USER MANUAL ACCELENS INCLINOMETER CANOPEN
Contents
1. POSITAL FRABA USER MANUAL ACCELENS INCLINOMETER CANOPEN 6 Diagnosis 6 1 LED Diagnosis 6 1 1 States 6 1 2 ERR Indicators 6 2 Troubleshouting Guide 6 2 1 Power Inclinometer doesn t respond 6 2 2 Malfunction of the position value during transmission 6 2 3 Too much ERROR Frames 7 Mechanical Drawings 7 1 Horizontal Housing 7 2 Vertical Housing Appendix A Ordering Code Glossary 3 of 28 Posital GmbH Carlswerkstr 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 www posital de info posital de 20 20 20 20 20 20 20 21 22 22 24 26 27 POSITAL FRABA USER MANUAL ACCELENS INCLINOMETER CANOPEN General Security Advise Important Information Read these instructions carefully and 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 potential hazards or to call attention to information that clarifies or simplifies a 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 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 Please Note Electr2. 1 Byte Unsigned 8 Tabelle 2 Data length against command byte 5 1 Object Table Type Device Typ device_type 0x1000 Device Name device_name 0x1008 Version Hardware Version hardware_version 0x1009 Software Version software_version 0x100A EEProm Command Store Parameter store parameters 0x1010 1 code to save parameter 73 61 76 65 Restore Parameters restore parameters 0x1011 1 code to restore parameter 6C 6F 61 64 16 of 28 Posital GmbH Carlswerkstr 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 www posital de info posital de POSITAL FRABA USER MANUAL ACCELENS INCLINOMETER CANOPEN Node Guarding Heartbeat con_heartbeat_time 0x1016 pro_heartbeat_time 0x1017 Node Guarding guard_time 0x100C life_time_factor 0x100D PDO 1 2 und 3 Operating Mode COS Cyclic Subindex 2 transmit PDO 1 communi PAR 0x1800 transmit PDO 1 communi PAR 0 1801 transmit PDO 1 communi PAR 0x1802 transmit PDO 1 communi PAR 0x1800 transmit PDO 1 communi PAR 0x1801 transmit PDO 1 communi PAR 0x1802 CANopen Inclinometer DS 410 Resolution resolution 0x1800 Actual Position Value X Y slope long32 0x6010 slope lateral32 0x6020 Operating Parameter X Y slope long32 operat parameter 0x601 1 slope LAT32 operat parameter 0x6021 Preset value X Y slope long32 preset value 0x6012 slope lateral32 preset value 0x6022 Offset X Y slop
3. and BUS OUT signals 1 1 General CANopen Information The CANopen system is used in industrial applications It is a multiple access system maximum 127 participants which means that all devices can access the bus In simple terms each user checks whether the bus is free and if it is the user can send messages If two users try to access the bus at the same time the user with the higher priority level lowest ID number has permission to send its message Users 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 1 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 The function code varies according to the type of message being sent e Management messages LMT NMT e Messaging and service 5005 e Data exchange PDOs e Predefined messages synchronization emergency messages 6 of 28 Posital GmbH Carlswerkstr 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 www posital de info posital de POSITAL FRABA USER MANUAL ACCELENS INCLINOMETER CANOPEN The inclinometer support the following operating modes e Pooled mode The position value is only given on request e Cyclic mode The
4. 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 position value is set to the desired process value by the parameter pre set The Baudrate can be programmed via SDO default 20Kbaud or have to be set by hardware switches The setting of the node number is achieved via SDO Object Possible valid addresses lie between 0 and 89 whereby every address can only be used once The CANopen inclinometer adds internal 1 to the adjusted device address Defauld 20Hex Node Number 32 15 of 28 Posital GmbH Carlswerkstr 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 www posital de info posital de POSITAL FRABA USER MANUAL ACCELENS INCLINOMETER CANOPEN 5 Programmable Parameter Objects are based on the CiA 410 DS V1 2 CANopen profile for inclinometer www can cia org Command Function Telegram Description 22h Domain Download Request Parameter to inclinometer 60h Domain Download Confirmation Parameter received 40h Domain Upload Request Parameter request 43h 4Bh 4Fh Domain Upload Reply Parameter to Master 80h Warning Reply Transmission error Tabelle 1 Command description The value of the command byte depends on the data length of the called parameter Command Data length Data length 43h 4 Byte Unsigned 32 4Bh 2 Byte Unsigned 16 4Fh
