 = edit mode locked

63

ioControl

Index S-idx Designation Data type Default Details

0x6000 0x00 Binary input

Largest sub-index supported

0x01 Binary inputs

IN00 - IN07

0x02 Binary inputs

IN08 - IN15

ro USINT 0x02 Binary inputs

Largest supported sub-index = 2

ro USINT 0 Binary inputs IN00…IN07

0b---- ---X = IN00 0b---- --X- = IN01 0b---- -X-- = IN02 0b---- X--- = IN03 0b---X ---- = IN04 0b--X- ---- = IN05 0b-X-- ---- = IN06 0bX--- ---- = IN07

ro USINT 0 Binary inputs IN08…IN15

0b---- ---X = IN08 0b---- --X- = IN09 0b---- -X-- = IN10 0b---- X--- = IN11 0b---X ---- = IN12 0b--X- ---- = IN13 0b-X-- ---- = IN14 0bX--- ---- = IN15

0x6404 0x00 Analogue

input Largest sub-index supported

0x01 Analogue

input IN00

0x02 Analogue

input IN01

0x03 Analogue

input IN02

0x04 Analogue

input IN03

0x05 Analogue

input IN04

0x06 Analogue

input IN05

0x07 Analogue

input IN06

ro USINT 0x08 Analogue inputs

Largest supported sub-index = 4

ro UINT -- Analogue value of input IN00

ro UINT -- Analogue value of input IN01

ro UINT -- Analogue value of input IN02

ro UINT -- Analogue value of input IN03

ro UINT -- Analogue value of input IN04

ro UINT -- Analogue value of input IN05

ro UINT -- Analogue value of input IN06

64

0x08 Analogue

input IN07

ro UINT -- Analogue value of input IN07

12.2.2 Device-specic CR2051

Receive PDO communication parameters (index 0x1400…0x14FF):

Index S-idx Designation Data type Default Details

ioControl

0x1400 0x00 Receive PDO

Communication Parameter Number of entries

0x01 COBID used

by PDO

0x02 transmission

type

0x1401 0x00 Receive PDO

Communication Parameter Number of entries

ro USINT 0x02 Receive PDO 1: binary outputs 0 - 15

number of entries = 2

rw UDINT 0x200 + node IDCAN ID of the first read PDO

Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid

rw USINT 0x01 0x00 = synch acyclic

0x01��0xF0 = synch cyclic; outputs are only updated after „n" synch objects n = 1…240 = 0x01��0xF0 0xFC/0xFD not implemented 0xFE = asynch man� spec� event; outputs are updated immediately 0xFF = asynch device profile event; outputs are updated immediately

ro USINT 0x02 Receive PDO 2: PWM outputs 0 - 3

number of entries = 2

UK

0x01 COBID used

by PDO

0x02 transmission

type

rw UDINT 0x300 + node IDCAN ID of the second read PDO

Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid

rw USINT 0x01 0x00 = synch acyclic

0x01��0xF0 = synch cyclic; outputs are only updated after „n" synch objects n = 1…240 = 0x01��0xF0 0xFC/0xFD not implemented 0xFE = asynch man� spec� event; outputs are updated immediately 0xFF = asynch device profile event; outputs are updated immediately

65

ioControl

Index S-idx Designation Data type Default Details

0x1402 0x00 Receive PDO

Communication Parameter Number of entries

0x01 COBID used

by PDO

0x02 transmission

type

0x1403 0x00 Receive PDO

Communication Parameter Number of entries

ro USINT 0x02 Receive PDO 3: PWM outputs 4 - 7

number of entries = 2

rw UDINT 0x400 + node IDCAN-ID of the 3� read PDO

Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid

rw USINT 0x01 0x00 = synch acyclic

0x01��0xF0 = synch cyclic; outputs are only updated after „n" synch objects n = 1…240 = 0x01��0xF0 0xFC/0xFD not implemented 0xFE = asynch man� spec� event; outputs are updated immediately 0xFF = asynch device profile event; outputs are updated immediately

ro USINT 0x02 Receive PDO 4: PWM outputs 8 - 11

number of entries = 2

0x01 COBID used

by PDO

0x02 transmission

type

rw UDINT 0x500 + node IDCAN-ID of the 3� read PDO

Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid

rw USINT 0x01 0x00 = synch acyclic

0x01��0xF0 = synch cyclic; outputs are only updated after „n" synch objects n = 1…240 = 0x01��0xF0 0xFC/0xFD not implemented 0xFE = asynch man� spec� event; outputs are updated immediately 0xFF = asynch device profile event; outputs are updated immediately

66

Index S-idx Designation Data type Default Details

ioControl

0x1404 0x00 Receive PDO

Communication Parameter Number of entries

0x01 COBID used

by PDO

0x02 transmission

type

ro USINT 0x02 Receive PDO 5: PWM outputs 12

rw UDINT 0x201 + node IDCAN-ID of the 3� read PDO

rw USINT 0x01 0x00 = synch acyclic

Receive PDO mapping (index 0x1600…0x16FF):

- 15 number of entries = 2

Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid

0x01��0xF0 = synch cyclic; outputs are only updated after „n" synch objects n = 1…240 = 0x01��0xF0 0xFC/0xFD not implemented 0xFE = asynch man� spec� event; outputs are updated immediately 0xFF = asynch device profile event; outputs are updated immediately

UK

Index S-idx Designation Data type Default Details

0x1600 0x00 Receive PDO

mapping Number of mapped objects in PDO

0x01 PDO map-

ping

0x02 PDO map-

ping

rw USINT 0x02 Mapping read PDO 1: binary outputs

number of integrated application objects = 2

ro UDINT 0x6200 0108 1 byte in index 0x6200, SubIndex 01

Binary outputs OUT00…OUT07 0b---- ---X = OUT00 0b---- --X- = OUT01 0b---- -X-- = OUT02 0b---- X--- = OUT03 0b---X ---- = OUT04 0b--X- ---- = OUT05 0b-X-- ---- = OUT06 0bX--- ---- = OUT07

ro UDINT 0x6200 0208 1 byte in index 0x6200, SubIndex 02

Binary outputs OUT08…OUT15 0b---- ---X = OUT08 0b---- --X- = OUT09 0b---- -X-- = OUT10 0b---- X--- = OUT11 0b---X ---- = OUT12 0b--X- ---- = OUT13 0b-X-- ---- = OUT14 0bX--- ---- = OUT15

