IFM SmartModule CR2520 Device Manual Download

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SmartModule CR2520

8.3 Communication profiles; index 1000 to 1FFF

Parameters

Index in

object

directory

Default value

(factory set)

Change saved

automatically

Change

effective

COB ID Sync Object

1005

0x80

adjustable

after 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 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 reset

Trans Type Rec PDO 1

1400 02

0x01 (synchronous)

adjustable

immediately

COB-ID Rec PDO 2

1401 01

0x300 + node ID

adjustable

after reset

Trans Type Rec PDO 2

1401 02

0x01 (synchronous)

adjustable

immediately

COB-ID Rec PDO 3

1402 01

0x400 + node ID

adjustable

after reset

Trans Type Rec PDO 3

1402 02

0x01 (synchronous)

adjustable

immediately

COB-ID Rec PDO 4

1403 01

0x500 + Node-ID

adjustable

after reset

Trans Type Rec PDO 4

1403 02

0x01 (synchronous)

adjustable

immediately

COB-ID Trans PDO 1

1800 01

0x180 + node ID

adjustable

after reset

Trans Type Trans PDO 1

1800 02

0xFF (asynchronous)

adjustable

immediately

Inhibit Time Trans PDO 1

1800 03

0x00

adjustable

immediately

Event Timer Trans PDO 1

1800 05

0x00

adjustable

immediately

COB-ID Trans PDO 2

1801 01

0x280 + node ID

adjustable

after reset

Trans Type Trans PDO 2

1801 02

0x01 (synchronous)

adjustable

immediately

Inhibit Time Trans PDO 2

1801 03

0x00

adjustable

immediately

Event Timer Trans PDO 2

1801 05

0x00

adjustable

immediately

COB-ID Trans PDO 3

1802 01

0x380 + node ID

adjustable

after reset

Trans Type Trans PDO 3

1802 02

0xFF (asynchronous)

adjustable

immediately

Inhibit Time Trans PDO 3

1802 03

0x00

adjustable

immediately

Event Timer Trans PDO 3

1802 05

0x00

adjustable

immediately

COB-ID Trans PDO 4

1803 01

0x480 + node ID

adjustable

after reset

Trans Type Trans PDO 4

1803 02

0x01 (synchronous)

adjustable

immediately

Inhibit Time Trans PDO 4

1803 03

0x00

adjustable

immediately

Event Timer Trans PDO 4

1803 05

0x00

adjustable

immediately

Summary of Contents for SmartModule CR2520

Page 1: ...Device manual Input output module SmartModule CR2520 7390941 00 01 2018 UK ...

Page 2: ...ectrical connection 10 5 1 Wiring 10 5 2 Ground connection 10 5 3 Fuses 10 6 Set up 11 6 1 PLC configuration in CODESYS 2 3 11 6 2 PLC configuration in CODESYS 3 5 12 6 2 1 Heartbeat configuration 12 6 2 2 SyncMonitoring 13 6 3 Electronic Data Sheet 13 7 Technical data 14 7 1 Mechanical and electric data 14 7 2 Indicators test standards and regulations 15 7 3 Input characteristics 16 7 4 Output ch...

Page 3: ...to 6FFF 24 11 1 2 Communication profiles index 1000 to 1FFF 28 This document is the original instructions Licences and trademarks Microsoft Windows Windows XP and Windows Vista are registered trademarks of Microsoft Corporation All trademarks and company names are subject to the copyright of the respective companies ...

Page 4: ...f the device Read this document before use to familiarise yourself with operating conditions installation and operation Keep this document during the entire duration of use of the device Adhere to the safety instructions 1 1 Symbols used Instructions Reaction result Designation of pushbuttons buttons or indications Cross reference Important note Non compliance can result in malfunction or interfer...

Page 5: ...e external voltage is generated and supplied according to the criteria for safety extra low voltage SELV as this voltage 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 device must also comply with the SELV criteria safety extra low voltage safe electrical isolation from other electr...

Page 6: ...reas In this case the operator is requested to take appropriate measures 2 7 Electrical welding on vehicles and plants Welding work on the chassis frame must only be carried out by qualified persons Remove and cover the plus and minus terminals of the batteries Disconnect all contacts of the device from the on board system prior to welding on the vehicle or plant Connect the earth terminal of the ...

Page 7: ...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 module expects a sync object The CAN identifier of the sync object can be configured The module supports node guarding and heartbeat The guard time the life time factor and the heartbeat time c...

Page 8: ... damaged when placed and locked Screws to be used examples Standard Button head hexagon socket screws M5 x L ISO 7380 Cylinder screws with hexagon socket and low head M5 x L DIN 7984 Cutting screws for metric ISO thread with low head DIN 7500 Example button head hexagon socket screw 4 2 Installation position Align the device in such a way that the cable entry of the connector faces downwards Prefe...

Page 9: ... stress Use compensating elements if there is no flat mounting surface available Mounting surface 4 4 Heat dissipation Ensure sufficient heat dissipation as the internal heating of the electronics is conducted away via the housing In case of sandwich mounting of devices use spacers Heat dissipation and sandwich mounting ...