5. operational mode 14 of 28 Posital GmbH Carlswerkstr 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 www posital de info posital de 4 2 Normal Operating Polled Mode Cyclic Mode Sync Mode 4 3 Storing Parameter POSITAL FRABA USER MANUAL ACCELENS INCLINOMETER CANOPEN 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 The inclinometer transmits cyclically 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 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 4 3 1 List of storable Parameter Resolution per 1 Preset Value Baudrate Node Number The parameter resolution per 1 degree is used to program the desired number
6. position value is sent cyclically regular adjustable interval 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 2 1 e State change mode The position value is transferred as soon as it changes Other functions offset values resolution etc can be configured The inclinometer corresponds to the class 2 inclinometer profile DS 410 in which the characteristics of inclinometers with CANopen interface are defined The node number and speed in bauds are determined via rotary switches The transmission speed can range from 10kbauds up to 1Mbaud 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 configuration file provided 1 2 Typical Applications Platform leveling and stabilization 360 vertical orientation measurement Leveling instruments Construction levels Any industrial application where 2 axis leveling is required 7 of 28 Posital GmbH Carlswerkstr 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 www posital de info posital de POSITAL FRABA USER MANUAL ACCELENS INCLINOMETER CANOPEN 2 Installation 2 1 Elektrical Connection Every of this ACS devices has an integrated T coupler a switchable terminal resistor and BCD rotary switches for baudrat
7. that the value from the switch is 01d The node number will 79 G N To G q be 02 because of the internal addition of 1 to the adjusted value 10 x 1 Switch Value 1 Node Number Info The value 1 is added to the node number to avoid conflicts at the note number 0 with is normally used for the Master 11 of 28 Posital GmbH Carlswerkstr 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 www posital de info posital de POSITAL FRABA USER MANUAL ACCELENS INCLINOMETER CANOPEN 3 Technical Data 3 1 Electrical Data Model ACS080 ACS360 Measuring range 360 Resolution 0 18 Accuracy 25 85 C Damping period 0 gt 15 t 90 min 125ms offset error 25 85 C 0 008 C 40 125 C max 0 86 Interface Transceiver according ISO 11898 galvanically isolated by opto couplers Transmission rate max 1MBaud Device addressing Via SDO Supply voltage 10 30 V DC absolute limits Current consumption max 230 mA with 10 V DC max 100 mA with 24 V DC Power consumption max 2 2Watts EMC Emitted interference EN 61000 6 4 Noise immunity EN 61000 6 2 Electrical lifetime gt 10 h Inclinometer should be connected only to subsequent electronics whose power supplies comply with EN 50178 protective low voltage 3 2 Mechanical Data Housing Aluminum Lifetime gt 10 h Shock EN 60068 2 27 A 30g t 11ms halfsine Shock EN 60068 2 27 lt 100 g half sine 6 m
8. 63 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 www posital de info posital de
9. Bus Termination If the inclinometer is connected at the end or beginning of the bus the termination resistor must be switched on The termination resistor is switched on when the dip switch is in the ON position To switch the resistor on the cap of the inclinometer has to be unscrewed This resistor is provided in the inclinometer which must be used as a line termination on the last device n eim COGN 4 s b SN R p A P R A 2 er eee lt 10 of 28 Posital GmbH Carlswerkstr 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 www posital de info posital de POSITAL FRABA USER MANUAL ACCELENS INCLINOMETER CANOPEN 2 7 Bus address The setting of the node number is achieved via SDO Object Possible valid addresses lie between 0 96 whereby every address can only be used once The CANopen inclinometer adds internal 1 to the adjusted device address Adjusting Baudrate Baudrain max cable Switch P E in kBaud s length m value P 10 5000 0 Ed 20 i 50 2 100 3 125 4 250 5 i 500 6 N 800 7 Ps 1000 8 I ae reserved 9 Example for setting the Baudrate 907 Switch value is set to 5 If you compare this with the value in the table above x Og you can see that this means a bus speed of 250kBaud s 9 G x BD 907 907 In this sample the switch values for the note number is set to 0 x10 and 1 e Y V x1 This means
