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1. bus master module Module configuration Slave Type Supervision Init Used Address Symbol Object 1 ACS_Inclinomtr FRABA v1 1 None Default 3 0 0 SLOPE Slope 360 0 SLOPE_DUPLICATE Slope 360 5 4 Debugging The debugging stage is done on completing the configuration of the PDO s It involves following steps Configure Connection for debugging This connection mode allows you Select a Connectio to directly connect to a controller or IN to transfer an application between the PC and a pe NUN controller COM9 Le The communication has been established Test the connectio The TwidoSuite and the PLC applications are different immediate connection impossible Hardware configurations are compatible PC gt PLC Transfer is possible PLC application is not protected PLC gt PC transfer is authorized Comparison of application Project Controller Application Name My Twido My Twido Type of base TWDLMDA20DTK TWDLMDA20D K Choose a type of exchang Transfer Transfer PC gt controller controller gt Confirm your type of exchang The serial communication port is selected and gt controller transfer is initiated Once the transfer is initiated the configured parameters and the programming done on the PC is debugged and transferred to the controller for real time application The following illu
2. 60 Alexandra Terrace 02 05 The Comtech SINGAPORE 118502 T 65 6514 8880 F 65 6271 1792 www posital sq info posital sg POSITAL FRABA ACCELENS ACS CANopen 7 Troubleshooting Power Inclinometer doesn t respond Problem If the bus is active then the installed inclinometer is transmitted with a false node number node number If the bus is inactive then it was connected with an incorrect baud rate Possible solution Modus pre operational Adressing the inclinometer Reset or power off Reprogram the Baud rate e Malfunction of the position value during transmission Problem During the transmission of the position value occasional malfunctions occur The CAN bus can be temporabily in the bus off state also Possible solution Please check if the last bus nodes have the terminal resistor If the last bus node is an inclinometer the terminal resistor is to be added e Too many ERROR Frames Problem The bus load is too high in case of too many error frames Possible solution Check if all bus nodes have the same baudrate Even if one node has a different baudrate error frames are produced automatically e Unexpected module Module missing Wrong Module Problem Improper definition of node address or improper loading of EDS file Solution Reinitialize the CAN bus or re install the EDS file AMERICAS EUROPE ASIA FRABA Inc POSITAL GmbH FRABA Pte Ltd 1800 East
3. Application name Twido State Running Reference TWDLMDA20D K Firmware version 5 20 Current Time Failure TRUE Forced Current PLc scanning period 3 Address used Punit Port used COMS L Ac NA L St Upon start up we can create an animation table to monitor the necessary controller parameters and the system variables which contain the position value Now we will program the PLC in order to obtain the position values Resetting CANOpen Communication LD 1 16 0001 1 1 16 0000 1 LD 5W81 X3 CAN CMD1 2 amp 5W81 X4 LD 1 16 0001 3MW1 16 0001 LD 5W81 X3 CAN CMD1 amp MWO 2 1 LDN 5W81 X4 LD 1 16 0002 1 1680001 1 LD 5WB81 X3 CAN CMD1 MWO 2 LDN AMERICAS EUROPE ASIA FRABA Inc POSITAL GmbH FRABA Pte Ltd 1800 East State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton NJ 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 1 609 750 8703 T 49 221 96213 0 49 221 96213 20 T 65 6514 8880 F 65 6271 1792 www posital com info posital com www posital eu info posital eu www posital sg info posital sg 29 of 45 POSITAL FRABA ACCELENS ACS CANopen Position Readout LD 3 1 TETTE i o HMWO tMNWI tMWP SHMNW3 16 0003 16 0001 16 60
4. The objects 6010h and 6020h are used to get the inclination positions POSITION VALUE from 5080 in the range of 80 and the object 6010h is used to get the Objects 6010h 6020h e inclination position from ACS360 in range of 0 360 These objects are used to store any re configured parameters Object STORE PARAMETERS i 1010h just stores the parameters whereas 2300h saves the parameters Objects 1010h 2300h with a reset on storing it AMERICAS EUROPE ASIA FRABA Inc POSITAL GmbH FRABA Pte Ltd 1800 East State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton NJ 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 1 609 750 8703 T 49 221 96213 0 49 221 96213 20 T 65 6514 8880 F 65 6271 1792 www posital com info posital com www posital eu info posital eu www posital sq info posital sg 11 of 45 RESOLUTION 1 Object 6000h PRESET VALUE Objects 6012h 6013h BAUDRATE Object 3001h NODE NUMBER 2 Object 3000h FILTERS Objects 3100h 3200h OPERATING PARAMETER Object 601 1h POSITAL FRABA ACCELENS ACS CANopen The parameter resolution per 1 degree is used to program the desired number of steps per revolution The values 1 10 100 and 1000 can be programmed The Preset value is the desired position value which should be reached at a certain physical position of the axis The positio
5. Disclaimer POSITAL FRABA ACCELENS ACS CANopen FRABA N V all rights reserved We do not assume responsibility for technical inaccuracies or omissions Specifications are subject to change without notice Document History V 3 0 Anjan Nachiappa on 27 October 2010 1 Preset function under investigation and testing 2 The new versions will have an default node number of 1 3 The new version will have a default baud rate of 125Kbaud AMERICAS FRABA Inc 1800 East State Street Suite 148 Hamilton NJ 08609 USA T 1 609 750 8705 1 609 750 8703 www posital com info posital com EUROPE POSITAL GmbH Carlswerkstrasse 13c D 51063 K ln GERMANY T 49 221 96213 0 49 221 96213 20 www posital eu info posital eu 44 of 45 ASIA FRABA Pte 60 Alexandra Terrace 02 05 The Comtech SINGAPORE 118502 T 65 6514 8880 F 65 6271 1792 www posital sq info posital sg AMERICAS FRABA Inc 1800 East State Street Suite 148 Hamilton NJ 08609 USA T 1 609 750 8705 F 1 609 750 8703 www posital com info posital com POSITAL FRABA ACCELENS ACS CANopen NOTES EUROPE POSITAL GmbH Carlswerkstrasse 13c D 51063 K ln GERMANY T 49 221 96213 0 F 49 221 96213 20 www posital eu info posital eu 45 of 45 ASIA FRABA Pte 60 Alexandra Terrace 02 05 The Comtech SINGAPORE 118502 T 65 6514 8880 F 65 6271 1792 www posital sq info posital sg
6. Device Type The object at index 1000h describes the type of device and its functionality It is composed of a 16 bit field which describes the device profile that is used and a second 16 bit field which gives additional information about optional functionality of the device The additional information parameter is device profile specific Restore after BootUp Subindex Description Data Type Default Value Access 0 Unsigned 32 N A AMERICAS EUROPE ASIA FRABA Inc POSITAL GmbH FRABA Pte Ltd 1800 East State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton NJ 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 1 609 750 8703 T 49 221 96213 0 49 221 96213 20 T 65 6514 8880 65 6271 1792 www posital com info posital com www posital eu info posital eu www posital sq info posital sg 33 of 45 POSITAL FRABA ACCELENS ACS CANopen Object 1001h Error Register This object is used by the device to display internal faults When a fault is detected the corresponding bit is therefore activated The following errors are supported Bit Description Comments The generic error is signaled at any error situation 0 Generic Error The object description for error register Restore after Subindex Description Data Type Default Value Access BootUp 0 Unsigned 8 N A Object 1003h Pre Defined Error Field The object holds th
7. Subindex Description Data Default Value Access i Sue Object 2601h Preset Value Y Axis In 5080 inclinometers this object sets the Y axis to a desired value In ACS360 inclinometers this object is NOT functional Subindex Description Data Type Default Value Access iR after AMERICAS EUROPE ASIA FRABA Inc POSITAL GmbH FRABA Pte Ltd 1800 East State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton NJ 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 1 609 750 8703 T 49 221 96213 0 49 221 96213 20 T 65 6514 8880 F 65 6271 1792 www posital com info posital com www posital eu info posital eu www posital sq info posital sg 37 of 45 POSITAL FRABA ACCELENS ACS CANopen Object 3000h Node Number This object contains the node number of the device The POSITAL standard node number is 32d ecimal e Subindex Description Data Type Default Value Access ES after Object 3000 is read only ro when hardware switches are used to set the value NOTE To avoid the node number zero 0 one 1 will be added to the value of this object E g 1Fh 1h 20h 32 dec Object 3001h Baudrate This object contains the baud rate of the device Subindex Description Data Type Default Value Access ine aier Object 3001 is read only ro when hardware switches are used to set the value Eight different baud rates are provided
