IFM Electronic ecomot100 CR2012 Application guide

Device manual
CabinetModule
Input/output module
CR2012
7390633 / 00 03 / 2010
UK

CabinetModule CR2012
2
Contents
1 Safety instructions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 3
1�1 Notes on this manual � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 3
1�2 Notes on the device � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 3
2 Functions and features � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
2�1 CAN communication� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
3 Mounting� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
3�1 Mounting location � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
3�2 Fixing � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
3�3 Cooling � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
4 Electrical connection� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
4�1 Connectors � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
4�2 Fuses � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
5 Set-up � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7
5�1 CoDeSys PLC configuration� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7
5�2 Electronic data sheet � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7
6 Parameter setting � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8
6�1 Automatic saving � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8
6�2 Restoring the factory setting� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8
6�3 Communication profiles; Idx 1000 to 1FFF � � � � � � � � � � � � � � � � � � � � � � � � 9
6�4 Manufacturer-specific profiles; Idx 2000 to 6FFF � � � � � � � � � � � � � � � � � � � 10
6�5 EMCY objects� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11
6�6 Boot-up message � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11
7 Technical data� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 12
7�1 Dimensions, mechanics, electronics � � � � � � � � � � � � � � � � � � � � � � � � � � � � 12
7�2 Connecting, operating and display elements � � � � � � � � � � � � � � � � � � � � � � 13
7�3 Characteristics of the inputs/outputs, test standards and regulations � � � 14
7�4 Wiring � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 15
8 Maintenance, repair and disposal� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 16
9 Approvals/standards � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 16
10 Terms and abbreviations� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 17
11 Anhang / Appendix
Objektverzeichnis / Object directory � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 19
11�1 Communication profiles; Idx 1000 to 1FFF� � � � � � � � � � � � � � � � � � � � � � � 19
11�2 Manufacturer-specific profiles; Idx 2000 to 6FFF � � � � � � � � � � � � � � � � � � 24
This device manual applies to devices as from the production status CR2012AE

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CabinetModule CR2012
3
Safety instructions1
Notes on this manual1.1
This manual is part of the device. It contains information and illustrations
about the correct handling of the device and must be read before installation
or use.
Observe the operating instructions� Non-observance of the notes, operation which
is not in accordance with the intended use, wrong installation or handling can
result in serious harm concerning the safety of persons and plant�
These instructions are intended for “authorised” persons according to the EMC
and low-voltage directives�
Notes on the device1.2
The device must only be installed, connected and put into operation by a qualified
electrician�
Disconnect the device externally before handling it� If necessary, also disconnect
any independently supplied output load circuits�
If the device is not supplied by the mobile on-board system (12/24 V battery
operation), it must be ensured that the external voltage is generated and supplied
according to the criteria for safety extra-low voltage (SELV) as this voltage is sup-
plied without further measures to the connected controller, the sensors and the
actuators�
The wiring of all signals in connection with the SELV circuit of the device must also
comply with the SELV criteria (safety extra-low voltage, safe electrical separation
from other electric circuits)� If the supplied SELV voltage is externally grounded
(SELV becomes PELV), the responsibility lies with the user and the respective na-
tional installation regulations must be complied with� All statements in this manual
refer to the device the SELV voltage of which is not grounded�
The connection terminals may only be supplied with the signals indicated in the
technical data and/or on the device label and only the approved accessories of ifm
electronic may be connected�
According to the technical specifications below the device can be operated in a
wide operating temperature range� Because of the additional internal heating the
housing walls can have high perceptible temperatures when touched in hot envi-
ronments�
In case of malfunctions or uncertainties please contact the manufacturer� Tamper-
ing with the device can lead to serious risks for the safety of persons and plant� It
is not permitted and leads to the exclusion of any liability and warranty claims�

CabinetModule CR2012
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Functions and features2
The device enables decentralised evaluation of sensor signals and decentralised
triggering of actuators and proportional valves�
WARNING
The device is not approved for safety tasks with respect to the protection of per-
sons�
CAN communication2.1
The device supports binary/analogue inputs/outputs and is therefore classified●
in the device class “I/O module” to CiA DS 401�
As regards the input/output functions, the device can be configured and it sup-●
ports the following functions:
analogue inputs–
binary inputs–
binary outputs–
PWM outputs–
There are 1 server SDO and 4 default PDOs according to CiA DS 401�The●
PDO mapping can be changed (dynamic 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 device expects a synch object� The CAN identifier of the synch object can●
be configured�
The device supports “node guarding” and “heartbeat”� The “guard time”, the●
“life time factor” and the “heartbeat time” can be configured�
The device generates an emergency object� The COB ID of the EMCY object●
can be configured�
The device stores the last error� The error code of the corresponding emer-●
gency object is stored�
The device supports a reset function, i�e� the assignment of the parameters to●
the factory default settings on request�
Factory default settings → 6.3 Communication profiles and 6.4 Manufacturer-
specific profiles

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CabinetModule CR2012
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Mounting3
Mounting location3.1
The device is to be mounted in a dry and enclosed environment (e�g� control►
panel of the driver‘s cab, separate control boxes, etc�)�
ATTENTION
The housing must not be exposed to any torsion forces or mechanical stress�
Fixing3.2
Fix the device using 2 M4 x L screws via transversely arranged bore holes�►
Tighten the screws alternately crosswise�
Tightening torque: 1�5 Nm–
Mounting position: as required–
Hole dimensions: → 7.1 Dimensions, mechanics, electronics–
Cooling3.3
As the internal heating of the electronics is conducted away via the housing,►
ensure sufficient heat dissipation�

CabinetModule CR2012
6
Electrical connection4
Connectors4.1
The supply cables and inputs/outputs are connected via AMP crimp connectors on
the front of the device�




 



Pin connection → 7 Technical data → 7.4 Wiring
You can find more information about the available connector accessories at:
www�ifm-electronic�com
→ Data sheet direct → CR2012 → Accessories
Fuses4.2
To protect the whole system (wiring and device) the individual electric circuits►
must be protected with max� 8 A�

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CabinetModule CR2012
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Set-up5
CoDeSys PLC configuration5.1
Parameter setting of the device functions and of the CAN interface 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 “control and CANopen configuration” (example)
For a description of the setting and application of the “PLC and CANopen configu-
ration” dialogue see the CoDeSys manual and the CoDeSys online help�
Electronic data sheet5.2
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 by ifm electronic for all
CANopen slaves�
The EDS files are available at:
www�ifm-electronic�com
→ Data sheet direct → CR2012 → Download/Software*
*) Downloads with registration

CabinetModule CR2012
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Parameter setting6
Automatic saving6.1
Automatic saving of the communication and device parameters can be activated or
deactivated by means of the “save parameter” entry (object directory, index 1010,
S-Idx 01)�
● Value 0x00:
There is no automatic saving� Changed parameters are only valid until the device
is switched off or until the next reset�
● Value 0x01:
Changed parameters will be saved if the string “save” is written in S-Idx 01� Other-
wise changed parameters are only valid until the device is switched off or until the
next reset�
● Value 0x02:
Changed parameters are saved automatically�
Restoring the factory setting6.2
With the function “restore” (object directory, index 1011, subindex 01) the factory
default values can be restored (except for the baud rate and the node ID)� They
become valid with the next power on�

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CabinetModule CR2012
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Communication profiles; Idx 1000 to 1FFF6.3
Parameters Index in
object
directory
Default value (factory
preset)
Change saved
automatically
Change
effective
COB ID Synch Object 1005 00 0x80 adjustable after PreOp
Communication Cycle 1006 00 0x00 (Off) adjustable immediately
Guard Time 100C 00 0x00 (Off) adjustable immediately
Life Time Factor 100D 00 0x00 adjustable immediately
Save Parameter 1010 01 0x02 (AutoSave ON) yes immediately
COB-ID EMCY 1014 00 0x80 + node ID adjustable after a reset
Consumer Heartbeat Time 1016 01 0x00 (Off) adjustable immediately
Producer Heartbeat Time 1017 00 0x00 (Off) adjustable immediately
COB-ID Rx PDO 1 1400 01 0x200 + node ID adjustable after PreOp
Trans Type Rx PDO 1 1400 02 0x01 (synchronous) adjustable immediately
COB-ID Rx PDO 2 1401 01 0x300 + node ID adjustable after PreOp
Trans Type Rx PDO 2 1401 02 0x01 (synchronous) adjustable immediately
COB-ID Tx PDO 1 1800 01 0x180 + node ID adjustable after PreOp
Trans Type Tx PDO 1 1800 02 0xFF (asynchronous) adjustable immediately
Inhibit Timer Tx PDO 1 1800 03 0x0000 adjustable immediately
Event Timer Tx PDO 1 1800 05 0x00 adjustable immediately
COB-ID Tx PDO 2 1801 01 0x280 + node ID adjustable after PreOp
Trans Type Tx PDO 2 1801 02 0x01 (synchronous) adjustable immediately
Inhibit Timer Tx PDO 2 1801 03 0x0000 adjustable immediately
Event Timer Tx PDO 2 1801 05 0x00 adjustable immediately
The life time factor 0 is interpreted as 1�The first guard protocol is interpreted as
"start guarding” even if guarding is not yet active at that time (guard time = 0)�
Abbreviations → 10 Terms and abbreviations

CabinetModule CR2012
10
Manufacturer-specific profiles; Idx 2000 to 6FFF6.4
Parameters Index in object
directory
Default value
(factory preset)
Change saved
automatically
Change
effective
Config� channel 1 2000 01 0x01 (Bin IN)
adjustable after PreOp
Config� channel 2 2000 02 0x01 (Bin IN)
Config� channel 3 2000 03 0x01 (Bin IN)
Config� channel 4 2000 04 0x01 (Bin IN)
Config� channel 5 2000 05 0x03 (Ana IN absolute)
Config� channel 6 2000 06 0x03 (Ana IN absolute)
Config� channel 7 2000 07 0x02 (Bin OUT + read
back input)
Config� channel 8 2000 08 0x02 (Bin OUT + read
back input)
Config� channel 9 2000 09 0x01 (Bin IN)
Config� channel 10 2000 0A 0x01 (Bin IN)
Config� channel 11 2000 0B 0x01 (Bin IN)
Config� channel 12 2000 0C 0x01 (Bin IN)
Config� channel 13 2000 0D 0x03 (Ana IN absolute)
Config� channel 14 2000 0E 0x03 (Ana IN absolute)
Config� channel 15 2000 0F 0x02 (Bin OUT + read
back input)
Config� channel 16 2000 10 0x02 (Bin OUT + read
back input)
PWM frequency 2001 00 0x64 (100 Hz) adjustable after PreOp
Node ID * 20F0, 20F1 0x20 (0d32) yes after a reset
Baud rate * 20F2, 20F3 0x04 (125 Kbit/s) yes after a reset
Autostart 20F4 0x00 (Off) adjustable immediately
*) Observe rotary switch position!
Entries in the object directory indexes 20F0/20F1 and/or 20F2/20F3 are only valid
if the rotary switches for baud rate and/or node ID are in the position “F”�
Position and coding of the rotary switches → 7 Technical data

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CabinetModule CR2012
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EMCY objects6.5
The following error codes are supported according to DSP-301 and DSP-401:
EMCY code Error reg Additional
code
Description
0x6100 0x11 0x00 "Internal Software":
overflow of an Rx queue; e�g� frequency of the Rx PDOs
too high
only external reset via an entry in 1003 00
0x6101 0x11 0x00 "Internal Software":
overflow of a Tx queue; e�g� device does not
communicate with the bus
only external reset via an entry in 1003 00
0x8100 0x11 0x00 "Monitoring" (guarding error)
no guard object is received for "guard time" x "life time
factor"
reset with the next communication
0x8120 0x11 0x00 "Communication" (CAN error passive)
CAN controller has passed into the CAN error passive
state
0x8200 0x11 0x00 "Monitoring" (synch error)
for "communication cycle" no synch object is received;
only in OPERATIONAL
reset with the next synch OBJ or PREOP
Boot-up message6.6
The module sends a boot-up message after application of the supply voltage or
after a reset, to inform a CANopen master in the network about its presence or a
restart�
To ensure the compatibility with older device versions, a boot-up message is sent
in accordance with CANopen specifications DS-301 V3 and V4�

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12
Technical data7
Dimensions, mechanics, electronics7.1





 

Control systems
\DATEN\100\DB-FORM—PZD/03/12/96
ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen
17.03.2010
CR2012
CabinetModule
I/O module
digital and analogue
for R 360 system
16 inputs/outputs
CANopen interface
10...32 V DC
We reserve the right to make technical alterations without prior notice! CR2012 / page 1
Application Connection of operating and display elements to CAN bus
to be installed in driver’s cabs, control panels or control boxes
Structure PCB without housing
(for mechanical protection potted in a potting tub)
Dimensions (l x w x h) 163 x 63 x 26.7 mm
Installation via 2 transversely arranged bore holes
Protection IP00 (PCB without housing), to EN60529
Possible I/O-configurations 8 digital inputs
(also see wiring) 4 digital/analogue inputs (to be configured via CANopen)
2 digital inputs/outputs (to be configured via CANopen)
2 digital inputs/outputs, analogue outputs (to be configured via CANopen)
Inputs, digital for positive-switching sensor signals, switches or pushbuttons
Inputs, analogue • ratiometric, query of potentiometric signal transmitters (e.g. joystick)
(to be configured via CANopen) • absolute, conversion of input voltage (0...10 V) in 8-bit value
Outputs for triggering pilot lights etc.
Connections AMP crimp connector, to be clipped into place and thus vibration-resistant,
protected against reverse polarity
Inputs/outputs 2 plugs, 18 poles
Operating voltage and CAN bus 1 plug, 6 poles
Operating voltage UB10...32 V DC
Current consumption ≤100 mA, without load (external fuse with max. 5 A)
Operating/storage temperature -40...+85°C / -40...+85°C
Controller 16 bits Fujitsu MB90F543
Interface CAN interface 2.0 B, ISO 11898
Baud rate 20 Kbits/s...1 Mbit/s (default setting 125 Kbits/s)
adjustable via rotary switches or CANopen object directory
Controller 16 bits Fujitsu MB90F543
Communication profile CANopen, CiA DS 301 version 4, CiA DS 401 version 2.1
Programming system from CoDeSys 2.3 via EDS
Node ID (default) hex 20 (= dec 32)
adjustable via rotary switch (1...14) or CANopen object directory (1...127)
Status LED CANopen: 2 LEDs (green, red)
Inputs/outputs: 16 LEDs (yellow)
Accessories Order no. EC2053
(to be ordered separately) Plug set for CabinetModules, wirable, consisting of:
AMP crimp housing, 1 x 6 poles, 2x18 poles
incl. crimp contacts (Junior Power Timer)


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CabinetModule CR2012
13
Connecting, operating and display elements7.2
CR2012 Technical data
Operating and indicating elements
Connector
Hex-code switch coding
Operating states (LEDs)
Control systems
ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen 17.03.2010We reserve the right to make technical alterations without prior notice! CR2012 / page 2
LED State Description
PWR (green) OFF no supply voltage
ON module in stand-by mode
CANopen status: PREOPERATIONAL / PREPARED
outputs = OFF
1 x ON module in stop mode
CANopen status: STOP
outputs = OFF
2.5 Hz module active
CANopen status: OPERATIONAL
outputs are updated
DIA (red) OFF communication OK
ON communication disturbed, CAN bus OFF
1 x ON communication disturbed:
• CAN error warning level exceeded
2 x ON • node guard / heartbeat error
(if node guarding / heartbeat is activated)
3 x ON • no synch objects
(if synch monitoring is activated)
IN (yellow) OFF input not switched
ON input switched
OUT (yellow) OFF binary output not switched (OFF)
analogue output:
PWM preset value < 1% measuring range
ON binary output switched (ON)
analogue output:
PWM preset value > 2% measuring range
Switch Position Description
S1 0 1000 Kbits/s
Baud rate 1 800 kBits/s
2 500 Kbit/s
3 250 Kbit/s
4 125 Kbit/s
5 100 Kbit/s
6 50 Kbit/s
7 20 Kbit/s
8...E not defined
F adjustment via object directory (default)
S2 0 not defined
Node-ID 1...E 1...14
F adjustment via object directory (default)
0
•
2
•
4
•
6
•
8
•
A
•
C
•
E
•








