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SmartModul CR2512

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

write only

Summary of Contents for SmartModul CR2512

Page 1: ...Device manual SmartModul Input output module CR2512 80269925 00 01 2018 UK ...

Page 2: ...nfiguration in CODESYS 2 3 6 7 2 PLC configuration in CODESYS 3 5 7 7 2 1 Heartbeat configuration 7 7 2 2 SyncMonitoring 8 7 3 Electronic Data Sheet 8 8 Parameter settings 9 8 1 Parameter list 10 9 Technical data 11 10 Object directory 16 11 Fault correction 24 11 1 EMCY Object 24 12 Maintenance repair and disposal 25 13 Approvals standards 25 14 Terms and abbreviations 25 ...

Page 3: ...andling can result in serious harm concerning the safety of persons 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 Tampering with the device can ...

Page 4: ...e 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 module expects a synch object The CAN identifier of the synch object can be configured The module supports node guarding and heartbeat The guard time the life time factor and the heartbeat time can be confi...

Page 5: ...d via the housing suffi cient cooling must be ensured in case of sandwich mounting of modules 6 Electrical connection To ensure the protection of the device against electrical interference and the safe function of the device the housing must be connected to the ground of the vehicle 1 Drill hole for ground connection Establish a connection between the device and the ground of the vehicle using M5 ...

Page 6: ...ce 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 7: ...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 7 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 8: ...nting 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 7 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 ww...

Page 9: ...ion restore see object directory index 1011 the parameters ex cept the baud rate and the node ID can be assigned to the factory default values With the next power on they become valid Control characteristics index 2004 7 The current control behaviour can be parameterised separately for each channel pair in the P and I values For each of the 4 output pairs the max load current mA has to be indicate...

Page 10: ...ble immediately Save Parameter 1010 0x02 AutoSave ON yes immediately COB ID EMCY 1014 0x80 Node ID adjustable after a reset Consumer Heartbeat time 1016 0x00 Off adjustable immediately Producer Heartbeat time 1017 0x00 Off adjustable immediately COB ID Rec PDO 1 1400 01 0x200 Node ID adjustable after a reset Trans Type Rec PDO 1 1400 02 0x01 synchronous adjustable immediately COB ID Rec PDO 2 1401...

Page 11: ...t reverse polarity type AMP housing or Framatome AMP junior timer contacts crimp connection 0 5 2 5 mm Weight 0 95 kg Inputs 4 can be configured as digital for positive sensor signals low side and can be used for selecting the node ID offset Outputs 8 can be configured as digital positive switching high side analogue PWM channel PWM value 0 50 1000 analogue current controlled channel 20 1000mA 80 ...

Page 12: ...to UN ECE R10 E1 type approval and EN 61000 6 4 CE Control systems DATEN 100 DB FORM PZD 03 12 96 ifm electronic gmbh Friedrichstraße 1 45128 Essen 06 11 2014 We reserve the right to make technical alterations without prior notice CR2512 page 2 LED Status Description green OFF no supply voltage ON module in stand by mode CANopen status PREOPERATIONAL PREPARED outputs OFF 1 0 Hz At least one input ...

Page 13: ... are rounded to 4000mA Values 4000 mA are rounded to 4000mA Values 80 80 mA are interpreted as OFF value output 80 4000 mA are present at the odd numbered channels 1 3 5 7 4000 80 mA are present at the even numbered channels 2 4 6 8 Digital and PWM current output can be combined to one connection pair i e one output acts as binary the other output as PWM current output The outputs can then be swit...

Page 14: ...CAN Interface 23 01 05 02 38 20 08 50 15 14 32 33 51 03 39 21 27 04 40 22 09 25 41 42 28 16 52 34 10 17 53 35 29 18 54 36 11 19 55 37 30 06 47 43 Input 07 48 44 24 49 45 26 31 46 Abbreviations CANH CAN interface high CANL CAN interface low GNDO GND output GNDS GND sensors module PWM output for pulse width modulated signals VBBO supply voltage output VBBS supply voltage sensors module CR2512 Wiring...

Page 15: ...T Current GND VBB O VBB S GND S 1 1 VBBO 03 39 21 27 OUT Current GND 2 2 VBBO 02 38 20 08 OUT Current GND VBB O VBB S GND S 1 1 VBBO 03 39 21 27 OUT Current GND 2 2 VBBO Channel 1 Channel 2 Channel 1 Channel 2 CR2512 Configuration examples outputs channel pair 1 2 Example 1 Example 2 Example 3 digital e g two way valves digital e g two way valves with current monitoring PWM or current controlled e...