67

ioControl

Index S-idx Designation Data type Default Details

0x1601 0x00 Receive PDO

mapping Number of mapped objects in PDO

0x01 PDO map-

ping

0x02 PDO map-

ping

0x03 PDO map-

ping

rw USINT 0x04 Mapping read PDO 2:

PWM outputs OUT00…OUT03 number of integrated application objects = 4

rw UDINT 0x6414 0110 PWM/current output OUT00

Index 0x6414, SubIndex 0x01 contains the preset value of the PWM output OUT00, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)

rw UDINT 0x6414 0210 PWM/ current output OUT01

Index 0x6414, SubIndex 0x02 contains the preset value of the PWM output OUT01, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)

rw UDINT 0x6414 0310 PWM/ current output OUT02

Index 0x6414, SubIndex 0x03 contains the preset value of the PWM output OUT02, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)

0x04 PDO map-

ping

rw UDINT 0x6414 0410 PWM/ current output OUT03

Index 0x6414, SubIndex 0x04 contains the preset value of the PWM output OUT03, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)

68

Index S-idx Designation Data type Default Details

ioControl

0x1602 0x00 "Receive

PDO mapping Number of mapped objects in PDO"

0x01 PDO map-

ping

0x02 PDO map-

ping

0x03 PDO map-

ping

rw USINT 0x04 Mapping read PDO 3:

PWM outputs OUT04…OUT07 number of integrated application objects = 4

rw UDINT 0x6414 0510 PWM/ current output OUT04

Index 0x6414, SubIndex 0x05 contains the preset value of the PWM output OUT04, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)

rw UDINT 0x6414 0610 PWM/ current output OUT05

Index 0x6414, SubIndex 0x06 contains the preset value of the PWM output OUT05, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)

rw UDINT 0x6414 0710 PWM/ current output OUT06

Index 0x6414, SubIndex 0x07 contains the preset value of the PWM output OUT06, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)

UK

0x04 PDO map-

ping

rw UDINT 0x6414 0810 PWM/ current output OUT07

Index 0x6414, SubIndex 0x08 contains the preset value of the PWM output OUT07, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)

69

ioControl

Index S-idx Designation Data type Default Details

0x1603 0x00 Receive PDO

mapping Number of mapped objects in PDO

0x01 PDO map-

ping

0x02 PDO map-

ping

0x03 PDO map-

ping

rw USINT 0x04 Mapping read PDO 4:

PWM outputs OUT08…OUT11 number of integrated application objects = 4

rw UDINT 0x6414 0910 PWM/ current output OUT08

Index 0x6414, SubIndex 0x09 contains the preset value of the PWM output OUT08, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)

rw UDINT 0x6414 0A10 PWM/ current output OUT09

Index 0x6414, SubIndex 0x0A contains the preset value of the PWM output OUT09, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)

rw UDINT 0x6414 0B10 PWM/ current output OUT10

Index 0x6414, SubIndex 0x0B contains the preset value of the PWM output OUT10, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)

0x04 PDO map-

ping

rw UDINT 0x6414 0C10 PWM/ current output OUT11

Index 0x6414, SubIndex 0x0C contains the preset value of the PWM output OUT11, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)

70

Index S-idx Designation Data type Default Details

ioControl

0x1604 0x00 Receive PDO

mapping Number of mapped objects in PDO

0x01 PDO map-

ping

0x02 PDO map-

ping

0x03 PDO map-

ping

rw USINT 0x04 Mapping read PDO 5:

PWM outputs OUT12…OUT15 number of integrated application objects = 4

rw UDINT 0x6414 0D10 PWM/ current output OUT12

Index 0x6414, SubIndex 0x0D contains the preset value of the PWM output OUT12, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)

rw UDINT 0x6414 0E10 PWM/ current output OUT13

Index 0x6414, SubIndex 0x0E contains the preset value of the PWM output OUT13, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)

rw UDINT 0x6414 0F10 PWM/ current output OUT14

Index 0x6414, SubIndex 0x0F contains the preset value of the PWM output OUT14, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)

UK

0x04 PDO map-

ping

rw UDINT 0x6414 1010 PWM/ current output OUT15

Index 0x6414, SubIndex 0x10 contains the preset value of the PWM output OUT15, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)

71

ioControl

Transmit PDO communication parameters (index 0x1800…0x18FF):

Index S-idx Designation Data type Default Details

0x1800 0x00 Transmit

PDO Communication Parameter Number of entries

0x01 COBID used

by PDO

0x02 transmission

type

0x03 inhibit time rw UINT 0 delay time in the transmission

ro USINT 0x05 Configuration transmit PDO 1

number of entries = 5

rw UDINT 0x180 +

Node ID

rw USINT 0x01 0x00 = synch acyclic

CAN ID of the transmit PDO 1

Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid

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

type "asynch" before the PDO is transmitted again at the earliest� (0��65535 • 100 µs)

0x04 reserved rw USINT 0 reserve

0x05 event time rw UINT 0 max� transfer break in the transmissi-

on type „asynch" (0��65535 ms) When this time has elapsed, the PDO is transferred even if the appl� event has not accured�

72

Index S-idx Designation Data type Default Details

ioControl

0x1801 0x00 Transmit

PDO Communication Parameter Number of entries

0x01 COBID used

by PDO

0x02 transmission

type

0x03 inhibit time rw UINT 0 delay time in the transmission

ro USINT 0x05 Configuration transmit PDO 2

number of entries = 5

rw UDINT 0x280 +

Node ID

rw USINT 0x01 0x00 = synch acyclic

CAN ID of the transmit PDO 2

Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid

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

type "asynch" before the PDO is transmitted again at the earliest� (0��65535 • 100 µs)

UK

0x04 reserved rw USINT 0 reserve

0x05 event time rw UINT 0 max� transfer break in the transmissi-

on type „asynch" (0��65535 ms) When this time has elapsed, the PDO is transferred even if the appl� event has not accured�

73

ioControl

Index S-idx Designation Data type Default Details

0x1802 0x00 Transmit

PDO Communication Parameter Number of entries

0x01 COBID used

by PDO

0x02 transmission

type

0x03 inhibit time rw UINT 0 delay time in the transmission

ro USINT 0x05 Configuration transmit PDO 3

number of entries = 5

rw UDINT 0x380 +

Node ID

rw USINT 0x01 0x00 = synch acyclic

CAN ID of the transmit PDO 3

Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid

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

type "asynch" before the PDO is transmitted again at the earliest� (0��65535 • 100 µs)

0x04 reserved rw USINT 0 reserve

0x05 event time rw UINT 0 max� transfer break in the transmissi-

on type „asynch" (0��65535 ms) When this time has elapsed, the PDO is transferred even if the appl� event has not accured�

74

Index S-idx Designation Data type Default Details

ioControl

0x1803 0x00 Transmit

PDO Communication Parameter Number of entries

0x01 COBID used

by PDO

0x02 transmission

type

0x03 inhibit time rw UINT 0 delay time in the transmission

ro USINT 0x05 Configuration transmit PDO 4

number of entries = 5

rw UDINT 0x480 +

Node ID

rw USINT 0x01 0x00 = synch acyclic

CAN ID of the transmit PDO 4

Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid

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

type "asynch" before the PDO is transmitted again at the earliest� (0��65535 • 100 µs)

UK

0x04 reserved rw USINT 0 reserve

0x05 event time rw UINT 0 max� transfer break in the transmissi-

on type „asynch" (0��65535 ms) When this time has elapsed, the PDO is transferred even if the appl� event has not accured�

75

ioControl

Transmit PDO mapping (index 0x1A00…0x1AFF):

Index S-idx Designation Data type Default Details

0x1A00 0x00 Transmit

PDO mapping Number of mapped objects in PDO

0x01 PDO map-

ping

0x02 PDO map-

ping

0x03 PDO map-

ping

0x04 PDO map-

ping

0x1A01 0x00 Transmit

PDO mapping Number of mapped objects in PDO

rw USINT 0x04 mapping transmit PDO 01 (output

current OUT00��OUT03) number of integrated application objects = 4

rw UDINT 0x2002 0110 Index 0x2002, SubIndex 0x01

current on output OUT00

rw UDINT 0x2002 0210 Index 0x2002, SubIndex 0x02

current on output OUT01

rw UDINT 0x2002 0310 Index 0x2002, SubIndex 0x03

current on output OUT02

rw UDINT 0x2002 0410 Index 0x2002, SubIndex 0x04

current on output OUT03

rw USINT 0x04 mapping transmit PDO 02 (output

current OUT04��OUT07) number of integrated application objects = 4

0x01 PDO map-

ping

0x02 PDO map-

ping

0x03 PDO map-

ping

0x04 PDO map-

ping

rw UDINT 0x2002 0510 Index 0x2002, SubIndex 0x05

current on output OUT04

rw UDINT 0x2002 0610 Index 0x2002, SubIndex 0x06

current on output OUT05

rw UDINT 0x2002 0710 Index 0x2002, SubIndex 0x07

current on output OUT06

rw UDINT 0x2002 0810 Index 0x2002, SubIndex 0x08

current on output OUT07

76

Index S-idx Designation Data type Default Details

ioControl

0x1A02 0x00 Transmit

PDO mapping Number of mapped objects in PDO

0x01 PDO map-

ping

0x02 PDO map-

ping

0x03 PDO map-

ping

0x04 PDO map-

ping

0x05 PDO map-

ping

rw USINT 0x05 mapping transmit PDO 3

number of integrated application objects = 5

rw UDINT 0x2022 0108 Index 0x2022, SubIndex 0x01

outputs 00��07: flag " short circuit " (bit coded)

rw UDINT 0x2022 0208 Index 0x2022, SubIndex 0x02

outputs 08…15: flag " short circuit " (bit coded)

rw UDINT 0x2023 0108 Index 0x2023, SubIndex 0x01

outputs 00��07: flag " wire break " (bit coded)

rw UDINT 0x2023 0208 Index 0x2023, SubIndex 0x02

outputs 08��015: flag " wire break " (bit coded)

rw UDINT 0x2024 0108 Index 0x2024, SubIndex 0x01

outputs 00��07: flag " overload " (bit coded)

UK

0x1A03 0x00 Transmit

PDO mapping Number of mapped objects in PDO

0x01 PDO map-

ping

0x02 PDO map-

ping

0x03 PDO map-

ping

0x04 PDO map-

ping

rw USINT 0x04 mapping transmit PDO 4 (system

flag) number of integrated application objects = 4

rw UDINT 0x2040 0110 Index 0x2040, SubIndex 0x01

supply voltage of the system VBBS

rw UDINT 0x2041 0110 Index 0x2041, SubIndex 0x01

output supply voltage VBB1

rw UDINT 0x2041 0210 Index 0x2041, SubIndex 0x02

output supply voltage VBB2

rw UDINT 0x2050 0010 Index 0x2050, SubIndex 0x00

system temperature in °C

77

ioControl

Manufacturer-specific objekts (index 0x2000��0x6FFF):

Index S-idx Designation Data type Default Details

0x2000 0x00 IO configu-

ration Largest sub-index supported

0x01 Configuration

OUT00

0x02 Configuration

OUT01

ro USINT 16 Configuration inputs/outputs

largest supported Sub-index = 32

rw USINT 2 0 = 0x00

2 = 0x02 4 = 0x04 5 = 0x05 15 = 0x0F 16 = 0x10

rw USINT 2 0 = 0x00

2 = 0x02 4 = 0x04 5 = 0x05 15 = 0x0F 16 = 0x10

off Input OUT00 binary plus switched PWM output current control binary plus switched with diagnosis binary plus switched with diagnosis + protection

off Input OUT01 binary plus switched PWM output current control binary plus switched with diagnosis binary plus switched with diagnosis + protection

0x03 Configuration

OUT02

0x04 Configuration

OUT03

0x05 Configuration

OUT04

rw USINT 2 0 = 0x00

2 = 0x02 4 = 0x04 5 = 0x05 15 = 0x0F 16 = 0x10

rw USINT 2 0 = 0x00

2 = 0x02 4 = 0x04 5 = 0x05 15 = 0x0F 16 = 0x10

rw USINT 2 0 = 0x00

2 = 0x02 4 = 0x04 5 = 0x05 15 = 0x0F 16 = 0x10

off Input OUT02 binary plus switched PWM output current control binary plus switched with diagnosis binary plus switched with diagnosis + protection

off Input OUT03 binary plus switched PWM output current control binary plus switched with diagnosis binary plus switched with diagnosis + protection

off Input OUT04 binary plus switched PWM output current control binary plus switched with diagnosis binary plus switched with diagnosis + protection