Rotary switch
hex-coded
AMP
Crimp connector
S1
Baud rate
S2
Node ID

CabinetModule CR2012
14
Characteristics of the inputs/outputs, test standards and regulations7.3
Control systems
ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen 17.03.2010We reserve the right to make technical alterations without prior notice! CR2012 / page 3
CR2012 Characteristics of the inputs / outputs
Inputs
Channels 1...4, channels 9...12 • 8 inputs for positive sensor signals
For each input the pins +UBand Bin INx are available
Channels 7...8, channels 15...16 • 4 inputs for positive sensor signals
Can be used as an alternative to the 4 outputs.
For input and output one pin is available (double configuration).
The inputs can be used to read back the output signals.
Current consumption IIN = 4 mA (for U B= 10 V)
IIN = 17 mA (for UB= 30 V)
Switching threshholds HIGH = 8 V LOW = 2.5 V
Switching frequency 25 Hz max. (for ti = tp)
Channels 5...6, channels 13...14 • 4 inputs, to be configured via CANopen:
for ratiometric measurement for potentiometric transducers (e.g. joystick)
For each input the pins +UB, Ana INx and GND are available
Input resistance typ. 50 kΩ
Resolution based on 1/2 supply voltage UB
= ± 200 steps (for UB= 12 V), ± 400 steps (for UB= 24 V)
for absolute value measurement 0...10 V
For each input the pins Ana INx and GND are available
Input resistance typ. 50 kΩ
Resolution 8 bits
Accuracy typ. ± 2 LSB
as binary inputs
For each input the pins +UBand Bin INx are available
Input resistance typ. 50 kΩ
Switching threshhold at 1/2 supply voltage UB
Outputs
Channels 7, 15 • 2 positive-switching outputs; short-circuit and overload protected;
the supply voltage UBis switched without additional fuse.
The output states can be read back (see inputs).
For each input the pins Bin OUTx and GND are available.
When inductive loads are switched, free-wheeling diodes must be connected in
parallel with the load!
Switching current max. 500 mA
Channels 8, 16 • 2 PWM outputs (high side), variable frequency
PWM frequency 20...250 Hz
Pulse duty factor 0...1000 ‰
Resolution 1 ‰
Switching current max. 500 mA
Test standards and regulations
Immunity to to ISO 7637-2, pulses 2a, 3a, 3b, 4, severity level 4, function state A
conducted interference to ISO 7637-2, pulse 5, severity level 3, function state A
to ISO 7637-2, pulse 1, 2b, severity level 4, function state C
Immunity to interfering fields to directive 06/28/EC at 100V/m (e1 type approval)
and EN 61000-6-2: 2005 (CE)
Interference emission to directive 06/28/EC (e1 type approval)
and EN 61000-6-3: 2007 (CE)
\DATEN\100\DB-FORM—PZD/03/12/96

UK
CabinetModule CR2012
15
Wiring7.4
Control systems
ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen
17.03.2010We reserve the right to make technical alterations without prior notice! CR2012 / page 4
CR2012 Wiring
View of the unit
Wiring
\DATEN\100\DB-FORM—PZD/03/12/96




 



