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user manual tiltix mems inclinometer with canopen

1. 45 Object 6012h Slope Long16 Preset PEIUS PR 46 Object 6013h Slope Long16 Offset 46 Object 6014h Differential Slope Long16 Offset sities wetter Rone ere 47 Object 6020h Slope Lateral16 47 Object 6021h Slope Lateral16 Operating Parameter 48 Object 6022h Slope Lateral16 Preset 11 34 Object 6023h Slope Lateral16 Offset 49 11 35 Object 6024h Differential Slope Lateral16 Offset 49 11 36 Object 6114h Differential Slope Long32 Offset TILTIX360 50 12 Appendix B Ordering Code 54 12 1 TILTIX Industrial 54 12 2 TILTIX Heavy Duty 54 13 Appendix C Output Graphs 55 13 1 TILTIX 360 CANopen Output Values 55 13 2 TILTIX 080 CANopen Output Values55 14 3lOSSaly teneis 57 15 Check Out Some of the Other POSITAL Products59 16 60 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 2 General Safety Advice 2 1 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 throughout this documentation or on the equipment to warn of pote
2. 5 740 Transmission Mod eite scr 19 MU au anasu 5 44 Inhibit Time 19 EE 5 742 Event Tigre eec e 19 Copyright 9 713 Cytlic Timer 19 User Annotation 5 744 Object 1A00h 1st Transmit PDO Document History 5 Mapping 20 Introduction ierit einer 6 7 15 Object 1A01h 2nd Transmit PDO TILTIX Error Bookmark not defined Mapping 20 CANopen Interface 6 7 16 Types of SDO 20 TILTIX 6 8 Working with Schneider PLC 22 Typical Applications of TILTIX 7 8 1 Types of 00 22 TILTIX Modes and 8 8 2 Types of SDO Deine 22 Pre Operational 9 8 4 Software Project Information 23 Operational Mode 9 8 5 Controller Description 23 Stopped 10 8 6 CANopen Master Configuration 23 Re Initialization of the Inclinometer 10 8 7 Connection Network Setup 24 Boot up 11 9 Configuration
3. 25 Usage of Layer Settings Service 85 1 Mapping uU 25 Installation 12 92 TIRE pe mie Accessories 12 9 3 CANopen bus network configuratio 25 Pin Assignement 12 9 4 Linking of CANOpen Master and TILTIX installation 12 Transmit PDOs 26 Mounting Instructions 13 aS an 26 BUS STUER sada assasi a 13 Debugging 26 S AXES Su ss ED E 28 re Default Factory Settings 18 98 Resetting CANOpen Communication 28 Active Programming Objects 15 9 9 Resetting CANOpen Nodes 28 Programmable Parameters 16 9 10 Position Readout 29 Command Description 16 SH Readout Using Animation Table 29 Data Length of Commands 16 10 Frequently Asked Question Frequently Used Commands 17 11 E Appendix A TILTIX CANopen Objects 36 PDO Transmission 18 11 Object 1000h Device Be 11 2 Object 1001h Error Register 36 AMERICAS EUROPE ASIA FRABA Inc FRABA AG FRABA Pte Ltd 20 Kallang Avenue Singapore 339411 SINGAPORE T 65 6514 8880 F 65 6271 1792 www posital com info posital sg 11 3 11 4 11 5 11
4. POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE If saving or restoring not all but only part of the parameters communication application or manufacturer parameters Cyclic Time object 2200 and Preset X Preset Y 80 version objects 2600 and 2601 or Preset 360 version object 2600 show a special behavior Cyclic Time is hardwired with the Event Timers of TxPDO1 and TxPDO2 If only the Event Timers communication parameters or Cyclic Time Manufacturer parameter is are saved the parameters would hold different values after a power off on cycle Therefore if the values do not match the value of the event timers is copied to the Cycle Time too Preset parameters work the same way with the application parameters objects 6xxx having the higher priority Slope long16 slope lateral16 slope long32 and slope lateral32 show the sensor output in the current resolution without any decimal point Terminal resistor is only activated if the device is powered This could lead under specific network conditions to problems ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 11 Appendix A TILTIX CANopen Objects ro Read Only wo Write Only amp rw Read or Write 11 1 Object 1000h Device Type The object at index 1000h describes the type of device and its functionality It is composed of a 16 bit field which desc
5. 9 Configuration 9 1 TILTIX Process Data Objects PDO Mapping A list of all available objects is pre programmed in the EDS file Select the TILTIX inclinometer on the bus and click on Configuration A list of all the mapped PDOs appears Then according to need the objects are mapped on to the Transmit PDO s of the TILTIX 9 2 TILTIX CANopen Node Configuration Click on the TILTIX 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 9 3 CANopen bus network configuratio Click on the bus connecting the TILTIX 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 TILTIX is configured with the appropriate baud All devices on the bus must have the same baud rate Mapping gt ACS Inclinomtr pon Available Objects gt 6010 Slope 360 Mapped Objects m 3 2 Name Configuration Element Name ACS Inclinomtr Protocol Type CANopen Address 1 Supervision None K Init Default CANopen network Name CANOpen Bus Parameters Baudrate Supervision Page 25 ACS CANopen User Manual Version 20111031 USER MANUAL TILTIX MEMS
6. USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE AMERICAS FRABA Inc 1800 East State Street Suite 148 Hamilton NJ 08609 2020 USA T 1 609 750 8705 F 1 609 750 8703 www posital com info posital com EUROPE FRABA AG Carlswerkstrasse 13c 51063 Cologne GERMANY T 49 221 96213 0 F 49 221 96213 20 www posital com info posital eu ASIA FRABA Pte Ltd 20 Kallang Avenue Singapore 339411 SINGAPORE T 65 6514 8880 F 65 6271 1792 www posital com info posital sg POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 1 Inhaltsverzeichnis 1 2 2 1 3 3 1 3 2 3 3 3 4 3 5 3 6 4 4 1 4 2 4 3 4 4 5 5 1 5 2 5 3 5 4 5 5 5 6 6 6 1 6 2 6 3 6 4 6 5 6 6 7 7 1 7 2 7 3 7 4 7 5 7 6 7 7 1800 East State Street Suite 148 Hamilton NJ 08609 2020 USA T 1 609 750 8705 F 1 609 750 8703 www posital com info posital com Carlswerkstrasse 13c 51063 Cologne GERMANY T 49 221 96213 0 F 49 221 96213 20 www posital com info posital eu Inhaltsverzeichnis a 2 7 8 Object 1800h 1st Transmit PDO General Safety Advice 4 Communication Parameter 18 Important Information 4 79 Object 1801h 2nd Transmit PDO About this Manual 5 Communication Parameter 18 Background
7. TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE F FC Function Code H Heartbeat Heartbeat Consumer L Line terminator LMT NMT NN PCV PDO PV RO ROMAP RW SDO WO Page 58 Determines the type of message sent via the CAN network CANopen and DeviceNet use the heartbeat message to indicate that a node is still alive This message is transmitted periodically The heartbeat consumer time defines time interval required by the monitoring node Time to verify whether a monitored node is alive or not In case the monitored node transmits no heartbeat message within that time interval it is regarded as not alive 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 It 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 config
8. _ ro Angular Range of Position Values Resolution TILTIX0O80 TILTIX360 1 80 1 0 1 800 0 1 0 01 8000 0 01 Calculation of position slope value from CANopen readout Inclination Degree Slope Long 16 Object 6010 x Resolution Object 6000 If attribute resolution is changed side effects will occur as the sensor is adapting the already set parameters to the configured resolution Rounding effects have to be taken into account Attributes affected write read preset slope long 6 preset slope lateral16 differential slope long16 offset differential slope lateral16 offset preset slope long32 preset slope lateral32 differential slope long32 offset differential slope lateral32 offset read only slope long16 slope lateral16 slope long16 offset slope lateral16 offset slope long32 slope lateral32 slope lateral32 offset slope lateral32 offset 11 27 Object 6011h Slope Long16 Operating Parameter This object controls the scaling and inversion of the slope long16 values If bit O is set inversion of slope long16 is enabled If bit 1 is set slope long16 offset and differential slope long16 offset are added to the slope long16 Both bits can be set at the same time Subindex Description Data Type Default Value Access 00 0 Position Scaling Unsigned 8 rw and Inversion Calculation of position value based on the operating parameter Slope Long16 Physical inclination of slope lon
9. mode by writing 255 FF Hex to sub index 2 Make sure that the inhibit timer is also set as required Once in operational mode the TILTIX outputs the position only if there is a change in its value How to calculate the inhibit time The inhibit time sets the minimum time between two process values The value is defined as multiples of 100us For example assume we set the inhibit timer Object 1800h 1801h sub index 3 to 1000d O3E8hex The inhibit time is set to 100ms 1000 x 100yslt is not allowed to change the inhibit time while the PDO exists Page 33 ACS CANopen User Manual Unable to set preset While setting preset there are a few considerations like resolution and range that have to be taken into consideration The resolution of the TILTIX set by the user defines the range of the values that can be set Hence while setting the preset the user has to be careful to be within range What is a moving average filter The moving average filter is a kind of simple low pass filter In TILTIX the moving average is used to dampen the effects due to external influences like vibrations 0 means that the filter is deactivated The user can define the array size in the range of 1 250 decimal Once the array size is defined the TILTIX takes an average of the position data array for the final position output Why use digital recursive filter The digital recursive filter is an impulse response filter In TILTIX the digital
