IFM ioControl CR2050 Device Manual
  1. Manuals
  2. Brands
  3. IFM Manuals
  4. I/O Systems
  5. ioControl CR2050
  6. Device manual

IFM ioControl CR2050 Device Manual

Hide thumbs Also See for ioControl CR2050:
Table of Contents

Advertisement

Quick Links

Download this manual See also: Programming Manual
Device manual
ioControl
UK
CR2050
CR2051
CR2052
P_MZ_e100_0092
Original
30%
333,4%

Advertisement

Table of Contents
loading

Related Manuals for IFM ioControl CR2050

Summary of Contents for IFM ioControl CR2050

  • Page 1 Device manual ioControl CR2050 CR2051 CR2052 P_MZ_e100_0092 Original 333,4%...

  • Page 2: Table Of Contents

    ioControl Contents 1 Preliminary note � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4 1�1 Explanation of symbols �...
  • Page 3 ioControl 10 Maintenance, repair and disposal� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 39 10�1 Maintenance�...

  • Page 4: Preliminary Note

    CR2051 and CR2052)� It is part of the device� The document contains information about the correct handling of the device� Adhere to the safety instructions� Technical data, approvals, accessories and further information at: www�ifm�com� 1.1 Explanation of symbols ► Instructions >...

  • Page 5: 2�2 Target Group

    The connections may only be supplied with the signals indicated in the technical data and/or on the device label and only the approved accessories of ifm electronic gmbh may be connected�...

  • Page 6: 2�4 Tampering With The Unit

    ioControl 2.4 Tampering with the unit WARNING In case of malfunctions or uncertainties please contact the manufacturer� Any tampering with the device can seriously affect the safety of operators and machinery� 3 Functions and features The freely programmable controllers of the "ioControl" series are rated for use under difficult conditions (e�g�...

  • Page 7: Function

    ● 2 CAN interfaces ● Configurable inputs/outputs ● Status LEDs, I/O Leds and 4-digit 10-segment display ● Operating keys More information and accessories at www�ifm�com� 5 Installation 5.1 Mounting surface NOTE The housing must not be exposed to any torsional forces or mechanical stress�...

  • Page 8: 5�3 Cable Seal

    ioControl Use of the tubular rivets Tightening torque: 2�0 Nm Hole dimensions (→ 9 Technical data) Screws to be used (examples): Standard Cylinder screws with hexagon socket (M5 x L) DIN EN ISO 4762 Cylinder screws with hexagon socket and low head (M5 x L) DIN 7984 5.3 Cable seal NOTE...

  • Page 9: Electrical Connection

    ioControl 6 Electrical connection 6.1 General electrical connection The supply cables and the CAN2 interface are connected via the X1 connector on the bottom of the device� The inputs/outputs, the CAN1 interface and the CAN supply are connected via the Deutsch connectors on the front side of the housing� P_MZ_e100_0092 Original Scale Drawing (MTD) Wiring (→...

  • Page 10: 6�2 Connection Accessories

    ► Cover unused terminals with dummy plugs / seals� 6.2 Connection accessories Information about the available accessories at www�ifm�com 6.3 Frequency inputs CR2050 / CR2052: ► Operate frequency inputs with screened cables so that useful signals are not affected by external interference�...

  • Page 11: 6�7 Examples For Connection Types

    ioControl Designation Potential Connector: Pin Fuse Optional supply CAN1 interface 8���32 V DC CAN IN: Pins 3+4 CR2050: connected to VBBS CR2050: - CR2051: no connection to VBB CR2051: 3 A CR2052: connected to VBB CR2052: - ► Connect the ground pins belonging to the supply voltages (GND , GND , if appl�...

  • Page 12: 6�7�2 Cr2051

    ioControl 6.7.2 CR2051 03/04 03/04 Example 1 Supply 01/06 GND 01/06 02/05 CAN1 CAN1 02/05 CAN loop, low CAN IN CAN OUT load, supply via CAN IN * Load-Dump CR2051 Protection 03/04 03/04 Example 2 01/06 GND 01/06 02/05 02/05 CAN1 CAN1 medium load,...

  • Page 13: 6�7�3 Cr2052

    ioControl 6.7.3 CR2052 03/04 03/04 Example 1 Supply 01/06 GND 01/06 02/05 CAN1 CAN1 02/05 CAN loop, low CAN IN CAN OUT load, supply via CAN IN * Load-Dump CR2052 Protection 03/04 03/04 Example 2 01/06 GND 01/06 02/05 CAN1 CAN1 02/05 low load,...

  • Page 14: Operating And Display Elements

    ioControl 7 Operating and display elements P_MZ_e100_0092 Original Scale Drawing (MTD) Original Scale Drawing (MTD) 1: I/O LEDs (yellow) 2: Power LED (green) 3: Mode LED (green) 4: Application LEDs LED A���LED D (green) 5: Lock LED (green) 6: Diagnostics LED (red) 7: 4-digit 10-segment display Indicators 333,4%...

  • Page 15: 7�1 Menu Structure

    ioControl 7.1 Menu structure The following description of the menu structure refers to the factory setting as I/O module� When the device is configured as a controller, the corresponding menu structure has to be defined (see system manual ioControl)� >10 s Node ID uLoc nodE...

  • Page 16: 7�2 Status Indication Of The Inputs/Outputs (I/O Leds, Yellow)

    ioControl 7.2 Status indication of the inputs/outputs (I/O LEDs, yellow) I/O configuration LED status Description (see attached object directory) 0 (not used) 1 (digital input B Input signal FALSE Input signal TRUE 2 (digital output B Output signal FALSE Output signal TRUE 3 (voltage input 10 V) 4 (PWM output) PWM = 0...