Plug X1
Pin Potential Inputs Outputs
1 channel 1 Bin IN 1 – – –
2 +UB
3 channel 2 Bin IN 2 – – –
4 +UB
5 channel 3 Bin IN 3 – – –
6 +UB
7 channel 4 Bin IN 4 – – –
8 +UB
9 +UB
10 +UB
11 channel 5 Bin IN 5 Ana IN 5 – –
12 channel 6 Bin IN 6 Ana IN 6 – –
13 GND
14 GND
15 channel 7 Bin IN 7 – Bin OUT 7
16 GND
17 channel 8 Bin IN 8 – Bin OUT 8 PWM 8
18 GND
Plug X2
1 channel 9 Bin IN 9 – – –
2 +UB
3 channel 10 Bin IN 10 – – –
4 +UB
5 channel 11 Bin IN 11 – – –
6 +UB
7 channel 12 Bin IN 12 – – –
8 +UB
9 +UB
10 +UB
11 channel 13 Bin IN 13 Ana IN 13 – –
12 channel 14 Bin IN 14 Ana IN 14 – –
13 GND
14 GND
15 channel 15 Bin IN 15 – Bin OUT 15
16 GND
17 channel 16 Bin IN 16 – Bin OUT 16 PWM 16
18 GND
Plug X3
1 +UB
2 GND
3 +UB
4 GND
5 CAN_L
6 CAN_H

CabinetModule CR2012
16
Maintenance, repair and disposal8
Do not open the housing, as the device does not contain any components►
which must be maintained by the user� The device must only be repaired by the
manufacturer�
Dispose of the device in accordance with the national environmental regula-►
tions�
Approvals/standards9
Test standards and regulations → 7 Technical data
The CE Declaration of Conformity and the e1 approval are available at:
www�ifm-electronic�com
→ Data sheet direct → CR2012 → Approvals

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CabinetModule CR2012
17
Terms and abbreviations10
0b ��� binary value (for bit coding), e�g� 0b0001 0000
0d ��� decimal value, e�g� 0d100
0x ��� hexadecimal value, e�g� 0x64 (= 100 decimal)
Baud rate transmission speed (1 baud = 1 bit/s)
CAL CAN application layer
CAN-based network protocol on application level
CAN controller area network (bus system for the use in mobile vehicles)
CAN_H CAN high; CAN connection/cable with high voltage level
CAN_L CAN low; CAN connection/cable with low voltage level
CANopen 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 control body for CAN and CAN-based network protocols
CiA DS draft standard (published CiA specification which usually has not been modified or
supplemented for one year)
CiA DSP draft standard proposal (published CiA specification draft)
CiA WD work draft (work draft accepted for discussion within CiA)
CiA DS 301 specification for CANopen communication profile;describes the basic communication
between network participants such as the transfer of process data in real time, the
exchange of data between devices or the configuration stage
supplemented by the following CiA specifications depending on the application:
CiA DS 401 device profile for digital and analogue I/O modules
CiA DS 402 device profile for drives
CiA DS 403 device profile for HMI
CiA DS 404 device profile for measurement and control technology
CiA DS 405 specification for interfaces to programmable systems (IEC 61131-3)
CiA DS 406 device profile for encoders
CiA DS 407 application profile for local public transport
COB CANopen communication object (PDO, SDO, EMCY, ���)
COB-ID CANopen identifier of a communication object
Communication cycle the synchronisation time to be monitored; max� time between 2 synch objects
EMCY object emergency object (alarm message; device indicates an error)
Error Reg 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 device (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 guarding” no superior NMT master is required�
ID (also identifier) identifier; identifies a CAN message; the numerical value of the ID also contains a
priority for the access to the bus systemID 0 = top priority�
Idx index; together with the subindex it forms the address of an entry in the object direc-
tory
Life Time Factor number of attempts in case of a missing guarding reply
Monitoring is used to describe the error class (guarding monitoring, synch etc�)
NMT network management
NMT master/slaves the NMT master controls the operating states of the NMT slaves
Node Guarding adjustable cyclical monitoring of slave network participants by a higher master node
as well as monitoring of this polling process by the slave participants
Node ID node identifier (identification of a participant in the CANopen network)
Object (also 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-specif-
ic parameters and data;
access to the individual entries is possible via the index and subindex

