IFM Electronic CR2050, CR2051, CR2052 Device Manual

Device manual

Original Scale Drawing (MTD)

ioControl

CR2050 CR2051 CR2052

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

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�

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�

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)

878

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

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

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

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CAN

Optional supply CAN1 interface

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

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

VBB

GND1n.c.

CR2050

03 n.c.

02/05 CAN2

CAN

GND

CAN1

* Load-Dump

Protection

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

VBB

GND1n.c.

GND

CAN1

CR2050

3 A

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

VBB

GND1VBB2GND

CAN2

CR2051

03/04 V

CAN

01/06 GND

CAN

02/05

GND

02/05 CAN1

CAN IN CAN OUT

VBB

GND1VBB2GND

CAN2

CR2051

GND

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

VBB

GND1VBB2GND

CAN2

CAN

GND

CAN1

* Load-Dump

03/04V 01/06 02/05

Protection

02/05

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)�

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

VBB

GND

VBB

CR2052

03/04 V

01/06 GND 02/05

CAN

CAN1

CAN IN CAN OUT

VBB

GND

VBB

03 GND

02/05 CAN2

GND

CR2052

03 GND

02/05 CAN2

CAN

CAN1

CAN

03/04 01/06 02/05

* Load-Dump

Protection

CAN

CAN1

CAN

03/04 01/06 02/05

* Load-Dump

Protection

Example 3

max. load

GND GND

3 A

Supply

03/04 V

01/06 GND 02/05

CAN

GND

CAN1

CAN IN CAN OUT

VBB

GND

VBB

CR2052

GND

3 A

03 GND

GND

15...25 A

02/05 CAN2

CAN

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)�

ioControl

Original Scale Drawing (MTD)

7 Operating and display elements

1 2

Indicators

10-segment display (→ 9 Technical data)

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)�

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)�

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

100

125

250

500

1...125

1: Display mode (→ 8.1.1)

2: Editing mode (→ 8.1.2)

List of parameters: (→ 8.1.3)

800

1000

Loc

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

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

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�

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

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�

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

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

205,5

234,2

1 2

40,5

27,4

6,9

8,7

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

6,9

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

≤ 7.0 V

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

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

L/BH

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)

R B

FRQ

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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)

● 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 ‰

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

Input resistance 3.2 kΩ Input frequency 50 Hz Diagnostics wire break

> 0�95 U

Diagnostics short circuit < 1 V

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

> 0�7 U

Input resistance 3.2 kΩ Input frequency 50 Hz

Digital inputs (B

, 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

Input resistance 3.2 kΩ Input frequency 50 Hz Diagnostics wire break

> 0�95 U

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

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

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

> 0�7 U

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

> 0�95 U

Diagnostics short circuit* < 1 V

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

> 0�7 U

Input resistance 3.2 kΩ Input frequency 50 Hz

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

ioControl

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

CAN

+ VBB

1�5 A

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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

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CR2050 Technical data

Control systems

Original Scale Drawing (MTD)

P_MZ_e100_0092

Wiring

03/04 VBB 02 05

Con. 7

01/06 GND

IN14 IN06

VBB

IN15 IN07

GND

ioControl

03/04

02 05

01/06

Con. 8

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

IN12 IN04

IN10 IN02

IN08 IN00

CAN

CAN1_H CAN1_L

CAN

03/04

VBB

IN13

02 CAN2_L

05 CAN2_H

IN05

GND

VBB

IN11 IN03

GND

VBB

IN09 IN01

GND

CAN

V CAN1_H CAN1_L GND

* Load-Dump

Protection

VBB

GND1n.c.

03 n.c.

CAN

02 05

01/06

03/04

01/06

03/04

01/06

03/04

01/06

02 05

Con. 6

Con. 4

Con. 2

CAN OUT

1 2

Abbreviations A

ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen

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FRQ R VBB V

CAN

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

Supply CAN connector

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

205,5

234,2

1 2

40,5

27,4

6,9

8,7

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

6,9

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

≤ 7.0 V

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

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

PWM PWM

PWM B

PWM

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

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CR2051 / page 2

15 Aug 2017

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)

● 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

≥ 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)

● 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

≥ 9.6 Ω (at 24 V DC)

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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

● PWM outputs

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

ioControl

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)

● 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

● 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

ioControl

ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen

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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

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

+ 96 hidden pages

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