  • Page 17: Set-Up

    ioControl 8 Set-up 8.1 I/O module On delivery the device is configured as I/O module� After power on the 10-segment display indicates the article number of the device, followed by the set node ID� 8.1.1 Display mode If the green Lock LED is on, the device is in display mode� The device can only indicate the set node ID and baud rate and, if appl�, error messages;...

  • Page 18: 8�1�3 List Of Parameters

    ioControl > The 1st digit to be edited flashes� ► Use the UP and DOWN buttons to set the requested value� ► Use the ENTER button to go to the next digit� > The 2nd digit to be edited flashes� ►...

  • Page 19: 8�2 Controller

    ● System manual ioControl (alternatively as online help) The manuals can be downloaded from the internet: www�ifm�com 8.4 Required hardware If used as mobile controller a CAN interface for connection to a PC or notebook is required to load the application program to the device�...

  • Page 20: Technical Data

    592 Kbytes RAM / 1536 Kbytes Flash / 1 Kbyte FRAM Memory allocation See system manual ioControl and www�ifm�com We reserve the right to make technical alterations without prior notice! ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen CR2050 / page 1 20 April 2018...
  • Page 21 5 Hz Application stopped due to undervoltage Permanently on System error (fatal error) ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen We reserve the right to make technical alterations without prior notice! CR2050 / page 2 20 April 2018...
  • Page 22 ± 2% FS: 16 Ω...3 kΩ ± 5 % FS: 3...15 kΩ ± 10 % FS: 15...30 kΩ ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen We reserve the right to make technical alterations without prior notice! CR2050 / page 3...
  • Page 23 Max� total current of the CAN supply + 1�5 A sensor supplies V + VBB ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen We reserve the right to make technical alterations without prior notice! CR2050 / page 4 20 April 2018...
  • Page 24 The EC declaration of conformity and approvals can be found at: www�ifm�com * in preparation ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen We reserve the right to make technical alterations without prior notice! CR2050 / page 5 20 April 2018...
  • Page 25 Frequency / pulse input 40,5 27,4 Resistor input Supply sensors/module Supply CAN connector ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen We reserve the right to make technical alterations without prior notice! CR2050 / page 6 20 April 2018...

  • Page 26: 9�2 Cr2051

    592 Kbytes RAM / 1536 Kbytes Flash / 1 Kbyte FRAM Memory allocation See system manual ioControl and www�ifm�com ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen We reserve the right to make technical alterations without prior notice! CR2051 / page 1 15 Aug 2017...
  • Page 27 5 Hz Application stopped due to undervoltage Permanently on System error (fatal error) ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen We reserve the right to make technical alterations without prior notice! CR2051 / page 2 15 Aug 2017...
  • Page 28 Control range 0�02���2�5 A Setting resolution 1 mA Max� inrush current ≤ 24 A ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen We reserve the right to make technical alterations without prior notice! CR2051 / page 3 15 Aug 2017...
  • Page 29 Max� total current of the CAN supply 1�5 A Max� total current of the output supplies / VBB ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen We reserve the right to make technical alterations without prior notice! CR2051 / page 4 15 Aug 2017...
  • Page 30 The EC declaration of conformity and approvals can be found at: www�ifm�com * in preparation ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen We reserve the right to make technical alterations without prior notice! CR2051 / page 5 15 Aug 2017...
  • Page 31 Supply OUT00, OUT02, OUT04, OUT06, OUT08, OUT10, OUT12, OUT14 Supply OUT01, OUT03, OUT05, OUT07, OUT09, OUT11, OUT13, OUT15 Supply CAN connector ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen We reserve the right to make technical alterations without prior notice! CR2051 / page 6...

  • Page 32: 9�3 Cr2052

    592 Kbytes RAM / 1536 Kbytes Flash / 1 Kbyte FRAM Memory allocation See system manual ioControl and www�ifm�com 15 Aug 2017 ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen We reserve the right to make technical alterations without prior notice! CR2052 / page 1...
  • Page 33 4-digit 10-segment display (two colours: red/green) (default setting: indication of the baud rate or the node ID) ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen We reserve the right to make technical alterations without prior notice! CR2052 / page 2...
  • Page 34 ≤ 30 kHz Switch-on level > 0�7 U Switch-off level < 0�3 U ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen We reserve the right to make technical alterations without prior notice! CR2052 / page 3 15 Aug 2017...
  • Page 35 Control range 0,02���4 A Setting resolution 1 mA Max� inrush current ≤ 24 A ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen We reserve the right to make technical alterations without prior notice! CR2052 / page 4 15 Aug 2017...
  • Page 36 1�5 A sensor supplies V + VBB Max� total current of the output supplies ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen We reserve the right to make technical alterations without prior notice! CR2052 / page 5 15 Aug 2017...
  • Page 37 The EC declaration of conformity and approvals can be found at: www�ifm�com * in preparation ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen We reserve the right to make technical alterations without prior notice! CR2052 / page 6 15 Aug 2017...
  • Page 38 Pulse width modulation Pulse width modulation, current-controlled Supply sensors/module Supply OUT01���OUT07 Supply CAN connector ifm electronic gmbh • Friedrichstraße 1 • 45128 Essen We reserve the right to make technical alterations without prior notice! CR2052 / page 7 15 Aug 2017...