78

Index S-idx Designation Data type Default Details

ioControl

0x2000 0x06 Configuration

OUT05

0x07 Configuration

OUT06

0x08 Configuration

OUT07

rw USINT 2 0 = 0x00

2 = 0x02 4 = 0x04 5 = 0x05 15 = 0x0F 16 = 0x10

rw USINT 2 0 = 0x00

2 = 0x02 4 = 0x04 5 = 0x05 15 = 0x0F 16 = 0x10

rw USINT 2 0 = 0x00

2 = 0x02 4 = 0x04 15 = 0x0F

off Input OUT05 binary plus switched PWM output current control binary plus switched with diagnosis binary plus switched with diagnosis + protection

off Input OUT06 binary plus switched PWM output current control binary plus switched with diagnosis binary plus switched with diagnosis + protection

off Input OUT07 binary plus switched PWM output binary plus switched with diagnosis

UK

0x09 Configuration

OUT08

0x0A Configuration

OUT09

0x0B Configuration

OUT10

0x0C Configuration

OUT11

0x0D Configuration

OUT12

rw USINT 2 0 = 0x00

2 = 0x02 4 = 0x04 15 = 0x0F

rw USINT 2 0 = 0x00

2 = 0x02 4 = 0x04 15 = 0x0F

rw USINT 2 0 = 0x00

2 = 0x02 4 = 0x04 15 = 0x0F

rw USINT 2 0 = 0x00

2 = 0x02 4 = 0x04 15 = 0x0F

rw USINT 2 0 = 0x00

2 = 0x02 4 = 0x04 15 = 0x0F

off Input OUT08 binary plus switched PWM output binary plus switched with diagnosis

off Input OUT09 binary plus switched PWM output binary plus switched with diagnosis

off Input OUT10 binary plus switched PWM output binary plus switched with diagnosis

off Input OUT11 binary plus switched PWM output binary plus switched with diagnosis

off Input OUT12 binary plus switched PWM output binary plus switched with diagnosis

79

ioControl

Index S-idx Designation Data type Default Details

0x2000 0x0E Configuration

OUT13

0x0F Configuration

OUT14

0x10 Configuration

OUT15

0x2001 0x00 PWM fre-

quency

0x01 PWM

frequency OUT00

rw USINT 2 0 = 0x00

2 = 0x02 4 = 0x04 15 = 0x0F

rw USINT 2 0 = 0x00

2 = 0x02 4 = 0x04 15 = 0x0F

rw USINT 2 0 = 0x00

2 = 0x02 4 = 0x04 15 = 0x0F

ro USINT 16 Largest sub-index supported

rw UINT 100 20…250 OUT00 PWM frequen-

off Input OUT13 binary plus switched PWM output binary plus switched with diagnosis

off Input OUT14 binary plus switched PWM output binary plus switched with diagnosis

off Input OUT15 binary plus switched PWM output binary plus switched with diagnosis

cy [Hz]

0x02 PWM

frequency OUT01

0x03 PWM

frequency OUT02

0x04 PWM

frequency OUT03

0x05 PWM

frequency OUT04

0x06 PWM

frequency OUT05

0x07 PWM

frequency OUT06

0x08 PWM

frequency OUT07

rw UINT 100 20…250 OUT01 PWM frequen-

cy [Hz]

rw UINT 100 20…250 OUT02 PWM frequen-

cy [Hz]

rw UINT 100 20…250 OUT03 PWM frequen-

cy [Hz]

rw UINT 100 20…250 OUT04 PWM frequen-

cy [Hz]

rw UINT 100 20…250 OUT05 PWM frequen-

cy [Hz]

rw UINT 100 20…250 OUT06 PWM frequen-

cy [Hz]

rw UINT 100 20…250 OUT07 PWM frequen-

cy [Hz]

80

0x09 PWM

frequency OUT08

0x0A PWM

frequency OUT09

rw UINT 100 20…250 OUT08 PWM frequen-

cy [Hz]

rw UINT 100 20…250 OUT09 PWM frequen-

cy [Hz]

Index S-idx Designation Data type Default Details

ioControl

0x2001 0x0B PWM

frequency OUT10

0x0C PWM

frequency OUT11

0x0D PWM

frequency OUT12

0x0E PWM

frequency OUT13

0x0F PWM

frequency OUT14

0x10 PWM

frequency OUT15

0x2002 0x00 Current value ro USINT 8 Largest sub-index supported

rw UINT 100 20…250 OUT10 PWM frequen-

cy [Hz]

rw UINT 100 20…250 OUT11 PWM frequen-

cy [Hz]

rw UINT 100 20…250 OUT12 PWM frequen-

cy [Hz]

rw UINT 100 20…250 OUT13 PWM frequen-

cy [Hz]

rw UINT 100 20…250 OUT14 PWM frequen-

cy [Hz]

rw UINT 100 20…250 OUT15 PWM frequen-

cy [Hz]

UK

0x01 Current value

OUT00

0x02 Current value

OUT01

0x03 Current value

OUT02

0x04 Current value

OUT03

0x05 Current value

OUT04

0x06 Current value

OUT05

0x07 Current value

OUT06

0x08 Current value

OUT07

ro UINT 0 0…4000 OUT00 output current

[mA]

ro UINT 0 0…4000 OUT01 output current

[mA]

ro UINT 0 0…2500 OUT02 output current

[mA]

ro UINT 0 0…2500 OUT03 output current

[mA]

ro UINT 0 0…4000 OUT04 output current

[mA]

ro UINT 0 0…4000 OUT05 output current

[mA]

ro UINT 0 0…2500 OUT06 output current

[mA]

ro UINT 0 0…2500 OUT07 output current

[mA]

