IFM CR2011 Application guide

Device manual
Output module
CR2011
80269929 / 00 01 / 2018
UK

Output Module CR2011
2
Contents
1 Preliminary note � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 3
2 Safety instructions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 3
3 Function and features� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 3
4 Function � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
5 Dimensions and mounting � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
6 Electrical connection� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
6�1 Wiring � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
6�2 Outputs without current monitoring � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
6�3 Outputs with current monitoring � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
7 Operating indicators � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
8 Set-up � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7
8�1 PLC configuration in CODESYS 2�3 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7
8�2 PLC configuration 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; index 1000 to 1FFF � � � � � � � � � � � � � � � � � 15
12 Fault correction� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 18
12�1 EMCY Object � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 18
13 Maintenance, repair and disposal� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 19
14 Declaration of conformity � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 19
15 Terms and abbreviations� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 19

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Output Module CR2011
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1 Preliminary note
Technical data, approvals, accessories and further information at www�ifm�com�
►Instructions
→Cross-reference
Important note
Non-compliance may result in malfunction or interference�
Information
Supplementary note�
2 Safety instructions
This description is part of the unit� It contains texts and drawings concerning the
correct handling of the controller and must be read before installation or use�
Observe the information of the description� Non-observance of the notes, operati-
on which is not in accordance with use as prescribed below, 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�
Tampering with the device can lead to considerable risks for the safety of people
and plant� It is not permitted and leads to an exclusion of any liability and warranty
claims�
3 Function and features
The CR2011 output module enables decentralised triggering of actuators and pro-
portional valves� The coil current can be monitored and controlled via the integra-
ted current measurement�

Output Module CR2011
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4 Function
●The module supports binary and analog outputs and is therefore classified in
the device profile "I/O module" to CiA DS 401�
●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
●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)�
●The outputs are activated via CANopen�
●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"�
●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 synch object�
The CAN identifier of the synch object can be configured� After a change the ID
is automatically stored non-volatilely�
●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�
●The module generates an emergency object� The COB ID of the EMCY object
can be configured�
●The module stores the last 4 errors� The error code of the corresponding emer-
gency object is stored�
●The module supports a reset function, i�e� assignment of the parameters to the
factory default values (→ 9.1 Parameter list) upon request�

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Output Module CR2011
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5 Dimensions and mounting
12
4
6
8
3
5
7
18
22
4,7 107
152
5
4,5
28,5
39
7,5
60
M12x1
PWR
DIA
►Use suitable washers�
Tightening torque of the fixing screws:
max� 1�8 Nm
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
34
2
5
3 external voltage -
5 n�c�

Output Module CR2011
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6.3 Outputs with current monitoring
M12 connector PIN connection
4 switching output L+
1
34
2
5
2 (measuring resistor integrated) external voltage -
5 n�c�
7 Operating indicators
LED colour Status Description
green
OFF no supply 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 to 0
preset current value > absolute value 100

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Output Module CR2011
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8 Set-up
8.1 PLC configuration in CODESYS 2.3
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 "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�

Output Module CR2011
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8.2 PLC configuration in CODESYS 3.5
The "Electronic Data Sheet“ (EDS) is installed in the [Device Repository]� Proceed
as follows in the main menu:
►Click on [Tools] / [Device Repository]�
►Select [Fieldbuses] / [CiA CANopen] / [CiA Remote 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 conguration
The function [Reset Node] must be activated on the tab [General] so that the
device applies the parameters set for heartbeat monitoring of the CANopen
Manager�

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Output Module CR2011
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8.2.2 SyncMonitoring
To activate the device-internal monitoring of the Sync cycle, the monitoring time
has to be written into the object directory entry 0x1006� This is possible by
supplementing 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 www�ifm�com�

Output Module CR2011
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9 Parameter setting
With the function "restore" (, index 1011) the parameters (except the baud rate and
the node ID) can be assigned to the factory default values� With the next power on
they become valid�
9.1 Parameter list
Parameter Object directory
index
Default value
(factory preset)
Change
automatically
saved
Change effective
Manufacturer Specific Profile Area; index 2000 to 5FFF
I/O Configuration 2000 8 binary outputs yes after Pre-Op
PWM Frequency 2001 0x64 (= 100 Hz) yes after Pre-Op
Node ID 20F0, 20F1 0x20 (= 32) yes after Pre-Op
Baud rate 20F2, 20F3 0x03 (= 125 kBit/s) yes after Pre-Op
Communication 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 synchronous 1 yes immediately
COB ID Rec PDO 2 1401 01 0x300 + Node ID no immediately
Trans Type Rec PDO 2 1401 02 synchronous 1 yes immediately
COB ID Trans PDO 1 1800 01 0x180 + Node ID no immediately
Trans Type Trans
PDO 1 1800 02 after a change yes immediately
The life 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)�

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Output Module CR2011
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10 Technical data
Housing 8-channel splitter box made of polyamide (PA) with integrated electronics,
fully potted
Dimensions 152x 60 x 22 mm (L x W x H)
Device connection PUR/PVC cable 2 m,
2 x 1�5mm² (operating voltage) / 3 x 0�5mm² (CAN interface)
M12 connector for outputs
Operating temperature -25���85 °C
Storage temperature -40���90 °C
Protection rating,protection
class
IP 67 III
Operating voltage (UB) 10���30 V DC
Current consumption ≤ 100 mA, without external 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
Switching voltage 10 ��� 30 V DC
Switching current max� 2 A (with current monitoring)
max� 4 A (without current monitoring)
Total current max� 16 A
Current monitoring of 2 channels each can be selected by means of wire connection, the following channels
are combined: 1+2, 3+4, 5+6, 7+8

Output Module CR2011
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10.1.2 PWM outputs
With the configuration as PWM output two outputs each are combined�
The output signal is present at one of the two outputs while the other output is OFF (left/right function, up/
down function)�
It is possible to immediately switch over from one output to the other�
The following channels are combined: 1+2; 3+4, 5+6, 7+8�
PWM frequency 20 ��� 150 Hz
Pulse/break ratio 1 ��� 1000 ‰
Resolution 1 ‰
Load current max� 4 A (referred to the PWM value 1000 ‰�)
With smaller PWM values this current value is reduced�
Value range -1000 ��� +1000 ‰
> +1000 ‰ are rounded to +1000 ‰
< -1000 ‰ are rounded to -1000 ‰
Value output 0 ��� +1000 ‰ are present at the odd-numbered outputs (1, 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
Values > +2000 mA are rounded to +2000 mA�
< -2000 mA are rounded to -2000 mA�
0 ��� +100 mA are rounded to +100 mA�
-100 ��� 0 mA are rounded to -100 mA�
Value output 100 ��� 2000 mA are present at the odd-numbered outputs (1, 3, 4, 7)
-2000 ��� -100 mA are present at the even-numbered outputs (2, 4, 6, 8)
Free-wheel diode
is integrated!
To avoid a falsification of the measuring result, no external free-wheel diode
must be connected in parallel with the load in operating mode "current-
controlled output"�

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Output Module CR2011
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11 Object directory
11.1 Manufacturer Specific Profile Area; index 2000 to 5FFF
Index S-Idx Designation Type Default Description
2000 0 I/O
Configuration u8, ro 0x04 Number of the entries = number of the output channels
2000 1
Output
channel
1+2 *)
u8, rw 0x02
configuration channel pair 1/2 *)
0 = OFF
2 = binary output
4 = analog output (PWM)
5 = analog output (current-controlled)
2000 2
Output
channel
3+4 *)
u8, rw 0x02
configuration channel pair 3/4 *)
0 = OFF
2 = binary output
4 = analog output (PWM)
5 = analog output (current-controlled)
2000 3
Output
channel
5+6 *)
u8, rw 0x02
configuration 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 valid�
2002 0 Actual Current
Values u8, ro 0x04 Number of the entries = number of the measuring channels of current
2002 1
Actual Current
Value
Channel 1/2
u8, ro Current values in mA
2002 2
Actual Current
Value
Channel 3/4
u8, ro Current values in mA
2002 3
Actual Current
Value
Channel 5/6
u8, ro Current values in mA
2002 4
Actual Current
Value
Channel 7/8
u8, ro Current values in mA