10. 6 11 7 11 8 11 9 11 11 11 11 11 11 11 11 10 11 12 13 15 16 17 19 11 20 11 21 11 22 11 23 11 24 11 25 11 26 11 27 11 28 11 29 11 30 11 31 11 32 11 33 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE Object 1003h Pre Defined Error Field36 Object 1005h COB ID Sync 37 Object 1008h Mfr Device Name 37 Object 1009h Mfr Hardware Version 37 Object 100Ah Mfr Software Version 37 Object 100Ch Guard Time 37 Object 100Dh Life Time Factor 38 Object 1010h Store Parameters 38 Object 1011h Restore Parameters 39 Object 1014h COB ID Emergency 39 Object 1016h Consumer Heartbeat TITIO ie ubere tet re 40 Object 1017h Producer Heartbeat Time 40 Object 1018 Identity Object 40 Object 2200h Cyclic Timer 41 Object 2300h Save Parameter with BEI PN 41 Object 2600h Preset X Axis 80 Version Preset 360 Version 41 Object 2601h Preset Y Axis 80 Version 42 Object 3000h Node Number 42 Object 3001h Baud rate 43 Object 3002h Termination Resistor 43 Object 3022h Digital Recursive Filter 44 Object 3100h Moving Average Filter 44 Object 6000h Resolution 44 Object 6010h Slope Long16 45 Object 6011h Slope Long16 Operating Parameter
11. Angle Position With Factory Settings X 0 Y i __ H Y X Axis Inclination Y Axis Inclination TILTIX360 Single Axis Inclinometer 2 0 Initial Starting Point Factory Settings Page 14 ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 7 TILTIX Software Configuration This chapter succeeds the hardware configuration as in real time TILTIX is a very flexible device and hence all the parameters are programmable via CAN bus This enables remote configuration 7 1 Default Factory Settings This chapter is divided into two major parts one describing the methodology for putting the TILTIX into operation and the other for PDO SDO programming of TILTIX Description Object Value Device Type 1000h 0x4019A 2 Axis 0x3019A 0 x 3019A 1 Axis Cyclic Timer 2200h 00h 0 ms Resolution 6000h OAh 0 01 Node Number 3000h 00h Node number 1 Baud Rate 3001h 03h 125 kB Note The factory settings can be restored at any time Few of the parameters have to be re to make the TILTIX programmed order 7 2 Active Programming Objects Active CANopenobjects depending on the state of TILTIX The crosses in the table below inclinometers compatible with the controller or the already existing CAN bus to which it is going to be installed on which CANopen objects are active in e
12. How to configure PDO Transmission The position value can be transmitted in various modes using PDO objects The modes can be configured according to the user s requirement Sync Mode This mode allows the user to receive the position value only if requested Change the transmission type of the corresponding TPDO communication object 1800h 1801h to sync mode by writing 1HEX to sub index 2 Once back in operational mode the user Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE needs to transmit a sync message when a position value is required The TILTIX replies with current position value through the TPDO COB ID Default 0x181 for TPDO 1 amp 0x281 for TPDO 2 Cyclic Mode This mode allows the user to receive the position values at a constant interval Change the transmission type of the corresponding TPDO communication object 1800h 1801h to cyclic mode by writing 254 FE Hex to sub index 2 Make sure that the cyclic timer is set to the value of the required interval Once in operational mode the TILTIX shall start transmitting the position output at a constant interval with the TPDO COB ID Default 0x181 for TPDO 1 amp 0x281 for TPDO 2 State Change Mode This mode enables the user to receive position data only when there is a change in its value Change the transmission type of the corresponding TPDO communication object 1800h 1801h to state change
13. SDOs then can be configured if needed before running the controller 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 9 8 0 1 0 1 0 Resetting CANOpen Communication p O Resetting CANOpen Nodes w 1 1 1 0 2 1 Oop O N O Page 28 ACS CANopen User Manual Application name Twido State Reference Firmware version Current Time Failure VO Forced Current PLc scanning period 3 Address used Port used COMS L Ac NA LD i MWO 16 0001 MWi 16 0000 LD 5W81 X3 CAN 1 MWO 2 LDN 5W81 X4 LD T MWO 16 0001 1 16 0001 LD SW81 X3 CAN CMD1 MWO 2 LDN 5W81 X4 LD il MWO 16 0002 1 16 0001 LD 5 81 3 01 MWO 2 LDN 5 81 4 Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 9 10 Position Readout LD MWO 2 MW1 3 MW2 4 0 MW3 5 18416 MW4 6 0 MW5 9 11 Readout Using Animation Table Repost xoc P Seg Manaqe the animation tables Create a new table LIN Us Address Symbo
14. Time 2200 Read write UNSIGNED16 Store Parameters 2300 Write only UNSIGNED32 Preset X Axis 80 version Preset 2600 Read write 360 Version eee Preset Y Axis only 80 version 2601 Read write INTEGER16 Node Number 3000 Read write UNSIGNED8 Baud rate 3001 Read write UNSIGNED8 Termination Resistor 3002 Read write UNSIGNED8 Digital Recursive Filter 3022 Read write UNSIGNED16 Moving Average Filter 3100 Read write UNSIGNED16 Resolution 6000 Read write UNSIGNED16 Slope long16 6010 Read only INTEGER16 Slope long16 operating parameter 6011 Read write UNSIGNED8 Slope long16 preset value 6012 Read write INTERGER16 Slope long16 offset 6013 Read only INTEGER16 Differential slope long16 offset 6014 Read write INTEGER16 Slope lateral16 only 80 version 6020 Read only INTEGER16 Slope lateral16 operating parameter 6021 Read write d n Slope lateral16 preset value only 80 6022 Read write T INTEGER16 Slope lateral16 offset only 80 version 6023 Read only INTEGER16 Page 52 ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE Differential slope lateral16 offset only 6024 Read write INTEGER16 80 version All 32 bit objects 61Xx If saving or restoring not all but only part of the parameters communication application or manufacturer parameters Cyclic Time object 2200 and Preset X Preset Y 80 version objects 2600 and
15. User Manual PCAN View for USB Client Transmit Help Reeth E Message Length Data Period Count 581h 8 01 00 MM 00 00 1 o 701h 1 00 1 8 Baud Rate S kBits sec Received Message from the Device So SDOs can be used to explicitly read or write data in TILTIX CANopen inclinometers All the relevant objects that can be configured are described in Appendix A 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 01h 50 kB as indicated in the above figure Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 8 Working with Schneider PLC 8 1 Types of SDO An TILTIX360 single axis inclinometer was con that the programming in other control systems nected to a TWIDO programmable logic controller vary individually Please have this section as with a CANopen communication interface The a reference for TILTIX working with programmable step by step connection procedure and the logic controllers working of the inclinometer in a CAN bus is illustrated in the following sections Please note 8 2 Types of SDO An TILTIX360 single axis inclinometer was con that the programming in other control systems nected to a TWIDO programmable logic controller vary individually Pl
16. recursive filter is used to smoothen the position output in case of highly varying position data This is achieved using the proper weighting 0 999d If weighting is set as 0 the filter is disabled The value specifies the weighting factor for the slope values obtained earlier divided by 1000 Therefore mathematically the weighting factor ranges from O to 1 How is the position value filtered in TILTIX Weighbng Ring array size factor 0 1000 0 250 E Moving average Ser Filtered i i Sensor Values New Sensor Values Old sensor values The above flow diagram explains the filter in TILTIX Basically average filter is very effective in slow moving processing the moving applications and the digital recursive filters are very effective in agile applications A proper balance of Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE both the filters enables a smooth position output without any oscillations due to vibrations and similar disturbances If the weighting factor is set very high and the moving average is also set to the maximum the position output experiences a very slow step response What are the considerations while setting the resolution of TILTIX The resolution can be set with the object 6000h If attribute resolution is changed side effects will occur while the sensor is adapting the set parameters to the configured resoluti
17. 1 80 1 0 1 800 0 1 0 01 8000 0 01 After setting the Preset value a save command has to be given in order to set the Preset value permanently 11 20 Object 3000h Node Number This object contains the node number of the decimal The valid node numbers range from 01 to device The POSITAL standard node number is 01 127 Subindex Description Data Type Default Value Access 0 Node Number Unsigned 8 0 Rw NOTE To avoid the node number zero 0 one 1 finally be set as the node number The new node will be added to the value of this object E g To number is only adopted after the device is set node number 32 decimal Write 1F hex to the reset i e the node number needs to be saved object and save 1Fh 1h 20h 32 dec will prior to the reset to have an effect Page 42 ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 11 21 Object 3001h Baud rate This object contains the baud rate of the device Valid value ranges from 0 to 7 Subindex Description Data Type Default Value Access 0 Baud rate Unsigned 8 _ rw Eight different baud rates are provided To adjust the baud rate only one byte is used The default baud rate is 125 kB 03h Baud rate in kB Stored Value in Object 20 00h 50 01h 100 02h 125 03h 250 04h 500 05h 800 06h 1000 07h The new baud rate is only
18. 2601 or Preset 360 version object 2600 show a special behave ior Cyclic Time is hardwired with the Event Timers of TxPDO1 and TxPDO2 If only the Event Timers communication parameters or Cyclic Time Manufacturer parameter is are saved the parameters would hold different values after a power off on cycle Therefore if the values do not match the value of the event timers is copied to the Cycle Time too Preset parameters work the same way with the application parameters objects 6xxx having the higher priority Page 53 ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 12 Appendix B Ordering Code 12 1 TILTIX Industrial Description Type key Range 360 1 axis 80 2 axis Number of axis One for 360 Version Two for 80 Version Interface CANopen Version Software Version Mounting Vertical for 360 Version Housing Material Inclinometer Series Connection Horizontal for 80 Version Industrial PBT ACS II Connector 12 2 TILTIX Heavy Duty Description Range Number of axis Interface Version Mounting Housing Material Inclinometer Series Connection Page 54 Type key 360 1 axis 80 2 axis One for 360 Version Two for 80 Version CANopen Software Version Vertical for 360 Version Horizontal for 80 Version Heavy Duty Aluminium ACS II Connector ACS CANopen User Manual