81

ioControl

Index S-idx Designation Data type Default Details

0x2004 0x00 P-value ro USINT 8 Largest sub-index supported

0x01 P-value

OUT00

0x02 P-value

OUT01

0x03 P-value

OUT02

0x04 P-value

OUT03

0x05 P-value

OUT04

0x06 P-value

OUT05

0x07 P-value

OUT06

0x08 P-value

OUT07

0x2005 0x00 I-value ro USINT 8 Largest sub-index supported

0x01 I-value

OUT00

rw USINT 30 0…255 OUT00 P-value for

current control

rw USINT 30 0…255 OUT01 P-value for

current control

rw USINT 30 0…255 OUT02 P-value for

current control

rw USINT 30 0…255 OUT03 P-value for

current control

rw USINT 30 0…255 OUT04 P-value for

current control

rw USINT 30 0…255 OUT05 P-value for

current control

rw USINT 30 0…255 OUT06 P-value for

current control

rw USINT 30 0…255 OUT07 P-value for

current control

rw USINT 20 0…255 OUT00 I-value for

current control

0x02 I-value

OUT01

0x03 I-value

OUT02

0x04 I-value

OUT03

0x05 I-value

OUT04

0x06 I-value

OUT05

0x07 I-value

OUT06

0x08 I-value

OUT07

0x2006 0x00 PWM dither

frequency

0x01 PWM dither

frequency OUT00

rw USINT 20 0…255 OUT01 I-value for

current control

rw USINT 20 0…255 OUT02 I-value for

current control

rw USINT 20 0…255 OUT03 I-value for

current control

rw USINT 20 0…255 OUT04 I-value for

current control

rw USINT 20 0…255 OUT05 I-value for

current control

rw USINT 20 0…255 OUT06 I-value for

current control

rw USINT 20 0…255 OUT07 I-value for

current control

ro USINT 16 Largest sub-index supported

rw UINT 0 0…PWM-

freq / 2

OUT00 PWM dither frequency [Hz]

82

0x02 PWM dither

frequency OUT01

rw UINT 0 0…PWM-

freq / 2

OUT01 PWM dither frequency [Hz]

Index S-idx Designation Data type Default Details

ioControl

0x2006 0x03 PWM dither

frequency OUT02

0x04 PWM dither

frequency OUT03

0x05 PWM dither

frequency OUT04

0x06 PWM dither

frequency OUT05

0x07 PWM dither

frequency OUT06

0x08 PWM dither

frequency OUT07

0x09 PWM dither

frequency OUT08

rw UINT 0 0…PWM-

freq / 2

rw UINT 0 0…PWM-

freq / 2

rw UINT 0 0…PWM-

freq / 2

rw UINT 0 0…PWM-

freq / 2

rw UINT 0 0…PWM-

freq / 2

rw UINT 0 0…PWM-

freq / 2

rw UINT 0 0…PWM-

freq / 2

OUT02 PWM dither frequency [Hz]

OUT03 PWM dither frequency [Hz]

OUT04 PWM dither frequency [Hz]

UK

OUT05 PWM dither frequency [Hz]

OUT06 PWM dither frequency [Hz]

OUT07 PWM dither frequency [Hz]

OUT08 PWM dither frequency [Hz]

0x0A PWM dither

frequency OUT09

0x0B PWM dither

frequency OUT10

0x0C PWM dither

frequency OUT11

0x0D PWM dither

frequency OUT12

0x0E PWM dither

frequency OUT13

0x0F PWM dither

frequency OUT14

0x10 PWM dither

frequency OUT15

rw UINT 0 0…PWM-

freq / 2

rw UINT 0 0…PWM-

freq / 2

rw UINT 0 0…PWM-

freq / 2

rw UINT 0 0…PWM-

freq / 2

rw UINT 0 0…PWM-

freq / 2

rw UINT 0 0…PWM-

freq / 2

rw UINT 0 0…PWM-

freq / 2

OUT09 PWM dither frequency [Hz]

OUT10 PWM dither frequency [Hz]

OUT11 PWM dither frequency [Hz]

OUT12 PWM dither frequency [Hz]

OUT13 PWM dither frequency [Hz]

OUT14 PWM dither frequency [Hz]

OUT15 PWM dither frequency [Hz]

83

ioControl

Index S-idx Designation Data type Default Details

0x2007 0x00 PWM dither

value

0x01 PWM dither

value OUT00

0x02 PWM dither

value OUT01

0x03 PWM dither

value OUT02

0x04 PWM dither

value OUT03

0x05 PWM dither

value OUT04

0x06 PWM dither

value OUT05

0x07 PWM dither

value OUT06

0x08 PWM dither

value OUT07

ro USINT 16 Largest sub-index supported

rw UINT 0 0…1 000 OUT00 PWM dither

value [‰]

rw UINT 0 0…1 000 OUT01 PWM dither

value [‰]

rw UINT 0 0…1 000 OUT02 PWM dither

value [‰]

rw UINT 0 0…1 000 OUT03 PWM dither

value [‰]

rw UINT 0 0…1 000 OUT04 PWM dither

value [‰]

rw UINT 0 0…1 000 OUT05 PWM dither

value [‰]

rw UINT 0 0…1 000 OUT06 PWM dither

value [‰]

rw UINT 0 0…1 000 OUT07 PWM dither

value [‰]

0x09 PWM dither

value OUT08

0x0A PWM dither

value OUT09

0x0B PWM dither

value OUT10

0x0C PWM dither

value OUT11

0x0D PWM dither

value OUT12

0x0E PWM dither

value OUT13

0x0F PWM dither

value OUT14

0x10 PWM dither

value OUT15

rw UINT 0 0…1 000 OUT08 PWM dither

value [‰]

rw UINT 0 0…1 000 OUT09 PWM dither

value [‰]

rw UINT 0 0…1 000 OUT10 PWM dither

value [‰]

rw UINT 0 0…1 000 OUT11 PWM dither

value [‰]

rw UINT 0 0…1 000 OUT12 PWM dither

value [‰]

rw UINT 0 0…1 000 OUT13 PWM dither

value [‰]

rw UINT 0 0…1 000 OUT14 PWM dither

value [‰]

rw UINT 0 0…1 000 OUT15 PWM dither

value [‰]

