Ifm Smartmodul cr2512 Application guide

Device manual

SmartModul

Input/output module

CR2512

80269925 / 00 01 / 2018

SmartModul CR2512

Contents

1 Preliminary note � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 3

2 Safety instructions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 3

3 Function and features� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 3

4 Function � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4

5 Mounting� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5

6 Electrical connection� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5

7 Set-up � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6

7�1 PLC configuration in CODESYS 2�3 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6

7�2 PLC configuration in CODESYS 3�5 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7

7�2�1 Heartbeat configuration � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7

7�2�2 SyncMonitoring � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8

7�3 Electronic Data Sheet� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8

8 Parameter settings � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9

8�1 Parameter list � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 10

9 Technical data� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11

10 Object directory� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 16

11 Fault correction � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 24

11�1 EMCY Object � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 24

12 Maintenance, repair and disposal� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 25

13 Approvals / standards � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 25

14 Terms and abbreviations� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 25

SmartModul CR2512

1 Preliminary note

Technical data, approvals, accessories and further information at www�ifm�com�

►Instruction

→Cross-reference

Important note

Non-compliance can result in malfunctions 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 persons and plant�

The device may only be installed, connected and commissioned by qualified per-

sonnel�

Disconnect the device externally before doing any work on it� If necessary, also

disconnect separately supplied output load circuits�

In the case of malfunctions or uncertainties please contact the manufacturer�

Tampering with the device can lead to considerable risks for the safety of persons

and plant� It is not permitted and leads to an exclusion of any liability and warranty

claims�

3 Function and features

Das E/A-Modul CR2512 dient zur dezentralen Auswertung von Sensorsignalen

und zur Ansteuerung von Aktoren und Proportionalventilen� Über die integrierte

Strommessung kann der Spulenstrom überwacht und zur Regelung genutzt wer-

den�

SmartModul CR2512

4 Function

●The module supports binary inputs and binary/analogue outputs and is there-

fore 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:

– binary inputs (can also be used as node ID selector)

– binary outputs with/without current detection; up to 4 A

– PWM outputs with/without current detection; up to 4 A

– current-controlled PWM outputs, up to 4 A

– selectable current measuring range 0��1 A or 0��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"�

●The COB IDs of the PDOs as well as the transmission type (synch / asynch) of

the individual PDOs can be configured�

●The module expects a synch object�

The CAN identifier of the synch object can be configured�

●The module supports "node guarding" and "heartbeat"�

The "guard time",the "life time factor" and the "heartbeat time"can be confi-

gured�

When there are no heartbeat or node guarding signals, the outputs are auto-

matically 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 (→ 9.1 Parameter list) upon request�

SmartModul CR2512

5 Mounting

In order to expose the module to the minimum mechanical stress it should pre-

ferably be mounted horizontally or vertically on the mounting panel� The module

must be fixed with four screws to DIN 7500 or DIN 7984 (M5 x L)�

If possible, the module should be mounted in such a way that the cable entry of

the plug points downwards�

As the self-heating of the electronics of the unit is dissipated via the housing, suffi-

cient cooling must be ensured in case of "sandwich mounting" of modules�

6 Electrical connection

To ensure the protection of the device against electrical interference and the

safe function of the device, the housing must be connected to the ground of

the vehicle�

1: Drill hole for ground connection

►Establish a connection between the device and the ground of the vehicle using

M5 screws�

►To protect the whole system (wiring and module) the individual electric circuits

must be protected�

Designation Potential Pin No. Fuse

Operating voltage sensors/module VBBS23 2 A

Operating voltage outputs VBBO05 15 A

SmartModul CR2512

7 Set-up

7.1 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�

SmartModul CR2512

7.2 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�

7.2.1 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�

SmartModul CR2512

7.2.2 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].