8. To adjust the baud rate only one byte is used The default baud rate is 20Kbits sec EISE yte 20 00h 50 01h 100 02h 125 03h 250 04h 500 05h 800 06h 1000 07h Object 3100h Moving Average Filter This object contains the number of values which are averaged Subindex Description Data Default Value Access LAND eem 0 Moving Unsigned 16 rw yes Average Filter Range of values accepted Od to 99d Object 3200h Exponential Filter This object contains the number of values which are averaged Subindex Description Data Type Default Value Access giier 0 Exponential Unsigned 16 rw yes Filter Range of values accepted Od to 999d AMERICAS EUROPE ASIA FRABA Inc POSITAL GmbH FRABA Pte Ltd 1800 East State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton NJ 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 1 609 750 8703 T 49 221 96213 0 49 221 96213 20 T 65 6514 8880 F 65 6271 1792 www posital com info posital com www posital eu info posital eu www posital sq info posital sg 38 of 45 POSITAL FRABA ACCELENS ACS CANopen Object 6000h Resolution This object sets the resolution per 1 Subindex Description Data Type Default Value Access ES after Four different possible resolutions can be used Actual Angular Resolution 1 0 1 0 01 0 001 Object 6010h Position Value X Z Axis In ACSO80 inclino
9. WORKING WITH SCHNEIDER 21 Me MIN Tele UIE MO 21 5 2 NETWORK INITIALIZATION sicsnicisscwsscnarenaaioncderemrsondammeiauneanieumeidmone anand alli andeamneGmndwsiiuinasensdelowcdasaadyannonmeabwuntaiseion 21 UR 21 5 2 2 SOFTWARE PROJECT INFORMATION ssssssesssssssesseessesseesserssrrseresersoersoresoerssreserreoresersorrsoresorsorrssersoreseeresere 22 5 3 CONFIGURATION NREREEEK E 25 ere CREER 27 SAR e T TE 29 FILLE SEEDS en CRM 32 APPENDIX A ACS CANOPEN OBJECTS ccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccecccccccccccececcccceces 33 APPENDIX B ORDERING CODE z ccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccecccecccecccecccccccececcceces 41 OSS FRY RH 42 AMERICAS EUROPE ASIA FRABA Inc POSITAL GmbH FRABA Pte Ltd 1800 East State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton NJ 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 1 60
10. describes the Z axis offset Subindex Description Data Default Value Access IAN Sue Object 6020h Position Value Y Axis In 5080 inclinometers this object provides the Y axis value In ACS360 inclinometers this object is NOT functional Subindex Description Data Type Default Value Access iz aner Object 6021h Inversion Scaling Y Axis In 5080 inclinometers this object relates to the Y axis counting direction i e inversion or complement and scaling In ACS360 inclinometers this object is NOT functional Subindex Description Data Type Default Value Access Restore after BootUp no Scaling not enabled 1 lt 1 Scaling Enabled AMERICAS EUROPE ASIA FRABA Inc POSITAL GmbH FRABA Pte Ltd 1800 East State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton NJ 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 F 1 609 750 8703 T 49 221 96213 0 F 49 221 96213 20 T 65 6514 8880 F 65 6271 1792 www posital com info posital com www posital eu info posital eu www posital sq info posital sg 40 of 45 POSITAL FRABA ACCELENS ACS CANopen Object 6022h Preset Y Axis In 5080 inclinometers this object sets the Y axis to a desired value In ACS360 inclinometers this object is NOT functional Restore after Subindex Data Type Default Value Access BootUp Description Object 6023h Offset Y Axis In ACSO080 inclinometers
11. this object describes the Y axis offset In ACS360 inclinometers this object is NOT functional Restore after Subindex Data Type Default Value Access BootUp Description Appendix B Ordering Code Description Type key Accelens ACS EM BM E 360 1 axis 360 80 2 axis 080 One ACS360 Two ACS080 2 Interface CANopen CA Version 00 Mounting Horizontal for 80 Version H Vertical for 360 Version V Housing Material Plastic P Inclinometer Series ACSI 2 Connection Connector PM AMERICAS EUROPE ASIA FRABA Inc POSITAL GmbH FRABA Pte Ltd Carlswerkstrasse 13c 1800 East State Street Suite 148 Hamilton NJ 08609 USA T 1 609 750 8705 F 1 609 750 8703 www posital com info posital com D 51063 K ln GERMANY T 49 221 96213 0 F 49 221 96213 20 www posital eu info posital eu 41 of 45 60 Alexandra Terrace 02 05 The Comtech SINGAPORE 118502 T 65 6514 8880 F 65 6271 1792 www posital sq info posital sg Glossary A Address APV B Baud rate Byte C CAL CAN CANopen CCW CiA COB COB ID CW E EDS file AMERICAS FRABA Inc 1800 East State Street Suite 148 Hamilton NJ 08609 USA T 1 609 750 8705 F 1 609 750 8703 T 49 221 96213 0 F 49 221 96213 20 www posital com info posital com POSITAL FRABA ACCELENS ACS CANopen Number assigned to each node irrespective of whether it is a master or s
12. 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 1 609 750 8703 T 49 221 96213 0 49 221 96213 20 T 65 6514 8880 F 65 6271 1792 www posital com info posital com www posital eu info posital eu www posital sq info posital sg 10 of 45 POSITAL FRABA ACCELENS ACS CANopen 2 3 Programmable Parameters Objects are based on the 410 DS V1 2 CANopen profile for inclinometer www can cia org The following table gives the list of command identifiers sent and received by the inclinometer These are the standard commands used for communication and transmission between a master and slave in the CAN bus It is very useful when we study the communication logs between the master and slave and for better understanding of the system under observation Command Function Telegram Description 22h Request Parameter to inclinometer 60h Confirmation Parameter received 40h Request Parameter request 43h 4Bh 4Fh Reply Parameter to Master 80 h Warning Transmission error Table 1 Command Description The value of the command byte depends on the data length of the called parameter Command Data length Data length 43h Unsigned 32 4Bh Unsigned 16 4Fh 1 Byte Unsigned 8 Table 2 Data Length of Commands The following list of objects is the most frequently used objects while programming the CANopen ACS inclinometer The whole list of objects is available in Appendix A
13. NJ 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 1 609 750 8703 T 49 221 96213 0 49 221 96213 20 T 65 6514 8880 F 65 6271 1792 www posital com info posital com www posital eu info posital eu www posital sq info posital sg 18 of 45 POSITAL FRABA ACCELENS ACS CANopen o o event 1 240 Send PDO every x sync messages 241 241 251 Heserved Receive Sync and send 252 X X PDO on remote request Update data and send em ee oo o o 0 X o 895 0 Kf Send PDO On Event Inhibit Time For Transmit PDOs the inhibit time for PDO transmissions can be entered in this 16 bit field If data is changed the PDO sender checks whether an inhibit time has expired since the last transmission A new PDO transmission can only take place if the inhibit time has expired The inhibit time is useful for asynchronous transmission transmission mode 254 and 255 to avoid overloads on the CAN bus Event Timer The event timer only works in asynchronous transmission mode transmission mode 254 and 255 If the data changes before the event timer expires a temporary telegram is sent If a value gt 0 is written in this 16 bit field the transmit PDO is always sent after the event timer expires The value is written in sub index 5 of a transmit PDO The data transfer also takes place with no change to data The range is between 1 65536 ms Object 1
14. POSITAL FRABA ACCELENS ACS CANopen 3 4 Mounting Instructions ACS is a pre calibrated device which can be put into immediate operation upon simple and easy installation with a three point mount and setting of preset Its compact design and installation anywhere makes it versatile The ACS inclinometer can be mounted in any number of fashions depending on the situation The mounting surface must be plane and free of dust and grease We recommend cheese head screws with metrical thread M4 for the mounting Maximum fastening torque for the mounting screws is 10 Nm Prior to installation please check for all connection and mounting instructions to be complied with Please also observe the general rules and regulations on low voltage technical devices ACS Inclination sensors that are based on a MEMS principle are optimal for fast measurements 3 5 Bus Termination If the inclinometer is connected at the end or beginning of the bus or for higher transmission baud rates a termination resistor of 120 Ohm must be used in order to prevent the reflection of information back into the CAN bus The following diagram shows the the components for the physical layer of a two wire CAN bus ACS Other CAN Nodes ACS Inclinometer lt gt Inclinometer PLC CAN High Wire CANopen Master 1200 Can Low Wire The bus wires can be routed in parallel twisted or shielded form in accordance with the electromagnetic