84

Index S-idx Designation Data type Default Details

ioControl

0x2022 0x00 Output –

short circuit

0x01 Short circuit

OUT00… OUT07

0x02 Short circuit

OUT08… OUT15

0x2023 0x00 Output –

open circuit

ro USINT 2 Largest sub-index supported

ro USINT 0 0 = normal

1 = short circuit

ro USINT 0 0 = normal

1 = short circuit

ro USINT 2 Largest sub-index supported

channels (bit coded) 0b---- ---X = OUT00 0b---- --X- = OUT01 0b---- -X-- = OUT02 0b---- X--- = OUT03 0b---X ---- = OUT04 0b--X- ---- = OUT05 0b-X-- ---- = OUT06 0bX--- ---- = OUT07

channels (bit coded) 0b---- ---X = OUT08 0b---- --X- = OUT09 0b---- -X-- = OUT10 0b---- X--- = OUT11 0b---X ---- = OUT12 0b--X- ---- = OUT13 0b-X-- ---- = OUT14 0bX--- ---- = OUT15

UK

0x01 Open circuit

OUT00… OUT07

0x02 Open circuit

OUT08… OUT15

0x2024 0x00 Output –

overload

0x01 Overload

OUT00… OUT07

ro USINT 0 0 = normal

1 = open circuit

ro USINT 0 0 = normal

1 = open circuit

ro USINT 1 Largest sub-index supported

ro USINT 0 0 = normal

1 = overload

channels (bit coded) 0b---- ---X = OUT00 0b---- --X- = OUT01 0b---- -X-- = OUT02 0b---- X--- = OUT03 0b---X ---- = OUT04 0b--X- ---- = OUT05 0b-X-- ---- = OUT06 0bX--- ---- = OUT07

channels (bit coded) 0b---- ---X = OUT08 0b---- --X- = OUT09 0b---- -X-- = OUT10 0b---- X--- = OUT11 0b---X ---- = OUT12 0b--X- ---- = OUT13 0b-X-- ---- = OUT14 0bX--- ---- = OUT15

channels (bit coded) 0b---- ---X = OUT00 0b---- --X- = OUT01 0b---- -X-- = OUT02 0b---- X--- = OUT03 0b---X ---- = OUT04 0b--X- ---- = OUT05 0b-X-- ---- = OUT06 0bX--- ---- = OUT07

85

ioControl

Index S-idx Designation Data type Default Details

0x2040 0x00 System supp-

ly voltage VBBS

0x01 VBBS ro USINT 0 VBBS voltage [mV]

0x2041 0x00 Output supp-

ly voltage

0x01 VBB1 ro UINT 0 VBB1 voltage [mV]

0x02 VBB2 ro UINT 0 VBB2 voltage [mV]

0x2050 Device tem-

perature

0x20F0 Node ID rw USINT 125 1…125 node ID

0x20F1 Node ID rw USINT 125 1…125 node ID

0x20F2 Baud rate rw USINT 3 baud rate

ro USINT 1 Largest sub-index supported

ro USINT 2 Largest sub-index supported

ro UINT 0 temperature [°C]

[!] value(0x20F0) != value(20F1)

[!] value(0x20F2) != value(20F3)

0 1000 kBit/s

1 800 kBit/s

2 500 kBit/s

3 250 kBit/s

4 125 kBit/s

5 100 kBit/s

6 50 kBit/s

7 20 kBit/s

0x20F3 Baud rate rw USINT 3 baud rate

[!] value(0x20F2) != value(20F3)

0x20F4 Autostart rw UINT 0 not used

0x20F5 Lock edit

mode

rw USINT 0 0 = edit mode unlocked

1 = edit mode locked

86

Index S-idx Designation Data type Default Details

ioControl

0x6200 0x00 Binary output

Largest sub-index supported

0x01 Binary out-

puts OUT00

- OUT07

0x02 Binary out-

puts OUT08

- OUT15

ro USINT 2 Binary outputs

Largest supported sub-index = 2

wo USINT 0 Binary outputs OUT00…OUT07

0b---- ---X = OUT00 0b---- --X- = OUT01 0b---- -X-- = OUT02 0b---- X--- = OUT03 0b---X ---- = OUT04 0b--X- ---- = OUT05 0b-X-- ---- = OUT06 0bX--- ---- = OUT07

wo USINT 0 Binary outputs OUT08…OUT15

0b---- ---X = OUT08 0b---- --X- = OUT09 0b---- -X-- = OUT10 0b---- X--- = OUT11 0b---X ---- = OUT12 0b--X- ---- = OUT13 0b-X-- ---- = OUT14 0bX--- ---- = OUT15

UK

87

ioControl

Index S-idx Designation Data type Default Details

0x6414 0x00 PWM output

Largest sub-index supported

0x01 PWM output

OUT00

0x02 PWM output

OUT01

0x03 PWM output

OUT02

0x04 PWM output

OUT03

0x05 PWM output

OUT04

0x06 PWM output

OUT05

0x07 PWM output

OUT06

0x08 PWM output

OUT07

ro USINT 16 PWM outputs

Largest supported sub-index = 16

wo UINT -- Value for PWM output OUT00

wo UINT -- Value for PWM output OUT01

wo UINT -- Value for PWM output OUT02

wo UINT -- Value for PWM output OUT03

wo UINT -- Value for PWM output OUT04

wo UINT -- Value for PWM output OUT05

wo UINT -- Value for PWM output OUT06

wo UINT -- Value for PWM output OUT07

0x09 PWM output

OUT08

0x0A PWM output

OUT09

0x0B PWM output

OUT10

0x0C PWM output

OUT11

0x0D PWM output

OUT12

0x0E PWM output

OUT13

0x0F PWM output

OUT14

0x10 PWM output

OUT15

wo UINT -- Value for PWM output OUT08

wo UINT -- Value for PWM output OUT09

wo UINT -- Value for PWM output OUT10

wo UINT -- Value for PWM output OUT11

wo UINT -- Value for PWM output OUT12

wo UINT -- Value for PWM output OUT13

wo UINT -- Value for PWM output OUT14

wo UINT -- Value for PWM output OUT15

88

12.2.3 Device-specic CR2052

Receive PDO communication parameters (index 0x1400…0x14FF):