7.3 Electronic Data Sheet

The EDS contains the description of all parameters and I/O data of the device in a

format defined by CANopen� The EDS files are provided for all CANopen slaves by

ifm electronic�

The EDS files are available at www�ifm�com�

SmartModul CR2512

8 Parameter settings

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�

Control characteristics (index 2004��7)

The current control behaviour can be parameterised separately for each channel

pair in the P and I values� For each of the 4 output pairs the max� load current [mA]

has to be indicated� By means of this value the respective measuring range (1 A or

4 A) is automatically selected�

Explanation of the abbreviations:

0x��= hexadecimal number

0b��= bit-coded

0d��= decimalnumerical value

str = string

rw = read-write

ro = read only

u8 = unsigned 8 bit

u16 = unsigned 16 bit

u32 = unsigned 32 bit

SmartModul CR2512

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-Frequenz 2001 0x64 (100Hz) adjustable after PreOp

Control parameters

(P/I values, max� current)

Channel 1/2

Channel 3/4

Channel 5/6

Channel 7/8

2004

2005

2006

2007

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 Object 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 0x01 (synchronous) adjustable immediately

Event Timer Trans PDO 1 1800 05 0x00 adjustable immediately

COB-ID Trans PDO 2 1801 01 0x280 + Node-ID einstellbar after a reset

Trans Type Trans PDO 2 1801 02 0x01 (synchronous) adjustable immediately

Event Timer Trans PDO 2 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)�

SmartModul CR2512

9 Technical data

132

5,5

45°

153

LED

±0,5

±1

106,5 ±1

Control systems

\DATEN\100\DB-FORM—PZD/03/12/96

ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen

06.11.2014

CR2512

SmartModule

I/O module

digital and analogue

for R 360 system

CANopen

interface

Supply voltage

10...32 V DC

We reserve the right to make technical alterations without prior notice. CR2512 / page 1

Technical data 4 digital inputs

8 digital/PMW outputs with integrated current measurement

Housing closed screened metal housing

with flange fastening

Dimensions (l x w x h) 132 x 43 x 153 mm

Installation by means of 4 M5xL screws to DIN 7500 or DIN 7984

mounting position horizontal or vertical to the mounting wall

Connection 55-pin connector, latched, protected against reverse polarity

type AMP housing or Framatome

AMP junior timer contacts, crimp connection 0.5/2.5 mm²

Weight 0.95 kg

Inputs 4

can be configured as digital, for positive sensor signals (low side)

and can be used for selecting the node ID offset

Outputs 8

can be configured as digital, positive-switching (high side)

analogue, PWM channel (PWM value 0 ‰; 50...1000 ‰)

analogue, current-controlled channel (20...1000mA; 80...4000mA)

Switching current per output max. 4 A

(with / without current monitoring)

Total current max. 12 A

Supply 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

(for inserted plug with individually sealed cores e.g. EC2084)

Interface CAN interface 2.0 B, ISO 11898

Baud rate 20 Kbits/s...1 Mbit/s

(default setting 125 Kbits/s)

Communication profile CANopen, CiA DS 301 version 4, CiA DS 401 version 2.1

Node ID (default) hex 20 (= dec 32)

Status LED two-colour LED (red/green)

SmartModul CR2512

CR2512 Operating status

Status LED

Test standards and regulations

Climatic test Moisture/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 to ISO 7637-2, pulses 2a, 3a, 3b, severity level 4, function state A

conducted interference to ISO 7637-2, pulse 5, severity level 4, function state B

to ISO 7637-2, pulse 1, 2b, severity level 4, function state C

Immunity to interfering fields according to UN/ECE-R10 at 100 V/m (E1 type approval)

and EN 61000-6-2 (CE)

Interference emission according to UN/ECE-R10 (E1 type approval)

and EN 61000-6-4 (CE)

Control systems

\DATEN\100\DB-FORM—PZD/03/12/96

ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen

06.11.2014We reserve the right to make technical alterations without prior notice. CR2512 / page 2

LED Status Description

green OFF no supply voltage

ON module in stand-by mode

CANopen status: PREOPERATIONAL / PREPARED

outputs = OFF

1.0 Hz At least one input was configured as node ID selector.

After power on LED flashes n times according to the set

node ID offset.

Then the module changes into the CANopen status

PREOPERATIONAL

2.0 Hz module active

CANopen status: OPERATIONAL

outputs are updated

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)

During the start-up or reset of the controller

the green and the red LEDs light simultaneously.

This appears as orange.

SmartModul CR2512

CR2512 Characteristics of the inputs/outputs

Outputs ■Semi-conductor outputs (high side), short-circuit and overload protection

Channels 1...8 switching voltage 10...32 V DC

can be configured as ... switching current max. 4 A (with/without current monitoring)

total current max. 16 A

The current measurement of 2 channels each can be selected by means of the wire

connections. The following channels are combined: 1+2, 3+4, 5+6, 7+8.

■PWM outputs

Two outputs each are combined (1+2, 3+4, 5+6, 7+8).

