Function And Features - IFM Electronic ecomat 100 CR2011 Gerätehandbuch

Function and features

The CR2011 output module enables decentralised triggering of actuators and
proportional valves. The coil current can be monitored and controlled via the inte-
grated current measurement.
• The module supports binary and analog outputs and is therefore classified in
the device profile "I/O module" to CiA DS 401.
• As regards the output function the module can be configured. The module
supports 5 operating modes:
- binary outputs with current detection, up to 2.5 A
- binary outputs without current detection, up to 4 A
- PWM outputs with current detection, up to 2.5 A
- PWM outputs without current detection, up to 4 A
- current-controlled PWM outputs, up to 2.5 A
The function current detection or current control can be selected by means of
the wire connection. With the configuration as binary outputs 8 outputs are
available. With the configuration as PWM outputs 2 outputs each are com-
bined as a pair (= 4 outputs available).
• The outputs are activated via CANopen.
• There are 1 server SDO and the 3 default PDOs to CiA DS 401. The PDO map-
ping cannot be changed (static PDO mapping). The default identifiers are
assigned according to the "predefined connection set".
• The COB IDs of the PDOs as well as the transmission type (synch/asynch) of the
individual PDOs can be configured. The transmission type is stored nonvolatile-
ly. Changed PDOs (PDO linking) are stored volatilely.
• The module expects a synch object.
The CAN identifier of the synch object can be configured. After a change the ID
is automatically stored non-volatilely.
• The module supports "node guarding".
The "guard time", "life time factor" and the CAN identifier of the guard
object can be configured and are stored non-volatilely.
• The module generates an emergency object. The COB ID of the EMCY object
can be configured.
• The module stores the last 4 errors. The error code of the corresponding emer-
gency object is stored.
• The module supports a reset function, i.e. assignment of the parameters to the
factory default values* upon request.
*) factory default values see „Parameter list", page 30
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CR2011
OUTPUT MODULE
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