  • Page 39: Maintenance, Repair And Disposal

    Observe the safety instructions (→ 2.4 Tampering with the unit) 10.4 Disposal ► Dispose of the device in accordance with the national environmental regulations� 11 Approvals/standards Test standards and regulations (→ 9 Technical data) The EC declaration of conformity and approvals can be found at: www�ifm�com...

  • Page 40: Appendix

    ioControl 12 Appendix 12.1 EMCY Object The following error codes according to DSP-401 or DSP-301 are supported: EMCY code Error reg Additional code Description 0x6100 0x11 0x00 Internal Software Overflow of an Rx queue e�g� frequency of the Rx PDOs is too high� Reset only externally via entry in the index 0x1003 SubIdx 00�...
  • Page 41 ioControl Index S-idx Designation Data type Default Details 0x1018 0x00 Device USINT 0x04 Device identification identification Number of entries 0x01 Vendor-ID UDINT 0x0069666D Vendor ID oft he device according to CiA specifikation 0x02 Product code STRING Product code of the device 0x03 Revision UDINT...
  • Page 42 ioControl Index S-idx Designation Data type Default Details 0x100A Manufacturer STRING V00�00�00 Software version software version 0x100C Guard time UINT Within this time in [ms] the device expects a „node guarding“ of the master oft he system� 0 = this function is not supported� The monitoring oft he node with „node guarding“...
  • Page 43 ioControl Index S-idx Designation Data type Default Details 0x1016 0x00 Consumer USINT 0x01 Heartbeat monitoring time for the heartbeat node times Number of devices monitored = 1 Nums consumer heartbeat time 0x01 Consumer UDINT Heartbeat monitoring time for the heartbeat node time Format: 0x0nntttt...

  • Page 44: 12�2�1 Device-Specific Cr2050

    ioControl 12.2.1 Device-specific CR2050 Transmit PDO communication parameters (index 0x1800…0x18FF): Index S-idx Designation Data type Default Details 0x1800 0x00 Transmit USINT 0x05 Configuration transmit PDO 1 PDO Com- number of entries = 5 munication Parameter Number of entries 0x01 COBID used UDINT 0x180 + CAN ID of the transmit PDO 1...
  • Page 45 ioControl Index S-idx Designation Data type Default Details 0x1801 0x00 Transmit USINT 0x05 Configuration transmit PDO 2 PDO Com- number of entries = 5 munication Parameter Number of entries 0x01 COBID used UDINT 0x280 + CAN ID of the transmit PDO 2 by PDO Node ID Bit 31 = 0 →...
  • Page 46 ioControl Index S-idx Designation Data type Default Details 0x1802 0x00 Transmit USINT 0x05 Configuration transmit PDO 3 PDO Com- number of entries = 5 munication Parameter Number of entries 0x01 COBID used UDINT 0x380 + CAN ID of the transmit PDO 3 by PDO Node ID Bit 31 = 0 →...
  • Page 47 ioControl Index S-idx Designation Data type Default Details 0x1803 0x00 Transmit USINT 0x05 Configuration transmit PDO 4 PDO Com- number of entries = 5 munication Parameter Number of entries 0x01 COBID used UDINT 0x480 + CAN ID of the transmit PDO 4 by PDO Node ID Bit 31 = 0 →...
  • Page 48 ioControl Index S-idx Designation Data type Default Details 0x1804 0x00 Transmit USINT 0x05 Configuration transmit PDO 5 PDO Com- number of entries = 5 munication Parameter Number of entries 0x01 COBID used UDINT 0x181 + CAN ID of the transmit PDO 5 by PDO Node ID Bit 31 = 0 →...
  • Page 49 ioControl Index S-idx Designation Data type Default Details 0x1805 0x00 Transmit USINT 0x05 Configuration transmit PDO 6 PDO Com- number of entries = 5 munication Parameter Number of entries 0x01 COBID used UDINT 0x281 + CAN ID of the transmit PDO 6 by PDO Node ID Bit 31 = 0 →...
  • Page 50 ioControl Index S-idx Designation Data type Default Details 0x1806 0x00 Transmit USINT 0x05 Configuration transmit PDO 7 PDO Com- number of entries = 5 munication Parameter Number of entries 0x01 COBID used UDINT 0x381 + CAN ID of the transmit PDO 7 by PDO Node ID Bit 31 = 0 →...
  • Page 51 ioControl Index S-idx Designation Data type Default Details 0x1807 0x00 Transmit USINT 0x05 Configuration transmit PDO 8 PDO Com- number of entries = 5 munication Parameter Number of entries 0x01 COBID used UDINT 0x481 + CAN ID of the transmit PDO 8 by PDO Node ID Bit 31 = 0 →...