Page 10: ...ls 5 2 Ground connection To ensure the protection of the device against electrical interference the housing must be connected to GND e g to the ground of the vehicle 1 Drill holes for ground connection Establish a connection between the device and the ground of the vehicle using M5 screws Screws to be used 4 1 Fixing 5 3 Fuses To protect the whole system wiring and module the individual electric c...

Page 11: ...rface 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 ...

Page 12: ...Device and click on Install Select EDS file and click on Open In CODESYS 3 5 the devices are integrated as CiA remote devices in the device tree under a CANopen_Manager element The CANopen communication is configured via the CODESYS configuration editor 6 2 1 Heartbeat configuration The function Reset Node must be activated on the tab General so that the device applies the parameters set for heart...

Page 13: ...menting 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 ...

Page 14: ...m Weight 1 2 kg Housing temperature 40 85 C depending on the load Storage temperature 40 85 C Protection rating IP 67 for inserted connector with individually sealed cores e g EC2084 Electrical data Input output channels total max 30 Inputs 15 Conﬁgurations 4 analogue 0 10 32 V 0 20 mA ratiometric for potentiometric transducers or 4 digital negative switching 9 digital positive switching 50 Hz 2 d...

Page 15: ...1 2001 Safety requirements for electrical equipment for measurement control and laboratory use Dir 2009 19 EC Noise emission Immunity with 100 V m ISO 7637 2 2004 Pulse 1 severity level IV function state C Pulse 2a severity level IV function state A Pulse 2b severity level IV function state C Pulse 3a severity level IV function state A Pulse 3b severity level IV function state A Pulse 4 severity l...

Page 16: ... Accuracy 1 FS Voltage input 0 32 V A Input resistance 30 kΩ Input frequency 50 Hz Resolution 10 bits Accuracy 1 FS Voltage input ratiometric A Input resistance 30 kΩ Value range 0 1000 referred to UB Digital input for negative sensor signals BH Input resistance 2 4 kΩ Input frequency 50 Hz Switch on level 0 7 UB Switch off level 0 4 UB B_IN00 B_IN08 Digital input for positive sensor signals BL In...

Page 17: ...l output positive switching BH Switching voltage 10 32 V DC Switching current 2 A Total current 4 A Protective circuit for inductive loads integrated Short circuit proof and overload protected yes B_OUT05 B_OUT06 Digital output positive switching BH Switching voltage 10 32 V DC Switching current 5 A Protective circuit for inductive loads integrated Short circuit proof and overload protected yes Di...

Page 18: ...2 V DC Switching current static 10 A Inrush current peak 90 A PWM frequency 20 250 Hz Pulse pause ratio 1 1000 Resolution 1 Diagnosis wire break overload via current feedback with set switching thresholds Full H bridge without PWM H Switching voltage 10 32 V DC Switching current static 15 A Inrush current peak 90 A Half bridge H Push pull output Switching voltage 10 32 V DC Switching current stati...

Page 19: ...22 VBBO 02 B_OUT05 VBBO 03 B_OUT06 20 02 18 37 BH 5 A BH 5 A Channel 26 VBBO 06 VBBO 06 HB_3_R HB_3_R HB_3_L 05 23 08 26 06 HB_3_L 24 GND 06 H BH L PWM H BH L PWM 07 GND 06 25 VBBS 38 GND 01 CAN_L 32 CAN_H 14 Inputs Outputs B_IN00 BL 50 Hz 40 B_IN01 BL 50 Hz 29 B_IN02 BL 50 Hz 22 B_IN03 BL 50 Hz 43 B_IN04 BL 50 Hz 44 B_IN05 BL 50 Hz 28 B_IN06 BL 50 Hz 45 B_IN07 BL 50 Hz 41 B_IN08 BL 50 Hz 46 B_IN0...

Page 20: ...he baud rate and the node ID They become valid with the next power on 8 2 Manufacturer specific profiles index 2000 to 6FFF Parameters Index in object directory Default value factory set Change saved auto matically Change effective I O configuration 2000 analogue inputs 0 10 V binary inputs binary outputs adjustable after PreOp PWM frequency Channel 16 18 2001 0xFA 250 Hz adjustable after PreOp PW...

Page 21: ...us adjustable immediately COB ID Rec PDO 4 1403 01 0x500 Node ID adjustable after reset Trans Type Rec PDO 4 1403 02 0x01 synchronous adjustable immediately COB ID Trans PDO 1 1800 01 0x180 node ID adjustable after reset Trans Type Trans PDO 1 1800 02 0xFF asynchronous adjustable immediately Inhibit Time Trans PDO 1 1800 03 0x00 adjustable immediately Event Timer Trans PDO 1 1800 05 0x00 adjustabl...

Page 22: ...uency 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 No guard object is received for guard time x life time factor Reset with the next communication 0x8200 0x11 0x00 Monitoring Sync Error...

Page 23: ... does not contain any components which can be repaired by the user The device must only be repaired by the manufacturer Dispose of the device in accordance with the national environmental regulations 10 Approvals standards Test standards and regulations The CE declaration of conformity and approvals can be found at www ifm com ...