Index S-idx Designation Data type Default Details

ioControl

0x1400 0x00 Receive PDO

Communication Parameter Number of entries

0x01 COBID used

by PDO

0x02 transmission

type

0x1401 0x00 Receive PDO

Communication Parameter Number of entries

ro USINT 0x02 Receive PDO 1: binary outputs 0 - 7

number of entries = 2

rw UDINT 0x200 + node IDCAN ID of the first read PDO

Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid

rw USINT 0x01 0x00 = synch acyclic

0x01��0xF0 = synch cyclic; outputs are only updated after „n" synch objects n = 1…240 = 0x01��0xF0 0xFC/0xFD not implemented 0xFE = asynch man� spec� event; outputs are updated immediately 0xFF = asynch device profile event; outputs are updated immediately

ro USINT 0x02 Receive PDO 2: PWM outputs 0 - 3

number of entries = 2

UK

0x01 COBID used

by PDO

0x02 transmission

type

rw UDINT 0x300 + node IDCAN ID of the second read PDO

Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid

rw USINT 0x01 0x00 = synch acyclic

0x01��0xF0 = synch cyclic; outputs are only updated after „n" synch objects n = 1…240 = 0x01��0xF0 0xFC/0xFD not implemented 0xFE = asynch man� spec� event; outputs are updated immediately 0xFF = asynch device profile event; outputs are updated immediately

89

ioControl

Index S-idx Designation Data type Default Details

0x1402 0x00 Receive PDO

Communication Parameter Number of entries

0x01 COBID used

by PDO

0x02 transmission

type

ro USINT 0x02 Receive PDO 3: PWM outputs 4 - 7

rw UDINT 0x400 + node IDCAN-ID of the 3� read PDO

rw USINT 0x01 0x00 = synch acyclic

Receive PDO mapping (index 0x1600…0x16FF):

number of entries = 2

Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid

0x01��0xF0 = synch cyclic; outputs are only updated after „n" synch objects n = 1…240 = 0x01��0xF0 0xFC/0xFD not implemented 0xFE = asynch man� spec� event; outputs are updated immediately 0xFF = asynch device profile event; outputs are updated immediately

Index S-idx Designation Data type Default Details

0x1600 0x00 Receive PDO

mapping Number of mapped objects in PDO

0x01 PDO map-

ping

rw USINT 0x01 Mapping read PDO 1: binary outputs

ro UDINT 0x6200 0108 1 byte in index 0x6200, SubIndex 01

Binary outputs OUT00…OUT07 0b---- ---X = OUT00 0b---- --X- = OUT01 0b---- -X-- = OUT02 0b---- X--- = OUT03 0b---X ---- = OUT04 0b--X- ---- = OUT05 0b-X-- ---- = OUT06 0bX--- ---- = OUT07

90

Index S-idx Designation Data type Default Details

ioControl

0x1601 0x00 Receive PDO

mapping Number of mapped objects in PDO

0x01 PDO map-

ping

0x02 PDO map-

ping

0x03 PDO map-

ping

rw USINT 0x04 Mapping read PDO 2:

PWM outputs OUT00…OUT03 number of integrated application objects = 4

rw UDINT 0x6414 0110 PWM/current output OUT00

Index 0x6414, SubIndex 0x01 contains the preset value of the PWM output OUT00, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)

rw UDINT 0x6414 0210 PWM/ current output OUT01

Index 0x6414, SubIndex 0x02 contains the preset value of the PWM output OUT01, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)

rw UDINT 0x6414 0310 PWM/ current output OUT02

Index 0x6414, SubIndex 0x03 contains the preset value of the PWM output OUT02, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)

UK

0x04 PDO map-

ping

rw UDINT 0x6414 0410 PWM/ current output OUT03

Index 0x6414, SubIndex 0x04 contains the preset value of the PWM output OUT03, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)

91

ioControl

Index S-idx Designation Data type Default Details

0x1602 0x00 Receive PDO

mapping Number of mapped objects in PDO

0x01 PDO map-

ping

0x02 PDO map-

ping

0x03 PDO map-

ping

rw USINT 0x04 Mapping read PDO 3:

PWM outputs OUT04…OUT07 number of integrated application objects = 4

rw UDINT 0x6414 0510 PWM/ current output OUT04

Index 0x6414, SubIndex 0x05 contains the preset value of the PWM output OUT04, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)

rw UDINT 0x6414 0610 PWM/ current output OUT05

Index 0x6414, SubIndex 0x06 contains the preset value of the PWM output OUT05, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)

rw UDINT 0x6414 0710 PWM/ current output OUT06

Index 0x6414, SubIndex 0x07 contains the preset value of the PWM output OUT06, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)

0x04 PDO map-

ping

rw UDINT 0x6414 0810 PWM/ current output OUT07

Index 0x6414, SubIndex 0x08 contains the preset value of the PWM output OUT07, the value is interpreted as duty cycle in ‰ or as target current value (depending on the configuration index 0x2000)

92

Transmit PDO communication parameters (index 0x1800…0x18FF):

Index S-idx Designation Data type Default Details

ioControl

0x1800 0x00 Transmit

PDO Communication Parameter Number of entries

0x01 COBID used

by PDO

0x02 transmission

type

0x03 inhibit time rw UINT 0 delay time in the transmission

ro USINT 0x05 Configuration transmit PDO 1

number of entries = 5

rw UDINT 0x180 +

Node ID

rw USINT 0x01 0x00 = synch acyclic

CAN ID of the transmit PDO 1

Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid

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

type "asynch" before the PDO is transmitted again at the earliest� (0��65535 • 100 µs)

UK

0x04 reserved rw USINT 0 reserve

0x05 event time rw UINT 0 max� transfer break in the transmissi-

on type „asynch" (0��65535 ms) When this time has elapsed, the PDO is transferred even if the appl� event has not accured�

93

ioControl

Index S-idx Designation Data type Default Details

0x1801 0x00 Transmit

PDO Communication Parameter Number of entries

0x01 COBID used

by PDO

0x02 transmission

type

0x03 inhibit time rw UINT 0 delay time in the transmission

ro USINT 0x05 Configuration transmit PDO 2

number of entries = 5

rw UDINT 0x280 +

Node ID

rw USINT 0x01 0x00 = synch acyclic

CAN ID of the transmit PDO 2

Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid

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

type "asynch" before the PDO is transmitted again at the earliest� (0��65535 • 100 µs)

0x04 reserved rw USINT 0 reserve

0x05 event time rw UINT 0 max� transfer break in the transmissi-

on type „asynch" (0��65535 ms) When this time has elapsed, the PDO is transferred even if the appl� event has not accured�

94

Index S-idx Designation Data type Default Details

ioControl

0x1802 0x00 Transmit

PDO Communication Parameter Number of entries

0x01 COBID used

by PDO

0x02 transmission

type

0x03 inhibit time rw UINT 0 delay time in the transmission

ro USINT 0x05 Configuration transmit PDO 3

number of entries = 5

rw UDINT 0x380 +

Node ID

rw USINT 0x01 0x00 = synch acyclic

CAN ID of the transmit PDO 3

Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid

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

type "asynch" before the PDO is transmitted again at the earliest� (0��65535 • 100 µs)

UK

0x04 reserved rw USINT 0 reserve

0x05 event time rw UINT 0 max� transfer break in the transmissi-

on type „asynch" (0��65535 ms) When this time has elapsed, the PDO is transferred even if the appl� event has not accured�

95

ioControl

Index S-idx Designation Data type Default Details

0x1803 0x00 Transmit

PDO Communication Parameter Number of entries

0x01 COBID used

by PDO

0x02 transmission

type

0x03 inhibit time rw UINT 0 delay time in the transmission

ro USINT 0x05 Configuration transmit PDO 4

number of entries = 5

rw UDINT 0x480 +

Node ID

rw USINT 0x01 0x00 = synch acyclic

CAN ID of the transmit PDO 4

Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid

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

type "asynch" before the PDO is transmitted again at the earliest� (0��65535 • 100 µs)

0x04 reserved rw USINT 0 reserve

0x05 event time rw UINT 0 max� transfer break in the transmissi-

on type „asynch" (0��65535 ms) When this time has elapsed, the PDO is transferred even if the appl� event has not accured�

96

Index S-idx Designation Data type Default Details

ioControl

0x1804 0x00 Transmit

PDO Communication Parameter Number of entries

0x01 COBID used

by PDO

0x02 transmission

type

0x03 inhibit time rw UINT 0 delay time in the transmission

ro USINT 0x05 Configuration transmit PDO 5

number of entries = 5

rw UDINT 0x181 +

Node ID

rw USINT 0x01 0x00 = synch acyclic

CAN ID of the transmit PDO 5

Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid

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

type "asynch" before the PDO is transmitted again at the earliest� (0��65535 • 100 µs)

UK

0x04 reserved rw USINT 0 reserve

0x05 event time rw UINT 0 max� transfer break in the transmissi-

on type „asynch" (0��65535 ms) When this time has elapsed, the PDO is transferred even if the appl� event has not accured�

97

ioControl

Index S-idx Designation Data type Default Details

0x1805 0x00 Transmit

PDO Communication Parameter Number of entries

0x01 COBID used

by PDO

0x02 transmission

type

0x03 inhibit time rw UINT 0 delay time in the transmission

ro USINT 0x05 Configuration transmit PDO 6

number of entries = 5

rw UDINT 0x281 +

Node ID

rw USINT 0x01 0x00 = synch acyclic

CAN ID of the transmit PDO 6

Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid

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

type "asynch" before the PDO is transmitted again at the earliest� (0��65535 • 100 µs)

0x04 reserved rw USINT 0 reserve

0x05 event time rw UINT 0 max� transfer break in the transmissi-

on type „asynch" (0��65535 ms) When this time has elapsed, the PDO is transferred even if the appl� event has not accured�

98

Index S-idx Designation Data type Default Details

ioControl

0x1806 0x00 Transmit

PDO Communication Parameter Number of entries

0x01 COBID used

by PDO

0x02 transmission

type

0x03 inhibit time rw UINT 0 delay time in the transmission

ro USINT 0x05 Configuration transmit PDO 7

number of entries = 5

rw UDINT 0x381 +

Node ID

rw USINT 0x01 0x00 = synch acyclic

CAN ID of the transmit PDO 7

Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid

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

type "asynch" before the PDO is transmitted again at the earliest� (0��65535 • 100 µs)

UK

0x04 reserved rw USINT 0 reserve

0x05 event time rw UINT 0 max� transfer break in the transmissi-

on type „asynch" (0��65535 ms) When this time has elapsed, the PDO is transferred even if the appl� event has not accured�

99

ioControl

Index S-idx Designation Data type Default Details

0x1807 0x00 Transmit

PDO Communication Parameter Number of entries

0x01 COBID used

by PDO

0x02 transmission

type

0x03 inhibit time rw UINT 0 delay time in the transmission

ro USINT 0x05 Configuration transmit PDO 8

number of entries = 5

rw UDINT 0x481 +

Node ID

rw USINT 0x01 0x00 = synch acyclic

CAN ID of the transmit PDO 8

Bit 31 = 0 → PDO is valid Bit 31 = 1 → PDO is not valid

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

type "asynch" before the PDO is transmitted again at the earliest� (0��65535 • 100 µs)

0x04 reserved rw USINT 0 reserve

0x05 event time rw UINT 0 max� transfer break in the transmissi-

on type „asynch" (0��65535 ms) When this time has elapsed, the PDO is transferred even if the appl� event has not accured�

100

IFM Electronic CR2050, CR2051, CR2052 Device Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1 Preliminary note

1.1 Explanation of symbols

2 Safety instructions

2.1 General safety instructions

2.2 Target group

2.3 Electrical connection

2.4 Tampering with the unit

3 Functions and features

4 Function

5 Installation

5.1 Mounting surface

5.2 Fixing

5.3 Cable seal

6 Electrical connection

6.1 General electrical connection

6.2 Connection accessories

6.3 Frequency inputs

6.4 Reverse polarity protection

6.5 Supply of the signal generators at the inputs

6.6 Fuses

6.7 Examples for connection types

6.7.1 CR2050

6.7.2 CR2051

6.7.3 CR2052

7 Operating and display elements

7.1 Menu structure

7.2 Status indication of the inputs/outputs (I/O LEDs, yellow)

8 Set-up

8.1 I/O module

8.1.1 Display mode

8.1.2 Parameter setting

8.1.3 List of parameters

8.2 Controller

8.2.1 Programming

8.3 Required documentation

8.4 Required hardware

9 Technical data

9.1 CR2050

9.2 CR2051

9.3 CR2052

10 Maintenance, repair and disposal

10.1 Maintenance

10.2 Cleaning the housing surface

10.3 Repair

10.4 Disposal

11 Approvals/standards

12 Appendix

12.1 EMCY Object

12.2 Object directory CR205x