  • Page 52 ioControl Index S-idx Designation Data type Default Details 0x1808 0x00 Transmit USINT 0x05 Configuration transmit PDO 9 PDO Com- number of entries = 5 munication Parameter Number of entries 0x01 COBID used UDINT 0x182 + CAN ID of the transmit PDO 9 by PDO Node ID Bit 31 = 0 →...
  • Page 53 ioControl Index S-idx Designation Data type Default Details 0x1809 0x00 Transmit USINT 0x05 Configuration transmit PDO 10 PDO Com- number of entries = 5 munication Parameter Number of entries 0x01 COBID used UDINT 0x282 + CAN ID of the transmit PDO 10 by PDO Node ID Bit 31 = 0 →...
  • Page 54 ioControl Transmit PDO mapping (index 0x1A00…0x1AFF): Index S-idx Designation Data type Default Details 0x1A00 0x00 Transmit USINT 0x07 mapping transmit PDO 1 PDO map- number of integrated application ping objects = 7 Number of mapped objects in 0x01 PDO map- UDINT 0x6000 0108 Index 0x6000, SubIndex 0x01...
  • Page 55 ioControl Index S-idx Designation Data type Default Details 0x1A01 0x00 Transmit USINT 0x04 mapping transmit PDO 2 (analogue PDO map- inputs) ping number of integrated application Number of objects = 4 mapped objects in 0x01 PDO map- UDINT 0x6404 0110 Index 0x6404, SubIndex 0x01 ping analogue input 00: actual value...
  • Page 56 ioControl Index S-idx Designation Data type Default Details 0x1A03 0x00 Transmit USINT 0x04 mapping transmit PDO 4 PDO map- number of integrated application ping objects = 4 Number of mapped objects in 0x01 PDO map- UDINT 0x2030 0110 Index 0x2030, SubIndex 0x01 ping input 08: actual resistor value 0x02...
  • Page 57 ioControl Index S-idx Designation Data type Default Details 0x1A06 0x00 Transmit USINT 0x04 mapping transmit PDO 7 (duty cycle PDO map- of the signal on the frequency input ping IN09, IN11, IN13, IN15) Number of number of integrated application mapped objects = 4 objects in 0x01...
  • Page 58 ioControl Index S-idx Designation Data type Default Details 0x1A09 0x00 Transmit USINT 0x02 mapping transmit PDO 10 (system PDO map- flag) ping number of integrated application Number of objects = 2 mapped objects in 0x01 PDO map- UDINT 0x2040 0110 Index 0x2040, SubIndex 0x01 ping supply voltage of the system VBBS...
  • Page 59 ioControl Index S-idx Designation Data type Default Details 0x2000 0x04 Configuration USINT 0 = 0x00 off Input IN03 IN03 3 = 0x03 0���10 000 mV 6 = 0x06 ratiometric 0���1000 ‰ 7 = 0x07 0���20 000 µA 9 = 0x09 0���32 000 mV 10 = 0x0A binary plus switched...
  • Page 60 ioControl Index S-idx Designation Data type Default Details 0x2000 0x0A Configuration USINT 0 = 0x00 off Input IN09 IN09 01 = 0x01 binary plus switched 14 = 0x0E frequency 0…30 20 = 0x14 000 Hz period duration 0x0B Configuration USINT 0 = 0x00 off Input IN10 IN10...
  • Page 61 ioControl Index S-idx Designation Data type Default Details 0x2013 0x00 Period input USINT Largest sub-index supported number of periods for average 0x01 Number of USINT 1…255 IN09 number of periods IN09 periods 0x02 Number of USINT 1…255 IN11 number of periods IN11 periods 0x03...
  • Page 62 ioControl Index S-idx Designation Data type Default Details 0x2020 0x00 Input – short USINT Largest sub-index supported to supply voltage 0x01 Short to sup- USINT 0 = normal channels (bit coded) ply voltage 1 = short 0b---- ---X = IN00 IN00���IN07 circuit 0b---- --X- = IN01...
  • Page 63 ioControl Index S-idx Designation Data type Default Details 0x2030 0x00 Input resistor USINT Largest sub-index supported 0x01 Resistance UINT 0…30 000 IN08 resistance IN08 [Ohms] 0x02 Resistance UINT 0…30 000 IN10 resistance IN10 [Ohms] 0x03 Resistance UINT 0…30 000 IN12 resistance IN12 [Ohms] 0x04...
  • Page 64 ioControl Index S-idx Designation Data type Default Details 0x6000 0x00 Binary input USINT 0x02 Binary inputs Largest Largest supported sub-index = 2 sub-index supported 0x01 Binary inputs USINT Binary inputs IN00…IN07 IN00 - IN07 0b---- ---X = IN00 0b---- --X- = IN01 0b---- -X-- = IN02 0b---- X--- = IN03 0b---X ---- = IN04...