19. 360 080 i 2 CA 01 V H E 2 PM 360 080 i 2 CA 01 V H H 2 PM Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 13 Appendix C Output Graphs 13 1 TILTIX 360 CANopen Output Values ACS 360 Output Values Factory setting Resolution 0 01 3 o o G gt Rotation angle 185 n iei 13 2 080 CANopen Output Values ACS080 X Axis Output Values Factory Setting Resolution 0 01 19900 16090 Rotational Angle X axis Page 55 ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE ACS080 Y Axis Output Values Factory Setting Resolution 0 01 10000 Rotational Angle Y axis E Page 56 ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 14 Glossary For more detailed information refer to CiA s CAN Dictionary A Address APV B Bandwidth transmitted Baud rate Bit Rate Bus Byte C CAL CAN CANopen CCW CiA CiA 410 COB COB ID CW E Event Timer Page 57 Number assigned to each node irrespective of whether it is a master or slave The inclinometer address non volatile is configured in the base with rotary switches Absolute Position Val
20. 832 X 0 01 38 32 Why are there different types of storing and re storing Object 2300h can be used to save all the parameters in the non volatile memory at once But when we use object 1010h for storing and object 1011h for re storing there are a lot of options available _ Communication Application Manufacturer or all parameters It enables the user to store specific types of objects without disturbing the other configurations Hence this gives the user Page 32 ACS CANopen User Manual ease and flexibility for storing only particular objects How to send sync message A sync message can be sent using COB ID Sync object 1005h The default COB Id value is 0 x 80 Upon receiving a message with the COB ID and sync object the TILTIX TPDO replies with the current position value A general sync telegram will have the following parameters COB ID 080 Default Data Bits 8 Read Write Read 40 Object 1005 Sub Index 0 Data Bits None How to set the cyclic timer The cyclic timer can be set with the object 2200h Write the required cycle time in ms 0 65536 to the object and save the parameters The cyclic timer is hardwired to the TPDO event timers to avoid conflicts The TPDO timers are given higher priority Hence upon boot up if the cyclic timer and event timers have different values the TILTIX immediately writes the value of the event timers to the cyclic timer to make it uniform
21. AL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 11 4 Object 1005h COB ID Sync This object indicates the configured COB ID of the same COB ID is received Correct setting of synchronization object In operational mode transmission type of TxPDO s implied sensor sends process data if SYNC message with Subindex Description Data Type Default Value Access 0 Unsigned 32 0x80 w 11 5 Object 1008h Mfr Device Name This object contains the device name Subindex Description Data Type Default Value Access 0 _ String _ ro 11 6 Object 1009h Mfr Hardware Version This object contains the hardware version of the circuit board Subindex Description Data Type Default Value Access 0 _ String _ ro 11 7 Object 100Ah Mfr Software Version This object contains the manufacturer software version The CA01 line has a major revision of 2 02 xx Subindex Description Data Type Default Value Access 0 String ro 11 8 Object 100Ch Guard Time This object contains the guard time in milliseconds Subindex Description Data Type Default Value Access 0 Unsigned 16 37 ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 11 9 Object 100Dh Life Time Factor This object contains the life time factor parameters The life time factor multiplied with the guard ti
22. Depending on your region you can reach us by 3 6 Document History interface with illustrations from a Schneider TWIDO 3 3 Imprint FRABA NV Jan Campertstraat 5 NL 6416 SG Heerlen T 49 221 96213 0 info fraba com www fraba com to copy this documentation without written approval by FRABA N V Nor is any liability assumed for damages resulting from the use of the information contained herein Further this publication and features described herein are subject to change without notice e mail at the following e mail addresses For America info posital com for Asia info fraba sq for Europe info posital eu Document Manual TILTIX CANopen General pdf Created 2011 10 31 Author ANA Reviewers MMO DPR Versions First Release 20111031 Page 5 ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 4 Introduction This manual explains how to install and configure the TILTIX gravity referenced inclinometers with a CANopen interface suitable for industrial military 4 1 TILTIX Inclinomter ACCELENS inclinometers sense and measure the angle of tilt inclination slope elevation of an object with respect to the force of gravity The basic principle behind this TILTIX inclinometer is a Micro Electro Mechanical Systems MEMS sensor cell that is embedded to a fully molded ASIC The angle is measured with the relative c
23. E Object Name eae No ID Access Data Type Device type 1000 Read only UNSIGNED32 Error Register 1001 Read only UNSIGNED8 Predefined Error Field 1003 _ ARRAY Sub 0 Number of errors 1003 0 Read write UNSIGNED8 Sub 1 New error 1003 1 Read only UNSIGNED32 COB ID SYNC 1005 Read write UNSIGNED32 Device Name 1008 Read only VISIBLE_STRING Hardware Version 1009 Read only VISIBLE_STRING Software Version 100a Read only VISIBLE_STRING Guard Time 100c Read write UNSIGNED16 Life Time Factor 100d Read write UNSIGNED8 Store Parameters 1010 _ ARRAY Highest sub index supported 1010 0 Read only UNSIGNED8 Save all parameters 1010 1 Read write UNSIGNED32 Save communication parameters 1010 2 Read write UNSIGNED32 Save Application parameters 1010 3 Read write UNSIGNED32 Save Manufacturer parameters 1010 4 Read write UNSIGNED32 Restore Default Parameters 1011 _ ARRAY Highest sub index supported 1011 0 Read only UNSIGNED8 Restore all parameters 1011 1 Read write UNSIGNED32 Restore communication parameters 1011 2 Read write UNSIGNED32 Restore application parameters 1011 3 Read write UNSIGNED32 Restore manufacturer parameters 1011 4 Read write UNSIGNED32 COB ID Emergency 1014 Read only UNSIGNED32 Consumer Heartbeat Time 1016 _ ARRAY Sub 0 No of Entries 1016 0 Read only UNSIGNED8 Sub 1 Consumer Heartbeat Time 1016 1 Read write UNSIGNED32 Producer Heart
24. INCLINOMETER WITH CANOPEN INTERFACE 9 4 Linking of CANOpen Master and TILTIX T Transmit PDOs Type Transmit SI aaa E Slave PDO COB ID g 181 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 of the slave are transmitted and saved on to the controller s memory spo Memory space 9 5 TILTIX amp Controller Memory Configuration The current and updated position values from the will always contain the slope values obtained from TILTIX encoder are mapped on to an EEPROM the object 6010h of the TILTIX when the controller memory location in the controller This memory is online location in this case IWC1 0 0 and IWC1 1 0 Description of the module Reference number TWDNCO1M Address 1 gt Description CANopen bus master module Module configuration Slave Type Supervision Init sed Address Symbol Object Size ACS Inclinomtr FRABA V1 1 None Default 3 IWC1 0 0 SLOPE Slope 360 16 IWC1 1 0 SLOPE_DUPLICATE Slope 360 16 9 6 Debugging The debugging stage is done on completing the configuration of the PDO s It involves the following steps Connection for debugging This connection mode allows you Select a Connection to dire
25. Loading procedure To load the parameters from non volatile memory the access signature load has to be sent to the corresponding subindex of the device Most Significant Word Least significant word ASCII d a ASCII d Hex value 64h 61h Hex value 64h Subindex Description Data Type Default Value Access 0 _ Unsigned 16 0x80 Node ID rw Note A power off on sequence is required for the restoration to take place after the message has been transmitted 11 12 Object 1014h COB ID Emergency This object indicates the configured COB ID for the emergency write service This has the highest priority among transmitted messages Subindex Description Data Type Default Value Access 0 _ Unsigned 32 0x81 rw Page 39 ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 11 13 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 0 Number of indices Unsigned 8 1 ro 1 Consumer Unsigned 32 0 rw heartbeat time The context of subindex 1 is as follows Bit 31 1024 2310 16 15100 Value O
26. N 28 decimal we need to feed 27 decimal 2741 228 So the NN 1B hex has to be fed in order to set the selected device to node number 28 Send a write telegram to the particular node with 1B as data on the object 3000h Use 2300h to save the parameters with the reset A boot up message with the new node number pops us Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE What is the significance of boot up message Rx r l 1 uu The boot up message signifies that the node is active and can communicate The node number can be identified from the boot up message NN 701h 700h 1h 1 What is the difference between operational and pre operational mode The main difference between the modes is that in pre operational mode only service data objects SDOs can be operational mode all device functionalities SDOs programmed whereas in PDOs can be programmed Modification of parameters in the operational mode may sometimes have unexpected consequences and should therefore be avoided How to read position value Send a message to the TILTIX to read out the position data object 6010h 6020h The current position is calculated and is given out as a reply to the above message For example the position data is given out as OEF8 hex this is 3832 in decimal If the resolution is OAhex 0 019 then the position value is position output in decimal X Resolution 3
