IFM CR2033 Application guide

Device manual
Input/output module
CompactModule metal
CR2033
80269923 / 00 01 / 2018
UK

CompactModul Metall CR2033
2
Contents
1 Preliminary note � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 3
1�1 Symbols used� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 3
2 Safety instructions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 3
3 Function and features� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
4 Mounting� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
5 Electrical connection� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
5�1 M12 sockets � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
5�2 Tightening torque of the cover screws (terminal chamber) � � � � � � � � � � � � 6
5�3 M16 cable gland � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
5�4 Definition of short-circuit and overload protection � � � � � � � � � � � � � � � � � � � 6
5�5 CAGECLAMP ® connection technology � � � � � � � � � � � � � � � � � � � � � � � � � � 6
5�6 Fuses � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7
5�7 Examples for connection � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8
6 Set-up � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9
6�1 PLC configuration in CODESYS 2�3 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9
6�2 PLC configuration in CODESYS 3�5 � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10
6�2�1 Heartbeat configuration � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10
6�2�2 SyncMonitoring � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11
6�3 Electronic Data Sheet� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11
7 Technical data� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 12
8 Parameter and EMCY object overview� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 16
8�1 Parameter list � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 16
8�2 EMCY Object � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 17
9 Object directory� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 18
9�1 Manufacturer Specific Profile Area; index 2000 to 5FFF � � � � � � � � � � � � � 18
9�2 Manufacturer Specific Profile Area; index 1000 to 1FFF � � � � � � � � � � � � � 21
10 Maintenance, repair and disposal� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 25
11 Declaration of conformity � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 25
12 Terms and abbreviations� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 26

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CompactModul Metall CR2033
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1 Preliminary note
Technische Daten, Zulassungen, Zubehör und weitere Informationen unter
www�ifm�com�
1.1 Symbols used
►Instruction
> Reaction, result
[…] Designation of keys, buttons or indications
→Cross-reference
Important note
Non-compliance may result in malfunction or interference�
Information
Supplementary note
WARNING
Warning of serious personal injury�
Death or serious irreversible injuries may result�
CAUTION
Warning of personal injury�
Slight reversible injuries may result�
NOTE
Warning of damage to property�
2 Safety instructions
This description is part of the unit� It contains texts and drawings concerning the
correct handling of the module and must be read before installation or use�
Observe the information of the description� Non-observance of the notes, opera-
tion which is not in accordance with use as prescribed below, wrong installation or
handling can result in serious harm concerning the safety of persons and plant�
The instructions are for authorised persons according to the EMC and low voltage
guidelines� The unit must be installed and commissioned by a skilled electrician
(programmer or service technician)� The device may only be installed, connected
and commissioned by qualified personnel�
Disconnect the device externally before doing any work on it� If necessary, also
disconnect separately supplied output load circuits�

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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 criteria for safety extra-low voltage (SELV) as this is supplied 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 unit must also
comply with the SELV criteria (safe extra-low voltage, safe electrical separation
from other electric circuits)�
If the supplied SELV voltage has an external connection to ground (SELV be-
comes PELV) the responsibility lies with the user and the respective national
regulations for installation must be complied with� All statements in these operating
instructions refer to the unit the SELV voltage of which is not grounded�
The terminals may only be supplied with the signals indicated in the technical data
or on the unit label and only the approved accessories of ifm electronic gmbh may
be connected�
The unit can be operated within a wide temperature range according to the tech-
nical specification indicated below� Due to the additional self-heating the housing
walls can have high perceptible temperatures when touched in hot environments�
In case of malfunctions or uncertainties please contact the manufacturer�
Tampering with the unit can lead to considerable risks for the safety of persons
and plant� It is not permitted and leads to the exclusion of any liability and warranty
claims�
This is a class A installation� It can cause radio interference in domestic
areas� In this case the operator is requested to take appropriate measures�
3 Function and features
The CR2033 I/O module enables decentralised evaluation of sensor signals and
decentralised triggering of actuators and proportional valves�
●The module supports binary/analogue inputs/outputs and is therefore classified
in the device profile "I/O module" to CiA DS 401�
●As regards the input/output functions, the module can be configured and it
supports the following functions:
– analogue inputs
(0���10/32 V, 0���20 mA, ratiometric, binary and binary with diagnosis)
– binary inputs
– binary outputs
– PWM outputs up to 4 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 according to the "predefined connection set"�

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●The COB IDs of the PDOs as well as the transmission type 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 config-
ured� When there are no heartbeat or node guarding signals, the outputs are
automatically switched off by the operating system�
●The module generates an emergency object� The COB ID of the EMCY object
can be configured�
●The module stores the last error�
The error code of the corresponding emergency object is stored�
●The module supports a reset function, i�e� assignment of the parameters to the
factory default values* upon request�
The CR2033 I/O module ist not approved for safety-relevant tasks in the field of
safety of persons�
*) factory default values (→ 8.1 Parameter list)
4 Mounting
To protect the module against mechanical stress it must be mounted so that it lies
completely flat on an even mounting surface� To do so, three cylinder screws with
hexagon socket (M5 x L) to DIN 912 or DIN 7984 must be used�
preferred Mounting variants wrong
To avoid contact corrosion between the mounting screws and the module housing,
do not use any stainless steel screws or nickel-plated screws!
In very corrosive environments such as extremely salty air, we recommend to use
screws with surface finishing on a zinc/nickel basis with thick-film passivation and
sealing� For normal corrosive requirements zinc-plated screws are sufficient�

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5 Electrical connection
To guarantee the electrical interference protection of the module, the hous-
ing must be connected to GND (e�g� to the ground of the vehicle)�
Due to the maximum operating temperature of 85 °C and the internal heat-
ing of the unit, the respective minimum rated temperature of the connection
cable must be taken into account�
5.1 M12 sockets
Use sockets with gold-plated contacts�
Use protective caps (supplied) for unconnected connectors of the I/O module�
5.2 Tightening torque of the cover screws (terminal chamber)
To close the terminal chamber the cover screws are tightened with a tightening
torque of 1�2 Nm�
5.3 M16 cable gland
Use a suitable cable to ensure ingress resistance of the M16 cable gland�
If the M12 connectors are used for the device supply and CAN connection, close
the terminal chamber with the supplied M16 cover plug (remove the cable gland
and insert the M16 cover plug)�
5.4 Definition of short-circuit and overload protection
●Short-circuit test:
All outputs must withstand a short-circuit current limited to 60 A flowing be-
tween output and ground (GND) or supply voltage (+VBB)�
Test duration: 3 minutes
●Overload test:
Outputs must not be destroyed by a 100 % overload�
(e.g. nominal switching current IN = 4 A → 100 % overload = 8 A)
Test duration: 5 minutes
5.5 CAGECLAMP ® connection technology
1
2
1: Screwdriver
2: Wire
►Insert screwdriver an tilt slightly�
> Spring opens�
►Insert wire�
►Remove screwdriver�
> Spring closes�

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5.6 Fuses
To protect the whole system (wiring and module) the individual electric circuits are
to be protected using fuses according to the type of connection and jumper set-
tings� The M12 plugs are designed for max� 4 A, the clamps for max� 16 A�
1 Supply via M12 CANin/CANout plug 3+4 / 5+6+7 4 A
2 Supply via clamps
(not via M12 CANin/CANout plug)
3+4 / 5+6 16 A
3 Separate supply via clamps and M12 CANin/
CANout plug
6+7 16 A
4 A
4 Supply via clamps
(via M12 CANin/CANout plug)
6+7 16 A
4 A

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5.7 Examples for connection
Example 1
Example 2
Example 3
Example 4
= jumper inserted

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6 Set-up
6.1 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�

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6.2 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�
6.2.1 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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6.2.2 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].
6.3 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�

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7 Technical data
69
23
39
LED M12 x1
9
52
6
227
205
5
5
77
PWR DIA
1 3
5
7
2 4 6 8
CAN in CAN out
Control systems
\DATEN\100\DB-FORM—PZD/03/12/96
ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen 14.08.2014
CR2033
CompactModule Metal
I/O module
digital and analogue
for R360 system
CANopen interface
Surface electrostatically
coated (cathodic immersion)
10...32 V DC
We reserve the right to make technical alterations without prior notice. CR2033 / page 1
Technical data 8 inputs (4 digital / 4 analogue)
4 outputs (digital or PWM)
Housing Die-cast zinc housing with 8 outputs and terminal chamber
surface electrostatically coated (cathodic immersion), black
Dimensions (l x w x h) 227 x 77 x 39 mm (without cable gland)
Installation Screw connection by means of 3 M5 x l screws to DIN 912 or DIN 7984
Connections
Operating voltage and CAN bus 7-pole terminal strip with CAGE CLAMP ®connection technology
(2 x 2-pole / 1 x 3-pole) 0.08...4 mm2(AWG 28...AWG 12), nominal current 20 A
Identical potentials can be linked using a jumper header
(GND and UBpotentials 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 1.2 kg
Inputs 8
can be configured as 4 digital, positive-switching (high side)
4 analogue, 0...10/32 V, 0/4...20 mA, ratiometric
or digital, positive-switching
Sensor supply Imax 400 mA
Outputs 4
can be configured as digital, positive-switching (high side), with diagnostic capability
PWM channel
switching current per output max. 4 A
total current max. 16 A
Operating voltage UB10...32 V DC
Current consumption ≤50 mA (without external load at 24 V DC)
Operating temperature – 40...85 °C
Storage temperature – 40...85 °C
Protection IP 67
Interface CAN interface 2.0 B, ISO 11898
Baud rate 20 Kbits/s...1 Mbit/s (default setting 125 Kbits/s)
(adjustable using hex-code switches in the terminal chamber
or via the CANopen object directory)
Communication profile CANopen, CiA DS 301 version 4, CiA DS 401 version 2.1
Node ID (default) hex 20 (= dec 32)
(adjustable using hex-code switches in the terminal chamber
or via the CANopen object directory)
Displays 1 LED green (PWR)
1 LED red (diagnosis, DIA)
12 LEDs yellow (status of the inputs / outputs)

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CR2033 Technical data
Connecting and operating elements
Hex-code switch coding
Operating states (LEDs)
Control systems
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LED Status Description
PWR (
green ) OFF no supply voltage
ON module in stand-by mode
CANopen status: PREOPERATIONAL / PREPARED
outputs = OFF
2.0 Hz module active
CANopen status: OPERATIONAL
outputs are updated
DIA (
red ) OFF communication OK
ON communication disturbed
• node guard / heartbeat error
(if node guarding / heartbeat is activated)
• no synch objects
(if synch monitoring is activated)
IN ( yellow ) ON binary input switched
OUT (
yellow ) ON binary output: output switched (ON)
analogue output: PWM preset value ≠0
Switch Position Description
S1 0 1000 Kbits/s
Baud rate 1 800 Kbits/s
2 500 Kbits/s
3 250 Kbits/s
4 125 Kbits/s
5 100 Kbits/s
6 50 Kbits/s
7 20 Kbits/s
8...E not defined
F adjustment via object directory (default)
S2 0...7 high nibble, e.g. 20 hex (= 32 dec)
Node ID HF adjustment via object directory (default)
S3 0...E low nibble, e.g. 20 hex (= 32 dec)
Node ID LF adjustment via object directory (default)
0
•
2
•
4
•
6
•
8
•
A
•
C
•
E
•
12 34 567
12
PWR DIA
CAN in CAN out
S1 S2 S3
3
12
4
5
4
21
3
5
CAN GND +VBB
Hex-coded
rotary switch
CAGE CLAMP ®
connection clamps
Jumper headers
upon delivery:
3+4 / 5+6+7

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CR2033 Characteristics of the inputs / outputs
Inputs ■Digital inputs
Channel 1, 3, 5, 7 (pin 4) Switch-on level 0.4...0.7 UB
Switch-off level 0.2...0.24 UB
Input resistance 3 kΩ
Input frequency max. 1 kHz
Channel 1...8 (pin 2) ■Analogue inputs (voltage, current or ratiometric)
can be configured as ... The analogue signals can be connected to the sockets 1, 3, 5, 7 or alternatively to the
sockets 2, 4, 6, 8 (pin 2 of the sockets 1-2, 3-4, 5-6 and 7-8 linked).
The LED (yellow) for the analogue input is on the socket side 1, 3, 5, 7.
Voltage inputs
Input voltage 0...10/32 V
Resolution 10 bits
Input resistance 50/30 kΩ
Input frequency 50 Hz
Accuracy ± 1 % FS
Current inputs
Input current 0/4...20 mA
Resolution 10 bits
Input resistance 400 Ω
Input frequency 50 Hz
Accuracy ± 1 % FS
Ratiometric inputs for potentiometric transducers (e.g. joystick)
Function ((UIN – ½UB) ÷ ½UB) x 1000 ‰
Value range 0...1000 ‰
Digital inputs
Switch-on level 0.7 UB
Switch-off level 0.4 UB
Input resistance 30 kΩ
Input frequency max. 50 Hz
Outputs ■Semiconductor outputs, with diagnostic capability (wire break and short circuit)
Channel 2, 4, 6, 8 (pin 4) short-circuit and overload protected
can be configured as ... Switching voltage 10...32 V DC
Switching current max. 4 A
Total current max. 16 A
■PWM outputs
PWM frequency 20...250 Hz
Pulse duty factor 0...1000 ‰
Resolution 1 ‰
Switching current max. 4 A (referred to PWM value 1000 ‰.)
Total current max. 16 A
Note also see wiring (following page)
Test standards and regulations
Climatic test Damp heat to EN 60068-2-30, test Db
(≤95% rel. humidity, non-condensing)
Salt mist test to EN 60068-2-52, test Kb, severity level 3
Protection test to EN 60529
Mechanical resistance Vibration to EN 60068-2-6, test Fc
Shock to EN 60068-2-27, test Ea
Bump to EN 60068-2-29, test Eb
Immunity to ISO 7637-2, pulses 2, 3a, 3b, 4, severity level 4, function state A
to conducted interference to ISO 7637-2, pulse 5, severity level 1, function state A
to ISO 7637-2, pulse 1, severity level 4, function state C
Immunity according to UN/ECE-R10 at 100 V/m (E1 type approval)
to interfering fields and DIN EN 61000-6-2 (CE)
Interference emission according to UN/ECE-R10 (E1 type approval)
and DIN EN 61000-6-3 (CE)
Control systems
\DATEN\100\DB-FORM—PZD/03/12/96
ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen 14.08.2014We reserve the right to make technical alterations without prior notice. CR2033 / page 3
Tests for railway applications EN 50155 clause 12.2 mechanical/climatic tests
EN 50121-3-2 EMC noise emission and noise immunity
additional information on request