  • Page 65: 12�2�2 Device-Specific Cr2051

    ioControl 12.2.2 Device-specific CR2051 Receive PDO communication parameters (index 0x1400…0x14FF): Index S-idx Designation Data type Default Details 0x1400 0x00 Receive PDO USINT 0x02 Receive PDO 1: binary outputs 0 - 15 Communica- number of entries = 2 tion Parame- ter Number of entries 0x01 COBID used...
  • Page 66 ioControl Index S-idx Designation Data type Default Details 0x1402 0x00 Receive PDO USINT 0x02 Receive PDO 3: PWM outputs 4 - 7 Communica- number of entries = 2 tion Parame- ter Number of entries 0x01 COBID used UDINT 0x400 + node CAN-ID of the 3�...
  • Page 67 ioControl Index S-idx Designation Data type Default Details 0x1404 0x00 Receive PDO USINT 0x02 Receive PDO 5: PWM outputs 12 Communica- - 15 tion Parame- number of entries = 2 ter Number of entries 0x01 COBID used UDINT 0x201 + node CAN-ID of the 3�...
  • Page 68 ioControl Index S-idx Designation Data type Default Details 0x1601 0x00 Receive PDO USINT 0x04 Mapping read PDO 2: mapping PWM outputs OUT00…OUT03 Number of number of integrated application mapped objects = 4 objects in 0x01 PDO map- UDINT 0x6414 0110 PWM/current output OUT00 ping Index 0x6414, SubIndex 0x01...
  • Page 69 ioControl Index S-idx Designation Data type Default Details 0x1602 0x00 "Receive USINT 0x04 Mapping read PDO 3: PDO map- PWM outputs OUT04…OUT07 ping number of integrated application Number of objects = 4 mapped objects in PDO" 0x01 PDO map- UDINT 0x6414 0510 PWM/ current output OUT04 ping...
  • Page 70 ioControl Index S-idx Designation Data type Default Details 0x1603 0x00 Receive PDO USINT 0x04 Mapping read PDO 4: mapping PWM outputs OUT08…OUT11 Number of number of integrated application mapped objects = 4 objects in 0x01 PDO map- UDINT 0x6414 0910 PWM/ current output OUT08 ping Index 0x6414, SubIndex 0x09...
  • Page 71 ioControl Index S-idx Designation Data type Default Details 0x1604 0x00 Receive PDO USINT 0x04 Mapping read PDO 5: mapping PWM outputs OUT12…OUT15 Number of number of integrated application mapped objects = 4 objects in 0x01 PDO map- UDINT 0x6414 0D10 PWM/ current output OUT12 ping Index 0x6414, SubIndex 0x0D...
  • Page 72 ioControl Transmit PDO communication parameters (index 0x1800…0x18FF): Index S-idx Designation Data type Default Details 0x1800 0x00 Transmit USINT 0x05 Configuration transmit PDO 1 PDO Com- number of entries = 5 munication Parameter Number of entries 0x01 COBID used UDINT 0x180 + CAN ID of the transmit PDO 1 by PDO Node ID...
  • Page 73 ioControl Index S-idx Designation Data type Default Details 0x1801 0x00 Transmit USINT 0x05 Configuration transmit PDO 2 PDO Com- number of entries = 5 munication Parameter Number of entries 0x01 COBID used UDINT 0x280 + CAN ID of the transmit PDO 2 by PDO Node ID Bit 31 = 0 →...
  • Page 74 ioControl Index S-idx Designation Data type Default Details 0x1802 0x00 Transmit USINT 0x05 Configuration transmit PDO 3 PDO Com- number of entries = 5 munication Parameter Number of entries 0x01 COBID used UDINT 0x380 + CAN ID of the transmit PDO 3 by PDO Node ID Bit 31 = 0 →...
  • Page 75 ioControl Index S-idx Designation Data type Default Details 0x1803 0x00 Transmit USINT 0x05 Configuration transmit PDO 4 PDO Com- number of entries = 5 munication Parameter Number of entries 0x01 COBID used UDINT 0x480 + CAN ID of the transmit PDO 4 by PDO Node ID Bit 31 = 0 →...
  • Page 76 ioControl Transmit PDO mapping (index 0x1A00…0x1AFF): Index S-idx Designation Data type Default Details 0x1A00 0x00 Transmit USINT 0x04 mapping transmit PDO 01 (output PDO map- current OUT00���OUT03) ping number of integrated application Number of objects = 4 mapped objects in 0x01 PDO map- UDINT...
  • Page 77 ioControl Index S-idx Designation Data type Default Details 0x1A02 0x00 Transmit USINT 0x05 mapping transmit PDO 3 PDO map- number of integrated application ping objects = 5 Number of mapped objects in 0x01 PDO map- UDINT 0x2022 0108 Index 0x2022, SubIndex 0x01 ping outputs 00���07: flag "...
  • Page 78 ioControl Manufacturer-specific objekts (index 0x2000���0x6FFF): Index S-idx Designation Data type Default Details 0x2000 0x00 IO configu- USINT Configuration inputs/outputs ration largest supported Sub-index = 32 Largest sub-index supported 0x01 Configuration USINT 0 = 0x00 off Input OUT00 OUT00 2 = 0x02 binary plus switched 4 = 0x04 PWM output...
  • Page 79 ioControl Index S-idx Designation Data type Default Details 0x2000 0x06 Configuration USINT 0 = 0x00 off Input OUT05 OUT05 2 = 0x02 binary plus switched 4 = 0x04 PWM output 5 = 0x05 current control 15 = 0x0F binary plus switched 16 = 0x10 with diagnosis binary plus switched...
  • Page 80 ioControl Index S-idx Designation Data type Default Details 0x2000 0x0E Configuration USINT 0 = 0x00 off Input OUT13 OUT13 2 = 0x02 binary plus switched 4 = 0x04 PWM output 15 = 0x0F binary plus switched with diagnosis 0x0F Configuration USINT 0 = 0x00 off Input OUT14...
  • Page 81 ioControl Index S-idx Designation Data type Default Details 0x2001 0x0B UINT 20…250 OUT10 PWM frequen- frequency cy [Hz] OUT10 0x0C UINT 20…250 OUT11 PWM frequen- frequency cy [Hz] OUT11 0x0D UINT 20…250 OUT12 PWM frequen- frequency cy [Hz] OUT12 0x0E UINT 20…250 OUT13 PWM frequen-...
  • Page 82 ioControl Index S-idx Designation Data type Default Details 0x2004 0x00 P-value USINT Largest sub-index supported 0x01 P-value USINT 0…255 OUT00 P-value for OUT00 current control 0x02 P-value USINT 0…255 OUT01 P-value for OUT01 current control 0x03 P-value USINT 0…255 OUT02 P-value for OUT02 current control 0x04...
  • Page 83 ioControl Index S-idx Designation Data type Default Details 0x2006 0x03 PWM dither UINT 0…PWM- OUT02 PWM dither frequency freq / 2 frequency [Hz] OUT02 0x04 PWM dither UINT 0…PWM- OUT03 PWM dither frequency freq / 2 frequency [Hz] OUT03 0x05 PWM dither UINT 0…PWM-...
  • Page 84 ioControl Index S-idx Designation Data type Default Details 0x2007 0x00 PWM dither USINT Largest sub-index supported value 0x01 PWM dither UINT 0…1 000 OUT00 PWM dither value OUT00 value [‰] 0x02 PWM dither UINT 0…1 000 OUT01 PWM dither value OUT01 value [‰] 0x03 PWM dither...
  • Page 85 ioControl Index S-idx Designation Data type Default Details 0x2022 0x00 Output – USINT Largest sub-index supported short circuit 0x01 Short circuit USINT 0 = normal channels (bit coded) OUT00… 1 = short 0b---- ---X = OUT00 OUT07 circuit 0b---- --X- = OUT01 0b---- -X-- = OUT02 0b---- X--- = OUT03 0b---X ---- = OUT04...
  • Page 86 ioControl Index S-idx Designation Data type Default Details 0x2040 0x00 System supp- USINT Largest sub-index supported ly voltage VBBS 0x01 VBBS USINT VBBS voltage [mV] 0x2041 0x00 Output supp- USINT Largest sub-index supported ly voltage 0x01 VBB1 UINT VBB1 voltage [mV] 0x02 VBB2 UINT...
  • Page 87 ioControl Index S-idx Designation Data type Default Details 0x6200 0x00 Binary output USINT Binary outputs Largest Largest supported sub-index = 2 sub-index supported 0x01 Binary out- USINT Binary outputs OUT00…OUT07 puts OUT00 0b---- ---X = OUT00 - OUT07 0b---- --X- = OUT01 0b---- -X-- = OUT02 0b---- X--- = OUT03 0b---X ---- = OUT04...
  • Page 88 ioControl Index S-idx Designation Data type Default Details 0x6414 0x00 PWM output USINT PWM outputs Largest Largest supported sub-index = 16 sub-index supported 0x01 PWM output UINT Value for PWM output OUT00 OUT00 0x02 PWM output UINT Value for PWM output OUT01 OUT01 0x03 PWM output...