15. info posital eu www posital sg info posital sg 22 of 45 e Controller Description Description of the module Reference number TWDLMDA20DTK Description POSITAL FRABA TWDLMDA20D TK Modular base controller 12 24V DC inputs 8 ouputs 0 source transistors Removable MIL connectors Address o ACCELENS ACS CANopen xi uz Modular base controller 12 24 DC inputs 8 ouputs 0 3A source transistors Removable MIL connectors e CANopen Master Configuration Description of the module Reference number TWDNCO1M Description TWDNCO1M CANopen bus master module E f CANopen bus master module e 5360 Inclinometer Electronic Data Sheet EDS The ACS EDS file once uploaded will load all the objects including the PDOs to the controller The Schneider system automatically identifies the PDOs and maps them on to the slave device AMERICAS FRABA Inc 1800 East State Street Suite 148 Hamilton NJ 08609 USA T 1 609 750 8705 1 609 750 8703 www posital com info posital com FRABA V1 1 Vendor FRABA Posital GmbH Description EDS for ACS inclinometer option 360 Author FRABA Posital GmbH Mr Jakschies Creation 06 29 2004 CANopen EUROPE POSITAL GmbH Carlswerkstrasse 13c D 51063 K ln GERMANY T 49 221 96213 0 F 49 221 96213 20 www posital eu info posital eu 23 of 45 Address LU ASIA FRABA Pte Ltd 60 Alexandra Terrace 02 05 T
16. is authorized when the device is in Operational mode Note The PDOs can be directly mapped in to memory locations on the controller and can be viewed upon reading those memory locations An example is provided in the next section with a SCHNEIDER TWIDO controller Object 1800h 1st Transmit PDO Communication Parameter This object contains the communication parameter of the 1st transmit PDO Default Restore Subindex Description Data nen Access rm BootUp 0 Number of sub indices of sub indices Numberofsubindices Unsigned 8 180h 1 COB ID Unsigned 32 os ID mio 3 inhibit Time Unsigned 32 EBENE 5 Event Timer Unsigned 32 64h or 0 rw yes Object 1801h 2nd Transmit PDO Communication Parameter This object contains the communication parameter of the 2nd transmit PDO ES Default Restore Subindex Description Data Type DERE Access CENE BootUp 0 Number of sub indices of sub indices Numberofsubindices Unsigned8 Unsigmed8 2801 1 COB ID Unsigned 32 Node ID mic o 3 inhibit Time Unsigned 32 1 59 5 Event Timer Unsigned 32 yes Transmission Mode The transmission mode Sub index 2 for Objects 1800 and 1801 can be configured as described below Value E T Synchronou Asynchronou RTR Dec y y s Only X X Send PDO on first sync message following an AMERICAS EUROPE ASIA FRABA Inc POSITAL GmbH FRABA Pte Ltd 1800 East State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton
17. programmable parameters like Resolution Preset and software filters Other functions such as offset values baud rate and node number can also be configured using CAN with ease and according to the network objects in the ACS inclinometers Various software tools for configuration and parameter setting are available from different suppliers It is easy to align and program the inclinometers using the EDS electro provided 1 4 Typical Applications of ACS Cranes and Construction Machinery e Medical Systems e Elevated Platforms e Mobile lifts and Fire engines e Automated Guided Vehivies AGV e Automatic Assembling Machinery e Boring and Drilling Applications e Levelling and Flattening Machinery AMERICAS EUROPE FRABA Inc POSITAL GmbH 1800 East State Street Suite 148 Carlswerkstrasse 13c Hamilton NJ 08609 USA D 51063 K ln GERMANY T 1 609 750 8705 1 609 750 8703 T 49 221 96213 0 49 221 96213 20 www posital com info posital com www posital eu info posital eu 7 of 45 nic data sheet configuration file ASIA FRABA Pte Ltd 60 Alexandra Terrace 02 05 The Comtech SINGAPORE 118502 T 65 6514 8880 F 65 6271 1792 www posital sq info posital sg POSITAL FRABA ACCELENS ACS CANopen 2 Modes Parameters and Objects The purpose of this chapter is to describe all the available configuration parameters of the ACS inclinometers with a CANopen interface Before going into details the f
18. the EDS file Select the ACS inclinometer on the bus and click on Configuration A list of all the mapped PDOs appear Then according to the need the objects are mapped on to the Transmit PDO s of the ACS Mapping gt ACS_Inclinomtr Available Objects gt 6010 Slope 360 e ACS CANopen Node Configuration Click on the ACS inclinometer on the bus and select the CANopen configuration option It is used to define the name type address and supervision of the node Make sure the node number and the address coincide for the inclinometer selected Configuration Elemen Protocol lcs Inclinomtr Type CANopen Address 1 Supervision Mone Init Default AMERICAS EUROPE ASIA FRABA Inc POSITAL GmbH FRABA Pte Ltd 1800 East State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton NJ 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 F 1 609 750 8703 T 49 221 96213 0 F 49 221 96213 20 T 65 6514 8880 F 65 6271 1792 www posital com info posital com www posital eu info posital eu www posital sg info posital sg 25 of 45 POSITAL FRABA ACCELENS ACS CANopen e CANopen bus network configuration Click on the bus connecting the ACS inclinometer and the PLC Select the bus configuration option to define the name of the bus the transmission speed and supervision time Make sure that the ACS is programmed to the appropriate baud rate as t
19. throughout this documentation amp on the equipment to warn of potential hazards or to call attention information that towards clarifies simplifies procedure The addition of this symbol to a Danger or Warning safety label indicates that an electrical hazard exists which will result in personal injury if the instructions are followed This is the safety alert symbol It is used for alerting in case of potential personal injury or hazards Obey all safety messages that follow this symbol to avoid possible injury or death Please Note Electrical equipment should be serviced only by qualified personnel No responsibility is assumed by POSITAL for any consequences arising out of the use of this material This document is not intended as an instruction manual for untrained persons AMERICAS FRABA Inc 1800 East State Street Suite 148 Hamilton NJ 08609 USA T 1 609 750 8705 1 609 750 8703 www posital com info posital com About This Manual Background This user manual explains how to install and configure the following ACS inclinometer with CANopen interface with Schneider TWIDO PLC illustrations from a Relate Note Version date 28 October 2010 Version number 1 0 Document Name ACS_CANOpen 20101028 Imprint FRABA PTE LTD 60 Alexandra Terrace 02 05 The Comtech SINGAPORE 118502 T 65 6514 8880 F 65 6271 1792 Copyright FRABA N V all rights reserved Cla
20. 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 F 1 609 750 8703 T 49 221 96213 0 49 221 96213 20 T 65 6514 8880 F 65 6271 1792 www posital com info posital com www posital eu info posital eu www posital sq info posital sg 8 of 45 POSITAL FRABA ACCELENS ACS CANopen 2 1 Operating Modes 2 1 1 Mode Preoperational When the device is in this state its configuration can be modified However only SDOs can be used to read or write device related data The device goes into Pre Operational state e After the power up or On receiving the Enter Pre Operational NMT indication if it was in Operational state When configuration is complete the device goes into one of the following states on receiving the corresponding indication e Stopped on receiving the STOP REMOTE NODE NMT indication Operational on receiving the START REMOTE NODE NMT indication To set a node to pre operational mode the master must send the following message Identifier Byte 0 Byte 1 Description Oh NMT PreOp all nodes Oh 80 h NN NMT PreOp NN NN node number 2 1 2 Mode Start Operational The device goes into the Operational state if it was in the Pre Operational state on receiving the Start Remote Node indication When the CANopen network is started using the Node start NMT services in Operational state all device functionalities can be used Communication
21. 1 1792 www posital com info posital com www posital eu info posital eu www posital sq info posital sg 16 of 45 POSITAL FRABA ACCELENS ACS CANopen 4 3 Boot up Procedure The general boot up procedure for the ACS CANopen and the mapping of various modes are illustrated below l Initialization Reset Application A Reset Communication Initialization a Pre operational Operational Legend Number Description 1 Module Power up 2 After initialization the module automatically goes into pre operational mode 3 Start Remote Node 4 NMT Pre operational Mode 5 NMT Stop Remote Node 6 NMT Reset Node 7 NMT Reset Communication AMERICAS EUROPE ASIA FRABA Inc POSITAL GmbH FRABA Pte Ltd 1800 East State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton NJ 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 1 609 750 8703 T 49 221 96213 0 49 221 96213 20 T 465 6514 8880 65 6271 1792 www posital com info posital com www posital eu info posital eu www posital sq info posital sg 17 of 45 POSITAL FRABA ACCELENS ACS CANopen 4 4 PDO Transmission PDOs are objects which provide the communication interface with process data and enable them to be exchanged in real time A CANOpen device s PDO set describes the implicit exchanges between this device and its communication partners on the network The exchange of PDOs