27. NTERFACE 7 6 Frequently Used Commands The following list shows the most frequently used in Appendix A Section 6 offers important objects while programming the TILTIX programming tips and FAQ which are necessary inclinometer The whole list of objects is provided for the proper use of the inclinometer Position Value The objects 6010h and 6020h are used to get the scaled Objects 6010h 6020h inclination positions integer 16 variables of TILTIX080 in the range of 80 and the object 6010h is used to get the scaled inclination position of TILTIX360 in the range of 0 359 99 Store Parameters Object 1010h is used to store either all parameters or only parts of Objects 1010h 2300h the object dictionary if necessary Whereas object 2300h stores and saves all current parameters with an additional NMT reset of the TILTIX Resolution in Degree This parameter is used to program the desired resolution based Object 6000h on 0 001 The resolution can be set to 1 10004 0 1 100d or 0 01 10d Default 10d 0 01 Preset Value The Preset Value is the desired position value for example 0 Objects 6012h 6022h which should be reached at a certain physical position of the measurement axis The position value is set to the desired process value by the parameter Preset TILTIX080 uses Object 6012h for X Axis and Object 6013h for Y Axis TIL TIX360 uses Object 6012h for the Z Axis Baud Rate Object 3001h T
28. ach state indicate Initialization Pre Operational Operational Stopped PDO Object x SDO Object x X Boot Up x x NMT x x x Page 15 ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 73 Programmable Parameters Objects are based on the CiA DS410 CANopen profile for inclinometer www can cia org The following table gives a list of the command identifiers sent and received by the inclinometer These are the standard commands used for 7 4 Command Description communication and transmission between a master and slave in a CAN bus It is quite useful for the analysis of communication logs between the master and slave and for better understanding of the system under observation Command Function Telegram Description 22h Domain Download Request Parameter to TILTIX 60h Domain Download Confirmation Parameter Received 40h Domain Upload Request Parameter Request 43h 4Bh 4Fh 1 Domain Upload Reply Parameter to Master 80h Warning Reply Transmission Error 1 The value of the command byte depends on the data length of the called parameter 7 5 Data Length of Commands Command Data length Data Length 43h 4 Byte Unsigned 32 4Bh 2 Byte Unsigned 16 4Fh 1 Byte Unsigned 8 Page 16 ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN I
29. adopted after the device is reset i e the baud rate needs to be saved prior to the reset to have an effect 11 22 Object 3002h Termination Resistor This object is used to activate the termination resistor in case the TILTIX is used at the edges of the transmission line to avoid reflection of data back into the line and or high transmission rates gt 50kB Subindex Description Data Type Default Value Access 0 Activate Unsigned8 0 rw Termination Resistor For Activation Write decimal to the sub index 0 of the object For De activation Write 0 decimal to the sub index 0 of the object 1 Note If activated the termination resistor is only enabled while the device is powered Page 43 ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 11 23 Object 3022h Digital Recursive Filter This particular object controls the weighting factor of the recursive filter If set to 0 the filter is deactivated Valid values range from 0 to 999 The value specifies the weighting factor for the slope values obtained earlier divided by 1000 Therefore mathematically the weighting factor ranges from 0 to 1 Subindex Description Data Type Default Value Access 0 Digital Recursive Unsigned16 0 rw Filter For calculation of the position values with the recursive filter activated New_Sensor_Value Weighting_Factor x Old_Sensor_Value 1 Weight
30. ational mode may have unexpected Start Remote Node indication If the CANopen network is started using the Node Start NMT services in Operational state all device functionalities can be used Communication can use PDOs or SDOs consequences and should therefore only be made in Pre Operational mode To put one or all nodes in Operational mode the master has to send the following message Identifier Byte 0 Byte 1 Description Oh Oth 00h NMT Start all nodes Oh Oth NN in hex NMT Start NN NN Node Number Page 9 ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 5 3 Stopped Mode The device goes into the Stopped mode on receiving the Node Stop indication NMT service if it was in Pre Operational or Operational mode In this mode the device cannot be write device related data SDO Only the slave monitoring function Node Guarding remains active To put one or all nodes in the Stopped mode the master has to send the following configured No service is available to read and message Identifier Byte 0 Byte 1 Description Oh 02h 00h NMT Stop all nodes Oh 02h NN in hex NMT Stop NN NN Node Number 5 4 Re Initialization of the Inclinometer If a node is not operating correctly it is advisable the inclinometer accesses the bus in pre to carry out a re initialization After re initializa
31. attribute offset to slope lateral16 but only if scaling of slope according to the resolution already set laterali6 is enabled Please note that the values Subindex Description Data Type Default Value Access 0 Offset Value Integer 16 _ rw The main difference between the objects 6023h and 6024h is that 6023 is calculated automatically depending on the preset value whereas object 6024h is user defined 32 Bit Objects 61XX Object 6110 6114 Hardwired with 16 bit slope long16 objects Objects 6120 6124 Hardwired with 16 bit slope lateral16 objects Page 49 ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 11 36 Object 6114h Differential Slope Long32 Offset ACS360 This parameter adds an additional independent offset to the slope long32 but only if scaling of slope long32 is enabled The values will be set only according to the current resolution so extreme care should be taken in order to be within the range of the position value limits Subindex Description Data Type Default Value Access 0 Offset Value Integer 32 _ rw Resolution Differental Offset Range in decimal Type ACS0360 1 179 to 180 0 1 1799 to 1800 0 01 17999 to 18000 Page 50 ACS CANopen User Manual Version 20111031 Overview of Objects POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFAC
32. beat Time 1017 Read write UNSIGNED16 Identity Object 1018 _ RECORD Number of Entries 1018 0 Read only UNSIGNED8 Vendor ID 1018 1 Read only UNSIGNED32 Product Code 1018 2 Read only UNSIGNED32 Revision Number 1018 3 Read only UNSIGNED32 Serial Number 1018 4 Read only UNSIGNED32 TxPDO1 Comm Parameter 1800 _ RECORD Sub 0 No of Entries 1800 0 Read only UNSIGNED8 Page 51 ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE Sub 1 COB ID 1800 1 Read write UNSIGNED32 Sub 2 Transmission Type 1800 2 Read write UNSIGNED8 Sub 3 Inhibit Time 1800 3 Read write UNSIGNED16 Sub 5 Event Timer 1800 5 Read write UNSIGNED16 TxPDO2 Comm Parameter 1801 _ RECORD Sub 0 No of Entries 1801 0 Read only UNSIGNED8 Sub 1 COB ID 1801 1 Read write UNSIGNED32 Sub 2 Transmission Type 1801 2 Read write UNSIGNED8 Sub 3 Inhibit Time 1801 3 Read write UNSIGNED16 Sub 5 Event Timer 1801 5 Read write UNSIGNED16 TxPDO1 Mapping 1a00 _ RECORD Sub 0 Number of entries 1 00 0 Read only UNSIGNED8 Sub 1 1 mapped object 1a00 1 Read write UNSIGNED32 Sub 2 2 mapped object 1a00 2 Read write UNSIGNED32 TxPDO2 Mapping 1a01 _ RECORD Sub 0 Number of entries 1 01 0 Read only UNSIGNED8 Sub 1 1 mapped object 1 01 1 Read write UNSIGNED32 Sub 2 2 mapped object 1a01 2 Read write UNSIGNED32 Cyclic
33. bject 1800h 1st Transmit PDO Communication Parameter This object contains the communication parameter of the 1st transmit PDO Subindex1 Description Data Type Default Value Access ane 00h Number of sub Unsigned 8 5 ro yes indices Oth COB ID Unsigned 32 180h rw yes Node ID 02h Transmission Unsigned 8 1 rw yes Mode 03h Inhibit Time Unsigned 32 0 rw yes 04h Not Available 05h Event Timer Unsigned 32 0 rw yes 1 Subindex Second degree identifier used in combination with the object Follows the object number 7 9 Object 1801h 2nd Transmit PDO Communication Parameter This object contains the communication parameter of the 2nd transmit PDO Subindex1 Description Data Type Default Value Access after BootUp 00h Number of sub Unsigned 8 5 ro indices dii 01h COB ID Unsigned 3 280h rw 2 Node ID yes 02h Transmission Unsigned 8 254 rw Mode id 03h Inhibit Time Unsigned 32 0 rw yes 04h Not Available 05h Event Timer Unsigned 32 0 rw yes 1 Subindex Second degree identifier used in combination with the object Follows the object number Page 18 ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 7 10 Transmission Mode The transmission mode Sub index 2 for Objects 1800 and 1801 can be configured as described below Transfer Transmission Mode Note Va
34. ctly connectto a controller or to transfer an application between the PC and a Type Name Connection mode IP Ruinen irme controller CECH Serial HI COMS Punit The communication has been established Test the connection 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 exchange 46 722 Transfer Transfer PC gt controller controller gt PC Confirm your type of exchange lt cancel Page 26 ACS CANopen User Manual Version 20111031 POSI TAL FRA BA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE The serial communication port is selected and PC 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 illustrations are the intermediate tasks during debugging This connect to directly to transfer a controller Transferring binary dat The TwidoSuite and the PLC applications are different immediate connection impossible Hardware configurations ar
