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UK

CompactModul Metall CR2032

29

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 PDO

(Tx PDO)

transmit process data object

Trans SDO

(Tx SDO)

transmit service data object 

Tx-Queue

(transmit) transmission buffer

u8 (16, 32)

data type unsigned 8 (16, 32) bits

wo

write only

Содержание CompactModule CR2032

Страница 1: ...Device manual Input output module CompactModule metal CR2032 80269922 00 01 2018 UK...

Страница 2: ...Fuses 6 6 7 Examples types of connection 7 7 Set up 8 7 1 PLC configuration in CODESYS 2 3 8 7 2 PLC configuration in CODESYS 3 5 9 7 2 1 Heartbeat configuration 9 7 2 2 SyncMonitoring 10 7 3 Electron...

Страница 3: ...d output load circuits If the unit is not supplied by the mobile on board system 12 24 V battery opera tion it must be ensured that the external voltage is generated and supplied ac cording to the cri...

Страница 4: ...reak and short circuit PWM outputs up to 2 A 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 acco...

Страница 5: ...and sealing For normal corrosive requirements zinc plated screws are sufficient 6 Electrical connection To guarantee the electrical interference protection of the module the hou sing must be connecte...

Страница 6: ...current IN 2 A 100 overload 4 A Test duration 5 minutes 6 5 CAGE CLAMP connection technology 1 2 1 Screw driver 2 Wire Insert screw driver and tilt slightly spring opens Insert wire Remove screw drive...

Страница 7: ...UK CompactModul Metall CR2032 7 6 7 Examples types of connection Example 1 Example 2 Example 3 Example 4 jumper inserted...

Страница 8: ...erface 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 examp...

Страница 9: ...te 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 commun...

Страница 10: ...lementing 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 s 7 3 Electronic Data Sheet The EDS...

Страница 11: ...inputs outputs adjustable after PreOp PWM Frequency 2001 0x64 100Hz adjustable after PreOp Node ID 20F0 20F1 0x20 0d32 yes after a reset Baud rate 20F2 20F3 0x04 125 Kbits s yes after a reset Communic...

Страница 12: ...e time factor 0 is interpreted as 1 The first guard protocol is assessed as start guarding even if guarding is not active at this time guard time 0 Observe the position of the hex code switch Entries...

Страница 13: ...and UB potentials linked upon delivery Cable entry via M16 cable gland Inputs Outputs 8 x M12 connector socket 5 pole CANin CANout 2 x M12 connector plug socket 5 pole Weight 1 35 kg Inputs 8 can be...

Страница 14: ...ion disturbed node guard heartbeat error if node guarding heartbeat is activated no synch objects if synch monitoring is activated IN yellow ON binary output switched 2 0 Hz diagnosis failure OUT yell...

Страница 15: ...rred to PWM value 1000 Channel 2 4 6 8 pin 2 Semiconductor outputs with diagnostic capability wire break and short circuit can be configured as short circuit and overload protected Switching voltage 1...

Страница 16: ...technical alterations without prior notice CR2032 page 4 PWM PWM PWM PWM Abbreviations CANH CAN interface high CANL CAN interface low GNDO ground output GNDS ground module PWM output for pulse width m...

Страница 17: ...1 chan 1 o 4 2 o Bit 4 CR2032 Assignment of the LEDs to the connections 10 Fault correction 10 1 EMCY Object The following error codes to DSP 401 and DSP 301 are supported EMCY Code Error Reg Addition...

Страница 18: ...channel 4 pin 4 wire break 0b 0000 0100 channel 6 pin 4 wire break 0b 0000 1000 channel 8 pin 4 wire break 0b 0001 0000 channel 2 pin 2 wire break 0b 0010 0000 channel 4 pin 2 wire break 0b 0100 0000...

Страница 19: ...0x03 0 OFF 3 voltage 0 10 000 mV 6 ratiometric 0 1000 7 current 0 20 000 A 9 voltage 0 32 000 mV A binary input with analogue evaluation B binary input with analogue evaluation with diagnosis 2000 0A...

Страница 20: ...used to access the mod ule in the CANopen network 20F2 20F3 0 Setting of the Baud rate u8 rw 0x04 Baud rate of the CAN network 0 1000 kBaud 1 800 kBaud 2 500 kBaud 3 250 kBaud 4 125 kBaud default 5 10...

Страница 21: ...the synch message 1006 0 Communic Cycle u32 rw 0x00000000 Max time between 2 synch objects in s Useful resolution 1ms 1008 0 Device name str ro CR2032 Device name 1009 0 HW Version str ro x x Hardware...

Страница 22: ...tttt 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 heartbeat time u16 rw 0x00 Time...

Страница 23: ...2 0b 1000 0000 channel 8 pin 2 1601 0 Mapping Rec PDO 2 u32 ro 0x04 Number of the application objects linked with the analogue output PDO 1601 1 Index in the object directory u32 ro 0x6411 01 6411 Sld...

Страница 24: ...0x00 synch acyclic 0x01 0xF0 synch cyclic Analogue values are only transferred after n synch objects n 0x01 1 0xF0 240 0xFC 0xFD not implemented 0xFE asynch man spec event Analogue values are immedia...

Страница 25: ...cuit to ground 1A00 4 Index in the object directory u32 ro 0x2020 04 Idx 2020 Sldx 04 contains the binary value channel 7 pin 4 00 00 00 00 00 00 01 00 with diagnosis 00 00 00 00 00 00 FE FF short cir...

Страница 26: ...0 1000 current 0 20 000 A voltage 0 32 000 mV binary input with analogue evaluation 01 00 00 00 00 00 00 00 binary input with analogue evaluation with diagnosis 00 00 00 00 FE FF 00 00 short circuit...

Страница 27: ...CAN based network protocol on application level with an open configuration interface object directory CiA CAN in Automation e V user and manufacturer organisation in Germany Erlangen Definition and co...

Страница 28: ...e network participants by a higher master node as well as the monitoring of this polling process by the slave participants Node ID node identifier identification of a participant in the CANopen networ...

Страница 29: ...ubindex 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 com...

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