22. 10 16 0000 16 0000 5 16 0000 CAN CMD1 0 6 18416 o fe Am tn b i Bo eH c Readout Using Animation Table wi e i fjus Address Sym Current Retained 1 18422 0 IEEE DEVI RR Manage animation tables Create a new table E Decimal Copy the current table Rename the current table Delete the current table Import a table Export a table Animation tables OO Name My animation table 1 Functions NO START IN RUN WAS ee es Glossary i OL SP lt EXECUTION WARNING gt NO O B UJ TwidoSuite 4 4 13 PM a I s 8 10 2010 The position Readout is 18422 through the memory location MW4 Shown in the programming We know that the resolution is set to 0 01 ACS Position Value 18422 0 01 184 22 AMERICAS FRABA Inc 1800 East State Street Suite 148 Hamilton NJ 08609 USA T 1 609 750 8705 F 1 609 750 8703 www posital com info posital com EUROPE POSITAL GmbH Carlswerkstrasse 13c D 51063 K ln GERMANY T 49 221 96213 0 F 49 221 96213 20 www posital eu info posital eu 30 of 45 ASIA FRABA Pte Ltd 60 Alexandra Terrace 02 05 The Comtech SINGAPORE 118502 T 65 6514 8880 F 65 6271 1792 www posital sg info posital sg POSITAL FRABA ACCELENS ACS CANopen Illustration of measurement over full range At initial position approximately 09 A Us Address symbol Curre
23. 9 750 8703 T 449 221 96213 0 49 221 96213 20 T 65 6514 8880 65 6271 1792 www posital com info posital com www posital eu info posital eu www posital sg info posital sg 2 of 45 POSITAL FRABA ACCELENS ACS CANopen APPENDIX A ACS CANOPEN OBJECTS iiscesssssiteses s ouest vXVeVE EXE YU FER IE UxES 33 OBJECT SOOO DEVICE MT 33 OBIECT 1001H ERROR REGISTER QR m m Ut 34 OBJECT 1003H PRE DEFINED ERROR FIELD ccscceccseceeceeccuccnceseceeeeceucceccuecseeseseeeeeseucesecsetseeeceeceeceueeseeeeeees 34 c c 34 OBJECT 1008H MANUFACTURER DEVICE NAME ccsccscceecsececcnccscceetceceeccuccneeseeseseeceeceuceeeeeceuceeeeseeseseeseeceesenees 35 OBJECT 1009H MANUFACTURER HARDWARE VERSION 35 OBJECT 100AH MANUFACTURER SOFTWARE VERSION 35 eset Nc PE c 35 OBJECT LIFE 35 OBJECT 1010H STORE PARAMETERS ccscosccevcerssscasccsccsccescerpessascasccuccuscerpessaavascasecusserpersassasccuceusseraseessserserss 35 OBJECT 1011H RESTORE PARAMETERS ccsccevcersssccsccsccsccescersessasccsccsccescerpessaseaapescouscespersansasccsccuscersersss
24. A00h 1st Transmit PDO Mapping Parameter This object contains the mapping parameter of the 1st transmit PDO Default Restore after Subindex Description Data Type Value Access BootUp Number of sub 0 indices ar bas d 1 Mapped object Unsigned 32 60100010 rw yes Object 1A01h 2nd Transmit PDO Mapping Parameter This object contains the mapping parameter of the 2nd transmit PDO Subindex Description Data Type Default Value Access Restore after BootUp 0 yes 1 Mapped Unsigned 32 6010 00 10 rw yes object AMERICAS EUROPE ASIA FRABA Inc POSITAL GmbH FRABA Pte Ltd 1800 East State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton NJ 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 1 609 750 8703 T 49 221 96213 0 49 221 96213 20 T 65 6514 8880 65 6271 1792 www posital com info posital com www posital eu info posital eu www posital sq info posital sg 19 of 45 POSITAL FRABA ACCELENS ACS CANopen 4 5 Explicit Exchanges SDO Service Data Objects SDOs allow a device s data to be accessed by using explicit requests The SDO service is available when the device is in an Operational or Pre Operational state Types of SDO There are two types of SDO Read SDOs Download SDOs Write SDOs Upload 5008 The SDO protocol is based on a Client Server model For a Download SDO The client sends a request indicatin
25. BA Inc POSITAL GmbH FRABA Pte Ltd 1800 East State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton NJ 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 1 609 750 8703 T 49 221 96213 0 49 221 96213 20 T 65 6514 8880 F 65 6271 1792 www posital com info posital com www posital eu info posital eu www posital sg info posital sg 21 of 45 POSITAL FRABA ACCELENS ACS CANopen 215 Controller CAN HIGH to Pin 7 CAN LOW to Pin 2 1200 Termination Resistor CANOpen D9 M Connector 5 2 2 Software Project Information Once the hardware setup is done the ACS should be configured in such a way that it is compatible to the already existing setup and gives a proper position output Project information File informatio Project ACS360 Directory C Program Files x86 Schneider Electric TwidoSuite My projects Project information Author ANA Department Control Engg Index Singapore 1 Industrial Property AMERICAS EUROPE ASIA FRABA Inc POSITAL GmbH FRABA Pte Ltd 1800 East State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton NJ 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 1 609 750 8703 T 49 221 96213 0 49 221 96213 20 T 65 6514 8880 F 65 6271 1792 www posital com info posital com www posital eu
26. ECT 6011H INVERSION SCALING X Z AXIS e a ped cue een Rete Dente epu owe uo Uapededubeeveanecclens 39 OBJECT 6012H Preset NER eee eee ee ee er ee eee 40 BET COTIA OET ene ce ee dm UD IUUMU 40 OBJECT 6020H POSITION VALUE Y AXIS 00 cessssccsccsccsccescersessascasccsccescerpessaucascauecsscersersansasccsccuscersersasserserss 40 OBJECT 6021H INVERSION SCALING Y AXIS cscssccccccessccccccessccscesesecsceeesececeeusecsceeuaeseceuusecsseeuunsessesuunecsseneuss 40 OBJECT 6022 PRESET Y AXIS ccccscecscscscscscscscscscscsssevasavasavasasavavavavavavavsvasavsssssssssssecscacacacacacasaseustecececeeseeses 41 OBJECT 2 Mel cL IM T 41 AMERICAS EUROPE ASIA FRABA Inc POSITAL GmbH FRABA Pte Ltd 1800 East State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton NJ 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 www posital com 1 609 750 8703 T 49 221 96213 0 F 49 221 96213 20 T 65 6514 8880 65 6271 1792 info posital com www posital eu info posital eu www posital sg info posital sg 3 of 45 POSITAL FRABA ACCELENS ACS CANopen Inclinometer General Security Advise Important Information Read these instructions carefully and have a look at the equipment to become familiar with the device before trying to install operate or maintain it The following special messages may appear
27. POSITAL FRABA ACCELENS ACS CANopen CANopea Accelens ACS Inclinometer With CANopen Interface AMERICAS FRABA Inc 1800 East State Street Suite 148 Hamilton NJ 08609 USA T 1 609 750 8705 F 1 609 750 8703 www posital com info posital com User Manual EUROPE POSITAL GmbH Carlswerkstrasse 13c D 51063 K ln GERMANY T 49 221 96213 0 F 49 221 96213 20 www posital eu info posital eu 1 of 45 ASIA FRABA Pte Ltd 60 Alexandra Terrace 02 05 The Comtech SINGAPORE 118502 T 65 6514 8880 F 65 6271 1792 www posital sg info posital sg POSITAL FRABA ACCELENS ACS CANopen Table Of Contents GENERAL SECURITY ADVISE cccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccecccecccecececccecccececececccccecccess 4 ABOUT THIS MANU Ab iisissceiaiccacataccescavacwnacanarscatavacacacwtaessatavavenatanatssatavavdsatevansestuvacenataseesathesdavecdestasaceiacarseuvat 4 1 INT ebileje me 5 CE UIE IN Sal GS saps caec oc 5 INTER 6 eec ERR mm 6 1 4 TYPICAL APPLICATIONS OF FACS AEA a a eaaa 7 2 MODES PARAMETERS AND OBJECT ccccccsccccsccccsccccsccccsccsccccsccccscecccceccccece
28. Restore after Subindex Description Data Type Default Value Access BootUp 0 String ro no Object 100Ah Manufacturer Software Version This object contains the manufacturer software version The new encoder line 2008 starts with version 4 00 Restore after Subindex Description Data Type Default Value Access BootUp 0 String ro no Object 100Ch Guard Time This object contains the guard time in milliseconds Restore after Subindex Description Data Type Default Value Access 0 Unsigned 16 0 rw yes Object 100Dh Life Time Factor This object contains the life time factor parameters The life time factor multiplied with the guard time gives the life time for the node guarding protocol Restore after BootUp Subindex Description Data Type Default Value Access 0 Unsigned 8 0 rw yes Object 1010h Store Parameters This object is used to store device and CANopen related parameters to non volatile memory Subindex Description Data qs Default Value Access ROTO CU BootUp 0 no 1 Store all neared Save no parameters 32 AMERICAS EUROPE ASIA FRABA Inc POSITAL GmbH FRABA Pte Ltd 1800 East State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton NJ 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 1 609 750 8703 T 49 221 96213 0 49 221 96213 20 T 65 6514 8880 65 6271 1792 www posital com info posi