Output Module CR2011
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Index S-Idx Designation Type Default Description
20F0 0 Setting of the
Node ID u8, rw 0x20 (= 32)
The node ID used to access the output module in
the CANopen network�
20F1 0 Setting of the
Node ID u8, rw 0x20 (= 32)
The node ID used to access the output module in
the CANopen network�
A change is only accepted if the entries 20F0 and 20F1 contain the same changed value�
Values below 1 /above 127 are not accepted�
After setting of the node ID a reset must be made (switch off the module for a short time) so that the new
entries become 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 ID a reset must be made (switch off the module for a short time) so that the new
entries become valid�
*) The combined output channels are always configured the same way�
Explanation of the abbreviations:
0x���= hexadecimal value
0b���= bit coded
0d���= decimal value
str = string
rw = read-write
ro = read only
u8 = unsigned 8 bit
u16 = unsigned 16 bit
u32 = unsigned 32 bit

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Output Module CR2011
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11.2 Communication Profile Area; index 1000 to 1FFF
Index S-Idx Designation Type Default Description
1000 0 Device Type u32, ro 0xF0191 Profile 401; outputs, binary and analog
1001 0 Error Register u8, ro 0x00
Bit-coded to profile 301, the following is
supported:
0b 0000 0000 no error
0b 0000 0001 generic error
0b 0001 0000 communication error
0b 1000 0000 manufacturer specific
1003 0 Pre-defined
Error field u8, ro 0x04 An error list with 4 entries is supported�
1003 1 - 4 Error History u32, ro 0x00 Error occured, coded according to the EMCY
list, the last error is in the sub-index 1�
1004 0 Number of
PDOs u32, ro 0x20001 1 transmit PDO, 2 receive PDOs
1004 1 Number of
synch� PDOs u32, ro 0x20001 All PDOs can be transmitted synchronously�
1004 2 Number of
asynch� PDOs u32, ro 0x20001 All PDOs can be transmitted asynchronously�
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 Software version
100B 0 Node ID u32, ro Only for information
100C 0 Guard Time u16, rw 0x0000
Time in ms�
Within this time the output module expects a
"node guarding" of the network master� If the
value 0 is entered here, this function is not
supported�
100D 0 Life Time
Factor u8, rw 0x00
If no "node guarding" is received for "guard
time" x "life time", the output module switches
the outputs off� The CANopen state is not
changed� The result from "guard time" x "life
time" must be between 0 and 65535�
100E 0 COB ID
Guarding u32, rw 0x00000700 +Node ID CAN identifier of the node guard object
100F 0 Number of
SDOs
Not implemented, only the default SDO is
supported�

Output Module CR2011
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Index S-Idx Designation Type Default Description
1010 0 Number of
save options u8, ro 0x01 Number of the "save" options
1010 1 "save all
parameters” u32, rw 0x02 All parameters are automatically saved after a change�
1011 0
Number of
restore
options
u8, ro 0x01 Number of the "restore" options
1011 1 "reset for all
parameters” u32, rw 0x01
If the string "load" is entered here, the parame-
ters are assigned to the factory default values
and are valid after the next reset�
1014 0 COB ID
Emergency u32, rw 0x40000080
+Node ID
- Output module does not react to external
EMCY message (bit 31 = 1)
- Output module generates EMCY message
(bit 30 = 1)
- 11-bit ID (bit 29 = 0)
- ID = 0x80 + node ID
CAN identifier can be changed by the user�
1200 0 Server SDOs u8, ro 0x02 Number of the entries
1200 1 COB ID
Rec SDO u32, ro 0x600 + Node ID
– SDO is valid (bit 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 between two accesses
0xFC / 0xFD = not implemented
0xFE = asynch manuf� specific event, outputs
are updated immediately
0xFF = asynch device profile event, outputs
are updated immediately
1401 0 Receive
PDO 2 u8, ro 0x02 Number of the entries receive PDO2 Analog outputs
1401 1 COB ID u32, rw 0x300 +
Node ID
- PDO is valid (bit 31 = 0)
- CAN ID of the 2nd receive PDO
1401 2 Trans Type u8, rw 0x01
0x00 = synch acyclic
0x01���0xF0 = synch cylic,
outputs are only updated after "n" synch
objects
n = 0x01 (1) ��� 0xF0 (240)
0xFC / 0xFD not implemented
0xFE = asynch man� spec� event;
outputs are updated immediately
0xFF = asynch device profile event;
outputs are updated immediately