10. N 7 Mechanical Drawings 7 1 Horizontal Housing 7 1 1 Bottom View 7 1 2 Side View zen 44 20 22 of 28 Posital GmbH Carlswerkstr 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 www posital de info Oposital de POSITAL FRABA USER MANUAL ACCELENS INCLINOMETER CANOPEN 7 1 3 Front View 7 1 4 Top View 23 of 28 Posital GmbH Carlswerkstr 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 www posital de info posital de POSITAL FRABA USER MANUAL ACCELENS INCLINOMETER CANOPEN 7 2 Vertical Housing 7 2 1 Bottom View 55 20 7 2 2 Side View 5 20 24 of 28 Posital GmbH Carlswerkstr 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 www posital de info Oposital de POSITAL FRABA USER MANUAL ACCELENS INCLINOMETER CANOPEN 7 2 3 Front View 7 2 4 Top View 2 20 25 of 28 Posital GmbH Carlswerkstr 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 www posital de info Oposital de POSITAL FRABA USER MANUAL ACCELENS INCLINOMETER CANOPEN Appendix A Ordering Code Description Accelens Measuring Range Number of Axes Interface Version Mounting Housing Material Housing Model Connection Type Key ACS 080 360 CANopen CA 00 Horizontal H Vertical V Aluminum A Basic Advanced High End Customer Specific Cable Exit 1m CW 1x 5 pin M12 M
11. POSITAL FRABA USER MANUAL ACCELENS INCLINOMETER CANOPEN ACCELENS INCLINOMETER SERIES WITH CAN BUS INTERFACE USER MANUAL 1 of 28 Posital GmbH Carlswerkstr 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 www posital de info posital de POSITAL FRABA USER MANUAL ACCELENS INCLINOMETER CANOPEN Table of Content General Security Advise About this Manual 1 Introduction 1 1 General CANopen Information 1 2 Typical Applications 2 Installation 2 1 Elektrical Connection 2 2 Connector and Cable Outputs 2 3 Accessories 2 4 Installation Precautions 2 3 Mounting and Installation Instruction 2 4 Installation 2 5 Measurement 2 6 Bus Termination 2 7 Bus address 3 1 Electrical Data 3 2 Mechanical Data 3 3 Environmental Conditions 4 Configuration 4 1 Operating Modes 4 1 1 Principle 4 1 2 Mode Preoperational 4 1 3 Mode Start Operational 4 1 4 Mode Stop Operational 4 1 2 Reinitialization of the Absolute Rotary Encoder 4 2 Normal Operating 4 3 Storing Parameter 5 Programmable Parameter 5 1 Object Table 5 2 Programming exsample Preset and Average Value 5 2 1 Set Preset Value for X and Y Axes 5 2 2 Set Average Value 2 of 28 Posital GmbH Carlswerkstr 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 www posital de info posital de N Oo oo CO c oo o 11 12 12 13 14 14 14 14 14 14 14 15 15 16 16 19 19 19
12. activity on the network which simplifies the checking of the accuracy of the sent received SDOs It is not possible to send or receive PDOs in pre operational mode 4 1 2 Mode Preoperational To set a node to pre operational mode the master must send the following message FC NN Command Index Subindex S P Data Description 0000b Od 80h NN NMT PreOp NN NN node number 4 1 3 Mode Start Operational To put one or all nodes in the operational state the master have to sends the following message FC NN Command Index Subindex S P Data Description 0000b 0d 01h 00 NMT Start all nodes 0000b 0d 01h NN NMT Start NN NN node number It is possible to set all nodes Index 0 or a single node Index NN to operational mode 4 1 4 Mode Stop Operational To put one or all nodes in the operational state the master have to sends the following message FC NN Command Index Subindex S P Data Description 00006 0 02h 00 NMT Stop all nodes 0000 b 0d 02h NN NMT Stop NN NN node number It is possible to set all nodes Index 0 or a single node Index NN to operational mode 4 1 2 Reinitialization of the Absolute Rotary Encoder If a node is not operating correctly it is advisable to carry out a reinitialization FC NN Command Index Subindex S P Data Description 0000 b 0 82h 00 NMT Start all nodes 0000 b O d 81h NN NMT Start NN NN node number After reinitialization the inclinometer accesses the bus in pre