29. State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton NJ 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 1 609 750 8703 T 49 221 96213 0 49 221 96213 20 T 65 6514 8880 F 65 6271 1792 www posital com info posital com www posital eu info posital eu www posital sq info posital sg 32 of 45 POSITAL FRABA ACCELENS ACS CANopen e Node state stopped upon loading and initialiation Problem Mostly because the bus transmission timeout is defined lesser than the ACS transmission time Solution Increase the bus timeout period Approximately 2 3 seconds e Unable to change to another node number If all nodes are found to be in operational mode then follow the next few steps to set the required node number to a selected device 1 Calculate the required node number in hexadecimal ACS is internally programmed to add 1 to any node number change fed to it in order to avoid the node number 0 For example if we want a NN 28 decimal we need to feed 27 decimal 27 1 28 So the NN 1B hex has to be fed in order to set the selected device to node number 28 2 Send awrite telegram to the particular node with 1B as data on the object 3000h Use 2300h to save the parameters with the reset 4 A boot up message with the new node number pops us Appendix A ACS CANopen Objects ro Read Only wo Write Only amp rw Read or Write Object 1000h
30. al Systems MEMS sensor cell that is embedded to a fully molded ASIC A simplified version of the sensor consists of two electrodes one is fixed and the other is flexible connected with spring elements When the inclinometer is parallel to the surface of measurement a corresponding capacitance is measured If the sensor is tilted the flexible electrode will change its position relative to the fixed electrode This results in a change of the capacitance between the two electrodes which is measured by the sensor cell The change of the capacitance is converted to a corresponding inclination value The MEMS sensor cell in ACS consists of a micromechanical structure with an array of electrodes for better accuracy Under the influence of gravity the distance between some electrodes change and this distance can be detected by measuring the capacity between the electrodes as explained above This technology is available in different grades and lower grades have entered mass markets like mobile phones or tablet computers The ACS series of inclinometers are available in two variants First a single axis measurement variant with a range of 0 360 either clockwise or anti clockwise and the other variant a dual axis measurement capable ACS model with a range of 80 Absolute inclinometers identify all the points of a movement by means of an unambiguous signal Due to their capacity to give clear and exact values to all inclinations positions incl
31. can use PDOs or SDOs NOTE Modifications to the configuration in Operational mode may have unexpected consequences and should therefore only be made in Pre Operational mode To put one or all nodes in the start operational state the master has to send the following message Identifier Byte 0 Byte 1 Description Oh NMT Start all nodes Oh 01h NN NMT Start NN NN node number AMERICAS EUROPE ASIA FRABA Inc POSITAL GmbH FRABA Pte Ltd 1800 East State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton NJ 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 F 1 609 750 8703 T 49 221 96213 0 F 49 221 96213 20 T 65 6514 8880 F 65 6271 1792 www posital com info posital com www posital eu info posital eu www posital sq info posital sg 9 of 45 POSITAL FRABA ACCELENS ACS CANopen 2 1 3 Mode Stop Operational The device goes into the Stopped state on receiving the Node stop indication NMT service if it was in Pre Operational or Operational state In this state the device cannot be configured No service is available to read and write device related data SDO Only the slave monitoring function Node Guarding remains active To put one or all nodes in the stop operational state the master has to send the following message Identifier Byte 0 Byte 1 Description Oh NMT Stop all nodes Oh 02h NN NMT Stop NN NN node number 2 1 4 Re initia
32. compatibility requirements A single line structure minimizes reflection AMERICAS EUROPE ASIA FRABA Inc POSITAL GmbH FRABA Pte Ltd 1800 East State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton NJ 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 1 609 750 8703 T 49 221 96213 0 49 221 96213 20 T 65 6514 8880 F 65 6271 1792 www posital com info posital com www posital eu info posital eu www posital sq info posital sg 14 of 45 POSITAL FRABA ACCELENS ACS CANopen 3 6 Measurement Axes 3 6 1 5080 Dual Axis X amp Y inclination measurement with a range of 80 x 1 Y 80 Measurement 3 6 2 ACS 360 Single axis Z inclination sensors with a measurement range of 0 360 clockwise and anti clockwise OC 0 360 Measurement AMERICAS FRABA Inc 1800 East State Street Suite 148 Hamilton NJ 08609 USA T 1 609 750 8705 1 609 750 8703 www posital com info posital com EUROPE POSITAL GmbH Carlswerkstrasse 13c D 51063 K ln GERMANY T 49 221 96213 0 F 49 221 96213 20 www posital eu info posital eu 15 of 45 ASIA FRABA Pte 60 Alexandra Terrace 02 05 The Comtech SINGAPORE 118502 T 65 6514 8880 F 65 6271 1792 www posital sg info posital sg POSITAL FRABA ACCELENS ACS CANopen 4 ACS Software Configuration This chapter s
33. e errors that have occurred on the device and have been signaled via the Emergency Object The error code is located in the least significant word and additional information is located in the most significant word Sub index 0 contains the number of recorded errors Restore Subindex Description Data Type Default Value Access after BootUp errors 2 Second to last error Unsigned 32 10 clear error Log Write data 0 into sub index 0 of object 1003 Object 1005h COB ID Sync This object contains the synchronization message identifier Restore after Subindex Description Data Type Default Value Access BootUp 0 Unsigned 32 80000080h rw no AMERICAS EUROPE ASIA FRABA Inc POSITAL GmbH FRABA Pte Ltd 1800 East State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton NJ 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 1 609 750 8703 T 49 221 96213 0 49 221 96213 20 T 65 6514 8880 65 6271 1792 www posital com info posital com www posital eu info posital eu www posital sq info posital sg 34 of 45 POSITAL FRABA ACCELENS ACS CANopen Object 1008h Manufacturer Device Name This object contains the device name Restore after BootUp Subindex Description Data Type Default Value Access 0 String Object 1009h Manufacturer Hardware Version This object contains the article name of the circuit board
34. eerserss 36 OBJECT 1016H CONSUMER HEARTBEAT se i ene 36 OBJECT 1017H PRODUCER HEARTBEAT TIME csscsscsscosccsccerssssuscascosccsccesssrsassascasccuscaccscceccessersensassescessoesserss 37 OBJECT 2200H CYCHC TIMER 37 OBJECT 2300H SAVE PARAMETER WITH RESET ssssscsscoscceccessussuscascosccsccestursuusascesccsccescsccsccessersansassescessesscenss 37 OBJECT 2600 Preset PX M 37 OBJECT 2601H PRESET VALUE Y AXIS cccccscscscscscscscscscscscscscsscsssavavssesssssevssevsssessessesecscacacacacasacasacatacacaeececeees 37 OBJECT 3000H NODE NUMBER P ccccccesssecsescscscscscscscscscsasasasavavavavasasavavavavavsssssssssssesscacacacacatacacseetecasececseeees 38 OBJECT 3001H BAUDRATE P v ccccccscscscscscscscscscscscscscscscscavasasasavavavavavavavavavsvavsvsssssssessuscacacacacsussesscesecerececseeees 38 OBJECT 3100H MOVING AVERAGE FILTER csccsccsscsecseccucceccnceseceesceceeccuccseeseesesecseceuceseeseeeeseseecoeceueeseeecenees 38 OBJECT 3200H EXPONENTIAL FILTER cexcawascuscanuteeeteszccussanesecinsiyccaseanetventeonespssadsssennaiie teieansdeessobnecensaninsieunawmiaecs 38 OBJECT RESOLUTION do ax idu re a a 39 OBJECT 6010H POSITION VALUE X Z AXIS cccssseccccccsscccccecssecccceusecsceeusececesuusecsceuecsecsecuuaecseeuunseesceuuaeeseneuss 39 OBJ
35. g the object to be read The server returns the data contained within the object For an Upload SDO The client sends a request indicating the object to be written to and the desired value After the object has been updated the server returns a confirmation message For an unprocessed SDO In both cases if an SDO could not be processed the server returns an error code A typical illustration of SDO for reading the current baud rate value explicitly is given below We used a PEAK CAN master for this illustration e Object 3001 is to read the baud rate value from inclinometer e Transmit Message e D 601 Message to NN1 e Length 8bit word e Data 0 Read 40 Write 22 e Data 1 amp 2 Object in Big Endian 3001s is 0130 in Big Endian format e Data 3 Sub Index NA e Data 4 7 Data to be written NA in read command e Received message 581h reads out the data Edit transmit message ES ID Hex Length Data 0 7 e jb s Periad ms Extended Frame d Remote Request B s SDO passed as a new message to the device AMERICAS EUROPE ASIA FRABA Inc POSITAL GmbH FRABA Pte Ltd 1800 East State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton NJ 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 1 609 750 8703 T 49 221 96213 0 49 221 96213 20 T 65 6514 8880 F 65 6271 1792 www posital com info posital com www posital eu i
