Function And Features; Can Communication - IFM Electronic Ecomat 100 Handbuch

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OMPACT ODUL ETAL

2 Function and features

The CR2031 I/O module enables decentralised triggering of actuators and propor-
tional valves. The coil current can be monitored and controlled via the integrated
current measurement.

2.1 CAN communication

• The module supports binary/analogue outputs and is therefore classified in the
device profile "I/O module" to CiA DS 401.
• As regards the output functions, the module can be configured and it supports
the following functions:
- 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 3 default PDOs to CiA DS 401.
The PDO mapping cannot be changed (static PDO mapping). The default identi-
fiers 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 con-
figured.
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* upon request.
The CR2031 I/O module ist not approved for safety-relevant tasks in the
field of safety of persons.
*) factory default values see "Parameter list", page 43
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CR2031