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UK

Output Module CR2011

21

PDO

Process Data Object; in the CANopen network for transfer of process data in real time; 

such as the speed of a motor PDOs have a higher priority than SDOs; in contrast to the 

SDOs they are transferred without confirmation� PDOs consist of a CAN message with 

identifier and up to 8 bytes of user data�

PDO Mapping

describes the application data transferred with a PDO�

Pre-Op

Preoperational; operating state of a CANopen participant� After application

of the supply voltage each participant automatically goes into this state�

In the CANopen network only SDOs and NMT commands can be transferred

in this mode but no process data�

Prepared

(also stopped) operating state of a CANopen participant

In this mode only NMT commands are transferred�

Rec PDO

(Rx PDO)

Receive Process Data Object

ro 

read only (unidirectional)

rw 

read-write (bidirectional)

RX-Queue

reception buffer

s16

data type signed 16 bit

SDO

Service Data Object;

With this object direct access to the object directory of a network participant is possible 

(read/write)� An SDO can consist of several CAN messages�

The transfer of the individual messages is confirmed by the addressed participant�  

With the SDOs devices can be configured and parameters can be set�

Server SDO

process and parameter set to make the object directory of a network participant

available to other participants (clients)�

S-Idx 

(SIdx)

Subindex within the object directory of a CANopen device

Start Guarding

start node guarding

str

data type string (variable for strings such as text "load")

Sync Error

missing Sync OBJ in the adjustable communication cycle

Sync OBJ

synchronisation object for simultaneous update in the complete network or

for accepting process data of the respective parameterised PDOs�

Sync Windows

time during which the synchronous PDOs have to be transferred

Time Stamp

time stamp to align existing clocks in network participants

Trans Type

type of process data transmission; synchronous, asynchronous

Trans PDO

(Tx PDO)

transmit process data object

Trans SDO

(Tx SDO)

transmit service data object

Tx-Queue

transmit service data object

u8 (16, 32)

data type unsigned 8 (16, 32) bits

wo

write only

Summary of Contents for CR2011

Page 1: ...Device manual Output module CR2011 80269929 00 01 2018 UK ...

Page 2: ...in CODESYS 3 5 8 8 2 1 Heartbeat configuration 8 8 2 2 SyncMonitoring 9 8 3 Electronic Data Sheet 9 9 Parameter setting 10 9 1 Parameter list 10 10 Technical data 11 10 1 Characteristics of the outputs 11 10 1 1 Digital outputs 11 10 1 2 PWM outputs 12 10 1 3 Current outputs 12 11 Object directory 13 11 1 Manufacturer Specific Profile Area index 2000 to 5FFF 13 11 2 Communication Profile Area inde...

Page 3: ... wrong installation or handling can result in serious harm concerning the safety of people and plant The device may only be installed connected and commissioned by qualified per sonnel Disconnect the device externally before doing any work on it If necessary also disconnect separately supplied output load circuits In the case of malfunctions or uncertainties please contact the manufacturer Tamperi...

Page 4: ... SDO and the 3 default PDOs to CiA DS 401 The PDO mapping cannot be changed static PDO mapping The default identifiers are assigned according to the predefined connection set The COB IDs of the PDOs as well as the transmission type synch asynch of the individual PDOs can be configured The transmission type is stored nonvo latilely Changed PDOs PDO linking are stored volatilely The module expects a...

Page 5: ... 6 Electrical connection To protect the whole system wiring and output module the individual elec tric circuits must be protected with max 16A 6 1 Wiring core colour potential Operating voltage red 10 30 V DC black GND CAN interface white CAN_H blue CAN_L green CAN_GND 6 2 Outputs without current monitoring M12 connector PIN connection 4 switching output L 1 3 4 2 5 3 external voltage 5 n c ...

Page 6: ...pply voltage ON module in the stand by mode CANopen state PREOPERATIONAL PREPARED outputs OFF flashing 2 Hz module active CANopen state OPERATIONAL outputs are updated red OFF communication o k ON communication disturbed NodeGuard error if NodeGuarding is active no synch objects if synch monitoring is active yellow OUT ON binary output output is active ON analog output PWM preset value is unequal ...

Page 7: ...rface is directly done from the application programmed with CODESYS 2 3 To do so the Electronic Data Sheet EDS is integrated via the CODESYS PLC configuration CODESYS dialogue PLC configuration example For a description of the setting and application of the PLC configuration dialogue see the CODESY manual and the CODESYS online help ...

Page 8: ...Device and click on In stall Select EDS file and click on Open In CODESYS 3 5 the devices are integrated as CiA remote devices in the de vice tree under a CANopen_Manager element The CANopen communication is configured via the CODESYS configuration editor 8 2 1 Heartbeat configuration The function Reset Node must be activated on the tab General so that the device applies the parameters set for hea...

Page 9: ...ementing the SDO list in the CANopen configurator or during the operating time via the function block COP_SDOwrite The monitoring time is indicated in microseconds μs 8 3 Electronic Data Sheet The EDS contains the description of all parameters and I O data of the device in a format defined by CANopen The EDS files are provided for all CANopen slaves by ifm electronic The EDS files are available at...