13. ale Connector P5 1x 5 pin M12 Male Connector 1x 5 pin M12 Female Connector TM T U 26 of 28 Posital GmbH Carlswerkstr 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 www posital de info posital de Glossary A Address APV B Baud rate Byte C CAL CAN CANopen CCW CiA COB COB ID CW E EDS file F FAQ FC Function code POSITAL FRABA USER MANUAL ACCELENS INCLINOMETER CANOPEN 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 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 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 Standardized file containing the description of the parameters and the communication methods of the associ
14. ated device Frequently Asked Questions Determines the type of message sent via the CAN network 27 of 28 Posital GmbH Carlswerkstr 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 www posital de info posital de L Line terminator LMT NMT NN PCV PDO PV RO ROMAP RW SDO WO POSITAL FRABA USER MANUAL ACCELENS INCLINOMETER CANOPEN 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 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 28 of 28 Posital GmbH Carlswerkstr 13c D 510
15. e and node number List of Connecion Types Description Aluminum housing with one M12 5 pin male connector CAN in Aluminum housing with two M12 5 pin male connector CAN in CAN out ACS xxx xxxxxxx x TM Aluminum housing with cable exit CAN in ACS xxx ooooxx x CW Article Name ACS xxx xxxxxxx x P5 2 2 Connector and Cable Outputs Signal 5 pin round connector pin number open cable CAN Ground 1 green 24 V supply voltage 2 white OV supply voltage 3 brown CAN High 4 yellow CAN Low 5 pink Connector Types 4O 5 O3 O 10 O2 Bus IN Bus OUT 5 pin connector male M12 5 pin connector female M12 connector male inlay counterpart soldering connector female inlay counterpart side soldering side 8 of 28 Posital GmbH Carlswerkstr 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 www posital de info posital de POSITAL FRABA USER MANUAL ACCELENS INCLINOMETER CANOPEN 2 3 Accessories Description Article Name Article Number Terminal resistor External terminal resistor for female connector User manual Installation and configuration manual german UMD CA User manual Installation and configuration manual english UME CA EDS File Disc containing EDS file for configuration DK CA Note The documentation and the EDS file can be downloaded from our website www posital com 2 4 Installation Precautions WARNING Do not remove or mount while the inclinometer is under po
16. e long32 offset 0x6013 slope lateral32 offset 0x6023 r w 1 wo r w 2 2 2 not supported r w eae 5 5 not supported Oo Y w possible HEX values 1 A 64 3e8 see bellow D r r w possible values 0 or 1 possible values 0 or 1 r w r 17 of 28 Posital GmbH Carlswerkstr 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 www posital de info posital de POSITAL FRABA USER MANUAL ACCELENS INCLINOMETER CANOPEN Customer specific objects Cyclic Time r w CYCLIC_TIME 0x2200 Store Parameter w flash_programming 0x2300 Preset value X Y 0x2600 0x2601 preset_X_achse preset_Y_achse Node Number 0x3000 hardware switch E node number Baudrate r w 0x3001 hardware switch baudrate Filter Average Filter calculate average value 0x3005 Butterworth Filter Butterworth Filter at 5Hz to cut all values above 5Hz 0x3021 Resolution Values 1h 0 001 Ah 0 01 64h 0 1 3E8h 1 r w Code 55 aa aa 55 oe r w set value to 0 set value to 0 LU set value to needed node number AT HIGH END INCLINOMETER Z r w set value to needed baudrate AT HIGH END INCLINOMETER see page 11 r w filter can set between 0 100 values values 50ms settling time 100 values 760ms settling time r w 0 OFF 1 ON settling time will i