35. d its message first Devices with the lowest priority level must cancel their data transfer and wait before re trying to send their message capable TILTIX model with a range of 80 In addition to high resolution accuracy and protection class of IP69K it has built in active linearization and temperature compensation This makes TILTIX suitable for rugged environments and Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE versatile applications in industrial heavy duty and military applications The inclinometer supports the following operating modes Polled mode The position value is transmitted only on request Cyclic mode The position value is sent cyclically regular adjustable intervals on the bus SYNC mode The position value is sent after a synchronization message SYNC 4 4 Typical Applications of TILTIX Cranes and Construction Machinery Medical Systems Elevated Platforms Mobile Lifts and Fire Engines Page 7 ACS CANopen User Manual 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 inclinometerchanges minimum time interval settable 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 electronic data sheet configu
36. e compatible PC gt PLC Transferis possible PLC application is not protected PLC gt PC transfer is authorized Comparison of applications Choose a type of exchange Project Controller Application Name My Twido s MyTwido Type of base TWDLMDA20DTK TWDLMDA20D K Confirm your type of exchange OK Cancel This connedi to directly ci to transfer controller Creating a backup of the controller application Comparison of applications 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 10 45 AM 8 10 2010 Choose a type of exchange Project Controller Application Name My Twido My Twido Type ot base TWDLMDA2ODTK TWDLMDAZDK Confirm your type of exchange fer Tran gt controller contr OK Cancel Singapore mr ES Page80f8 Words 31 English oM amp Page 27 ACS CANopen User Manual Version 20111031 POS ITAL FR ABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE Once the controller goes into the online mode the PDOs cannot be changed However SDOs still can be configured if necessary 9 7 Run Once debugged the controller goes into online mode
37. e is copied to the Cyclic Time if they do not match Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 7 14 Object 1A00h 1st Transmit PDO Mapping Parameter This object contains the mapping parameter of the 1st transmit PDO Subindex Description Data Type Default Value Access Restore after BootUp 0 Number of sub Unsigned 8 80 2 80 ro yes indices 3602 1 360 1 Mapped object Unsigned 32 0x60100010 rw yes 2 Mapped object Unsigned 32 0x60200010 rw yes 7 15 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 bo BootUp 0 Number of sub Unsigned 8 80 2 ro yes indices 360 1 1 Mapped object Unsigned 32 0x60100010 rw yes 2 Mapped object Unsigned 32 0x60200010 rw yes 7 16 Types of SDO Service Data Objects SDOs allow a device s data to be accessed by using explicit requests The SDO service is available if the device is in the Operational or Pre Operational state There are two types of SDOs Download SDO Read SDOs Download SDOs Write SDOs Upload SDOs The SDO protocol is based on a Client Server model server returns the data contained within the object The client sends a request indicating the object to be read The Upload SDO returns a confirmation message The c
38. ease have this section as with a CANopen communication interface a reference for TILTIX working with programmable logic controllers The step by step connection procedure and the working of the inclinometer in a CAN bus is illustrated in the following sections Please note 1200 Termination Resistor CAN High to Pin 7 Controller CAN Low to Pin 2 CANOpen D9 M Connector Page 22 ACS CANopen User Manual Version 20111031 USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 8 4 Software Project Information Once the hardware setup is done the TILTIX compatible to the already existing setup and gives should be configured in such a way that it is a proper position output Project information File information Project ACS360 Directory C Program Files x86 Schneider Electric TwidoSuite My projects Project information Author ANA Department Control Engg Index Singapore Industrial Property POSITAL Comment Description Image TWDLMDA20DTK Modular base controller 12 24V DC inputs 8 ouputs 0 3A source transistors Removable MIL connectors 8 5 Controller Description Description of the module Reference number TWDLMDA20DTK Address 0 ES el Description Modular base controller 12 24v DC inputs 8 ouputs 0 34 source transistors Removable MIL connectors 8 6 X CANopen Master Configuration Description of the module Re
39. ference number TWDNCO1M Address 1 lt lt gt Description CANopen bus master module TWDNCO4M FRABA V1 1 US eter runde Vendor FRABA Posital GmbH Description EDS forACS inclinometer option 360 Author FRABA Posital GmbH Mr Jakschies Creation 06 29 2004 CANopen e gt Page 23 ACS CANopen User Manual Version 20111031 USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE Once the TILTIX EDS file is being uploaded all objects including the PDOs are added to the controller The Schneider system automatically 8 7 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 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 This picture is the overall Page 24 ACS CANopen User Manual identifies the PDOs and maps them on to the slave device controller Then the inclinometer is connected to the CANopen communication interface canopen bus 125 Linking of Master and Slave description of the setup with the TWIDO TWDLMDA20DTK TWDNCO1M CANopen communication expansion module and the TILTIX360 EDS file controller Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE
40. fication of the following parameters of the application layer inclinometer Subindex Description Data Type Default Value 0 Number of entries Unsigned 8 0x4 1 Vendor Id Unsigned 32 0x42 2 Product Code Unsigned 32 0x43415032 3 Revision Number Unsigned 32 0x00010500 4 Serial Number Unsigned 32 _ 1 Prone to change with every revision Page 11 ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 6 Installation 6 1 Accessories Article No Article Description TILTIX360 080 Inclinometer TILTIX series of Inclinometers Industrial Heavy Duty Download Datasheet TILTIX Data Sheet Specifications and Drawings Download User Manual Installation and Configuration User Manual English Download EDS File Electronic Datasheet EDS File for Configuration 10001978 Connector Female M12 5pin A coded Connector w 2m PUR Shielded Cable 10012182 Connector Female M12 5pin A coded Connector w 5m PUR Shielded Cable 10005631 Termination Res External terminal resistors for higher baud rate transmissions 1 The latest documentation and the EDS file can also be downloaded from our website 6 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 Cable Ex
41. g16 Multiplier Slope long16 Offset Differential Slope long16 Offset With Physical inclination of slope long16 X Multiplier if inversion is disabled 1 if inversion is enabled 1 Page 45 ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE Slope Long16 Offset 6013 Slope Long16 Preset 6012 Physical inclination of slope long16 X at tacc Multiplier with tacc preset acquisition time Differential slope long16 offset 6014 Adds an absolute value positive or negative to the sensor Bit 1 Bit 0 Position Calculation 0 0 X 0 1 X 10000h X for 16bit objects 100000000h X for 32bit objects 1 0 X Object 6013h Object 6014h 1 1 X Object 6013h Object 6014h For detailed explanation please see the corresponding objects 11 28 Object 6012h Slope Long16 Preset Value This object is used to define a new desired longitudinal slope value The values will be set only according to the current resolution so extreme care should be taken in order to be within the range of the position value limits Subindex Description Data Type Default Value Access 0 Preset Value Integer 16 00 rw Resolution Preset Range in decimal Type TILTIX080 Type 1 80 0 1 800 0 1 11 29 Object 6013h Slope Long16 Offset This is a read only parameter The parameter is recalculated everytime S
42. h reserved Address of monitored device Node ID Monitoring time 11 14 Object 1017h Producer Heartbeat Time The object milliseconds in which the device has to produce a contains the time interval in multiples of 1ms ms heartbeat message The values are given in Subindex Description Data Type Default Value Access 0 Unsigned 16 o w 11 15 Object 1018 Identity Object This object provides the general identification of the inclinometer Subindex Description Data Type Default Value Access 0 Number of entries Unsigned 8 0x4 ro 1 Vendor Id Unsigned 32 0x42 ro 2 Product Code Unsigned 32 0x43415032 ro 3 Revision Number Unsigned 32 0x00010500 ro 4 Serial Number Unsigned 32 _ ro 1 Prone to change with every revision Page 40 ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 11 16 Object 2200h Cyclic Timer This object is used to determine the transmission timers of TxPDOs hold different values after power interval during cyclic transmission mode This off on cycle the value of the event timers is copied object is hardwired with the event timers of to the cycle time TxPDO1 and TxPDO2 If cyclic timer and event Subindex Description Data Type Default Value Access 0 Unsigned 16 w 11 17 Object 2300h Save Parameter with Reset With this object all parameters can be stored in