36. hat of the bus Configuration Parameters Baudrate Supervision e Linking of CANOpen Master and ACS Transmit PDOs Select the CANopen link on the controller Click on the configuration option The PDOs of the slave are mapped on to the CANOpen master so that the information contained in the objects at the slave end are transmitted and saved on to the controllers memory Linking Not Linked Slaves PDOs Linked Master PDOs Type Transmit Type Receive Name PDO TX1 PDO TX 2 SDO Memory space a 0 OK AMERICAS EUROPE ASIA FRABA Inc POSITAL GmbH FRABA Pte Ltd 1800 East State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton NJ 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 F 1 609 750 8703 T 49 221 96213 0 F 49 221 96213 20 T 65 6514 8880 F 65 6271 1792 www posital com info posital com www posital eu info posital eu www posital sg info posital sg 26 of 45 POSITAL FRABA ACCELENS ACS CANopen e ACS amp Controller Memory Configuration The current and updated position values from the ACS encoder are mapped on to an EEPROM memory location in the controller This memory location in this case IWC1 0 0 and IWC1 1 0 will always contain the slope values obtained from the object 6010h of the ACS when the controller is Online Description of the module Reference number TWDNCO1M Address 1 Description
37. he Comtech SINGAPORE 118502 T 65 6514 8880 F 65 6271 1792 www posital sq info posital sg POSITAL FRABA ACCELENS ACS CANopen e Connection network Setup The illustration below describes the connection of the elements in the CAN bus At first the CANOpen communication interface is connected to the main controller Then the inclinometer is connected to the CANopen communication interface This picture is the overall description of the setup with the TWIDO TWDLMDA20DTK controller TWDNCO1M CANopen communication expansion module and the ACS360 EDS file CANopen Master bus 125 Linking of Master and Slave The next step after the setup of the network is the configuration of all the parameters and settings to facilitate the communication between the master slave and the controller AMERICAS EUROPE ASIA FRABA Inc POSITAL GmbH FRABA Pte Ltd 1800 East State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton NJ 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 F 1 609 750 8703 T 49 221 96213 0 F 49 221 96213 20 T 65 6514 8880 F 65 6271 1792 www posital com info posital com www posital eu info posital eu www posital sg info posital sg 24 of 45 POSITAL FRABA ACCELENS ACS CANopen 5 3 Configuration e ACS Process Data Objects PDO Mapping The list of available objects is pre programmed in
38. ims copyright on this documentation It is not allowed to modify extend or hand over to a third party and to copy this documentation without written approval by FRABA PTE LTD Nor is any liability assumed the use of the Further this for damages resulting from information contained herein publication and features described herein are subject to change without notice User Annotation All readers are highly welcome to send us feedback and comments about this document You can reach us by e mail at info fraba sg EUROPE ASIA POSITAL GmbH Carlswerkstrasse 13c D 51063 K ln GERMANY T 49 221 96213 0 49 221 96213 20 www posital eu info posital eu FRABA Pte 60 Alexandra Terrace 02 05 The Comtech SINGAPORE 118502 T 65 6514 8880 F 65 6271 1792 www posital sq info posital sg 4 of 45 POSITAL FRABA ACCELENS ACS CANopen Inclinometer 1 Introduction This manual explains how to install and configure the ACS gravity referenced inclinometers suitable for industrial military and heavy duty applications with a CANopen interface The products are fully compliant with CANopen DS410 standards 1 1 ACCELENS ACS ACCELENS inclinometers sense and measure the angle of tilt Inclination Slope Elevation of an object with respect to the force of gravity The angle is measured with the relative change in electrical capacitance The basic principle behind this ACS inclinometer is a Micro Electro Mechanic
39. inometers have become one of the interesting alternatives to singleturn absolute and incremental encoders and a link between the mechanical and control systems Benefits of ACS e Cost efficient High Protection Class High Accuracy e Very robust AMERICAS EUROPE ASIA FRABA Inc POSITAL GmbH FRABA Pte Ltd 1800 East State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton NJ 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 1 609 750 8703 T 49 221 96213 0 49 221 96213 20 T 65 6514 8880 F 65 6271 1792 www posital com info posital com www posital eu info posital eu www posital sq info posital sg 5 of 45 POSITAL FRABA ACCELENS ACS CANopen 1 2 CANopen Interface CANopen is based on the Controller Area Network CAN that was developed by automotive industries in the 80s and is nowadays used in many industrial applications The application protocol CANopen was introduced by the multi vendor association CiA to ensure a full compatibility of industrial automation products It is a multiple access system maximum 127 nodes which means that all devices can access the bus These devices nodes are the components of the CANopen bus and in our case the node is ACS In simple terms CANopen works as a client server model Each device checks whether the bus is free and if it is free the device can send messages If two devices try to access the bu
40. it has in built active linearization and temperature compensation This makes ACS suitable for rugged environments and versatile applications in industrial heavy duty and military applications AMERICAS EUROPE ASIA FRABA Inc POSITAL GmbH FRABA Pte Ltd 1800 East State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton NJ 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 1 609 750 8703 T 49 221 96213 0 49 221 96213 20 T 65 6514 8880 F 65 6271 1792 www posital com info posital com www posital eu info posital eu www posital sq info posital sg 6 of 45 POSITAL FRABA ACCELENS ACS CANopen The inclinometer supports the following operating modes Polled mode The position value is transmitted only on request e Cyclic mode The position value is sent cyclically regular adjus table intervals on the bus e SYNC mode The position value is sent after a synchronization message SYNC is received The position value is sent every n SYNCs n gt 1 State change mode The position value is transmitted whenever the position of the inclinometer in continuous operation changes The CANopen bus interface on these inclinometers permit speeds of up to 1Mbaud 30m cable for a maximum speed of 1Mbaud 5000 m cable for a maximum speed of 10 The ACS CANopen is a flexible measurement device This is proved by the fact that it has easily
41. kup ofthe controller application The comm The TwidoSuite and the PLC applications are different immediate connection impossible Hardware configurations are compatible PC gt PLC Transfer is possible PLC application is not protected PLC gt PC transfer is authorized Comparison of applications Project Controller Application Name My Twido My Twido Type of base TWDLMDA20DTK TWDLMDA20D K Choose a type of exchang Transfer Transfer gt controller controller gt PC Confirm your type of exchang Page 8 of8 Words 31 lt English Singapore o 7 idoSuite 2 20 p pu r fe ex 3 2 gt 15 10 2010 Once the controller goes into the online mode the PDOs cannot be changed But we can program the SDOs as need arises AMERICAS EUROPE ASIA FRABA Inc POSITAL GmbH FRABA Pte Ltd 1800 East State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton NJ 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 F 1 609 750 8703 T 49 221 96213 0 F 49 221 96213 20 T 65 6514 8880 F 65 6271 1792 www posital com info posital com www posital eu info posital eu www posital sg info posital sg 28 of 45 POSITAL FRABA ACCELENS ACS CANopen 5 4 Run Once debugged the controller goes into online mode We then can program the SDOs if needed and then run the controller
42. lave The inclinometer address non volatile is configured in the base with rotary switches Absolute Position Value Transmission speed formulated in number of bits per second Bus node Device that can send and or receive or amplify data by means of the bus 8 bit unit of data 1 byte CAN application layer Controller Area Network or CAN multiplexing network Application layer of an industrial network based on the CAN bus Counter clockwise CAN In Automation organization of manufacturers and users of devices that operate on the CAN bus Elementary communication object on the CAN network All data is transferred using a COB COB ldentifier Identifies an object a network The ID determines the transmission priority of this object The COB ID consists of a function code and a node number Clockwise Standardized file containing the description of the parameters and the communication methods of the associated device EUROPE ASIA POSITAL GmbH FRABA Pte Carlswerkstrasse 13c 60 Alexandra Terrace D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 65 6514 8880 F 65 6271 1792 www posital eu info posital eu www posital sq info posital sg 42 of 45 FC Function code L Line terminator LMT NMT NN PCV PDO PV RO ROMAP RW SDO WO AMERICAS FRABA Inc 1800 East State Street Suite 148 Hamilton NJ 08609 USA T 1 609 750 8705 1 609 750 8703 www
