Function and features
The CR2013 input/output module is used for the decentralised connection of
controls and indicators to CAN bus.
• The I/O module supports binary and analog inputs and outputs and is there-
fore classified in the device profile "I/O module" to CiA DS 401.
• As regards the input and output function the I/O module can be configured.
• There are 1 server SDO and the 4 default PDOs to CiA DS 401.
The PDO mapping cannot be changed (static PDO mapping). The default iden-
tifiers are assigned according to the "predefined connection set".
• The COB IDs of the PDOs as well as the transmission type (synch/asynch) of the
individual PDOs can be configured.
The transmission type is stored non-volatilely. Changed PDOs (PDO linking) are
stored volatilely.
• The I/O module expects a synch object.
The CAN identifier of the synch object can be configured. After a change the ID
is automatically stored non-volatilely.
• The I/O module supports "node guarding".
The "guard time", "life time factor" and the CAN identifier of the guard
object can be configured and are stored non-volatilely.
• The I/O module generates an emergency object. The COB ID of the EMCY
object can be configured.
• The I/O module stores the last 4 errors.
The error code of the corresponding emergency object is stored.
• In addition to the CANopen error register, there is a device-specific status regis-
ter which contains the states of the output drivers.
• The I/O module supports a reset function, i.e. assignment of the parameters to
the factory default values* upon request.
*) factory default values see „Parameter list“, page 27
ENGLISH
Input/output module CR2013
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