Page 16: ...nfiguration channel 4 output u8 rw 0x02 0 OFF 2 binary output 4 analogue output PWM 5 analogue output current controlled 2000 5 Configuration channel 5 output u8 rw 0x02 0 OFF 2 binary output 4 analogue output PWM 5 analogue output current controlled 2000 6 Configuration channel 6 output u8 rw 0x02 0 OFF 2 binary output 4 analogue output PWM 5 analogue output current controlled 2000 7 Configuratio...

Page 17: ...e ID selector value 22 4 103 Node ID selector value 23 8 If several inputs are configured as node ID selector different values have to be assigned 2001 0 PWM Frequency u8 rw 0x64 100 Hz Setting in Hz 20 250 Hz If an invalid value is entered the previ ous value remains valid 2002 0 Actual current values u8 ro 0x04 Number of the entries number of the current measuring channels 2002 1 Current values ...

Page 18: ...rent control function channel 5 6 value in referred to the presetactual value difference 2006 3 max current channel 5 6 u16 rw 0xFA0 max possible load current in mA current at 1000 PWM 2007 0 Control parame ters channel 7 8 u8 ro 0x03 Number of the entries number of the control parameters 2007 1 P value channel 7 8 u8 rw 0x32 P value of the current control function channel 7 8 value in referred to...

Page 19: ...essage 1006 0 Communic Cycle u32 rw 0x00000000 Max time between 2 synch objects in µs Useful resolution 1ms 1008 0 Device name str ro CR2512 Device name 1009 0 HW Version str ro x x Hardware version 100A 0 SW Version str ro x x Software version 100C 0 Guard time u16 rw 0x0000 Time in ms Within this time the output module ex pects a node guarding of the network master If the value 0 is entered here...

Page 20: ...ime for node n Monitoring of only one node is supported 0x0nntttt monitoring time ms 0x0nntttt node number If nn or tttt 0 no monitoring is carried out Note Node monitoring with node guarding or heartbeat is only to be used as an alternative 1017 0 Producer heart beat time u16 rw 0x00 Time interval ms where the inclination sensor generates a producer heartbeat 1018 0 Number of iden tity objects u8...

Page 21: ...uts are updated immediately 1600 0 Mapping Rec PDO 1 u32 ro 0x01 Number of the application objects linked with the binary output PDO 1600 1 Index in the object directory u32 ro 0x6200 01 6200 Sldx 01 contains 1 byte 0b 0000 0001 channel 1 0b 0000 0010 channel 2 0b 0000 0100 channel 3 0b 0000 1000 channel 4 0b 0001 0000 channel 5 0b 0010 0000 channel 6 0b 0100 0000 channel 7 0b 1000 0000 channel 8 ...

Page 22: ...nted 0xFE asynch man spec event Inputs are immediately transferred 0xFF asynch device profile event Inputs are immediately transferred 1800 3 Inhibit time Trans PDO 1 u16 rw 0x00 Shortest repeat time during this time the PDO is only trans ferred once in Trans Type asynch 1800 5 Event timer Trans PDO 1 u16 rw 0x00 Max transfer break in trans type asynch when this time has elapsed the PDO is transfe...

Page 23: ...dx 6000 Sldx 01 contains 1 byte 0b 0000 0001 channel 9 input 1 0b 0000 0010 channel 10 input 2 0b 0000 0100 channel 11 input 3 0b 0000 1000 channel 12 input 4 1A01 0 Mapping Trans PDO 2 u32 ro 0x01 Number of the linked application objects actual current values 1A01 1 Index in the object directory u32 ro 0x2002 01 0x2002 02 0x2002 03 0x2002 04 Idx 2002 SIdx 01 contains the actual current value chan...

Page 24: ...hannel pair 5 6 1000 0000 channel pair 7 8 0x8000 0x11 0x00 Monitoring Synch Error For communication cycle no synch object is received only in OPERATIONAL Reset with the next synch OBJ or PREOP 0x8130 0x11 0x00 Monitoring Guarding Error Heartbeat Error For guard time x life time factor no guard object is received or heartbeat object outside the expected time Reset after node is active again 0xFF00...

Page 25: ...ect directory CiA CAN in Automation e V user and manufacturer organisation in Germany Erlangen Definition and control body for CAN and CAN based network protocols CiA DS Draft Standard published CiA specification which usually has not been modified or supple mented for one year CiA DSP Draft Standard Proposal published CiA specification draft CiA WD Work Draft work draft accepted for discussion wi...

Page 26: ...ct OBJ term for data messages which can be exchanged in the CANopen network Object directory contains all CANopen communication parameters of a device as well as device specific parameters and data Access to the individual entries is possible via the index and S index Operational Operating state of a CANopen participant In this mode SDOs NMT commands and PDOs can be transferred PDO Process Data Ob...

Page 27: ...ommunication 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 t...

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