17. eat event has occurred Mandatory ON PDI Watchdog A PDI Watchdog timeout has occurred Optional 6 2 Troubleshouting Guide 6 2 1 Power on Inclinometer doesn t respond Problem The bus is active but the installed inclinometer transmitted the false node number Possible solution modus pre operational adressing the inclinometer via SDO reset or power off power on 6 2 2 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 Check if the last bus nodes have switched on the terminal resistor If the last bus node is an inclinometer the terminal resistor is to activate 20 of 28 Posital GmbH Carlswerkstr 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 www posital de info posital de POSITAL FRABA USER MANUAL ACCELENS INCLINOMETER CANOPEN 6 2 3 Too much ERROR Frames Problem The bus load is too high in case of too much error frames Possible solution Check if all bus node has the same baudrate If one node has another baudrate error frames are produced automatically The setting of the baudrate is descripted in this manual under 4 6 21 of 28 Posital GmbH Carlswerkstr 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 www posital de info posital de POSITAL FRABA USER MANUAL ACCELENS INCLINOMETER CANOPE
18. ical 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 4 of 28 Posital GmbH Carlswerkstr 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 www posital de info posital de POSITAL FRABA USER MANUAL ACCELENS INCLINOMETER CANOPEN About this Manual Background This user manual explains how to install and configure the following inclinometer with CANopen interface Relate Note Version date 11 February 2007 Version number 1 0 Reference number FGE_KW05 Imprint POSITAL GmbH Carlswerkstrasse 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 Internet http www posital com e mail info 2posital com Copyright The company POSITAL GmbH claims copyright on this documentation It is not allowed to modify to extend to hand over to a third party and to copy this documentation without written approval by the company POSITAL GmbH 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 User Annotation The POSITAL GmbH welcome all reader to send us feedback and commands about this document You can reach us by e mail at info posital com 5 of 28 Posital G
19. mbH Carlswerkstr 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 www posital de info posital de POSITAL FRABA USER MANUAL ACCELENS INCLINOMETER CANOPEN 1 Introduction This manual explains how to install and configure the ACS gravity referenced inclinometers suitable for both military and industrial applications with CANopen interface The products are fully compliant with standard DS410 and is CiA certified Absolute inclinometers identify all the points of a movement by means of a single digital signal Due to their capacity to give a single exact position value to all X and Y inclinations positions inclinometers have become one of a very interesting alternative to a singleturn absolute encoder as a links between the mechanical system and the control system The basic principle behind this ACS inclinometer is the Micro Electro Mechanical Systems MEMS sensor cell The CANopen bus interface on this inclinometers permits speeds up to 1Mbaud 30m cable for a maximum speed of 1Mbaud 5000 m cable for a maximum speed of 10 kbaud The inclinometer connection base provides access to three rotary switches for configuring the address and transmission speed It also incorporates two LEDs that provide assistance with diagnostics There are two types of inclinometers One type of inclinometer uses one M12 connector for BUS IN The other type of inclinometer acts as a T junction with two M12 connectors for the BUS IN
20. ncrease up to 1600ms at a angle jump of 40 degrees 18 of 28 Posital GmbH Carlswerkstr 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 www posital de info posital de POSITAL FRABA USER MANUAL ACCELENS INCLINOMETER CANOPEN 5 2 Programming exsample Preset and Average Value If a CANopen device is connected and configured by the turning switches with the right baudrate and also configuratet to a unused node number it will stard up into the preoperational mode and send a bootup massage to the master The RUN LED of the device is now blinking 5 2 1 Set Preset Value for X and Y Axes Master to Inclinometer with Node Number 1 X Axes Identifier DLC Command Index Subindex NN 1 Download 2600h 601 8 22 00 26 00 Y Axes Identifier DLC Command Index Subindex NN 1 Download 2601h 601 8 22 01 26 00 Save Preset Values Identifier DLC Command Index Subindex NN 1 Download 1010h 601 8 22 10 10 01 5 2 2 Set Average Value Master to Inclinometer with Node Number 1 Service Process data Byte 4 Byte 5 Byte 6 Byte 7 00 00 00 00 Service Process data Byte 4 Byte 5 Byte 6 Byte 7 00 00 00 00 Service Process data Byte 4 Byte 5 Byte 6 73 61 76 Byte 7 65 The average value can be set between 0 100 If you want to use 50 values for calculating the average the filter have to be set to 58 dec gt 3A hex Average Identifier DLC Command Index Subindex NN 1 Downl