The output signal is present at only one of the two outputs while the other output is

OFF (e.g. left/right or up/down functions).

It is possible to immediately switch over from one output to the other.

PWM frequency 20...250 Hz

pulse/break ratio 0 ‰; 50...1000 ‰

resolution 1 ‰

switching current max. 4 A (referred to PWM value 1000‰)

With smaller PWM values this current value is reduced.

value range -1000...+1000 ‰

Values > +1000‰ are internally rounded to +1000 ‰.

Values < -1000‰ are internally rounded to -1000‰.

With the values between -50...+50 ‰ the output is switched off.

value output +50...+1000‰ are present at the odd-numbered outputs

(channels 1, 3, 5, 7)

-1000...-50‰ are present at the even-numbered outputs

(channels 2, 4, 6, 8)

■Current outputs

With the configuration as "current-controlled output" two outputs each are

combined (1+2, 3+4, 5+6, 7+8).

PWM frequency 20...250 Hz

control range 20...1000 mA / 80...4000 mA (see control parameters)

control characteristics can be set via the object directory (see control parameters)

setting resolution 1 mA

precision ± 2% FS

switching current max. 4 A

load resistance min. 3/12 Ω(at UB= 12 V DC)

min. 6/24 Ω(at UB= 24 V DC)

value range -4000...+4000 mA

Values > +4000 mA are rounded to +4000mA.

Values < -4000 mA are rounded to -4000mA.

Values -80...+80 mA are interpreted as "OFF".

value output 80...4000 mA are present at the odd-numbered channels

(1, 3, 5, 7)

-4000...-80 mA are present at the even-numbered channels

(2, 4, 6, 8)

Digital and PWM/current output can be combined to one connection pair, i.e. one

output acts as binary, the other output as PWM/current output.

The outputs can then be switched separately from each other.

Control parameters By indicating the max. load current [mA] for each output pair the respective control or

value range (1000 or 4000mA) is selected automatically.

In addition the P/I behaviour of the current control function for each output pair can

be parameterised.

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 the "current-controlled output" operating mode.

Inputs ■Binary inputs, for positive sensor signals (low side)

Channels 9...12 switch-on level 0.4...0.7 UB

can be configured as ... switch-off level 0.2...0.24 UB

input resistance 3 kΩ

input frequency 50 Hz

■Node ID selector

Each input can be allotted a value between 20and 23. The resulting numerical value

is added to the basic node ID according to the input and the value.

If inputs are configured as node ID selector, the module does not go into the PRE-

OPERATIONAL status after switch-on before a valid signal (”0” or ”1”) has been

present at the selector inputs for at least 500ms and the resulting node ID has been

received.

It must be possible to clearly assign the value of the node ID selector to the inputs,

i.e. the inputs must have different values!

Control systems

\DATEN\100\DB-FORM—PZD/03/12/96

ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen

06.11.2014We reserve the right to make technical alterations without prior notice. CR2512 / page 3

SmartModul CR2512

Control systems

ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen

06.11.2014We reserve the right to make technical alterations without prior notice. CR2512 / page 4

Supply

Output

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



























Abbreviations

CANH= CAN interface (high)

CANL= CAN interface (low)

GNDO= GND (output)

GNDS= GND (sensors/module)

PWM = output for pulse-width modulated signals

VBBO= supply voltage (output)

VBBS= supply voltage (sensors/module)

CR2512 Wiring

SmartModul CR2512

Control systems

ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen

06.11.2014We reserve the right to make technical alterations without prior notice. CR2512 / page 5

Channel 1

OUT

Current

GND

VBB

GND

+VBB

OUT

Current

GND

+VBB

Channel 2

OUT

Current

GND

VBB

GND

+VBB

OUT

Current

GND

+VBB

OUT

Current

GND

VBB

GND

+VBB

OUT

Current

GND

+VBB

Channel 1

Channel 2

Channel 1

Channel 2

CR2512 Configuration examples (outputs channel pair 1/2)

Example 1

Example 2

Example 3

digital

e.g. two-way valves

digital

e.g. two-way valves

with current monitoring

PWM or current-controlled

e.g. proportional valve

digital

e.g. two-way valves

PWM or current-controlled

e.g. proportional valve

output functions

SmartModul CR2512

10 Object directory

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)

2000 1 Configuration

channel 1 (output) u8, rw 0x02

0 = OFF

2 = binary output

4 = analogue output (PWM)