  • Page 89: 12�2�3 Device-Specific Cr2052

    ioControl 12.2.3 Device-specific CR2052 Receive PDO communication parameters (index 0x1400…0x14FF): Index S-idx Designation Data type Default Details 0x1400 0x00 Receive PDO USINT 0x02 Receive PDO 1: binary outputs 0 - 7 Communica- number of entries = 2 tion Parame- ter Number of entries 0x01 COBID used...
  • Page 90 ioControl Index S-idx Designation Data type Default Details 0x1402 0x00 Receive PDO USINT 0x02 Receive PDO 3: PWM outputs 4 - 7 Communica- number of entries = 2 tion Parame- ter Number of entries 0x01 COBID used UDINT 0x400 + node CAN-ID of the 3�...
  • Page 91 ioControl Index S-idx Designation Data type Default Details 0x1601 0x00 Receive PDO USINT 0x04 Mapping read PDO 2: mapping PWM outputs OUT00…OUT03 Number of number of integrated application mapped objects = 4 objects in 0x01 PDO map- UDINT 0x6414 0110 PWM/current output OUT00 ping Index 0x6414, SubIndex 0x01...
  • Page 92 ioControl Index S-idx Designation Data type Default Details 0x1602 0x00 Receive PDO USINT 0x04 Mapping read PDO 3: mapping PWM outputs OUT04…OUT07 Number of number of integrated application mapped objects = 4 objects in 0x01 PDO map- UDINT 0x6414 0510 PWM/ current output OUT04 ping Index 0x6414, SubIndex 0x05...
  • Page 93 ioControl Transmit PDO communication parameters (index 0x1800…0x18FF): Index S-idx Designation Data type Default Details 0x1800 0x00 Transmit USINT 0x05 Configuration transmit PDO 1 PDO Com- number of entries = 5 munication Parameter Number of entries 0x01 COBID used UDINT 0x180 + CAN ID of the transmit PDO 1 by PDO Node ID...
  • Page 94 ioControl Index S-idx Designation Data type Default Details 0x1801 0x00 Transmit USINT 0x05 Configuration transmit PDO 2 PDO Com- number of entries = 5 munication Parameter Number of entries 0x01 COBID used UDINT 0x280 + CAN ID of the transmit PDO 2 by PDO Node ID Bit 31 = 0 →...
  • Page 95 ioControl Index S-idx Designation Data type Default Details 0x1802 0x00 Transmit USINT 0x05 Configuration transmit PDO 3 PDO Com- number of entries = 5 munication Parameter Number of entries 0x01 COBID used UDINT 0x380 + CAN ID of the transmit PDO 3 by PDO Node ID Bit 31 = 0 →...
  • Page 96 ioControl Index S-idx Designation Data type Default Details 0x1803 0x00 Transmit USINT 0x05 Configuration transmit PDO 4 PDO Com- number of entries = 5 munication Parameter Number of entries 0x01 COBID used UDINT 0x480 + CAN ID of the transmit PDO 4 by PDO Node ID Bit 31 = 0 →...
  • Page 97 ioControl Index S-idx Designation Data type Default Details 0x1804 0x00 Transmit USINT 0x05 Configuration transmit PDO 5 PDO Com- number of entries = 5 munication Parameter Number of entries 0x01 COBID used UDINT 0x181 + CAN ID of the transmit PDO 5 by PDO Node ID Bit 31 = 0 →...
  • Page 98 ioControl Index S-idx Designation Data type Default Details 0x1805 0x00 Transmit USINT 0x05 Configuration transmit PDO 6 PDO Com- number of entries = 5 munication Parameter Number of entries 0x01 COBID used UDINT 0x281 + CAN ID of the transmit PDO 6 by PDO Node ID Bit 31 = 0 →...
  • Page 99 ioControl Index S-idx Designation Data type Default Details 0x1806 0x00 Transmit USINT 0x05 Configuration transmit PDO 7 PDO Com- number of entries = 5 munication Parameter Number of entries 0x01 COBID used UDINT 0x381 + CAN ID of the transmit PDO 7 by PDO Node ID Bit 31 = 0 →...
  • Page 100 ioControl Index S-idx Designation Data type Default Details 0x1807 0x00 Transmit USINT 0x05 Configuration transmit PDO 8 PDO Com- number of entries = 5 munication Parameter Number of entries 0x01 COBID used UDINT 0x481 + CAN ID of the transmit PDO 8 by PDO Node ID Bit 31 = 0 →...
  • Page 101 ioControl Index S-idx Designation Data type Default Details 0x1808 0x00 Transmit USINT 0x05 Configuration transmit PDO 9 PDO Com- number of entries = 5 munication Parameter Number of entries 0x01 COBID used UDINT 0x182 + CAN ID of the transmit PDO 9 by PDO Node ID Bit 31 = 0 →...
  • Page 102 ioControl Index S-idx Designation Data type Default Details 0x1809 0x00 Transmit USINT 0x05 Configuration transmit PDO 10 PDO Com- number of entries = 5 munication Parameter Number of entries 0x01 COBID used UDINT 0x282 + CAN ID of the transmit PDO 10 by PDO Node ID Bit 31 = 0 →...
  • Page 103 ioControl Index S-idx Designation Data type Default Details 0x180A 0x00 Transmit USINT 0x05 Configuration transmit PDO 11 PDO Com- number of entries = 5 munication Parameter Number of entries 0x01 COBID used UDINT 0x382 + CAN ID of the transmit PDO 11 by PDO Node ID Bit 31 = 0 →...
  • Page 104 ioControl Transmit PDO mapping (index 0x1A00…0x1AFF): Index S-idx Designation Data type Default Details 0x1A00 0x00 Transmit USINT 0x07 mapping transmit PDO 1 PDO map- number of integrated application ping objects = 7 Number of mapped objects in 0x01 PDO map- UDINT 0x6000 0108 Index 0x6000, SubIndex 0x01...