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Control systems
ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen
14.08.2014We reserve the right to make technical alterations without prior notice. CR2033 / page 4
Inputs / Outputs
05
04
03
02




01






CAN IN







05
04
03
02
01







CAN OUT
05
04
03
02
01




CAN Interface / Supply
 
02 01




04
03




06
05


07





Inputs




05
04
03
02




01



05
04
03
02




01



05
04
03
02




01



05
04
03
02




01



05
04
03
02




01


05
04
03
02




01


05
04
03
02




01







Abbreviations
CANH= CAN interface (high)
CANL= CAN interface (low)
GNDO= ground (output)
GNDS= ground (module)
PWM = output for pulse-width modulated signals
VBBC= operating voltage (via CANin/CANout plug)
VBBO= operating voltage (output)
VBBS= operating voltage (module)
CR2033 Wiring

CompactModul Metall CR2033
16
8 Parameter and EMCY object overview
Automatic saving of the communication and unit parameters can be activated or
deactivated by means of the "save all parameters" entry (see object directory,
index 1010)� When the value 0x02 is entered into SIdx 01, all parameters are auto-
matically saved if changes were made�
With the value 0x00 there is no automatic saving, i�e� changed parameters will only
be valid until the unit is switched off or until the next reset is made�
With the function "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�
8.1 Parameter list
Parameter
Index
in object
directory
Default
(factory preset)
Change
automatically
saved
Change
effective
Manufacturer Specific Profile Area; index 2000 to 5FFF
I/O Configuration 2000 binary inputs/outputs adjustable after PreOp
PWM Frequency 2001 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
Communication Profile Area; Index 1000 to 1FFF
COB-ID Synch Objekt 1005 0x80 adjustable after a reset
Communication Cycle 1006 0x00 (Off) adjustable immediately
Guard Time 100C 0x00 (Off) adjustable immediately
Life Time Factor 100D 0x00 adjustable 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 01 0x300 + Node-ID adjustable after a reset
Trans Type Rec PDO 2 1401 02 0x01 (synchronous) adjustable immediately
COB-ID Trans PDO 1 1800 01 0x180 + Node-ID adjustable after a reset
Trans Type Trans PDO 1 1800 02 0xFF (asynchronous) adjustable immediately
Event Timer Trans PDO1 1800 05 0x00 adjustable immediately
COB-ID Trans PDO 2 1801 01 0x280 + Node-ID adjustable after a reset

UK
CompactModul Metall CR2033
17
Parameter
Index
in object
directory
Default
(factory preset)
Change
automatically
saved
Change
effective
Trans Type Trans PDO 2 1801 02 0x01 (synchronous) adjustable immediately
Event Timer Trans PDO2 1801 05 0x00 adjustable 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)�
*) Observe the position of the hex-code switch!
Entries in the object directory are only valid if the hex-code switches for baud rate (S1) and/or node ID (S2,
S3) are in the position "F"�
(for position and coding of the hex-code switches (→ 7 Technical data)
Explanation of the abbreviations:
0x���= hexadecimal number
0d = decimal numerical value
str = String
rw = read-write
ro = read only
u8 = unsigned 8 bit
u16 = unsigned 16 bit
(see also --> 12 Terms and abbreviations)
8.2 EMCY Object
The following error codes to DSP-401 and DSP-301 are supported:
EMCY Code Error Reg Additional Code Description
0x3300 0x05 0x00 "Output Voltage"
Supply voltage VBBO of the outputs is missing
0x6100 0x11 0x00 "Internal Software"
Overflow of a Tx 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
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�

CompactModul Metall CR2033
18
EMCY Code Error Reg Additional Code Description
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 0x81 bit coded "Device Specific"
0000 0001 channel 2 short circuit 1)
0000 0010 channel 4 "
0000 0100 channel 6 "
0000 1000 channel 8 "
0001 0000 channel 2 wire break 2)
0010 0000 channel 4 "
0100 0000 channel 6 "
1000 0000 channel 8 "
1) short circuit only with outputs in ON mode
2) wire break only with outputs in OFF mode
Only the first error of an error group is indicated�
If there is for example an error "short circuit" on channel 2 and then on channel 4, only the error which occured
first is signalled�
CANopen does not allow to send two identical EMCY objects one after the other�
9 Object directory
9.1 Manufacturer Specific Profile Area; index 2000 to 5FFF
Index S-Idx Name Typ Default Beschreibung
2000 0 I/O Configuration u8, ro 0x0C Number of the entries
(= number of the output channels)
1 Configuration
binary input
channel 1
u8, rw 0x01 0 = OFF
1 = binary input
2 Configuration
output channel 2
u8, rw 0x02 0 = OFF
2 = binary output
4 = analogue output (PWM)
3 Configuration
binary input
channel 3
u8, rw 0x01 0 = OFF
1 = binary input
4 Configuration
output channel 4
u8, rw 0x02 0 = OFF
2 = binary output
4 = analogue output (PWM)

UK
CompactModul Metall CR2033
19
Index S-Idx Name Typ Default Beschreibung
5 Configuration
binary input
channel 5
u8, rw 0x01 0 = OFF
1 = binary input
6 Configuration
output channel 6
u8, rw 0x02 0 = OFF
2 = binary output
4 = analogue output (PWM)
7 Configuration
binary input
channel 7
u8, rw 0x01 0 = OFF
1 = binary input
8 Configuration
output channel 8
u8, rw 0x02 0 = OFF
2 = binary output
4 = analogue output (PWM)
9 Configuration
analogue input
channel pair 1/2
u8, rw 0x03 0 = OFF
3 = voltage 0���10�000 mV
6 = ratiometric 0���1000 ‰
7 = current 0���20�000 µA
9 = voltage 0���32�000 mV
A = binary input with analogue evaluation
B = binary input with analogue evaluation with
diagnosis

CompactModul Metall CR2033
20
Index S-Idx Name Typ Default Beschreibung
10 Configuration
analogue input
channel pair 3/4
u8, rw 0x03 0 = OFF
3 = voltage 0���10�000 mV
6 = ratiometric 0���1000 ‰
7 = current 0���20�000 µA
9 = voltage 0���32�000 mV
A = binary input with analogue evaluation
B = binary input with analogue evaluation with
diagnosis
2000 11 Configuration
analogue input
channel pair 5/6
u8, rw 0x03 0 = OFF
3 = voltage 0���10�000 mV
6 = ratiometric 0���1000 ‰
7 = current 0���20�000 µA
9 = voltage 0���32�000 mV
A = binary input with analogue evaluation
B = binary input with analogue evaluation with
diagnosis
12 Configuration
analogue input
channel pair 7/8
u8, rw 0x03 0 = OFF
3 = voltage 0���10�000 mV
6 = ratiometric 0���1000 ‰
7 = current 0���20�000 µA
9 = voltage 0���32�000 mV
A = binary input with analogue evaluation
B = binary input with analogue evaluation with
diagnosis
2001 0 PWM
Frequency
u8, rw 0x64
(100
Hz)
Setting in Hz (20���250 Hz)
If an invalid value is entered, the
previous value remains valid�
20F0
20F1
0 Setting of the
Node ID *)
u8, rw 0x20 (=
0d32)
The node ID used to access the module 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 = 100 kBaud
6 = 50 kBaud
7 = 20 kBaud
The entries 20F0/20F1 and 20F2/20F3 must always contain identical values�
The new entries are valid after a reset (switching the module off/on)�
Values outside the permissible ranges will be rejected