UK
Output Module CR2011
17
Index S-Idx Designation Type Default Description
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, rw 0x6200 01
6200 Sldx 01 contains 1 byte (binary outputs)
0b 0000 0001 = Out 1
0b 0000 0010 = Out 2
0b 0000 0100 = Out 3
0b 0000 1000 = Out 4
0b 0001 0000 = Out 5
0b 0010 0000 = Out 6
0b 0100 0000 = Out 7
0b 1000 0000 = Out 8
1601 0 Mapping Rec
PDO 2 u32, ro 0x04 Number of the application objects linked with the analog output PDO
1601 1
Index in
the object
directory
u32, r0 0x6410 01
6410 Sldx 01 contains the preset value of the
analog output channel 1 or 2� The value is in-
terpreted as pulse/break ratio in ‰ or as preset
current value (depending on the configuration
of the index 2000)�
1601 2
Index in
the object
directory
u32, r0 0x6410 02
6410 Sldx 02 contains the preset value of the
analog 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 2000)�
1601 4
Index in
the object
directory
u32, r0 0x6410 04
6410 Sldx 04 contains the preset value of the
analog output channel 7 or 8� The value is in-
terpreted as pulse/break ratio in ‰ or as preset
current value (depending on the configuration
of the index 2000)�
1800 0 Trans PDO 1 u8, ro 0x02 Number of the entries transmit PDO1, (actual
current values)
1800 1 COB ID u32, rw 0x180 +
Node ID
- PDO is valid (bit 31 = 0)
- CAN ID of the 1st transmit PDO
1800 2 Trans Type u8, rw 0xFF
0x00 = synch acyclic
0x01���0xF0 = synch cyclic, number of the
synch objects between two transmissions
0xFC / 0xFD = not implemented
0xFE / 0xFF = PDO is not transmitted
1A00 0 Mapping
Trans PDO 1 u32, ro 0x04 Number of the linked application objects

Output Module CR2011
18
Index S-Idx Designation Type Default Description
1A00 1
Index in
the object
directory
u32, rw
0x2002 01
0x2002 02
0x2002 03
0x2002 04
Idx 2002 01 contains the actual current value
channel 1/2
Idx 2002 02 contains the actual current value
channel 3/4
Idx 2002 03 contains the actual current value
channel 5/6
Idx 2002 04 contains the actual current value
channel 7/8
Explanation of the abbreviations:
0x���= hexadecimal value
0b���= bit coded
0d���= decimal value
str = string
rw = read-write
ro = read only
u8 = unsigned 8 bit
u16 = unsigned 16 bit
u32 = unsigned 32 bit
12 Fault correction
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, e�g� device does not communicate
with the bus, only external reset via an entry in 1003 00
0x8100 0x11 0x00
"Monitoring" (guarding error)
- For the "guard time" x "life time factor" no guard object is
received
Reset after node is active again
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

UK
Output Module CR2011
19
EMCY Code Error Reg Additional
code Description
0xFF00 0x81 bit coded
""Device Specific"
- The output current could not be achieved because the load
resistor is too high/small
0000 0001 channel pair 1, 2 load resistor is too high
0000 0010 channel pair 3, 4 load resistor is too high
0000 0100 channel pair 5, 6 load resistor is too high
0000 1000 channel pair 7, 8 load resistor is too high
0001 0000 channel pair 1, 2 load resistor is too small
0010 0000 channel pair 3, 4 load resistor is too small
0100 0000 channel pair 5, 6 load resistor is too small
1000 0000 channel pair 7, 8 load resistor is too small
Only the first error of an error group is indicated�
If there is for example an error "load resistor is too high" on channel pair 1/2 and
then on channel pair 3/4, only the error which occured first is signalled�
CANopen does 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�
14 Declaration of conformity
The CE Declaration of Conformity is available at: www�ifm�com
15 Terms and abbreviations
0b ��� binary value (for bit coding), e�g� 0b0001 0000
0d ��� decimal value, e�g� 0d100
0x ��� hexadecimal value, e�g� 0x64 (= 100 decimal)
Baudrate 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 use in mobile applications)
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)

Output Module CR2011
20
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 within CiA)
CiA DS 301 Specification for CANopen communication profile; describes the basic communication bet-
ween network participants, such as the transfer of process data in real time, the exchange
of data between units or the configuration stage� Depending on the application this is
completed by the following CiA specifications:
CiA DS 401 Device profile for digital and analog 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 1131)
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 Sync 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 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
(Identifier)
identifies a CAN message� The numerical value of the ID also contains a priority for the
access to the bus system
ID 0 = top priority
Idx index; together with the S index it forms the address of an entry in the object directory
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 cyclic monitoring of slave 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 network)
Object (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