43. lization of the Inclinometer If a node is not operating correctly it is advisable to carry out a reinitialization NN Command Index Description Oh Reset Communication Oh 81h NN Heset Node NN node number After reinitialization the inclinometer accesses the bus in pre operational mode 2 2 Transmission Modes Polled Mode By a remote transmission request telegram the connected host calls for the current process value The inclinometer reads the current position value calculates eventually set parameters and sends back the obtained process value by the same identifier Cyclic Mode The inclinometer cyclically transmits without being called by the host the current process value The cycle time can be programmed in milliseconds for values between 1 ms and 65536 ms Sync Mode After receiving a sync telegram by the host the inclinometer answers with the current process value If more than one node number encoder shall answer after receiving a sync telegram the answer telegrams of the nodes will be received by the host in order of their node numbers The programming of an offset time is not necessary If a node should not answer after each sync telegram on the CAN network the parameter sync counter can be programmed to skip a certain number of sync telegrams before answering again AMERICAS EUROPE ASIA FRABA Inc POSITAL GmbH FRABA Pte Ltd 1800 East State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton NJ
44. meters this object provides the X axis value In ACS360 inclinometers this object provides the Z axis value Subindex Description Data Default Value Access TANI eem Object 6011h Inversion Scaling X Z Axis In ACSO080 inclinometers this object relates to the X axis counting direction i e inversion or complement and scaling In ACS360 inclinometers this object relates to the Z axis counting direction i e inversion or complement and scaling Restore after BootUp no Subindex Description Data Type Default Value Access Scaling not enabled 1 Scaling Enabled AMERICAS EUROPE ASIA FRABA Inc POSITAL GmbH FRABA Pte Ltd 1800 East State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton NJ 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 1 609 750 8703 T 49 221 96213 0 49 221 96213 20 T 65 6514 8880 F 65 6271 1792 www posital com info posital com www posital eu info posital eu www posital sq info posital sg 39 of 45 POSITAL FRABA ACCELENS ACS CANopen Object 6012h Preset X Z Axis In 5080 inclinometers this object sets the X axis to a desired value In ACS360 inclinometers this object sets the Z axis to a desired value Subindex Description Data Type Default Value Access Seen after Object 6013h Offset X Z Axis In ACSO80 inclinometers this object describes the X axis offset In ACS360 inclinometers this object
45. n value is set to the desired process value by the parameter pre set The Baud rate can be programmed via SDO default 20Kbaud The setting of the node number is achieved via SDO Object Possible valid addresses lie between 0 and 96 but each address can only be used once The CANopen inclinometer adds internal 1 to the adjusted device address For inclinometers programmed via SDO the default is 20Hex Node Number 32 Filters can be used to adjust the frequency of measurements and calculation of position values The operating parameter sets the counting direction i e inversion or complement and scaling of the measuring range Appendix A has a detailed list of all the objects that can be programmed with ACS CANopen The data type data size default value r w access definition and all sub indexes are mentioned in it It is necessary to read the appendix A for clear knowledge before programming AMERICAS FRABA Inc 1800 East State Street Suite 148 Hamilton NJ 08609 USA T 1 609 750 8705 1 609 750 8703 www posital com info posital com EUROPE POSITAL GmbH Carlswerkstrasse 13c D 51063 K ln GERMANY T 49 221 96213 0 49 221 96213 20 www posital eu info posital eu ASIA FRABA Pte Ltd 60 Alexandra Terrace 02 05 The Comtech SINGAPORE 118502 T 65 6514 8880 F 65 6271 1792 www posital sq info posital sg 12 of 45 POSITAL FRABA ACCELENS ACS CANopen 3 Installation 3 1 Accessories Re
46. nfo posital eu www posital sg info posital sg 20 of 45 POSITAL FRABA ACCELENS ACS CANopen mE PCAN View for USB Client Transmit Help pue Data 4F 01 30 oo 00 00 Baud Rate SOKBRESISec Received Message from Device So SDOs can be used to explicitly read or write data in ACS CANopen inclinometers All the relevant objects that can be configured are described in Section 3 In the above example 701h is the boot up message received Then once we transmit the SDO command as shown above we receive a reply The received message 581h consists of the domain downloaded In this case it is the baud rate as indicated in the above figure 5 Working with Schneider PLC 5 1 Introduction An ACS360 single axis inclinometer was connected to TWIDO programmable logic controller with a CANOpen communication interface The step by step connection procedure and the working of inclinometer in a CAN bus is illustrated in the following sections 5 2 Network Initialization 5 2 1 Hardware The initial step in setting up a ACS is integrating it into the existing hardware The following illustration shows an ACS integrated into a PLC with an CANopen communication interface It is very important to add termination resistors to the ACS inclinometers which are used at the start or end of the CANopen bus in order to prevent data corruption or missing of data at higher transmisiion bandwidths AMERICAS EUROPE ASIA FRA
47. nt Retained Format AMW 2 At approximately 90 Decimal ACS Position Value 32 0 01 0 32 Us Address symbol Current Retained Format 2 3138 Decimal ACS Position Value 9138 0 01 91 38 At approximately 180 Us Address 1 SOMA 2 18052 Symbol Current Retained Format Decimal ACS Position Value 18052 0 01 180 52 At approximately 270 Us Address 1 OMIA 2 Symbol Current 27256 Retained Format Decimal ACS Position Value 27256 0 01 272 56 All the above position values where obtained by programming the position value output explicitly The other method is very simple and direct Just run the controller and same position values are obtained The position is mapped with the memory location IWC1 0 0 or IWC1 1 0 through PDO mapping done in the earlier steps The steps for the mapping have been illustrated in above parts so that in real time application end users can directly follow the above steps to read out the position values from the mapped memory locations AMERICAS FRABA Inc 1800 East State Street Suite 148 Hamilton NJ 08609 USA T 1 609 750 8705 F 1 609 750 8703 www posital com info posital com EUROPE POSITAL GmbH Carlswerkstrasse 13c D 51063 K ln GERMANY T 49 221 96213 0 49 221 96213 20 www posital eu info posital eu 31 of 45 ASIA FRABA Pte
48. ollowing information describes useful technical terms and acronyms for CANopen network communication EDS File PDO SDO COB ID NMT EDS Electronic Data Sheet An EDS file describes the communication properties of a device on the CAN network baud rates transmission types features etc It is provided by the device manufacturer and is used in the configuration tool to configure a node like a driver in an operating system PDO Process Data Object CANopen frame containing I O data We distinguish between e Transmit PDOs TPDOs with data provided by a node amp Receive PDOs RPDOs with data to be consumed by a node The transmission direction is always seen from a node s point of view SDO Service Data Object CANopen frames containing parameters SDOs are typically used to read or write parameters while the application is running COB ID Communication Object Identifier Each CANopen frame starts with a COB ID working as the Identifier in the CAN frame During the configuration phase each node receives the COB ID s of the frame s for which it is the provider or consumer Network Management Protocol The NMT protocols are used to issue state machine change commands i e to start and stop the devices detect remote device boot ups and error conditions EUROPE ASIA POSITAL GmbH FRABA Pte Ltd 1800 East State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton NJ
49. posital com info posital com POSITAL FRABA ACCELENS ACS CANopen Frequently Asked Questions Determines the type of message sent via the CAN network Resistor terminating the main segments of the bus Network management object This is used to configure the parameters of each layer in the CAN Master Active device within the network that can send data without having received a request lt controls data exchange and communication management Network management object This is responsible for managing the execution configuration and errors in a CAN network Node number Process Value Communication object with a high priority for sending process data Preset Value Configuration value Read Only Parameter that is only accessible in read mode Read Only MAPable Parameter that can be polled by the PDO Read Write Parameter that can be accessed in read or write mode Communication object with a low priority for messaging configuration error handling diagnostics Slave Bus node that sends data at the request of the master The inclinometers are always slaves Write Only Parameter that is only accessible in write mode EUROPE ASIA POSITAL GmbH FRABA Pte Ltd Carlswerkstrasse 13c 60 Alexandra Terrace D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 49 221 96213 0 49 221 96213 20 T 65 6514 8880 F 65 6271 1792 www posital eu info posital eu www posital sq info posital sg 43 of 45