Page 24: ...7 0 20 000 µA 0x09 0 32 000 mV 0x0A binary low side 4 configuration analog input 4 Chan 04 rw u8 0x03 0x00 off 0x03 0 10 000 mV 0x06 ratiometric 0 1000 promille 0x07 0 20 000 µA 0x09 0 32 000 mV 0x0A binary low side 5 configuration binary input 1 Chan 05 rw u8 0x01 0x00 off 0x01 binary input 6 configuration binary input 2 Chan 06 rw u8 0x01 0x00 off 0x01 binary input 7 configuration binary input 3...

Page 25: ... u8 0x02 0x00 off 0x02 binary output 15 configuration binary output 6 Chan 21 rw u8 0x02 0x00 off 0x02 binary output 16 configuration binary output 7 Chan 22 rw u8 0x02 0x00 off 0x02 binary output 17 configuration H Bridge 1 Chan 23 rw u8 0x0E 0x00 off 0x0B binary output high side 0x0C binary output low side 0x0D Half bridge 0x0E H bridge without PWM 0x0F H bridge with PWM 18 configuration H Bridg...

Page 26: ...two nibbles L R 0b xxxxL xxxR L set value 0 1 left switches of bridge R set value 0 1 right switches of bridge case half bridge byte is divided in two nibbles L R 0b xxxLL xxRR L set value left switches of bridge R set value right switches of bridge 0 OFF 1 push high 2 pull low case H bridge 0 OFF 1 turn right 2 turn left 3 break shorten via GND 2 set value H bridge 2 rw u8 0 see above 3 set value...

Page 27: ... values The new entries are valid after a reset switching the module off on Values outside the permissible ranges will be rejected 20F2 0 CAN baud rate rw u8 0x04 0 1000 Kbaud 1 800 Kbaud 2 500 Kbaud 3 250 Kbaud 4 125 Kbaud 5 100 Kbaud 6 50 Kbaud 7 20 Kbaud 20F3 0 CAN baud rate rw u8 0x04 The entries 20F2 20F3 must always contain identical values The new entries are valid after a reset switching t...

Page 28: ...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...

Page 29: ...PDO is valid bit 31 0 2 transmission type Rec PDO 2 rw u8 0x01 0x01 0xF0 synch cyclic 0xFE 0xFF asynch immediately 1402 0 highest numbered subindex Receive PDO 3 ro u8 0x02 1 COB ID Receive PDO 3 rw u32 0x00000400 NodeID PDO is valid bit 31 0 2 transmission type Rec PDO 3 rw u8 0x01 0x01 0xF0 synch cyclic 0xFE 0xFF asynch immediately 1403 0 highest numbered subindex Receive PDO 4 ro u8 0x02 1 COB ...

Page 30: ...bits 3 3rd mapping object Rec PDO 3 rw u32 0x10031420 index 2014 subindex 3 16 bits 4 4th mapping object Rec PDO 3 rw u32 0x00000000 no object 5 5th mapping object Rec PDO 3 rw u32 0x00000000 no object 6 6th mapping object Rec PDO 3 rw u32 0x00000000 no object 7 7th mapping object Rec PDO 3 rw u32 0x00000000 no object 8 8th mapping object Rec PDO 3 rw u32 0x00000000 no object 1603 0 number of appl...

Page 31: ...0x05 1 COB ID Transmit PDO 3 rw u32 0x00000380 NodeID PDO is valid bit 31 0 2 transmission type Trans PDO 3 rw u8 0x01 0x01 0xF0 synch cyclic 0xFE 0xFF asynch immediately 3 inhibit timer Trans PDO 3 rw u16 0x0000 min interval for transmission in 100µs 5 event timer Trans PDO 3 rw u16 0x0000 max transfer break in trans type asynch 0 65535ms when this time has elapsed the PDO is transferred even if ...

Page 32: ...O 2 rw u32 0x10020220 index 2002 subindex 2 16 bits 3 3rd mapping object Trans PDO 2 rw u32 0x10030220 index 2002 subindex 3 16 bits 4 4th mapping object Trans PDO 2 rw u32 0x10040220 index 2002 subindex 4 16 bits 5 5th mapping object Trans PDO 2 rw u32 0x00000000 no object 6 6th mapping object Trans PDO 2 rw u32 0x00000000 no object 7 7th mapping object Trans PDO 2 rw u32 0x00000000 no object 8 8...

Page 33: ...rans PDO 4 rw u32 0x10031320 index 2013 subindex 3 16 bits 2 2nd mapping object Trans PDO 4 rw u32 0x10041320 index 2013 subindex 4 16 bits 3 3rd mapping object Trans PDO 4 rw u32 0x10051320 index 2013 subindex 5 16 bits 4 4th mapping object Trans PDO 4 rw u32 0x10061320 index 2013 subindex 6 16 bits 5 5th mapping object Trans PDO 4 rw u32 0x00000000 no object 6 6th mapping object Trans PDO 4 rw u...

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