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Operational operating state of a CANopen participant in this mode SDOs, NMT commands and
PDOs can be transferred
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 (receive) process data object
(also Rx PDO)
ro read only (unidirectional)
rw read-write (bidirectional)
Rx-Queue receive buffer
s16 data type signed 16 bits (incl� sign, 16-bit format)
SDO service data object;
with this object direct access to the object directory of a network participant is pos-
sible (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 avail-
able to other participants (clients)
S-Idx (also 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 synch object OBJ in the adjustable synchronisation time
Sync OBJ synchronisation object for simultaneous update in the complete network or for accept-
ing 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 transmit process data object
(also Tx PDO)
Trans SDO transmit service data object
(also Tx SDO)
Tx-Queue transmit buffer
u8 (16, 32) data type unsigned 8 (16, 32) bits (unsigned, 8 (16, 32) bit format)
wo write only

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CabinetModule CR2012
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Anhang / Appendix11
Objektverzeichnis / Object directory
Communication profiles; Idx 1000 to 1FFF11.1
Index S-Idx Name Type Default Description
1000 0 device type ro u32 0x000F0191 I/O-module profile DS401
digital/analogue inputs/outputs
1001 0 error register ro u8 0x00
1003 0 pre-definded error field rw u8 0x00 up to 4 entries in error history
supported
error history can be deleted by
writing '0' to this entry
1 error history ro u32 0x00000000
2 error history ro u32 0x00000000
3 error history ro u32 0x00000000
4 error history ro u32 0x00000000
1005 0 COB ID SYNC rw u32 0x00000080
1006 0 communication cycle
period
rw u32 0x00000000 max� time between 2 synch
objects in µs; useful resolution
= 1 ms
1008 0 device name ro str CR2012
1009 0 HW Version ro str HW Vx�x
100A 0 SW Version ro str SW Vx�x
100C 0 guard time rw u16 0x0000 time in ms
within this time the module
expects a "node guarding" of the
network master
0 = node guarding deactivated
100D 0 life time factor rw u8 0x00 if no "node guarding" is received
for "guard time" x "life time", the
module generates an EMCY
the result form "guard time" x "life
time" must be between 0 and
65535
1010 0 number of save
options
ro u8 0x01
1 save parameter rw u32 0x00000002 0x00000000 = no save
0x00000001 = saving all
parameters after the string 'save'
is written to this entry
0x00000002 = auto save
1011 0 number of restore
options
ro u8 0x01
1 restore default
parameter
rw u32 0x00000001 restore all parameters to default
value after next reset if the string
'load' is written to this entry

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Index S-Idx Name Type Default Description
1014 0 COB ID EMCY rw u32 0x40000080
+ NodeID
module generates EMCY
messages
(bit 30 = 1)
1016 0 number of monitored
devices
ro u8 0x01
1 consumer heartbeat
time
rw u32 0x00000000 heartbeat monitoring time 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)
1017 0 producer heartbeat
time
rw u16 0x0000 time interval [ms] where the
module generates a producer
heartbeat
1018 0 number of identity
objects
ro u8 0x04
1 vendor ID ro u32 0x0069666D
1400 0 highest numbered
subindex Receive
PDO 1
ro u8 0x02
1 COB ID Receive
PDO 1
rw u32 0x00000200
+ NodeID
PDO is valid (bit 31 = 0)
2 transmission type Rec
PDO 1
rw u8 0x01 0x01���0xF0 = synch cyclic
0xFE���0xFF = asynch
(immediately)
1401 0 highest numbered
subindex Receive
PDO 2
ro u8 0x02
1 COB ID Receive
PDO 2
rw u32 0x00000300
+ NodeID
PDO is valid (bit 31 = 0)
2 transmission type Rec
PDO 2
rw u8 0x01 0x01���0xF0 = synch cyclic
0xFE���0xFF = asynch
(immediately)
1600 0 number of application
objects linked with Rec
PDO 1
rw u8 0x01
1 1st mapping object
Rec PDO 1
rw u32 0x08010062 index 6200, subindex 1, 8 bits
2 2nd mapping object
Rec PDO 1
rw u32 0x00000000 no object
3 3rd mapping object
Rec PDO 1
rw u32 0x00000000 no object
4 4th mapping object
Rec PDO 1
rw u32 0x00000000 no object