UK
CabinetModule CR2016
5
3 Functions and features
The device enables decentralised evaluation of sensor signals and decentralised
triggering of actuators and proportional valves�
WARNING
The device is not approved for safety tasks with respect to the protection of
persons�
4 Function
● The module supports binary/analogue inputs/outputs and is therefore classified
in the device class ”I/O module” to CiA DS 401�
● As regards the input/output functions, the device can be configured and it sup-
ports the following functions:
– analogue inputs
(0���10/32 V, 0���20 mA, ratiometric, binary and binary with diagnosis)
– binary inputs
– frequency inputs
– binary outputs
– PWM outputs 0,1���2 A
● There are 1 server SDO and 4 default PDOs according to CiA DS 401�The
PDO mapping can be changed (dynamic 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 device expects a synch object� The CAN identifier of the synch object can
be configured�
● The device supports “node guarding” and “heartbeat”� The “guard time”, the
“life time factor” and the “heartbeat time” can be configured�
● The device generates an emergency object� The COB ID of the EMCY object
can be configured�
● The device stores the last error� The error code of the corresponding emer-
gency object is stored�
● The device supports a reset function, i�e� the assignment of the parameters to
the factory default settings on request�
Factory default settings (→ 8.3 Communication profiles; Idx 1000 to 1FFF) and
(→ 8.4 Manufacturer-specific profiles; Idx 2000 to 5FFF)
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