43. hange in electrical capacitance in the MEMS cell 42 CANopen Interface CANopen is based on the Controller Area Network CAN that was industries in the 80s The application protocol developed by automotive CANopen was introduced by the multi vendor association CAN in Automation CiA to ensure a full compatibility of industrial automation products It is a multiple access system maximum 127 devices which means that all devices can access the bus These devices are the components of the CANopen bus 43 TILTIX CANopen The TILTIX CANopen inclinometer corresponds to profile DS 410 CANopen standards It is available in industrial and heavy the inclinometer duty housings and two measurement axes variants The single axis measurement variant with a range of 360 and a dual axis measurement Page 6 ACS CANopen User Manual and heavy duty applications The TILTIX CANopen is based on the DS410 standard The TILTIX series of inclinometers both industrial and heavy duty lines are available in two variants First a single axis measurement variant with a range of 360 and the other variant a dual axis measurement capable TILTIX model with a range of 80 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 bus at the same time the device with the higher priority level has permission to sen
44. he Baud rate can be programmed via SDO Default 125 kBaud Node Number Object 3000h The setting of the Node Number can be achieved via SDO Object Valid addresses range from 1 to 127 each address can only be used once The value set in this object is incremented by one to prevent setting the Node Number 0 For inclinometers programmed via SDO the default is Oh Node Number 1 Filt The filter is a routine to process the data stream of the base ilters sensor It can be used to adjust the averaging or weighting of Objects 3100h 3022h measurements and calculation of position values Object 3100h corresponds to moving average filter Object 3022h is for the digital recursive filter Default Object 3100h 100 Object 3022h 0 Page 17 ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 7 7 Transmission Process Data Objects PDOs communicate process information data and enable them to be exchanged in real time CANopen device s PDO set describes the implicit exchanges between this device and its communication partners on the network The exchange of PDOs is only authorized if the device is in Operational mode Note The PDOs can be directly mapped into memory locations on the controller and can be viewed upon reading those memory locations An example with a SCHNEIDER TWIDO controller is provided in the next section 7 8 O
45. ing_Factor x New Sensor Value 11 24 Object 3100h Moving Average Filter This object contains the number of values which are averaged If set to 0 then the filter is deactivated The valid range of filter values accepted is from 0 to 250d Subindex Description Data Type Default Value Access 0 Moving Average Unsigned 16 100 rw Filter Internal Calculation of position values when MAF is activated with value N New Sensor Value Sensor Value Sensor Value Sensor Valuex N 11 25 Object 6000h Resolution It is used to set the resolution i e the minimum angle difference displayed by the TILTIX sensor The default value is 10d 0A h Subindex Description Data Type Default Value Access 0 Resolution Unsigned 16 _ rw Three possible resolutions can be used Angular Resolution Value decimal Byte hex 0 012 10 0 Page 44 ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 11 26 Object 6010h Slope Long16 Position Value X Axis TILTIX080 Longitudinal Axis Z Axis TILTIX360 In TILTIX080 inclinometers this object provides the X axis position value and in TILTIX360 inclinometers this object provides the Z axis value This a read only object and the position values are limited depending on the resolution set Subindex Description Data Type Default Value Access 0 _ Integer 16
46. ion 0 0 X 0 10000 X for 16bit objects 100000000h X for 32bit objects 1 0 X Object 6023h Object 6024h 1 1 X Object 6023h Object 6024h For detailed explanation please see the corresponding objects Page 48 ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 11 33 Object 6022h Slope Lateral16 Preset Value This object is used to define a new desired lateral slope value The values will be set only according to the current resolution so extreme care should be taken in order to be within the range of the position value limits Subindex Description Data Type Default Value Access 0 Preset Value Integer 16 00 rw Resolution Preset Range in decimal Type ACS080 1 80 0 1 800 0 01 8000 11 34 Object 6023h Slope Lateral16 Offset This is a read only parameter The parameter is 6022h Slope Lateral32 Preset 6122 or Preset Y recalculated everytime Slope Lateral16 preset 2601 objects are changed Subindex Description Data Type Default Value Access 0 Offset Value Integer 16 ro Calculation of Slope Lateral16 Offset Offset Value Preset Value Physical Value Inversion Inversion is 1 if activated 1 if deactivated 11 35 Object 6024h Differential Slope Lateral16 Offset This parameter adds an additional independent should be within the range of position
47. it Pin Assignment CAN Ground 1 Green VS Supply Voltage 2 Red 0 V Supply Voltage 3 Yellow CAN High 4 White CAN Low 5 Brown 6 3 Installation Precautions Page 12 Prior to installation please check for all Warning Do not remove or mount while the inclinometer is under power Avert any modifications to the housing Avoid mechanical load ACS CANopen User Manual connections and mounting instructions to be complied with Please also observe the general rules and regulations on operating low voltage technical devices for safety and sustainability of TILTIX Inclinometers over long period of time Please read the installation leaflet for detailed instructions and precautions during mounting and installation Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 6 4 Mounting Instructions TILTIX is a pre calibrated device which can be put into immediate operation upon simple and easy installation with a three point mount The mounting surface must be plane and free of dust and grease We recommend hex head screws with M4 or UNC bolts 6 TILTIX Industrial and M6 or bolts V4 TILTIX Heavy Duty for the best possible and secure mounting Use all three screws for mounting but restrict the tightening torque in the range of 1 5 2 5 Nm for 6 5 Bus Termination If the inclinometer is connected at the end or beginning of the bus or is used a
48. l Current Retained DELI 1 v MW4 18422 0 Decimal Cony the cuenta Talia Rename the current table Delete the current table Import a table Export a table Animation tables Name My animation table 1 p 16 0003 16 0001 16 6010 16 0000 16 0000 16 0000 1 MWO 6 Functions E Glossary 1 The position Readout is 18422 through the to 0 01 TILTIX Position Value 18422 x 0 01 memory location MW4 Shown the 184 22 programming We know that the resolution is set Page 29 ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE Illustration of measurement over full range At initial position approximately 0 MS Address Symbol Current Retained w MW4 mcus r TILTIX Position Value 32 0 01 0 32 At approximately 90 Address Symbol eme Retained Iw MW4 TILTIX Position Value 9138 0 01 91 38 At approximately 180 Address Symbol Current Retained Format Iw 4 18052 Decimal 2 TILTIX Position Value 18052 0 01 180 52 At approximately 270 Ausl Address Symbol Current Retained 1 Fe MW4 27256 2 TILTIX Position Value 27256 0 01 272 56 All the above position values where obtained by through PDO mapping done in the earlier steps programming the position value output explicitly The ste
49. lient sends a request indicating the object to be written to with the desired value After the object has been updated the server Unprocessed SDO Page 20 not be processed ACS CANopen User Manual The server returns an error code 80 in both cases if an SDO could Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE Atypical illustration of an SDO for explicitly reading the current baud rate value is given below Edit transmit message ID Hex Length Data 0 7 601 ao or 30 oo oo oo oo oo Period ol C Extended Frame C Remote Request SDO passed as a new message to the device We used a PEAK CAN master for this illustration The PCAN USB adapter enables simple connection to CAN networks The PCAN USB s compact plastic casing makes it suitable for mobile applications It works as a master on the CAN bus connection via D Sub 9 pin and is in accordance with CiA102 standards To learn more about Peak CAN click here Object 3001h allows to read the baud rate value from the inclinometer Transmit Message D 601 Message to NN1 A Length 8bit word Data 0 Read 40 Write 22 Data 1 amp 2 Object in Big Endian 3001s is 0130 in Big Endian format Data 3 Sub Index NA A Data 4 7 Data to be written NA in read command The Received message 581h reads out the data Page 21 ACS CANopen
50. lope Long16 preset 6012h Slope Long32 Preset 6112 or Preset X 2600 objects are changed This object does not exist for TILTIX360 Subindex Description Data Type Default Value Access 0 Offset Value Integer 16 ro Calculation of Slope Long16 Offset Offset Value Preset Value Physical Value Inversion Inversion is 1 if activated 1 if deactivated Page 46 ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 11 30 Object 6014h Differential Slope Long16 Offset This parameter adds an additional independent offset to slope long16 but only if scaling of slope long16 is enabled Please note that the values should be within the range of position attribute according to the resolution already set Subindex Description Data Type Default Value Access 0 Offset Value Integer 16 _ rw The main difference between the objects 6013h and 6014h is that 6013 is calculated automatically depending on the preset value whereas object 6014h is user defined 11 31 Object 6020h Slope Lateral16 Position Value Y Axis ACS080 Lateral Axis In ACSO080 inclinometers this object provides the Y axis position value This a read only object and the position values are limited depending on the resolution set Subindex Description Data Type Default Value Access 0 _ Integer 16 _ ro Resolution Preset Range i