Page 10: ...ation Profile Area index 1000 to 1FFF COB ID Synch Object 1005 0x80 yes immediately Communication Cycle 1006 0 Off yes after Pre Op Guard Time 100C 0 Off yes immediately Life Time Factor 100D 0 Off yes immediately COB ID Guarding 100E 0x700 Node ID yes immediately COB ID EMCY 1014 0x80 Node ID yes immediately COB ID Rec PDO 1 1400 01 0x200 Node ID no immediately Trans Type Rec PDO 1 1400 02 synchr...

Page 11: ... load Indicators LED green run LED LED red diagnostic LED LED yellow output status Interface CAN interface ISO 11898 version 2 0 Baud rate 10 Kbits s 1 Mbits s Communication profile CANopen Device profile I O module to CiA DS401 CiA DS301 V3 0 CAN Full CAN Node ID default hex 20 32 10 1 Characteristics of the outputs 10 1 1 Digital outputs 8 semiconductor outputs short circuit overload protected S...

Page 12: ... 3 4 7 1000 0 are present at the even numbered outputs 2 4 6 8 10 1 3 Current outputs With the configuration as current output two outputs each are combined 1 2 3 4 5 6 7 8 PWM frequency 20 150 Hz Control range 100 2000 mA Control resolution 2 5 mA Setting resolution 1 mA Precision 2 FS Load current max 2 A Load resistance min 12 Ω for UB 24 V DC min 6 Ω for UB 12 V DC Value range 2000 2000 mA Val...

Page 13: ...ration channel pair 5 6 0 OFF 2 binary output 4 analog output PWM 5 analog output current controlled 2000 4 Output channel 7 8 u8 rw 0x02 configuration channel pair 7 8 0 OFF 2 binary output 4 analog output PWM 5 analog output current controlled 2001 0 PWM Frequency u8 rw 0x64 100 Hz Setting in Hz Range 20 Hz to 150 Hz Values below 20 Hz or above 150 Hz are not accepted The existing value remains ...

Page 14: ...me valid 20F2 0 Setting of the Baud Rate u8 rw 0x03 Baud rate of the CAN network 0 1000 kBaud 1 500 kBaud 2 250 kBaud 3 125 kBaud 4 100 kBaud 5 50 kBaud 6 20 kBaud 7 10 kBaud 20F3 0 Setting of the Baud Rate u8 rw 0x03 Baud rate of the CAN network as before A change is only accepted if the entries 20F2 and 20F3 contain the same changed value Values above 7 are not accepted After setting of the node...

Page 15: ...1005 0 COB ID synch objekt u32 rw 0x80000080 Module expects synch message bit 31 1 Module generates no synch message bit 30 0 11 bit identifier system bit 29 0 Identifier of the synch message 1006 0 Communic Cycle u32 rw 0x00000000 Max time between 2 synch objects in μs Useful resolution 1ms 1008 0 Device Name str ro CR2012 1009 0 HW version str ro x x Hardware version 100A 0 SW version str ro x x...

Page 16: ...it 31 0 CAN ID of the receive SDO 1200 2 COB ID Trans SDO u32 ro 0x580 Node ID SDO is valid bit 31 0 CAN ID of the transmit SDO 1400 0 Receive PDO 1 u8 ro 0x02 Number of the entries receive PDO1 Binary outputs 1400 1 COB ID u32 rw 0x200 Node ID PDO is valid bit 31 0 CAN ID of the 1st receive PDO 1400 2 Trans Type u8 rw 0x01 0 x 00 synch acyclic 0x01 0xF0 synch cyclic number of the synch objects be...

Page 17: ... output channel 3 or 4 The value is in terpreted as pulse break ratio in or as preset current value depending on the configuration of the index 2000 1601 3 Index in the object directory u32 r0 0x6410 03 6410 Sldx 03 contains the preset value of the analog output channel 5 or 6 The value is in terpreted as pulse break ratio in or as preset current value depending on the configuration of the index 2...

Page 18: ...rrection 12 1 EMCY Object The following error codes to DSP 401 and DSP 301 are supported EMCY Code Error Reg Additional code Description 0x5000 0x81 0x00 One channel or several channels not calibrated 0x6100 0x11 0x00 Internal software Overflow of a Rx queue e g frequency of the RxPDOs is too high only external reset via an entry in 1003 00 0x6101 0x11 0x00 Internal software Overflow of a Tx queue...

Page 19: ...not allow to send two identical EMCY objects one after the other 13 Maintenance repair and disposal As the input output module does not contain any components which must be maintained by the user the housing must not be opened The maintenance of the module may only be carried out by the manufacturer The disposal must be carried out according to the corresponding national environ mental regulations...

Page 20: ...eg Error Register entry with an error code Guarding Error Node or network participant could or can no longer be found Guard Master one or several slaves no longer reply Guard Slave no polling of the slave Guard Time During this time the network participant expects a Node Guarding of the network master Heartbeat Cyclic monitoring with parameter setting among network participants In contrast to node...

Page 21: ...o the object directory of a network participant is possible read write An SDO can consist of several CAN messages The transfer of the individual messages is confirmed by the addressed participant With the SDOs devices can be configured and parameters can be set Server SDO process and parameter set to make the object directory of a network participant available to other participants clients S Idx S...

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