50. quired Article No Article Description ACS360 080 ACS series of Inclinometers DK CA EDS File Disc containing EDS file for configuration UMUS CA Installation and Configuration User Manual English 34050515 Female cable counterconnector M12x1 5pin A coded 10001978 Connecting cable 2m shielded TR B Terminal Resistor External terminal resistors for higher baud rate transmissions The documentation and the EDS file can be downloaded from our website http www posital sg 3 2 Pin Assignement The inclinometer is connected via a 5 pin round M12 connector Standard M12 Male side at sensor Female at connector counterpart Or connection cable Signal 5 pin round connector pin number Open Cable CAN Ground 1 Green 24 V supply voltage White OV supply voltage Brown CAN High Yellow CAN Low 5 Pink 3 3 Installation Precautions WARNING Do not remove or mount while the inclinometer is under power A r Do not stand on the inclinometer i 7 Avoid mechanical load AMERICAS EUROPE ASIA FRABA Inc POSITAL GmbH FRABA Pte Ltd 1800 East State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton NJ 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 1 609 750 8703 T 49 221 96213 0 49 221 96213 20 T 65 6514 8880 F 65 6271 1792 www posital com info posital com www posital eu info posital eu www posital sq info posital sg 13 of 45
51. s at the same time the device with the higher priority level lowest ID number has permission to send its message Devices with the lowest priority level must cancel their data transfer and wait before re trying to send their message Data communication is carried out via messages These messages consist of a unique COB ID followed by a maximum of 8 bytes of data The COB ID which determines the priority of the message consists of a function code and a node number The node number corresponds to the network address of the device It is unique on a bus in order to distinguish nodes and prevent any conflict of interests The function code varies according to the type of message being sent e Management messages LMT NMT e Messaging and service SDOs e Data exchange PDOs e Predefined messages Synchronization Emergency messages 1 3 ACS CANopen The ACS CANopen inclinometer corresponds to the class 2 inclinometer profile with DS 410 CANopen standards in which the characteristics of inclinometers with CANopen interface are defined The ACS is available in a completely molded and rugged plastic housing The ACS CAnopen series of inclinometers are available in two variants First a single axis measurement variant with a range of 0 360 either clockwise or anti clockwise and the other variant a dual axis measurement capable ACS model with a range of 80 In addition to high resolution accuracy and protection class of IP69K
52. sccceccccsccccsccccsccccscccccceses 8 ER PING MOD NE 9 2 2 TRANSMISSION MODES uae MIC LM PME NEU TED D UI DLL D UM 10 2 3 PROGRAMMABLE PARAMETERS cusa o Ou ve La Mene Dn C E 11 oN Nue e M 13 S IACCESSORIES REQUIRED S esses ena Aen mee nae UE ne eno 13 3 2 PIN ASSIGNEMENT T e c m 13 3 3 INSTALLATION PRECAUTIONS doscesssucusutu naut cata reca Vo wiaweuistelsatideuiibsw viens on ia vu em E ERR RE 13 3A re EHI CRI ELE HEISE 14 SRM iz mE ncm RUE 15 4 ACS SOFTWARE CONFIGURATION ccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccceccccccccccccceccccceces 16 4 1 IMPORTANT FACTORY SETTINGS ccccececcccccscccececeacecscececcacscececeacacececsceacecececeaeacececseeacacececsaeacececeaceseeeeeaeaces 16 4 2 ACTIVE PROGRAMMING OBJECTS 16 4 3 BOOT UP d eate snc Vac MEN DPA E RIA URUE 17 ZU PDO DRANSMISSION 18 DEN DU MUS 20 5
53. strations are the intermediate tasks during debugging AMERICAS EUROPE ASIA FRABA Inc POSITAL GmbH FRABA Pte Ltd 1800 East State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton NJ 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 1 609 750 8703 T 49 221 96213 0 49 221 96213 20 T 65 6514 8880 F 65 6271 1792 www posital com info posital com www posital eu info posital eu www posital sg info posital sg 27 of 45 POSITAL FRABA ACCELENS ACS CANopen CE oe Configure Program Debug Connec This connec to directly to transfer al controller Transferring binary dat The TwidoSuite and the PLC applications are different immediate connection impossible Hardware configurations are compatible PC gt PLC Transfer is possible PLC application is not protected PLC gt PC transfer is authorized Comparison of S Project Controller Application Name My Twido MyTwido Type of base TWDLMDA20DTK TWDLMDA20D K Choose a type of exchang Transfer Transfer gt controller controller gt Confirm your type of exchang OK Cancel 99 Converting all the programmed parameters to binary format DENEN Connect This connec to directly ce to transfer al controller Creating a bac
54. tal com www posital eu info posital eu www posital sq info posital sg 35 of 45 POSITAL FRABA ACCELENS ACS CANopen Storing Procedure To save the parameters to non volatile memory the access signature save has to be sent to the corressponding sub index of the device Most Significant Word Least significant word Object 1011h Restore Parameters This object is used to restore device and CANopen related parameters to factory settings Subindex Description Data Type Default Access Restore after Value BootUp 0 1 Restore all parameters Unsigned 32 load rw no Storing procedure To save the parameters to non volatile memory the access signature load has to be sent to the corresponding subindex of the device Most Significant Word Least significant word Note The restoration of parameters will only be taken into account after a power up or reset command Please check all parameters before you store them to the non volatile memory Object 1016h Consumer Heartbeat Time The consumer heartbeat time defines the expected heartbeat cycle time in ms The device can only monitor one corresponding device If the time is set to 0 the monitoring is not active The value of this object must be higher than the corresponding time object 1017 of the monitored device Subindex Description Data Type Default Value Access Number of Consumer heartbeat time Unsigned 32 yes The conte
55. ucceeds the hardware configuration i e installation as in real time ACS is a very flexible device and hence all the parameters can be programmed via CAN bus itself even when attached This enables remote configuration This chapter is primarily divided into two parts One describing the methodology for putting the ACS into operation and the other the PDO SDO programming of ACS 4 1 Important Factory Settings Description Object Value Device Type 1000h 0 x4019A Cyclic Timer 2200h Oms Resolution 6000h 0 01 Node Number 7 3000h Baud Rate 9 3001h 00h ACSO080 6110h 6120h 6010h 6020h Mapped PDOs ACS360 6010h Mapped PDOs Note The factory settings should be noted carefully upon installation Few of the parameters have to be re programmed in order to make the ACS inclinometers compatible with the controller or the already existing CAN bus to which it is going to be installed on 4 2 Active Programming Objects Active CANopen objects depending on the state of ACS The crosses in the table below indicate which CANopen objects are active in each state Initialization Pre Operational Operational Stopped NMT X X X AMERICAS EUROPE ASIA FRABA Inc POSITAL GmbH FRABA Pte Ltd 1800 East State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton NJ 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 1 609 750 8703 T 49 221 96213 0 49 221 96213 20 T 65 6514 8880 F 65 627
56. xt of subindex 1 is as follows Bit 31 to 24 23 to 16 15 to 0 Value Oh reserved Axe eee of Monitoring time ms monitored device AMERICAS EUROPE ASIA FRABA Inc POSITAL GmbH FRABA Pte Ltd 1800 East State Street Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace Hamilton NJ 08609 USA D 51063 K ln GERMANY 02 05 The Comtech SINGAPORE 118502 T 1 609 750 8705 1 609 750 8703 T 49 221 96213 0 49 221 96213 20 T 65 6514 8880 65 6271 1792 www posital com info posital com www posital eu info posital eu www posital sq info posital sg 36 of 45 POSITAL FRABA ACCELENS ACS CANopen Object 1017h Producer Heartbeat Time The object contains the time interval in milliseconds in which the device has to produce a heartbeat message Restore after Subindex Description Data Type Default Value Access BootUp 0 Unsigned 16 0 rw yes Object 2200h Cyclic Timer This object contains cyclic time of the event timer ms of PDO Subindex Description Data Type Default Value Access Object 2300h Save Parameter with Reset With this object all parameters can be stored in the non volatile memory After storing the parameters a reset is necessary Subindex Description Data Type Default Value Access SUA ue Object 2600h Preset X Z Axis In 5080 inclinometers this object sets the X axis to a desired value In ACS360 inclinometers this object sets the Z axis to a desired value

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