Output Module CR2011
4
4 Function
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The module supports binary and analog outputs and is therefore classified in
the device profile "I/O module" to CiA DS 401�
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As regards the output function the module can be configured� The module
supports 5 operating modes:
- binary outputs with current detection, up to 2�5 A
- binary outputs without current detection, up to 4 A
- PWM outputs with current detection, up to 2�5 A
- PWM outputs without current detection, up to 4 A
- current-controlled PWM outputs, up to 2�5 A
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The function current detection or current control can be selected by means
of the wire connection� With the configuration as binary outputs 8 outputs are
available� With the configuration as PWM outputs 2 outputs each are combined
as a pair (= 4 outputs available)�
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The outputs are activated via CANopen�
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There are 1 server 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"�
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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�
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The 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�
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The 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�
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The module generates an emergency object� The COB ID of the EMCY object
can be configured�
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The module stores the last 4 errors� The error code of the corresponding emer-
gency object is stored�
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The module supports a reset function, i�e� assignment of the parameters to the
factory default values