21. oad 3005h 601 8 22 05 30 00 Save Preset Values Identifier DLC Command Index Subindex NN 1 Download 1010h 601 8 22 10 10 01 19 of 28 Posital GmbH Service Process data Byte 4 Byte 5 Byte 6 3A 00 00 Byte 7 00 Service Process data Byte 4 Byte 5 Byte 6 73 61 76 Byte 7 65 Carlswerkstr 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 www posital de info posital de POSITAL FRABA USER MANUAL ACCELENS INCLINOMETER CANOPEN 6 Diagnosis 6 1 LED Diagnosis 6 1 1 States The RUN LED indicator states are specified in the following Table RUN State Status Description Category OFF INIT The device is in state INIT Mandatory Blinking PRE OPERATIONAL The device is in state PRE OPERATIONAL Mandatory Single flash STOPPED The device is in STOPPED Mandatory ON OPERATIONAL The device is in state OPERATIONAL Mandatory 6 1 2 ERR Indicators The ERR LED indicator show errors such as watchdog timeouts and unsolicited state changes The color is red If at a given time several errors are present the error represented by the highest indicator activity shall be signaled ERR State Status Description Category OFF No error The CANopen communication is working Mandatory Blinking Invalid Configuration General Configuration Error Mandatory Single flash Warning limit reached Error counter has reached the warning level Mandatory Double flash Error control event A guard or heartb
22. s Permanent shock EN 60028 2 29 lt 10 g half sine 16 ms Vibration EN 60068 2 6 lt 10 g 10 Hz 1 000 Hz Weight standard version Horizontal 250g Vertical 450 g Weight stainless steel version Horizontal 650g Vertical 1 000 g 12 of 28 Posital GmbH Carlswerkstr 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 www posital de info posital de POSITAL FRABA USER MANUAL ACCELENS INCLINOMETER CANOPEN 3 3 Environmental Conditions Operating temperature 40 85 C Storage temperature 40 85 C Humidity 98 without liquid state Protection class EN 60529 IP 67 connected Note Cable exit 30 70 C static 5 70 C flexing 13 of 28 Posital GmbH Carlswerkstr 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 www posital de info posital de POSITAL FRABA USER MANUAL ACCELENS INCLINOMETER CANOPEN 4 Configuration The purpose of this chapter is to describe the configuration parameters of the inclinometers with a CANopen interface 4 1 Operating Modes 4 1 1 Principle The inclinometer accesses the CAN network after powerup in pre operational mode FC NN Comand Index Subindex S P Data Description 1110 XXXXXXX Value Boot Up message It is recommended that the parameters are entered when the encoder is in preoperational mode Pre operational mode entails reduced
23. wer z Do not stand on the inclinometer V4 Avoid mechanical load 2 3 Mounting and Installation Instruction There are two different mounting solutions for the ACS inclinometer i e the base plate of the inclinometer with the three mounting holes needs to be placed on the horizontal plane of the object to be measured It can be mounted with M4 screw as a maximum 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 2 4 Installation 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 Avoid shock and vibration during measurement as these could corrupt the measurement results Inclination sensors that base on a MEMS principle are optimal for fast measurements 2 5 Measurement The measurement of the tilt angle of the single measurement axis is carried out over the respective longitudinal and lateral axis of the inclination sensor Reference is always the horizontal plane 9 of 28 Posital GmbH Carlswerkstr 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 www posital de info posital de POSITAL FRABA USER MANUAL ACCELENS INCLINOMETER CANOPEN Lateral axis Longitudinal axis lt gt gt View of male socket Side view 2 6
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