  • Page 105 ioControl Index S-idx Designation Data type Default Details 0x1A01 0x00 Transmit USINT 0x04 mapping transmit PDO 2 (analogue PDO map- inputs) ping number of integrated application Number of objects = 4 mapped objects in 0x01 PDO map- UDINT 0x6404 0110 Index 0x6404, SubIndex 0x01 ping analogue input 00: actual value...
  • Page 106 ioControl Index S-idx Designation Data type Default Details 0x1A03 0x00 Transmit USINT 0x02 mapping transmit PDO 4 (periode PDO map- time IN00���IN01) ping number of integrated application Number of objects = 2 mapped objects in 0x01 PDO map- UDINT 0x2012 0120 Index 0x2012, SubIndex 0x01 ping frequency input IN00: periode time of...
  • Page 107 ioControl Index S-idx Designation Data type Default Details 0x1A06 0x00 Transmit USINT 0x02 mapping transmit PDO 7 (frequency PDO map- on IN00���IN01) ping number of integrated application Number of objects = 2 mapped objects in 0x01 PDO map- UDINT 0x2015 0120 Index 0x2015, SubIndex 0x01 ping frequency input IN00: frequency...
  • Page 108 ioControl Index S-idx Designation Data type Default Details 0x1A09 0x00 Transmit USINT 0x04 mapping transmit PDO 10 (output PDO map- current OUT04���OUT07) ping number of integrated application Number of objects = 4 mapped objects in 0x01 PDO map- UDINT 0x2002 0510 Index 0x2002, SubIndex 0x05 ping current on output OUT04...
  • Page 109 ioControl Manufacturer-specific objekts (index 0x2000���0x6FFF): Index S-idx Designation Data type Default Details 0x2000 0x00 IO configu- USINT Configuration inputs/outputs ration largest supported Sub-index = 32 Largest sub-index supported 0x01 Configuration USINT 0 = 0x00 off Input IN00 IN00 3 = 0x03 0���10 000 mV 6 = 0x06 ratiometric 0���1000 ‰...
  • Page 110 ioControl Index S-idx Designation Data type Default Details 0x2000 0x05 Configuration USINT 0 = 0x00 off Input IN04 IN04 3 = 0x03 0���10 000 mV 6 = 0x06 ratiometric 0���1000 ‰ 7 = 0x07 0���20 000 µA 9 = 0x09 0���32 000 mV 10 = 0x0A binary plus switched...
  • Page 111 ioControl Index S-idx Designation Data type Default Details 0x2000 0x0A Configuration USINT 0 = 0x00 off Output OUT01 OUT01 2 = 0x02 binary plus switched 4 = 0x04 PWM output 5 = 0x05 current control 15 = 0x0F binary plus switched 16 = 0x10 with diagnosis binary plus switched...
  • Page 112 ioControl Index S-idx Designation Data type Default Details 0x2000 0x0F Configuration USINT 0 = 0x00 off Output OUT06 OUT06 2 = 0x02 binary plus switched 4 = 0x04 PWM output 5 = 0x05 current control 15 = 0x0F binary plus switched 16 = 0x10 with diagnosis binary plus switched...
  • Page 113 ioControl Index S-idx Designation Data type Default Details 0x2002 0x00 Current value USINT Largest sub-index supported 0x01 Current value UINT 0…4000 OUT00 output current OUT00 [mA] 0x02 Current value UINT 0…4000 OUT01 output current OUT01 [mA] 0x03 Current value UINT 0…2500 OUT02 output current OUT02...
  • Page 114 ioControl Index S-idx Designation Data type Default Details 0x2005 0x00 I-value USINT Largest sub-index supported 0x01 I-value USINT 0…255 OUT00 I-value for OUT00 current control 0x02 I-value USINT 0…255 OUT01 I-value for OUT01 current control 0x03 I-value USINT 0…255 OUT02 I-value for OUT02 current control 0x04...
  • Page 115 ioControl Index S-idx Designation Data type Default Details 0x2007 0x00 PWM dither USINT Largest sub-index supported value 0x01 PWM dither UINT 0…1 000 OUT00 PWM dither value OUT00 value [‰] 0x02 PWM dither UINT 0…1 000 OUT01 PWM dither value OUT01 value [‰] 0x03 PWM dither...
  • Page 116 ioControl Index S-idx Designation Data type Default Details 0x2014 0x00 Period input USINT Largest sub-index supported – ratio value 0x01 Period ratio UINT 0…1 000 IN00 marc-to-space value IN00 ratio [‰] 0x02 Period ratio UINT 0…1 000 IN01 marc-to-space value IN01 ratio [‰] 0x03 Period ratio...
  • Page 117 ioControl Index S-idx Designation Data type Default Details 0x2021 0x00 Input – wire USINT Largest sub-index supported break 0x01 Wire break USINT 0 = normal channels (bit coded) IN00���IN07 1 = wire 0b---- ---X = IN00 break 0b---- --X- = IN01 0b---- -X-- = IN02 0b---- X--- = IN03 0b---X ---- = IN04...
  • Page 118 ioControl Index S-idx Designation Data type Default Details 0x2025 0x00 Input analog USINT Largest sub-index supported – overcurrent 0x01 Overcur- USINT 0 = normal channels (bit coded) rent IN00, 1 = overcur- 0b---- ---X = IN00 IN01,N04 rent 0b---- --X- = IN01 und IN05 0b---- -X-- = IN04 0b---- X--- = IN05...
  • Page 119 ioControl Index S-idx Designation Data type Default Details 0x20F3 Baud rate USINT baud rate [!] value(0x20F2) != value(20F3) 0x20F4 Autostart UINT not used 0x20F5 Lock edit USINT 0 = edit mode unlocked mode 1 = edit mode locked 0x6000 0x00 Binary input USINT 0x02...
  • Page 120 ioControl Index S-idx Designation Data type Default Details 0x6414 0x00 PWM output USINT 0x08 PWM outputs Largest Largest supported sub-index = 12 sub-index supported 0x01 PWM output UINT Value for PWM output OUT00 OUT00 0x02 PWM output UINT Value for PWM output OUT01 OUT01 0x03 PWM output...