51. lue Cyclic Acyclic Synchro Asynchro RTR Only Dec nous nous 0 X X Send PDO on first sync message following an event 1 240 X x Send PDO every x sync messages 241 Reserved 251 252 X X Receive Sync and send PDO on remote request 253 X Update data and send PDO on remote request 254 x Send PDO on event 255 x Send PDO on Event 7 11 Inhibit Time The inhibit time is the minimum interval for PDO transmission if the transmission type is set to 254d FEh and 255d FFh The value is defined as 7 12 Event Timer The Event Timer only works in asynchronous transmission mode transmission mode 254d and 255d The value is defined as multiple of 1 ms A transmit PDO is sent after the Event Timer expires 7 13 Cyclic Timer The Cyclic Timer is hardwired with both Event Timers of TPDO1 and TPDO2 Due to the fact that it is possible to save either Event parameter Cyclic Time the parameters could communication parameters Timers or manufacturer Page 19 ACS CANopen User Manual multiple of 100 us The Inhibit Time cannot be changed while the respective PDO is in operation for values gt 0 The range is 1 65536 ms The Timers of TPDO1 and TPDO2 are hardwired i e if one timer is changed the other Event one is adjusted accordingly hold different values after a power off on cycle The inclinometer prevents this mismatch by checking these values during startup The event timer valu
52. me gives the life time for the node guarding protocol Subindex Description Data Type Default Value Access 0 _ Unsigned 8 0 rw 11 10 Object 1010h Store Parameters This object controls the saving of all writable parameters in non volatile memory Subindex Description Data Type Default Value Access 0 Number of sub Unsigned 8 4 ro indices Save all parameters ri Sie i m 2 Save communication parameters 3 Save application Unsigned 32 _ rw parameters Save manufacturer Unsigned 32 _ rw parameters 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 ASCII e v ASCII e Hex value 65h 76h Hex value 65h Page 38 ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 11 11 Object 1011h Restore Parameters This object is used to restore device and CANopen related writeable parameters to default factory settings Subindex Description Data Type Default Value Access 0 Number of sub Unsigned 8 4 ro indices 1 Restore all Unsigned 32 _ rw parameters 2 Restore Unsigned 32 _ rw communication parameters 3 Unsigned 32 _ rw Restore application parameters 4 Restore Unsigned 32 _ rw manufacturer parameters
53. n decimal Type ACS080 1 80 0 1 800 0 01 8000 Calculation of position slope value from CANopen readout Inclination Degree Slope Lateral 16 Object 6020 x Resolution Object 6000 Page 47 ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 11 32 Object 6021h Slope Lateral16 Operating Parameter This object controls the scaling and inversion of the slope lateral16 values If bit 0 is set inversion of slope lateral16 is enabled If bit 1 is set slope lateralt6 offset and differential slope lateral16 offset are added to the slope lateral16 Both bits can be set at the same time Subindex Description Data Type Default Value Access 00 0 Position Scaling Unsigned 8 rw and Inversion Calculation of position value based on the operating parameter Slope Lateral16 Physical inclination of slope lateral16 Multiplier Slope lateral16 Offset Differential Slope lateral16 Offset With A Physical inclination of slope lateral16 X Multiplier if inversion is disabled 1 if inversion is enabled 1 Slope Lateral16 Offset 6023 Slope Lateral16 Preset 6022 Physical inclination of slope lateral16 X at tacc Multiplier with tac preset acquisition time Differential slope lateral16 offset 6024 Adds an absolute value positive or negative to the sensor output Bit 1 Bit 0 Position Calculat
54. ntial hazards or to call attention towards information that clarifies simplifies a procedure Please Note Electrical equipment should be serviced only by qualified personnel 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 personnel Page 4 ACS CANopen User Manual 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 not followed This is the safety alert symbol It is used to alert you to potential personal injury hazards Obey all safety messages that follow this symbol to avoid possible injury or death Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 3 About this Manual 3 1 Background This user manual explains how to install and configure the TILTIX inclinometer with a CANopen 3 2 Version Management Updated On 201110031 Document Name Manual TILTIX CANopen General pdf 3 4 Copyright CANopen and CiAG are registered community trademarks of CAN in Automation e V FRABA N V all rights reserved Claims copyright on this documentation It is not allowed to modify extend or hand over to a third party and 3 5 User Annotation All readers are highly welcome to send us feedback and comments about this document
55. on This is because many other objects parameters are set based on the resolution Rounding effects have to be taken into account Attributes affected Write Read Preset Slope Long16 Preset Slope Lateral16 Slope Longi6 Offset Differential Slope Laterali6 Offset Preset Slope Differential Long32 Preset Slope Lateral32 Differential Slope Long32 Offset Differential Slope Lateral32 Offset Read Only Slope Long16 Slope Lateral16 Slope Longi6 Offset Slope Lateral16 Offset Slope Long32 Slope Lateral32 Slope Lateral32 Offset Slope Lateral32 Offset Page 34 What is scaling and inversion Explain with example Scaling and inversion are functionalities which are included in TILTIX to make the user handle and process the position output according to his need This is generally controlled by the operation parameter objects 6011h 6021h For example Assume that the slope offset value is A8 and differential offset value is 0 ACS CANopen User Manual Scaling Inversion Position Value in hex 0 0 1043 0 1 EFBD 1 0 10EB 1 1 F065 If 00 then position value is the actual position 1043 hex f 01 then the position value is just inverted 1043 This is 10000h 1043 EFBD hex f 10 then the position is just scaled 1043 A8 is 10EB hex f 11 then the position is inverted and scaled Therefore the new position value is EFBD A8 F065 hex Version 20111031 Page 35
56. ps for the mapping have been illustrated in The other method is very simple and direct above parts so that in real time application end users can directly follow the above steps to read Just run the controller and the same position out the position values from the mapped memory values are obtained The position is mapped with locations the memory location IWC1 0 0 or IWC1 1 0 Page 30 ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 10 Frequently Asked Question What if the inclinometer doesn t respond after power on If the bus is active then the installed inclinometer is transmitting a false node number If the bus is inactive then it was connected with an incorrect baud rate Possible solution may include addressing the node in pre operational mode addressing the inclinometer via SDO trying to reset or power off or reprogramming the baud rate How to avoid malfunction of the position value during transmission During the transmission of the position value occasional malfunctions can occur The CAN bus can be temporarily in the bus off state too In order to avoid this problem please check if the last bus nodes have the terminal resistor The termination resistors at the ends of the CAN bus are generally used to avoid the reflection of information back into the bus If the last bus node is an TILTIX Inclinometer the terminal resistor i
57. ration file provided Refer to section 3 1 Automated Guided Vehivles AGV Automatic Assembling Machinery Boring and Drilling Applications Levelling and Flattening Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 5 TILTIX Modes and Parameter The purpose of this chapter is to describe the going into details the following information available configuration parameters of the TILTIX describes useful technical terms and acronyms for inclinometers with CANopen interface Before CANopen network communication Node ID In the CAN network each device has a Node ID that is used to address the device in the network and to define it s priority of EDS Electronic Data Sheet An EDS file describes the communication properties of a device on the CAN network baud rates transmission types I O 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 Transmit PDO TPDO data provided by a node Receive PDO RPDO data to be consumed by a node The transmission direction is always seen from a node s point of view SDO Service Data Object jaci SDOs are typically used to read or write parameters while the application is running COB ID Communication Object Each CANopen frame starts
58. re operational mode NMT Start Remote Node NMT Pre operational Mode NMT Stop Remote Node NMT Reset Node SN 5 6 Usage of Layer Settings Service LSS The LSS functionality is designed according to the CiA normative DS305V200 CANopen Layer Setting Services These services and protocols can be integrated Layer Setting Services used to enquire or to change settings of several parameters of the physical data link and application layer on a CANopen device with LSS slave capability by a CANopen device with LSS master capability via the CAN network In case of TILTIX the TILTIX inclinometer will be the LSS slave device and the PLC control has to support NMT Reset Communication namely node number and baud rate The LSS master device requests services that are performed by the inclinometer LSS slave devices The LSS master device requests the LSS address from the LSS slave device The LSS address is defined in object 1018h Identity Object it consists of vendor id product code revision number and serial number as shown in the table below After receiving this information the control can identify the inclinometer the node number and baud rate can then be set The exact procedure varies in LSS master device functionality The LSS detail dependent on the utilized PLC tool This functionality of the TILTIX series is limited to the object provides the general identi
59. ribes 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 Subindex Description Data Type Default Value Access 0 _ Unsigned 32 0X3019A ro 0X4019A 1 Dual Axis 2 Single Axis 11 2 Object 1001h Error Register This object is used by the device to display internal faults If a fault is detected the Bit Description Comments corresponding bit is activated The following errors are supported 0 Generic Error The object description for error register Subindex Description Data Type The generic error is signaled at any error situation Default Value Access 0 11 3 Object 1003h Pre Defined Error Field The object holds the errors that have occurred on the device and have been signaled via the Emergency Object The error code is located in the Unsigned 8 N A ro least significant word and additional information is located in the most significant word Sub index 0 contains the number of recorded errors Subindex Description Data Type Default Value Access 0 Number of Unsigned 8 0 rw recorded errors 1 Most recent errors Unsigned 32 _ ro To clear error Log Write data 0 into sub index 0 of object 1003 Page 36 ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANU
60. s to be activated through object 3002h When can too many ERROR Frames appear The bus load maybe too high in case of too many error frames So in this case check if all bus nodes have the same baud rate Even if one node has a different baud rate error frames are produced automatically Always ensure that the baud rate is set according to the defined TILTIX Baud rate table and once the baud rate has been changed the can bus has to be restarted with the communication changed to the recently set baud rate Page 31 ACS CANopen User Manual What does Unexpected module Module missing Wrong Module errors refer to Improper definition of node address or improper loading of EDS file generally leads to such errors It is best to reinitialize the CAN bus or re install the EDS file The node state stopped upon loading and initialization It occurs mostly because the bus transmission than the TILTIX transmission time So it is best to increase the bus timeout is defined shorter timeout period Approximately 2 3 seconds 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 Calculate the required node number in hexadecimal TILTIX is internally programmed to add 1 to any node number change fed to it in order to avoid the node number 0 Range of Node Numbers 1 127 For example if we want a N
61. t transmission 2 50 kBaud a termination resistor of 120 Ohm must be used in order to prevent reflection of information back into the CAN bus TILTIX sensors have built in termination resistors that can be activated 1 or deactivated 0 if required by setting object 3002h accordingly Please refer to the Appendix A to learn more about the objects ACS Inclinometer PLC CANopen Master Can Low Wire Page 13 Other CAN CERE gt CAN High Wire ACS CANopen User Manual the screws The M12 connectors are to be perfectly aligned and screwed till the end with a tightening torque in the range of 0 4 0 6 Nm Use all three screws for mounting and also note to use the same tightening torque for all the screws Prior to installation please check for all connection and mounting instructions to be complied with Please do also observe the general rules and regulations on low voltage technical devices The bus wires can be routed in parallel or twisted with or without shielding in accordance with the electromagnetic compatibility requirements A single line structure minimizes reflection The following diagram shows the components for the physical layer of a two wire CAN bus ACS Inclinometer 1200 Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 6 6 Measurement Axes TILTIX 80 Dual Axis Inclinometer X Y 0 Mid
62. the non volatile memory All parameters are saved with an additional reset executed afterwards Subindex Description Data Type Default Value Access 0 Access code Unsigned 32 55AAAA55h wo 11 18 Object 2600h Preset X Axis 802 Version Preset 3602 Version In TILTIX080 inclinometers this object sets the X desired value It is hard wired with objects 6012 axis to the desired value In TILTIX360 and 6112 inclinometers this object sets the Z axis to the Subindex Description Data Type Default Value Access 0 _ Integer 16 _ rw The valid preset value ranges depend on the current resolution of the TILTIX An error message will appear if the Preset value is out of range Resolution Preset Range in decimal Type TILTIX080 Type 1 80 e 0 1 800 0 1 0 01 8000 0 01 Page 41 ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 11 19 Object 2601h Preset Y Axis 80 Version In TILTIX080 inclinometers this object sets the Y axis to a desired value It is hard wired with objects 6022 and 6122 Subindex Description Data Type Default Value Access 0 _ Integer 16 _ rw The valid preset value ranges depend on the current resolution of the TILTIX An error message will appear if the preset value is out of range Resolution Preset Range in decimal Type TILTIX080 Type
63. tion operational mode Identifier Byte 0 Byte 1 Description Oh 82h 00h Reset Communication Oh 81h NN in hex Reset Node Polled Mode By a Remote Transmission Request Telegram the connected host calls for the current process value The inclinometer uses the current position value calculates eventually set parameters and sends back the obtained process value by the same identifier Cyclic Mode The inclinometer transmits cyclically the current process value without being called by the host The cycle time can be programmed in milliseconds for values between 1 ms and 65536 ms Sync Mode The inclinometer answers with current process value after receiving a sync telegram The parameter sync counter can be programmed to skip a certain number of sync telegrams before answering again Heartbeat Function Page 10 A node signals its communication status by cyclically transmitting a heartbeat message This message is received by one or any number of members Heartbeat Consumers in the bus and so they can control the dedicated node Heartbeat Producer ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 5 5 Boot up Procedur The general boot up procedure for the TILTIX CANopen and the mapping of various modes are Number Description illustrated below 1 Module Power up After initialization the module automatically goes into p
64. to immediate operation upon simple and easy installation with a three point mount and setting of preset Its anywhere and other versatile features makes it an ideal choice for very accurate measurement Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 16 Disclaimer FRABA N V all rights reserved We do not assume responsibility for technical inaccuracies or omissions Specifications are subject to change without notice Page 60 ACS CANopen User Manual Version 20111031
65. ue Bandwidth is the value which denominates the size of information in a defined time unit 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 Number of bits per time during transmission independent of bit representation The bit rate in CAN networks is limited to 1 Mbit s Topology of a communication network where all nodes are reached by passive links This allows transmission in both directions 8 bit unit of data 1 byte CAN application layer Application layer developed by CiA CAN in Automation members providing several communication services and corresponding protocols 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 The CANopen device profile for inclinometer supports 16 bit as well as 32 bit sensors Elementary communication object on the CAN network All data is transferred using a COB COB Identifier Identifies an object in a network The ID determines the transmission priority of this object The COB ID consists of a function code and a node number Clockwise The event timer is assigned in CANopen to one PDO It defines the frequency of PDO transmission ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL
66. uration 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 ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 15 Check Out Some of the Other POSITAL Products control More Information outdoor applications More Information More Information Page 59 ACS CANopen User Manual units via SSI CANopen or Analog Interface Heavy Duty Stainless steel Magnetic Encoders for the Toughest Environments measurement under extreme environmental Tilt Sensors to Measure Inclinations up to 360 compact design installation Absolute Magnetic Encoders for Industrial Environment To measure rotary movements or rotary displacements an absolute magnetic rotary encoder can be used The contact free measuring sensor stage of the IXARC magnetic Sensor does not have any abrasion The Sensor can be connected directly to digital Its stainless steel housing and high protection class of IP69K makes the IXARC Magnetic Heavy Duty rotary encoder resistant against active chemical cleaning and corrosion Combined with the sturdy ball bearings this sensor is an ideal choice for reliable conditions and TILTIX is developed on advanced MEMS technology based capacitance measurement The sensor is a pre calibrated device which can be put in
67. with a COB ID working as the Identifier Identifier During the configuration phase each node receives the COB ID s for which it is the provider or consumer NMT Network Management The NMT protocols are used to issue state machine change Transition commands i e to start and stop the devices detect remote device boot ups and error conditions Page 8 ACS CANopen User Manual Version 20111031 POSITAL FRABA USER MANUAL TILTIX MEMS INCLINOMETER WITH CANOPEN INTERFACE 5 1 Pre Operational Mode If 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 Mode A After the power up receiving the Enter Pre Operational NMT indication if it was in Operational Mode before If configuration is complete the device goes into one of the following states on receiving the corresponding indication A 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 80h 00 NMT PreOp All Nodes Oh 80h NN NMT PreOp NN NN Node Number 5 2 Operational Mode The device goes into the Operational state if it Note Modifications to the configuration in was in the Pre Operational state on receiving the Oper

user manual tiltix mems inclinometer with canopen

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