  • Page 121: 12�3 Sdos Error Messages

    ioControl 12.3 SDOs error messages 12.3.1 CR2050 The following messages are created in case of an error: Index S-idx Designation Data type Default Details 0x1001 Error register USINT Error register bitcodiert to profil 301 permissible values: 0b0000 0000 = no error 0b0000 0001 = generic error 0b0001 0000 = communication error 0b1000 0000 = manufacturer specific...
  • Page 122 ioControl Index S-idx Designation Data type Default Details 0x2021 0x00 Input – wire break USINT Largest sub-index supported 0x01 Wire break IN00��� USINT 0 = normal channels (bit coded) IN07 1 = wire break 0b---- ---X = IN00 0b---- --X- = IN01 0b---- -X-- = IN02 0b---- X--- = IN03 0b---X ---- = IN04...

  • Page 123: 12�3�2 Cr2051

    ioControl 12.3.2 CR2051 The following messages are created in case of an error: Index S-idx Designation Data type Default Details 0x1001 Error register USINT Error register bitcodiert to profil 301 permissible values: 0b0000 0000 = no error 0b0000 0001 = generic error 0b0001 0000 = communication error 0b1000 0000 = manufacturer specific 0x1003...
  • Page 124 ioControl Index S-idx Designation Data type Default Details 0x2023 0x00 Output – open USINT Largest sub-index supported circuit 0x01 Open circuit USINT 0 = normal channels (bit coded) OUT00…OUT07 1 = open circuit 0b---- ---X = OUT00 0b---- --X- = OUT01 0b---- -X-- = OUT02 0b---- X--- = OUT03 0b---X ---- = OUT04...

  • Page 125: 12�3�3 Cr2052

    ioControl 12.3.3 CR2052 The following messages are created in case of an error: Index S-idx Designation Data type Default Details 0x1001 Error register USINT Error register bitcodiert to profil 301 permissible values: 0b0000 0000 = no error 0b0000 0001 = generic error 0b0001 0000 = communication error 0b1000 0000 = manufacturer specific 0x1003...
  • Page 126 ioControl Index S-idx Designation Data type Default Details 0x2022 0x00 Output – short USINT Largest sub-index supported circuit 0x01 Short circuit USINT 0 = normal channels (bit coded) OUT00…OUT07 1 = short circuit 0b---- ---X = OUT00 0b---- --X- = OUT01 0b---- -X-- = OUT02 0b---- X--- = OUT03 0b---X ---- = OUT04...

This manual is also suitable for:

Iocontrol cr2051Iocontrol cr2052

Table of Contents